Spool grabbing device

Abstract

The utility model relates to an I-shaped wheel grabbing device which is provided with a pair of frames arranged at an interval, a space for containing an I-shaped wheel is formed between the frames, a panel is fixedly connected between the upper end faces of the frames, and claw assemblies which are matched with each other to grab the I-shaped wheel are arranged at the two ends of the bottom of each frame respectively. The gripper assembly comprises fingers, a gripper shaft and a servo motor, the gripper shaft is rotationally installed between the upper end and the lower end of the frame, the lower end of the gripper shaft extends out of the bottom face of the frame to be fixedly connected with the fingers, and the servo motor is installed on the panel and is in transmission connection with the upper end of the gripper shaft to drive the fingers to extend out or retract. According to the utility model, the four fingers in the two sets of gripper components extend out to support the bottom of the spool, so that the quick transfer operation of the spool is realized, the automatic operation requirement of modern logistics is met, and the operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment, in particular to a spool gripping device. Background Art

[0002] A spool is a commonly used tool for winding metal wires or wire ropes. When the spool is full of metal wires or wire ropes and needs to be transported, conventional transportation equipment such as forklifts and cranes no longer meets the requirements of automated operations. Therefore, it is necessary to provide a gripping device that can meet the requirements of modern logistics automated operations to improve operation efficiency. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides a spool gripping device that can meet the requirements of automated operations.

[0004] A spool gripping device of the utility model has a pair of frames arranged at a distance, a space for accommodating a spool is formed between the frames, a panel is fixedly connected between the upper end faces of the frames, and pawl assemblies for gripping the spool are respectively arranged at both ends of the bottom of the frames and cooperate with each other.

[0005] The pawl assembly includes fingers, a pawl shaft and a servo motor. The pawl shaft is rotatably installed between the upper and lower ends of the frame. The lower end of the pawl shaft extends out of the bottom surface of the frame and is fixedly connected with the fingers. The servo motor is installed on the panel and is in transmission connection with the upper end of the pawl shaft to drive the fingers to extend or retract.

[0006] A lower shaft seat is fixed at the lower end of the frame, and an upper shaft seat is installed at the upper part of the frame. The pawl shaft is rotatably arranged between the lower shaft seat and the upper shaft seat.

[0007] An electric push rod is installed in the middle of the frame. The push rod of the electric push rod is movably connected with a pin shaft. The electric push rod pushes the pin shaft to radially press against the pawl shaft to prevent the pawl shaft from rotating.

[0008] A first proximity switch vertically facing the pin shaft is installed on the frame on one side of the extending end of the electric push rod. A pressing plane is provided on the pawl shaft corresponding to the pin shaft being pushed out. A second proximity switch horizontally pointing to the pawl shaft is installed on the frame on one side of the fixed end of the electric push rod. An induction screw is provided on the pawl shaft corresponding to the probe of the second proximity switch.

[0009] The beneficial effect of the utility model is: the utility model realizes the rapid transportation operation of the spool by the four fingers in the two pawl assemblies extending to support the bottom of the spool, thus meeting the requirements of modern logistics automated operations and improving operation efficiency. Description of the Drawings

[0010] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0011] Figure 1 It is a structural schematic diagram of the utility model.

[0012] In the figure: 1. frame, 2. I-shaped wheel, 3. panel, 4. finger, 5. gripper shaft, 6. servo motor, 7. lower shaft seat, 8. upper shaft seat, 9. electric push rod, 10. pin shaft, 11. first proximity switch, 12. top pressure plane, 13. second proximity switch, 14. induction screw, 15. dust cover. DETAILED DESCRIPTION

[0013] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0014] like Figure 1 The I-shaped wheel grabbing device shown in the figure has a pair of frames 1 arranged at a distance from each other on the left and right, a panel 3 is fixedly connected between the upper end surfaces of the frames 1, and a space for accommodating the I-shaped wheel 2 is formed between the two frames 1.

[0015] Gripper assemblies are respectively provided at both ends of the bottom of the two frames 1 , and the gripper assemblies cooperate with each other to grab the I-shaped wheel 2 .

