Grabbing mechanism for wire coil

Abstract

The utility model relates to a grabbing mechanism for a wire coil, and belongs to the technical field of grabbing mechanisms, and the grabbing mechanism comprises a fixed frame, a flexible mechanical arm, a grabbing mechanism and a driving mechanism, the sliding plate is arranged on the fixed frame in a sliding manner; the driving module is connected with the sliding plate and drives the sliding plate to move in the preset direction; the shaft rod is connected with the sliding plate and arranged below the sliding plate, the extending direction of the shaft rod is parallel to the moving direction of the sliding plate, and the shaft rod is constructed to be a central through hole capable of being inserted into a wire coil; and the abutting module is configured to apply radial clamping force or bearing force to the wire coil after the shaft rod is inserted into the wire coil. According to the wire coil grabbing device, automatic grabbing and fixing of the wire coil are achieved, the safety risk of manual carrying is avoided, and the grabbing efficiency of the wire coil is improved while the labor intensity is reduced. In addition, the flexible mechanical arm is suitable for the narrow operation space of the flexible mechanical arm, and the grabbing stability and the space adaptability are improved.

Description

Technical Field

[0001] This application relates to the field of gripping mechanisms, and more particularly to a gripping mechanism for a reel. Background Technology

[0002] Cable reels, as storage containers for long materials such as cables and wire ropes, require frequent handling and transfer in industrial production. Current technologies commonly employ manual handling or forklift transport, which has the following drawbacks: 1. Manual handling is labor-intensive, inefficient, and poses a safety hazard of personnel being injured by falling heavy objects; 2. Forklift operations require a large turning radius, making them unsuitable for the confined spaces required by flexible robotic arms; 3. Rigid collisions can easily occur when the fork tines contact the cable reel, potentially damaging its edge structure; 4. Traditional methods lack precise positioning, requiring repeated adjustments to complete the gripping process, impacting the efficiency of automated production lines. Therefore, there is an urgent need to develop a cable reel gripping mechanism that is compatible with flexible robotic arms and combines precise positioning with flexible gripping capabilities. Utility Model Content

[0003] In order to reduce labor intensity, minimize safety hazards, and improve the efficiency of wire reel gripping, this application provides a wire reel gripping mechanism.

[0004] This application provides a wire reel gripping mechanism, which adopts the following technical solution:

[0005] A wire reel gripping mechanism, comprising:

[0006] A mounting frame, configured to connect a flexible robotic arm;

[0007] A sliding plate is slidably mounted on the fixed frame;

[0008] The drive module is connected to the sliding plate and drives the sliding plate to move in a predetermined direction;

[0009] A shaft is connected to the sliding plate and located below the sliding plate, and the extension direction of the shaft is parallel to the movement direction of the sliding plate. The shaft is configured to be inserted into the central through hole of the coil.

[0010] The abutment module is configured to apply a radial clamping force to the reel after the reel is inserted by the shaft.

[0011] By adopting the above technical solution, this application realizes the automated gripping and fixing of the wire reel. By inserting the shaft into the central through hole of the wire reel and cooperating with the radial clamping force or supporting force of the abutment module, the safety risks of manual handling are avoided, the labor intensity is reduced, and the gripping efficiency of the wire reel is improved. In addition, compared with the wire reel transported by forklift, this application is adapted to the narrow working space of the flexible robotic arm, improving the gripping stability and spatial adaptability.

[0012] Optionally, the shaft is connected to the sliding plate via a connector, and the connector is equipped with a visual positioning module.

[0013] By adopting the above technical solution, the connector provides rigid support for the shaft, while the integration of the vision positioning module enables precise positioning before grasping, effectively solving the problem of grasping failure caused by the position deviation of the reel and significantly improving the grasping success rate.

[0014] Optionally, the visual positioning module includes a camera bracket mounted on the connector and a 3D vision sensor mounted on the camera bracket.

[0015] By adopting the above technical solution, the 3D vision sensor acquires the spatial pose data of the coil in real time. By aligning it with the extension direction of the shaft, it ensures the precise matching of the shaft insertion action with the center through hole of the coil, reducing manual calibration time.

[0016] Optionally, the abutment module includes at least two abutment actuators located on either side above the shaft.

[0017] By adopting the above technical solution, the distributed pressure actuators help to form a balanced clamping force on both sides above the shaft, preventing the reel from tilting or slipping during the gripping process. At the same time, the clamping pressure is distributed to avoid deformation damage to the outer edge of the reel caused by single-point force.

[0018] Optionally, the actuating end of the pressure actuator is provided with a pressure member for pressing against the outer edge of the coil.

[0019] By adopting the above technical solution, the pressing component acts on the outer edge of the coil through the pressing actuator, and its contact surface is adapted to coils of different diameters to ensure clamping stability.

[0020] Optionally, the drive module is a pneumatic drive module, which is mounted on a fixed frame, and the piston rod of the pneumatic drive module is connected to a sliding plate.

[0021] By adopting the above technical solution, the pneumatic drive module provides a fast-response linear drive force, realizing high-precision displacement control of the sliding plate in a narrow space. Its compact structure is conducive to the lightweighting of the gripping mechanism.

