Self-centering clamping device for paper tube

Abstract

The utility model discloses a self-centering clamping device for a paper tube. The welding device has the beneficial effects that the two welding grippers are symmetrically mounted on the linear guide rail module, and the synchronous connecting rod, the synchronous fisheye bearing, the positioning pin shaft II and the synchronous swinging piece are mounted on the fixed large plate and positioned between the two welding grippers, so that the two welding grippers can synchronously move and clamp under the action of the air cylinder; the situation that the two sides of the steel coil lining paper tube are stressed differently during clamping, so that the steel coil lining paper tube is eccentric is avoided, the clamping and positioning precision of the steel coil lining paper tube is better, efficient replacement of the steel coil lining paper tube is facilitated, meanwhile, the clamping force of a welding gripper is detected in cooperation with a grabbing detection sensor, and the clamping efficiency is improved. And the length detection sensor is matched to detect the length of the steel coil lining paper tube grabbed by the welding gripper, so that the self-centering clamping device can meet the clamping requirements of the paper tubes with different thicknesses, and the use flexibility is better.

Description

Technical Field

[0001] This utility model relates to the field of self-centering clamping technology for paper tubes lining steel coils, and specifically to a self-centering clamping device for paper tubes. Background Technology

[0002] Self-centering clamping with inner paper tubes is a technology commonly used in coil processing and storage to ensure the stability of steel coils and reduce deformation during transportation, stacking, and use. The purpose of this process is to utilize paper tubes and clamping devices to achieve self-centering and clamping of the steel coil, thereby ensuring its safety and stability throughout the entire process.

[0003] Existing paper tube clamping devices are generally divided into internal support clamping and external clamping. Internal support clamping devices usually consist of a conical support structure, a guide mechanism, an actuator, and a gripper. This device extends into the paper tube, and the movement of the actuator drives the gripper to move along the conical direction, thereby clamping the paper tube. External clamping devices usually consist of a hinged gripper, a cylinder, a connecting rod, etc. This type of gripper clamps the paper tube from the outside.

[0004] Currently, internal clamping devices need to extend into the paper tube to clamp it. Therefore, when the paper tube needs to be fully inserted into the winding shaft, it is necessary to insert it first and then push it. This method is more complicated and takes longer. Among external clamping devices, hinged clamping devices usually use a linkage. The clamping center will be offset, which will affect the repeatability accuracy of the robot's operation. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] The technical problem to be solved by this utility model is to provide a paper tube self-centering clamping device that can achieve self-centering of paper tube clamping, adjustable clamping force, and can be inserted into the winding shaft in one go, in view of the current situation of the prior art.

[0007] (II) Technical Solution

[0008] This utility model is achieved through the following technical solution: This utility model proposes a self-centering clamping device for paper tubes, including a clamping connecting rod. A fixed plate is installed at one end of the clamping connecting rod. Two cylinders are symmetrically installed on both sides of the upper end of the fixed plate. The telescopic part of each cylinder is connected to a gripper connecting block through a cylinder fisheye bearing. A welding gripper is connected to the bottom end of the gripper connecting block. Two linear guide rail modules for moving and guiding the welding grippers are symmetrically installed on both sides of the fixed plate. A synchronous swing component is installed at the bottom end of the fixed plate between the two welding grippers. A synchronous connecting rod is connected to the corresponding welding gripper at both ends of the synchronous swing component through positioning pins. A synchronous shaft is installed between the top end of the synchronous swing component and the fixed plate through a round nut. A length detection sensor is installed on one side of the bottom end of the fixed plate. A gripping detection sensor is installed at the top end of the fixed plate at one of the gripper connecting blocks.

[0009] Furthermore, a positioning pin is installed between the cylinder fisheye bearing and the gripper connecting block, and a friction plate is installed on the lower side of the clamping surface of the welding gripper.

[0010] Furthermore, the synchronous connecting rod is connected to the welding gripper via a synchronous fisheye bearing, and the welding gripper slides in conjunction with the linear guide module.

[0011] Furthermore, the gripper connecting block is bolted to the welded gripper, and the gripper connecting block penetrates the fixed plate and slides with the fixed plate.

[0012] Furthermore, two positioning bushings are symmetrically installed on both sides of the top of the fixed plate, and an electrical box is installed on one side wall of the clamp connecting rod.

[0013] Furthermore, a quick-change female head is connected to one end of the clamp connecting rod facing away from the fixed plate, and a robot connecting flange is installed on one side of the quick-change female head.

[0014] Furthermore, a quick-change male connector is connected between the robot connecting flange and the quick-change female connector.

