Automatic gripper device for truss coil stock

Abstract

The utility model discloses an automatic gripper device for truss coil stock, which is used for gripping the coil stock for transferring and comprises a gripper platform connected with a truss for lifting, two gripper components capable of moving in opposite directions are arranged below the gripper platform, a first correlation detection piece capable of lifting is arranged on each gripper component, and a second correlation detection piece capable of moving in opposite directions is arranged on each first correlation detection piece. The first correlation detection piece detects the thickness of a coil material through lifting to determine the position of a hollow pipe of the coil material and then enables the gripper platform to drive the gripper assemblies to descend to the position of the hollow pipe, and a translation driving assembly is further arranged on the gripper platform and used for driving the two gripper assemblies to move horizontally and draw close to grab the coil material after the gripper platform descends in place. The truss coil stock automatic gripper device has the advantages of being high in automation degree, stable in coil stock gripping, high in gripping precision, high in reliability, high in safety and the like.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically to an automatic gripper device for truss coils. Background Technology

[0002] With the development of technology, more and more production processes are being replaced by robots. The use of robots has greatly improved production efficiency. Mechanical grippers are one of the most commonly used mechanical tools in production work, especially in some production links in the manufacturing industry, where mechanical grippers are often used to move or clamp workpieces.

[0003] The existing technical solutions have the following shortcomings:

[0004] 1. Currently, the method of manually hoisting coiled materials requires high skill levels from workers, involves high labor intensity, and is highly dangerous.

[0005] 2. Currently, before a mechanical gripper can operate, the position of the workpiece must be determined and the corresponding coordinates must be set. Only then can the mechanical gripper accurately grasp the workpiece. However, in actual operation, due to the center difference caused by the different diameters of the coiled material and the tilted state with one end higher than the other, the mechanical gripper may miss the workpiece or even drop it midway. This not only seriously affects the speed of workpiece handling or clamping but may also threaten the personal safety of the operator. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide an automatic truss coil gripper device with simple structure, high degree of automation, stable and reliable coil gripping.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] An automatic gripper device for truss coils is provided for gripping and transferring coils. It includes a gripper platform for connection to the truss for lifting and lowering. Two gripper assemblies that can move towards each other are provided below the gripper platform. Each gripper assembly is provided with a first, liftable, through-beam detection element. The first through-beam detection element detects the thickness of the coil by lifting and lowering to determine the position of the hollow tube of the coil, and then causes the gripper platform to lower the gripper assembly to the hollow tube. The gripper platform is also provided with a translation drive assembly for driving the two gripper assemblies to translate and approach each other to grip the coil after the gripper platform has been lowered to the correct position.

[0009] As a further improvement to the above technical solution:

[0010] The gripper assembly includes an upright gripper arm, the top of which is movably mounted on the gripper platform via a slide rail assembly. The bottom of the gripper arm is provided with a protruding pin. The drive end of the translation drive assembly is connected to the top of the gripper arm for driving the gripper arm to move the pin to insert into the hollow tube to grip the rolled material.

[0011] The gripper arm is also equipped with a pin positioning detection unit to detect whether the pin is inserted into the hollow tube to avoid missing the gripper. The pin positioning detection unit includes an elastic element and a sensor switch. The pin is movably inserted through the gripper arm. The elastic element is located inside the gripper arm and abuts against the bottom of the pin. The sensor switch is located near the elastic element and is used to sense the pin when it abuts against the coil and gradually squeezes the elastic element, so that the translation drive assembly stops the translation drive.

[0012] The pin is a hollow tube, and a second pair of detectors is provided at the tail end of the pin on the gripper arm. The second pair of detectors is set at the hollow part of the pin to detect whether there are any obstacles inside the hollow tube.

[0013] The gripper assembly also includes a gripping position detection element located inside the gripper arm, which is used to stop the translation drive assembly from translating when the end of the roll is detected as the pin is gradually inserted into the hollow tube.

[0014] The translation drive assembly includes a lead screw body and a lead screw drive component. One end of the lead screw body is connected to the lead screw drive component, and the other end is connected to the top of the gripper arm. The lead screw drive component drives the lead screw body to rotate so as to cause the gripper arm to slide along the lead screw body.

