Gripper for steel strip coil

Abstract

The utility model discloses a steel strip coil gripper which comprises a fixing base, a tensioning air cylinder, an outer side clamping mechanism and an anti-falling mechanism. Wherein the tensioning air cylinder is fixedly connected with the fixed seat, three first clamping jaws are arranged at the output end of the tensioning air cylinder, and the tensioning air cylinder can drive the three first clamping jaws to tightly support a steel strip coil from the inside; the outer side clamping mechanism is connected with the fixing base and can clamp the steel strip coil in the outer contour direction of the steel strip coil. The anti-falling mechanism is connected with the fixing base and can clamp the steel strip coil from one side of the steel strip coil so as to prevent the steel strip coil from falling off. According to the utility model, the intelligent automatic carrying is realized, the heavy manual carrying work is reduced, and the labor productivity is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, and particularly relates to a steel strip coil gripper. Background Art

[0002] In the prior art, after the steel strip is coiled, most of them adopt the handling form of manual cutting and removing the steel strip coil, and the labor intensity is quite large; in addition, during manual handling, the steel strip coil is easy to unwind; therefore, there is an urgent need to develop a device for automatically grasping the steel strip coil. Summary of the Invention

[0003] According to an embodiment of the utility model, a steel strip coil gripper is provided, which comprises:

[0004] A fixed seat;

[0005] A tensioning cylinder, which is fixedly connected with the fixed seat, and three first jaws are arranged at the output end thereof. The tensioning cylinder can drive the three first jaws to tightly support the steel strip coil from the inside.

[0006] An outer clamping mechanism, which is connected with the fixed seat and can clamp the steel strip coil from the outer contour direction of the steel strip coil.

[0007] An anti-falling mechanism, which is connected with the fixed seat and can clamp the steel strip coil from one side of the steel strip coil to prevent the steel strip coil from falling.

[0008] Further, the outer clamping mechanism comprises: a pair of first driving cylinders and a pair of second jaws;

[0009] A pair of first driving cylinders are arranged on both sides of the tensioning cylinder and are connected with the fixed seat;

[0010] A pair of second jaws are respectively and correspondingly connected with the output ends of the pair of first driving cylinders, and the first driving cylinders can drive the corresponding second jaws to act.

[0011] The second jaw comprises a clamping member and a connecting member. The clamping member is coupled with the outer contour of the steel strip coil. One end of the connecting member is connected with the clamping member, and the other end is connected with the output end of the corresponding first driving cylinder.

[0012] Further, the outer clamping mechanism further comprises:

[0013] A first fixing frame, which is connected with the fixed seat, and first sliding rails are respectively arranged at both ends of the first fixing frame;

[0014] A pair of second fixing frames, which are respectively and slidably connected with the first sliding rails at both ends of the first fixing frame;

[0015] A pair of second jaws are respectively and correspondingly connected with the pair of second fixing frames and can move along with the corresponding second fixing frames.

[0016] Furthermore, the anti-falling mechanism includes: a pair of third clamping jaws and a pair of second driving cylinders;

[0017] A pair of second driving cylinders are respectively arranged at both ends of the first fixing frame and fixedly connected to the first fixing frame;

[0018] A pair of third clamping jaws are respectively connected to the output ends of a pair of second driving cylinders in a one-to-one correspondence.

[0019] Furthermore, the anti-falling mechanism further includes: a pair of third fixing frames and a pair of second sliding rails;

[0020] A pair of third clamping jaws are respectively connected to a pair of third fixing frames in a one-to-one correspondence;

[0021] A pair of third fixing frames are respectively and slidably connected to a pair of second sliding rails in a one-to-one correspondence;

[0022] A pair of second sliding rails are arranged on both sides of the first fixing frame and respectively fixedly connected to the first fixing frame.

[0023] Furthermore, the third clamping jaw is L-shaped.

[0024] Furthermore, it further includes: a vision camera, which is arranged on the first fixing frame and used to detect the position of the steel strip coil.

[0025] According to the steel strip coil gripper of the embodiment of the present invention, intelligent automatic handling is realized, manual heavy handling work is reduced, and labor productivity is improved.