[0022] Optionally, the fixing frame is provided with a guide rail, and the sliding plate forms a sliding pair with the guide rail through a slider. The extension direction of the guide rail is parallel to the axis of the shaft.

[0023] By adopting the above technical solution, the cooperation between the guide rail and the slider constrains the movement trajectory of the sliding plate, eliminates lateral offset error during the driving process, and significantly improves the reliability of gripping.

[0024] Optionally, the end of the shaft away from the connector is provided with a tapered guide surface.

[0025] By adopting the above technical solution, the tapered guide surface generates a self-centering effect during the shaft insertion process, which can compensate for angular deviations within a certain range and improve the smoothness of the shaft insertion action.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. This application realizes the automated gripping and fixing of the wire reel. By inserting the shaft into the central through hole of the wire reel and cooperating with the radial clamping force or supporting force of the abutment module, the safety risks of manual handling are avoided, the labor intensity is reduced and the gripping efficiency of the wire reel is improved. In addition, compared with the wire reel transported by forklift, this application is adapted to the narrow working space of the flexible robotic arm, improving the gripping stability and spatial adaptability.

[0028] 2. By setting up the visual positioning module, precise positioning before grasping is achieved, effectively solving the problem of grasping failure caused by the position deviation of the reel, and significantly improving the grasping success rate.

[0029] 3. By setting up the pressure actuators, the distributed pressure actuators help to form a balanced clamping force on both sides above the shaft, preventing the reel from tilting or slipping during the gripping process. At the same time, the clamping pressure is distributed to avoid deformation damage to the outer edge of the reel caused by single-point force. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a gripping mechanism for a reel according to an embodiment of this application.

[0031] Figure 2 This is a schematic diagram of the structure of an embodiment of this application when the coil grasping action is completed.

[0032] Figure 3 This is the front view of an embodiment of this application.

[0033] Figure 4 This is a schematic diagram illustrating the structure when the sliding block is located at the farthest end of the drive module in the embodiments of this application.

[0034] Figure 5 This is a left view of an embodiment of this application.

[0035] Explanation of reference numerals in the attached drawings: 1. Fixing frame; 11. Cylinder fixing plate; 12. Guide rail; 2. Sliding plate; 21. Connecting vertical plate; 22. Slider; 3. Drive module; 4. Shaft; 41. Gradient guide surface; 5. Abutment module; 51. Abutment actuator; 52. Abutment component; 6. Connector; 7. Visual positioning module; 71. Camera bracket; 72. 3D vision sensor. Detailed Implementation

[0036] The following combination Figures 1-5 This application will be described in further detail below.

[0037] Example:

[0038] This application discloses a gripping mechanism for a wire reel. (Refer to...) Figure 1 and Figure 2 A wire reel gripping mechanism includes a fixed frame 1, a sliding plate 2, a drive module 3, a shaft 4, and an abutment module 5. The fixed frame 1 is detachably fixed to the end of a flexible robotic arm via bolts and nuts. The sliding plate 2 is slidably mounted on the fixed frame 1. The drive module 3 is connected to the sliding plate 2 and drives it to move in a predetermined direction. The shaft 4 is located below the sliding plate 2, and its extension direction is parallel to the moving direction of the sliding plate 2, for insertion into the central through hole of the wire reel. The abutment module 5 is located on the fixed frame 1 and is used to apply radial clamping force or supporting force to the wire reel after the shaft 4 is inserted.

[0039] This gripping mechanism enables automated gripping and fixing of the wire reel: by inserting the shaft 4 into the central through hole of the wire reel and cooperating with the radial clamping force or supporting force of the abutment module 5, the safety risks of manual handling are avoided, the labor intensity is reduced, and the gripping efficiency of the wire reel is improved. In addition, compared with the wire reel transported by forklift, this application is adapted to the narrow working space of the flexible robotic arm, improving gripping stability and spatial adaptability.

[0040] Reference Figures 3-4 The drive module 3 is a pneumatic drive module. A cylinder fixing plate 11 is fixed to one side of the fixing frame 1, and the pneumatic drive module is mounted on the cylinder fixing plate 11. A connecting vertical plate 21 is welded onto the sliding plate 2, and the piston rod of the pneumatic drive module is connected to the connecting vertical plate 21. In this way, the pneumatic drive module provides a fast-response linear drive force, realizing high-precision displacement control of the sliding plate 2 in a narrow space. Its compact structure is conducive to the lightweighting of the gripping mechanism.

[0041] Reference Figure 4 To eliminate the lateral offset error in the above driving process and improve the gripping reliability, a guide rail 12 is fixed at the lower end of the fixed frame 1, and a slider 22 is fixed at the upper end of the sliding plate 2. The slider 22 is adapted to the guide rail 12 and forms a sliding pair. The extension direction of the guide rail 12 is parallel to the axis of the shaft 4.