[0015] The slide rail assembly includes a slide rail disposed on the gripper platform, and a slider disposed on the top of the gripper arm, the slider sliding on the slide rail.

[0016] The first through-beam detector is connected to the lifting assembly. The lifting assembly includes a lifting drive and a lifting mounting frame. The lifting drive is vertically mounted on the gripper assembly via the lifting mounting frame. The first through-beam detector is mounted on the downward-facing lifting end of the lifting drive and is used to drive the first through-beam detector to rise and fall to detect the thickness of the roll material.

[0017] The gripper platform is equipped with a limit switch at its bottom, and an elastic part is connected to the bottom of the limit switch. When the gripper platform descends to the point where the elastic part contacts the coiled material, the elastic part squeezes the limit switch to stop the gripper platform from descending.

[0018] The lifting drive unit has a platform plate on its lifting end for mounting the first through-beam detection component. A vertical limiting rod is fixed on the platform plate. The lifting mounting frame has a limiting hole for the limiting rod to move through, which is used to limit the lifting of the platform plate.

[0019] Compared with the prior art, the advantages of this utility model are:

[0020] I. The present invention discloses an automatic gripper device for truss coils, which has two opposing gripper components installed below the gripper platform. The gripper components can be reliably inserted into the hollow tube to securely grip the coil. On the one hand, this avoids directly clamping the coil body, which could damage the material, and also prevents it from falling during transportation due to unstable clamping, thus greatly improving production safety, efficiency, and quality. On the other hand, the two gripper components are connected to the gripper platform and rise and fall simultaneously, preventing the two gripper components from gripping the coil at different heights, which greatly improves the gripping strength and the safety of the transfer process.

[0021] I. This utility model discloses an automatic gripper device for truss coils. By installing a liftable first pair of photoelectric sensors on the gripper platform, the thickness of the coil is detected by the movement of these sensors to determine the position of the hollow tube. The gripper platform is then driven to lower the gripper assembly to the hollow tube, further driving the two gripper assemblies to move and converge to grip the coil. This device is suitable for coils of various diameters and lengths, greatly improving its adaptability. It also avoids center discrepancies between the gripper assembly and the hollow tube caused by mismatches between the gripper assembly's descent and the coil diameter, preventing the gripper assembly from grabbing the coil body or failing to grip at all. This significantly improves the safety and reliability of the gripping process, further enhancing the efficiency and quality of coil transfer.

[0022] III. The present invention discloses an automatic gripper device for truss coils, which uses an upright gripper arm to drive a protruding pin to slide on the slide rail assembly of the gripper platform, thereby enabling the clamping and transfer of coils of various lengths and sizes, and further improving the applicability of the device.

[0023] IV. The present invention discloses an automatic gripper device for truss coils, which detects whether the pin is inserted into the hollow tube by setting a pin positioning detection unit on the gripper arm to avoid missing the grip. An elastic element is set inside the gripper arm to hold the bottom of the pin. When the pin presses against the coil and gradually squeezes the elastic element, the pin is sensed and the translation drive component stops the translation drive, thus avoiding missing the grip and damaging the coil, and avoiding losses caused by missing the coil, thereby further improving the safety and reliability of the device.

[0024] V. The present invention discloses an automatic gripper device for truss coils. By setting the pin as a hollow tube and setting a second pair of detectors at the hollow part of the corresponding pin, the device checks for obstacles inside the hollow tube again before the gripper assembly starts clamping. This avoids interference caused by obstacles inside the hollow tube, which could damage the device and greatly improve the service life and safety of the device.

[0025] VI. The present invention discloses an automatic gripper device for truss coils, which detects the distance between the inner side of the gripper arm and the end of the coil by a gripping position detection component set on the inner side of the gripper arm. When the inner side of the gripper arm contacts the end of the coil, the translation drive component stops the translation drive, avoiding excessive clamping force that could damage the coil by the gripper arm, ensuring appropriate clamping force, and greatly improving the safety and reliability of the device.

[0026] VII. The present invention discloses an automatic gripper device for truss coils, which vertically mounts a lifting drive component on the gripper assembly by setting a lifting mounting frame, so that the lifting drive component drives the first pair of detectors connected to its downward lifting end to rise and fall to detect the thickness of the coil. By setting a lifting mounting frame, the reliability and stability of the lifting movement of the first pair of detectors are improved, thereby further improving the reliability and safety of the device.