[0026] It should be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram according to an embodiment of the present invention;

[0028] Figure 2 is a schematic structural diagram after removing the vision camera according to an embodiment of the present invention;

[0029] Figure 3 is Figure 2 the front view of

[0030] Figure 4 is Figure 2 the rear view of DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the drawings, and the present invention will be further elaborated.

[0032] First, in combination with Figures 1 to 4Describe a steel strip coil gripper according to an embodiment of the present utility model, which is used to grip a steel strip coil and has a wide range of application scenarios.

[0033] As Figures 1 to 4 shown, the steel strip coil gripper according to the embodiment of the present utility model includes:

[0034] A fixed seat 1;

[0035] A tensioning cylinder 2 (which belongs to the prior art), the tensioning cylinder 2 is fixedly connected to the fixed seat 1, and three first jaws 21 are provided at its output end. The tensioning cylinder 2 can drive the three first jaws 21 to tightly hold the steel strip coil 6 from the inside;

[0036] An outer clamping mechanism 3, the outer clamping mechanism 3 is connected to the fixed seat 1 and can clamp the steel strip coil 6 from the outer contour direction of the steel strip coil 6;

[0037] A falling prevention mechanism 4, the falling prevention mechanism 4 is connected to the fixed seat 1 and can clamp the steel strip coil 6 from one side of the steel strip coil 6 to prevent the steel strip coil 6 from falling.

[0038] Furthermore, as Figures 1 to 4 shown, in this embodiment, the outer clamping mechanism 3 includes: a pair of first driving cylinders 31 and a pair of second jaws 32;

[0039] A pair of first driving cylinders 31 are arranged on both sides of the tensioning cylinder 2 and are connected to the fixed seat 1;

[0040] A pair of second jaws 32 are respectively connected to the output ends of the pair of first driving cylinders 31 in a one-to-one correspondence. The first driving cylinder 31 can drive the corresponding second jaw 32 to act;

[0041] The second jaw 32 includes a clamping member 321 and a connecting member 322. The clamping member 321 is coupled to the outer contour of the steel strip coil 6 so that the clamping member 321 is in close contact with the steel strip coil 6. One end of the connecting member 322 is connected to the clamping member 321, and the other end is connected to the output end of the corresponding first driving cylinder 31.

[0042] Furthermore, as Figures 1 to 4 shown, in this embodiment, the outer clamping mechanism 3 further includes:

[0043] A first fixing frame 33, the first fixing frame 33 is connected to the fixed seat 1, and first slide rails 331 are respectively arranged at both ends of the first fixing frame 33 to make the whole mechanism more stable;

[0044] A pair of second fixing frames 34, the pair of second fixing frames 34 are respectively slidably connected to the first slide rails 331 at both ends of the first fixing frame 33;

[0045] A pair of second clamping jaws 32 are respectively and correspondingly connected to a pair of second fixing frames 34 and can move along with the corresponding second fixing frames 34. The second fixing frames 34 are provided to make the second clamping jaws 32 move more smoothly during the movement process.

[0046] Furthermore, as Figures 1 to 2 shown in FIGS. 4, in this embodiment, the anti-falling mechanism 4 includes: a pair of third clamping jaws 41 and a pair of second driving cylinders 42;

[0047] A pair of second driving cylinders 42 are respectively arranged at both ends of the first fixing frame 33 and fixedly connected to the first fixing frame 33;

[0048] A pair of third clamping jaws 41 are respectively and correspondingly connected to the output ends of a pair of second driving cylinders 42.

[0049] Furthermore, as Figures 1 to 2 shown in FIGS., in this embodiment, the anti-falling mechanism 4 further includes: a pair of third fixing frames 43 and a pair of second sliding rails 44;

[0050] A pair of third clamping jaws 41 are respectively and correspondingly connected to a pair of third fixing frames 43;

[0051] A pair of third fixing frames 43 are respectively and slidably connected to a pair of second sliding rails 44 in a corresponding manner; the output ends of a pair of second driving cylinders 42 are respectively and correspondingly connected to a pair of third fixing frames 43, and can drive the corresponding third fixing frames 43 to slide along the corresponding second sliding rails 44;

[0052] A pair of second sliding rails 44 are arranged on both sides of the first fixing frame 33 and are respectively fixedly connected to the first fixing frame 33; the third fixing frames 43 and the second sliding rails 44 are provided to make the movement of the third clamping jaws 41 more smooth.