[0042] Reference Figure 1 and Figure 3A connector 6 is fixed to the lower end of the sliding plate 2, and a shaft 4 is fixed to one side of the connector 6. A visual positioning module 7 is provided on the connector 6. In this embodiment, the connector 6 can be a rigid component such as a rod, plate, or beam. In this way, the connector 6 provides rigid support for the shaft 4, and the integration of the visual positioning module 7 enables precise positioning before grasping, effectively solving the problem of grasping failure caused by the deviation of the coil position, and significantly improving the grasping success rate.

[0043] Reference Figure 1 The visual positioning module 7 includes a camera bracket 71 fixed to the side wall of the connector 6 and a 3D vision sensor 72 mounted on the camera bracket 71. During operation, the 3D vision sensor 72 acquires the spatial pose data of the coil in real time. By aligning it with the extension direction of the shaft 4, it ensures precise matching between the insertion action of the shaft 4 and the central through hole of the coil, reducing manual calibration time.

[0044] Reference Figure 3 and Figure 4 The end of the shaft 4 away from the connector 6 is provided with a tapered guide surface 41, which can generate a self-centering effect during the insertion of the shaft 4, and can compensate for angular deviation within a certain range, which is beneficial to improving the smoothness of the insertion action of the shaft 4.

[0045] Reference Figure 2 and Figure 5 The abutment module 5 includes at least two abutment actuators 51 located on both sides above the shaft 4. The abutment ends of the abutment actuators 51 are fixed with abutment members 52 for pressing against the outer edge of the coil. In this embodiment, the abutment actuators 51 are abutment cylinders, and two are provided. The two abutment actuators 51 are symmetrically arranged and installed at an angle (the angle with the vertical direction) of 30° to 60°. The abutment member 52 is a pressing plate. Thus, the dispersed abutment actuators 51 help to form a balanced clamping force on both sides above the shaft 4, preventing the coil from tilting or slipping during gripping, while also dispersing the clamping pressure to avoid deformation damage to the outer edge of the coil caused by single-point force.

[0046] The implementation principle of the wire reel gripping mechanism in this embodiment is as follows: When gripping the wire reel, firstly, the flexible robotic arm carries the gripping mechanism to the wire reel working area; then, the 3D vision sensor 72 scans the position of the wire reel and calculates the insertion path of the shaft 4; next, the drive module 3 pushes the sliding plate 2 forward, and the shaft 4 inserts into the center through hole of the wire reel; finally, the pressure actuators 51 on both sides act synchronously, causing the pressure member 52 to clamp the outer edge of the wire reel. After the flexible robotic arm lifts the wire reel to the target work position, all actuators reset to prepare for gripping the next wire reel.

[0047] This application realizes the automated gripping and fixing of the wire reel. By inserting the shaft 4 into the central through hole of the wire reel and cooperating with the radial clamping force or supporting force of the abutment module 5, the safety risks of manual handling are avoided, the labor intensity is reduced and the gripping efficiency of the wire reel is improved. In addition, compared with the wire reel transported by forklift, this application is adapted to the narrow working space of the flexible robotic arm, improving the gripping stability and spatial adaptability.

[0048] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A coil gripping mechanism characterized by comprising: The application relates to a fixing frame (1) configured to connect a flexible mechanical arm, a sliding plate (2) slidably arranged on the fixing frame (1), a driving module (3) connected with the sliding plate (2) and driving the sliding plate (2) to move in a predetermined direction, a shaft rod (4) connected with the sliding plate (2) and arranged below the sliding plate (2), the extending direction of the shaft rod (4) being the same as the moving direction of the sliding plate (2), the shaft rod (4) being configured to be inserted into a central through hole of a wire reel, and an abutting module (5) configured to exert a radial clamping force or a supporting force on the wire reel after the wire reel is inserted by the shaft rod (4). The shaft rod (4) is connected with the sliding plate (2) through a connecting piece (6), and a visual positioning module (7) is arranged on the connecting piece (6). The visual positioning module (7) comprises a camera support (71) arranged on the connecting piece (6) and a 3D visual sensor (72) arranged on the camera support (71). The abutting module (5) comprises at least two abutting actuators (51) arranged above both sides of the shaft rod (4). An abutting piece (52) for abutting the outer edge of the wire reel is arranged on the execution end of the abutting actuator (51). The driving module (3) is a pneumatic driving module, the pneumatic driving module is arranged on the fixing frame (1), and a piston rod of the pneumatic driving module is connected with the sliding plate (2).

2. A spool gripping mechanism according to claim 1, wherein: A guide sliding rail (12) is arranged on the fixing frame (1), the sliding plate (2) forms a sliding pair with the guide sliding rail (12) through a sliding block (22), and the extending direction of the guide sliding rail (12) is parallel to the axis of the shaft rod (4).

3. A spool gripping mechanism according to claim 2, wherein: A tapered guide surface (41) is arranged on the end of the shaft rod (4) away from the connecting piece (6).

4. The spool gripping mechanism of claim 1, wherein: ​ 5. A spool gripping mechanism according to claim 4, wherein: ​ 6. A spool gripping mechanism according to claim 1, wherein: ​ 7. A spool gripping mechanism according to claim 1, wherein: ​ 8. A spool gripping mechanism according to claim 1, wherein: ​

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