[0027] 8. The present invention discloses an automatic gripper device for truss coils, which ensures that the coil is not squeezed by the gripper platform by setting an limit switch at the bottom of the gripper platform. When the gripper platform descends to the point where the elastic part at the bottom of the limit switch contacts the coil, the elastic part squeezes the limit switch to stop the gripper platform from descending. This avoids the truss descending too much and causing the gripper platform to crush the coil, thereby further improving the safety and reliability of coil clamping. Attached Figure Description

[0028] Figure 1 This is a schematic diagram illustrating the structural principle of an automatic gripper device for truss coils according to this utility model.

[0029] Figure 2 This is a three-dimensional schematic diagram of the automatic gripper device for truss coils according to the present invention.

[0030] Figure 3 This is a side view schematic diagram of the structural principle of this utility model.

[0031] Figure 4 This is a schematic diagram of the cross-sectional structure of this utility model.

[0032] Figure 5 for Figure 4 A schematic diagram of the enlarged structure at point A.

[0033] The labels in the diagram represent: 1. Coil material; 11. Hollow tube; 2. Gripper platform; 21. Slide rail; 22. Limit switch; 23. Elastic part; 3. Gripper assembly; 31. Pin positioning detection unit; 311. Elastic element; 312. Inductive switch; 32. Grip arm; 321. Slider; 33. Pin; 34. Second through-beam detection component; 35. Grip positioning detection component; 4. First through-beam detection component; 5. Translation drive assembly; 51. Lead screw body; 52. Lead screw drive component; 6. Lifting assembly; 61. Lifting drive component; 62. Lifting mounting frame. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] like Figures 1 to 5 As shown, the automatic gripper device for truss coils in this embodiment is used to grip coils 1 for transfer. It includes a gripper platform 2 for connection with the truss for lifting and lowering. Two gripper assemblies 3 that can move towards each other are provided below the gripper platform 2. The gripper assembly 3 is provided with a first opposing detection element 4 that can be lifted and lowered. The first opposing detection element 4 determines the position of the hollow tube 11 of the coil by lifting and lowering the thickness of the coil 1. Then, the gripper platform 2 drives the gripper assembly 3 to descend to the hollow tube 11. The gripper platform 2 is also provided with a translation drive assembly 5 for driving the two gripper assemblies 3 to translate and move closer together to grip the coil 1 after the gripper platform 2 descends to the position.

[0039] The specific implementation principle of this automatic gripper device for truss coils is as follows:

[0040] In operation, this truss-driven automatic coil gripper device works as follows: First, the truss moves the gripper platform 2 above the coil 1 to be transferred. The truss then lowers the gripper platform 2 to a certain position and pauses. Next, the first through-beam detector 4 on the gripper platform 2 descends to detect the thickness of the coil 1 and determine the position of the hollow tube 11. The liftable first through-beam detector 4 can accurately determine the descent value of the gripper platform 2 based on different sizes of coil 1, avoiding center difference errors caused by different coil diameters that could lead to the gripper assembly 3 missing its grip. After transmitting the data to the truss, the first through-beam detector 4 rises back to its initial position, preventing interference between the first through-beam detector 4 and other components, thus ensuring the stability of the device's operation. In this embodiment, the first through-beam detector 4 includes a diffuse reflection switch detection component. Further, based on the data transmitted by the first through-beam detector 4, the truss lowers the gripper platform 2 until the two gripper assemblies 3 are located below the hollow tube 11. Finally, the translation drive component 5 on the gripper platform 2 drives the two gripper assemblies 3 to translate and converge to grip the coil 1.

[0041] Through the aforementioned scientific and specialized design, this automatic truss coil gripper device has the following advantages:

[0042] First, by providing two opposing gripper components 3 below the gripper platform 2, the gripper components 3 can be reliably inserted into the hollow tube 11 to securely grip the coil material 1. On the one hand, this avoids directly clamping the coil material 1, which could damage the material, and also prevents it from falling off midway due to unstable clamping during transportation, thus greatly improving production safety, efficiency, and quality. On the other hand, the two gripper components 3 are connected to the gripper platform 2 and rise and fall simultaneously, preventing the two gripper components 3 from gripping the coil material 1 at different heights, which greatly improves gripping strength and safety during the transfer process.