[0053] Furthermore, as Figures 1 to 2 shown in FIGS., in this embodiment, the third clamping jaw 41 is L-shaped, with a simple structure and low cost.

[0054] Furthermore, as Figure 1 shown in FIGS., in this embodiment, it further includes: a vision camera 5. The vision camera 5 is arranged on the first fixing frame 33 and is used to detect the position of the steel strip coil 6.

[0055] Working principle: When in use, the vision camera 5 detects the position of the steel strip coil 6. The manipulator drives the three first jaws 21 of the gripper of the steel strip coil 6 to enter the interior of the steel strip coil 6. The tensioning cylinder 2 acts to drive the first jaws 21 to move outwards to support the inner ring of the steel strip coil 6. At the same time, the first driving cylinder 31 drives the second jaw 32 to move inwards to clamp the outer contour of the steel strip coil 6. The third driving cylinder drives the third jaw 41 to move inwards to hook the outside of the steel strip coil 6. Then the manipulator moves to convey the steel strip coil 6 to the designated position, and the first jaws 21, the second jaws 32 and the third jaws 41 are released to put down the steel strip coil 6.

[0056] As described above, with reference to Figures 1 to 4 the gripper of the steel strip coil 6 according to the embodiment of the present invention is described, realizing intelligent automatic handling, reducing the heavy manual handling work, and improving the labor productivity.

[0057] It should be noted that in this specification, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0058] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A steel strip coil gripper, characterized in that: Include: Fixed seat; A tensioning cylinder, the tensioning cylinder is fixedly connected to the fixing seat, and three first clamping claws are arranged at the output end thereof, and the tensioning cylinder can drive the three first clamping claws to tighten the steel strip coil from the inside; An outer clamping mechanism, the outer clamping mechanism is connected to the fixing seat and can clamp the steel strip coil from the outer contour direction of the steel strip coil; The anti-fall mechanism is connected to the fixing seat and can clamp the steel strip roll from one side of the steel strip roll to prevent the steel strip roll from falling.

2. The steel strip coil gripper according to claim 1, characterized in that: The outer clamping mechanism comprises: a pair of first driving cylinders and a pair of second clamping jaws; The pair of first driving cylinders are arranged on both sides of the tensioning cylinder and connected to the fixing seat; A pair of second clamping jaws are respectively connected to the output ends of the pair of first driving cylinders in a one-to-one correspondence, and the first driving cylinders can drive the corresponding second clamping jaws to move; The second clamp comprises a clamping member and a connecting member, wherein the clamping member is coupled to the outer contour of the steel strip coil, one end of the connecting member is connected to the clamping member, and the other end is connected to the output end of the corresponding first driving cylinder.

3. The steel strip coil gripper according to claim 2, characterized in that: The outer clamping mechanism further comprises: A first fixing frame, the first fixing frame is connected to the fixing seat, and first slide rails are respectively arranged at both ends of the first fixing frame; a pair of second fixing frames, wherein the pair of second fixing frames are respectively slidably connected to the first slide rails at two ends of the first fixing frame; The pair of second clamping jaws are respectively connected to the pair of second fixing frames in a one-to-one correspondence and can move along with the corresponding second fixing frames.

4. The steel strip coil gripper according to claim 3, characterized in that: The anti-fall mechanism comprises: a pair of third clamping jaws and a pair of second driving cylinders; The pair of second driving cylinders are respectively arranged at two ends of the first fixing frame and are fixedly connected to the first fixing frame; The pair of third clamping jaws are respectively connected to the output ends of the pair of second driving cylinders in a one-to-one correspondence.

5. The steel strip coil gripper according to claim 4, characterized in that: The anti-fall mechanism further comprises: a pair of third fixing frames and a pair of second slide rails; The pair of third clamping jaws are respectively connected to the pair of third fixing frames in a one-to-one correspondence; The pair of third fixing frames respectively correspond to the pair of second slide rails one by one and are slidably connected; The pair of second slide rails are arranged on both sides of the first fixing frame and are respectively fixedly connected to the first fixing frame.

6. The steel strip coil gripper according to claim 4 or 5, characterized in that: The third clamping jaw is L-shaped.

7. The steel strip coil gripper according to claim 3, characterized in that: It also includes: a visual camera, which is arranged on the first fixing frame and is used to detect the position of the steel strip coil.

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