[0016] The gripper assembly includes a finger 4, a gripper shaft 5 and the lower end of the gripper shaft 5, wherein a lower shaft seat 7 is fixed at the lower end of the frame 1, an upper shaft seat 8 is installed at the upper part of the frame 1, and the gripper shaft 5 is rotatably arranged between the lower shaft seat 7 and the upper shaft seat 8. The servo motor 6 is installed on the panel 3, the finger 4 is located below the bottom surface of the frame 1, the servo motor 6 is transmission-connected to the upper end of the gripper shaft 5, the finger 4 is fixed to the lower end of the gripper shaft 5, and the lower end of the gripper shaft 5 drives the finger 4 to extend out of the frame 1 or retract into the frame 1 through the gripper shaft 5.

[0017] An electric push rod 9 is installed in the middle of the two frames 1, wherein the push rod of the electric push rod 9 on the left frame 1 extends forward, and the push rod of the electric push rod 9 on the right frame 1 extends backward, and the push rod of the electric push rod 9 is movably connected with a pin shaft 10.

[0018] A first proximity switch 11 is installed on the frame 1 on one side of the extended end of the electric push rod 9. The probe of the first proximity switch 11 points vertically downward to the pin shaft 10. The gripper shaft 5 corresponding to the ejection direction of the pin shaft 10 has a pressing plane 12. When the gripper shaft 5 is extended or retracted, the electric push rod 9 pushes the pin shaft 10 radially to press on the pressing plane 12. At the same time, the first proximity switch 11 sends a signal to control the two diagonal servo motors 6 to stop to prevent the gripper shaft 5 from continuing to rotate.

[0019] On the frame 1 on one side of the fixed end of the electric push rod 9, a second proximity switch 13 is installed. The probe of the second proximity switch 13 points horizontally to the gripper shaft 5. An induction screw 14 is provided on the gripper shaft 5 corresponding to the probe of the second proximity switch 13. When the gripper shaft 5 extends or retracts to the in-place position, the second proximity switch 13 emits a signal to control the other two diagonal servo motors 6 to stop, so as to prevent the gripper shaft 5 from continuing to rotate.

[0020] When the wire reel 2 is wound with full metal wire or wire rope, the robot system drives the grasping device to move above the wire reel 2, and then lowers the grasping device so that the wire reel 2 is located in the space between the two frames 1. The servo motor 6 is started to drive the gripper shaft 5 to rotate, so that the fingers 4 that were originally retracted into the frame 1 rotate and extend outside the frame 1 and are placed below the wire reel 2. The servo motor 6 stops, and the grasping device rises to transfer the wire reel 2 to the specified area.

[0021] Enlightened by the above ideal embodiments according to the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An I-shaped reel grasping device, characterized in that: There is a pair of frames (1) arranged at a distance from each other, and a space for accommodating a spool (2) is formed between the frames (1). A panel (3) is fixedly connected between the upper end faces of the frames (1). Claw assemblies for grasping the spool (2) are respectively arranged at both ends of the bottom of the frames (1) and are matched with each other. The claw assembly includes fingers (4), a claw shaft (5) and a servo motor (6). The claw shaft (5) is rotatably installed between the upper and lower ends of the frame (1). The lower end of the claw shaft (5) extends out of the bottom surface of the frame (1) and is fixedly connected with the fingers (4). The servo motor (6) is installed on the panel (3) and is drivingly connected with the upper end of the claw shaft (5) to drive the fingers (4) to extend or retract.

2. The spool gripping device according to claim 1, characterized in that: A lower shaft seat (7) is fixed at the lower end of the frame (1), and an upper shaft seat (8) is installed on the upper part of the frame (1). The claw shaft (5) is rotatably arranged between the lower shaft seat (7) and the upper shaft seat (8).

3. The spool gripping device according to claim 1, characterized in that: An electric push rod (9) is installed in the middle of the frame (1). A pin shaft (10) is movably connected to the push rod of the electric push rod (9). The electric push rod (9) pushes the pin shaft (10) to radially press against the claw shaft (5) to prevent the claw shaft (5) from rotating.

4. The spool gripping device according to claim 3, characterized in that: A first proximity switch (11) vertically facing the pin shaft (10) is installed on the frame (1) on one side of the extending end of the electric push rod (9). A pressing plane (12) is provided on the claw shaft (5) corresponding to the pin shaft (10) being pushed out. A second proximity switch (13) horizontally pointing to the claw shaft (5) is installed on the frame (1) on one side of the fixed end of the electric push rod (9). An induction screw (14) is provided on the claw shaft (5) corresponding to the probe of the second proximity switch (13).

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