[0043] Second, by setting a liftable first through-beam detector 4 on the gripper platform 2, the thickness of the coil 1 is detected by the lifting and lowering of the first through-beam detector 4 to determine the position of the hollow tube 11 of the coil 1. Then, the gripper platform 2 is driven to lower the gripper assembly 3 to the hollow tube 11, and the two gripper assemblies 3 are further driven to move and move closer to grip the coil 1. This is applicable to coils 1 of various diameters and lengths, greatly improving the adaptability of the device. It also avoids the center difference deviation between the gripper assembly 3 and the hollow tube 11 caused by the incompatibility between the descent degree of the gripper assembly 3 and the diameter of the coil 1, and avoids the gripper assembly 3 grabbing the coil 1 body or failing to grip it, greatly improving the safety and reliability of gripping, and further improving the transfer efficiency and quality of the coil 1.

[0044] like Figures 1 to 5As shown, in this embodiment, the gripper assembly 3 includes an upright gripper arm 32. The top of the gripper arm 32 is movably mounted on the gripper platform 2 via a slide rail assembly. The bottom of the gripper arm 32 is provided with a protruding pin 33. The driving end of the translation drive assembly 5 is connected to the top of the gripper arm 32 to drive the gripper arm 32 to move the pin 33 to insert it into the hollow tube 11 to grip the roll material 1. When the gripper platform 2 moves the gripper assembly 3 to the point where the pin 33 is aligned with the axis of the hollow tube 11, the translation drive assembly 5 drives the gripper arm 32 to move the pin 33 closer to insert it into the hollow tube 11 to grip the roll material 1. After the gripper platform 2 transports the roll material 1 to the designated position, the translation drive assembly 5 drives the gripper arm 32 to move the pin 33 until the pin 33 exits the hollow tube 11 to release the grip on the roll material 1. By having the vertical gripper arm 32 drive the protruding pin 33 to slide on the slide rail assembly of the gripper platform 2, it is possible to clamp and transfer coils of various lengths and sizes, further improving the applicability of the device.

[0045] like Figures 1 to 5 As shown, in this embodiment, the gripper arm 32 is also provided with a pin positioning detection unit 31 for detecting whether the pin 33 is inserted into the hollow tube 11 to avoid missing the gripper. The pin positioning detection unit 31 includes an elastic element 311 and a sensor switch 312. The pin 33 is movably inserted through the gripper arm 32. The elastic element 311 is located inside the gripper arm 32 and abuts against the bottom of the pin 33. The sensor switch 312 is located near the elastic element 311 and is used to sense the pin 33 when the pin 33 abuts against the roll 1 and gradually squeezes the elastic element 311, so that the translation drive assembly 5 stops the translation drive. By setting a pin positioning detection unit 31 on the gripper arm 32 to detect whether the pin 33 is inserted into the hollow tube 11 to avoid missing the grip, and setting an elastic element 311 inside the gripper arm 32 to hold the bottom of the pin 33, when the pin 33 presses against the coil 1 and gradually squeezes the elastic element 311, the device senses the pin 33 and stops the translation drive assembly 5 to stop the translation drive, thus avoiding the pin 33 missing the grip and damaging the coil 1, and avoiding loss caused by missing the coil 1, thereby further improving the safety and reliability of the device.

[0046] like Figures 1 to 5 As shown, in this embodiment, the pin 33 is a hollow tube, and a second through-beam detector 34 is provided on the gripper arm 32 at the tail end of the pin 33. The second through-beam detector 34 is set at the hollow part of the pin 33 to detect whether there are any obstacles inside the hollow tube 11. By making the pin 33 a hollow tube and setting the second through-beam detector 34 at the hollow part of the pin 33, before the gripper assembly 3 starts clamping, the second through-beam detector 34 is used to check whether there are any obstacles inside the hollow tube 11. This avoids interference with the gripper assembly 3's clamping caused by obstacles inside the hollow tube 11, which could damage the device and greatly improve the service life and safety of the device.

[0047] like Figures 1 to 5As shown, in this embodiment, the gripper assembly 3 further includes a gripping position detection element 35 disposed inside the gripper arm 32. This element detects the end of the roll material 1 when the pin 33 is gradually inserted into the hollow tube 11, causing the translation drive assembly 5 to stop its translation drive. By detecting the distance between the inside of the gripper arm 32 and the end of the roll material 1 using the gripping position detection element 35 disposed inside the gripper arm 32, the translation drive assembly 5 stops its translation drive when the inside of the gripper arm 32 contacts the end of the roll material 1. This prevents excessive clamping force from causing the gripper arm 32 to damage the roll material 1, ensuring appropriate clamping force and greatly improving the safety and reliability of the device.

[0048] like Figures 1 to 5 As shown, in this embodiment, the translation drive assembly 5 includes a lead screw body 51 and a lead screw drive component 52 (e.g., a motor, cylinder, etc.). One end of the lead screw body 51 is connected to the lead screw drive component 52, and the other end is connected to the top of the gripper arm 32 via a transmission connection. The lead screw drive component 52 drives the lead screw body 51 to rotate, thereby causing the gripper arm 32 to slide along the lead screw body 51. By setting the lead screw drive component 52 to drive the lead screw body 51 to rotate, thereby causing the gripper arm 32 to slide along the lead screw body 51, the lead screw drive structure has high reliability and high precision, and is suitable for gripper assemblies 3 with high movement precision requirements.

[0049] like Figures 1 to 5 As shown, in this embodiment, the slide rail assembly includes a slide rail 21 arranged on the gripper platform 2, and a slider 321 is provided on the top of the gripper arm 32, which slides on the slide rail 21. By providing the slide rail 21 on the gripper platform 2 and cooperating with the slider 321 provided on the top of the gripper arm 32, the sliding safety and reliability of the gripper assembly 3 on the gripper platform 2 are further improved.

[0050] like Figures 1 to 5 As shown, in this embodiment, the first through-beam detector 4 is connected to the lifting assembly 6. The lifting assembly 6 includes a lifting drive 61 and a lifting mounting frame 62. The lifting drive 61 is vertically mounted on the gripper assembly 3 via the lifting mounting frame 62. The first through-beam detector 4 is mounted on the downward-facing lifting end of the lifting drive 61, which is used to drive the first through-beam detector 4 to rise and fall to detect the thickness of the roll material 1. By setting the lifting mounting frame 62 to vertically mount the lifting drive 61 on the gripper assembly 3, the lifting drive 61 drives the first through-beam detector 4 connected to its downward-facing lifting end to rise and fall to detect the thickness of the roll material 1. By setting the lifting mounting frame 62, the reliability and stability of the lifting movement of the first through-beam detector 4 are improved, further enhancing the reliability and safety of the device.

[0051] like Figures 1 to 5As shown, in this embodiment, a limit switch 22 is provided at the bottom of the gripper platform 2. An elastic part 23 is connected to the bottom of the limit switch 22. When the gripper platform 2 descends to the point where the elastic part 23 contacts the coiled material 1, the elastic part 23 presses against the limit switch 22 to stop the gripper platform 2 from descending. By providing a limit switch 22 at the bottom of the gripper platform 2 to prevent the coiled material 1 from being crushed by the gripper platform 2, and by ensuring that the elastic part 23 at the bottom of the limit switch 22 contacts the coiled material 1, the elastic part 23 presses against the limit switch 22 to stop the gripper platform 2 from descending, the truss descent is prevented from being too extreme and causing the gripper platform 2 to crush the coiled material 1, further improving the safety and reliability of the coiled material 1 clamping.

[0052] like Figures 1 to 5 As shown, in this embodiment, the lifting end of the lifting drive 61 is provided with a platform plate for mounting the first through-beam detector 4. A vertical limiting rod is fixed on the platform plate, and a limiting hole is provided on the lifting mounting frame 62 for the limiting rod to move through, thereby limiting the lifting of the platform plate. By providing a platform plate on the lifting end of the lifting drive 61 to support the first through-beam detector 4, and fixing a vertical limiting rod on the platform plate to pass through the limiting hole on the lifting mounting frame 62 for limiting the lifting of the platform plate, the safety and reliability of the lifting of the first through-beam detector 4 are greatly improved.

[0053] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible variations and modifications to the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, should fall within the protection scope of the present invention.

Claims

1. An automatic gripper device for truss coils, used for gripping coils (1) for transfer, characterized in that: The system includes a gripper platform (2) for connection with the truss for lifting and lowering. The gripper platform (2) has two gripper assemblies (3) that can move towards each other. The gripper assembly (3) has a first photoelectric detection element (4) that can be lifted and lowered. The first photoelectric detection element (4) determines the position of the hollow tube (11) of the coil (1) by lifting and lowering the thickness of the coil (1). Then, the gripper platform (2) drives the gripper assembly (3) to descend to the hollow tube (11). The gripper platform (2) is also provided with a translation drive assembly (5) for driving the two gripper assemblies (3) to translate and move closer together to grab the coil (1) after the gripper platform (2) has descended to the position.

2. The automatic gripper device for truss coils according to claim 1, characterized in that: The gripper assembly (3) includes an upright gripper arm (32). The top of the gripper arm (32) is movably mounted on the gripper platform (2) via a slide rail assembly. The bottom of the gripper arm (32) is provided with a protruding pin (33). The driving end of the translation drive assembly (5) is connected to the top of the gripper arm (32) for driving the gripper arm (32) to drive the pin (33) to translate and insert it into the hollow tube (11) to grip the roll material (1).

3. The automatic gripper device for truss coils according to claim 2, characterized in that: The gripper arm (32) is also provided with a pin positioning detection unit (31) for detecting whether the pin (33) is inserted into the hollow tube (11) to avoid missing the gripper. The pin positioning detection unit (31) includes an elastic element (311) and a sensor switch (312). The pin (33) is movably inserted on the gripper arm (32). The elastic element (311) is located inside the gripper arm (32) and abuts against the bottom of the pin (33). The sensor switch (312) is located near the elastic element (311) and is used to sense the pin (33) when the pin (33) abuts against the roll (1) and gradually squeezes the elastic element (311), so that the translation drive assembly (5) stops the translation drive.

4. The automatic gripper device for truss coils according to claim 2, characterized in that: The pin (33) is a hollow tube. The grab arm (32) is also provided with a second through-beam detection element (34) at the tail end of the pin (33). The second through-beam detection element (34) is provided at the hollow part of the pin (33) to detect whether there are any obstacles inside the hollow tube (11).

5. The automatic gripper device for truss coils according to claim 2, characterized in that: The gripper assembly (3) also includes a gripping position detection element (35) located inside the gripper arm (32) to stop the translation drive assembly (5) after detecting the end of the roll (1) when the pin (33) is gradually inserted into the hollow tube (11).

6. The automatic gripper device for truss coils according to claim 2, characterized in that: The translation drive assembly (5) includes a lead screw body (51) and a lead screw drive component (52). One end of the lead screw body (51) is connected to the lead screw drive component (52), and the other end is connected to the top of the gripper arm (32). The lead screw drive component (52) drives the lead screw body (51) to rotate so that the gripper arm (32) slides along the lead screw body (51).

7. The automatic gripper device for truss coils according to claim 2, characterized in that: The slide rail assembly includes a slide rail (21) arranged on the gripper platform (2), and a slider (321) provided on the top of the gripper arm (32), the slider (321) sliding on the slide rail (21).

8. The automatic gripper device for truss coils according to claim 1, characterized in that: The first through-beam detector (4) is connected to the lifting assembly (6). The lifting assembly (6) includes a lifting drive (61) and a lifting mounting frame (62). The lifting drive (61) is vertically mounted on the gripper assembly (3) via the lifting mounting frame (62). The first through-beam detector (4) is mounted on the downward lifting end of the lifting drive (61) to drive the first through-beam detector (4) to rise and fall to detect the thickness of the roll (1).

9. The automatic gripper device for truss coils according to any one of claims 1 to 8, characterized in that: The gripper platform (2) is provided with a limit switch (22) at the bottom. The bottom of the limit switch (22) is connected to an elastic part (23). When the gripper platform (2) descends to the point where the elastic part (23) contacts the coil (1), the elastic part (23) squeezes the limit switch (22) to stop the gripper platform (2) from descending.

10. The automatic gripper device for truss coils according to claim 8, characterized in that: The lifting drive component (61) has a platform plate on its lifting end for mounting the first through-beam detection component (4). A vertical limiting rod is fixed on the platform plate. The lifting mounting frame (62) has a limiting hole for the limiting rod to move through, which is used to limit the lifting of the platform plate.

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