[0015] (III) Beneficial Effects

[0016] Compared with the prior art, this utility model has the following advantages:

[0017] This invention symmetrically installs two welding grippers on a linear guide module, and installs a synchronous connecting rod, synchronous fisheye bearing, positioning pin, and synchronous swing element between the two welding grippers on a fixed plate. This allows the two welding grippers to move and clamp synchronously under the action of a cylinder, avoiding eccentricity caused by uneven force on both sides of the steel coil inner liner during clamping. This results in better clamping and positioning accuracy of the steel coil inner liner, facilitating efficient replacement of the inner liner. Simultaneously, a gripping detection sensor detects the clamping force of the welding grippers, and a length detection sensor detects the length of the steel coil inner liner gripped by the welding grippers. This allows the self-centering clamping device to adapt to the clamping requirements of paper coils of different thicknesses, providing greater flexibility in use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the self-centering clamping device for paper tubes described in this utility model;

[0019] Figure 2 This is a bottom view of the self-centering clamping device for paper tubes described in this utility model;

[0020] Figure 3 This is a front view of a paper tube self-centering clamping device according to the present invention.

[0021] The annotations in the attached figures are explained as follows:

[0022] 1. Robot connecting flange; 2. Quick-change male connector; 3. Quick-change female connector; 4. Fixture connecting rod; 5. Fixing plate; 6. Positioning bushing; 7. Welding gripper; 8. Friction plate; 9. Linear guide module; 10. Gripping detection sensor; 11. Gripper connecting block; 12. Cylinder fisheye bearing; 13. Positioning pin one; 14. Cylinder; 15. Electrical box; 16. Synchronous fisheye bearing; 17. Length detection sensor; 18. Synchronous connecting rod; 19. Positioning pin two; 20. Synchronous swing component; 21. Round nut; 22. Synchronous shaft. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0024] like Figures 1-3As shown, a paper tube self-centering clamping device in this embodiment includes a clamping connecting rod 4. A fixed plate 5 is installed at one end of the clamping connecting rod 4. Two cylinders 14 are symmetrically installed on both sides of the upper end of the fixed plate 5. The telescopic part of each cylinder 14 is connected to a gripper connecting block 11 through a cylinder fisheye bearing 12. A welding gripper 7 is connected to the bottom end of the gripper connecting block 11. The welding gripper 7 is the main component for clamping the paper tube liner inside the steel coil. Two linear guide rail modules 9 are symmetrically installed on the two side walls of the fixed plate 5 to guide the movement of the welding gripper 7. Under the action of the linear guide rail modules 9, the smooth movement of the welding gripper 7 can be ensured. The bottom end of the fixed plate 5 is located between the two welding grippers 7. A synchronous swing element 20 is installed between the two ends of the synchronous swing element 20 and the corresponding welding gripper 7, respectively, through positioning pins 19 to connect a synchronous connecting rod 18. A synchronous shaft 22 is installed between the top of the synchronous swing element 20 and the fixed plate 5 through a round nut 21. A length detection sensor 17 is installed on one side of the bottom of the fixed plate 5. The length detection sensor 17 is mainly used to detect the thickness dimension of the paper tube inside the steel coil. A gripping detection sensor 10 is installed at one of the gripper connecting blocks 11 at the top of the fixed plate 5. The gripping detection sensor 10 is mainly used to detect the gripping force of the welding gripper 7 to avoid excessive gripping force when the welding gripper 7 grips.

[0025] like Figures 1-3 As shown, in this embodiment, a positioning pin 13 is also installed between the cylinder fisheye bearing 12 and the gripper connecting block 11. A friction plate 8 is also installed on the lower side of the clamping surface of the welding gripper 7. The friction plate 8 can increase the friction between the welding gripper 7 and the inner paper tube of the steel coil, preventing the steel coil paper tube from falling accidentally during gripping. The synchronous connecting rod 18 is connected to the welding gripper 7 through the synchronous fisheye bearing 16. The welding gripper 7 slides with the linear guide module 9. The synchronous fisheye bearing 16 can ensure convenient rotation between the synchronous connecting rod 18 and the welding gripper 7.

[0026] like Figures 1-3As shown, in this embodiment, the gripper connecting block 11 is bolted to the welding gripper 7. The gripper connecting block 11 passes through the fixed plate 5 and slides with the fixed plate 5. The fixed plate 5 is mainly used to provide an installation base for the welding gripper 7 and the linear guide module 9. Two positioning bushings 6 are also symmetrically installed on both sides of the top of the fixed plate 5. The positioning bushings 6 can cooperate with the external positioning rods to ensure the stability of the device's movement when gripping. An electrical box 15 is installed on one side wall of the clamp connecting rod 4. A quick-change female head 3 is connected to the end of the clamp connecting rod 4 facing away from the fixed plate 5. A robot connecting flange 1 is installed on one side of the quick-change female head 3. With the help of the robot connecting flange 1, the device can be conveniently connected to the robot arm to realize the application of the device in the automated processing of the inner lining paper tube of the steel coil. A quick-change male head 2 is connected between the robot connecting flange 1 and the quick-change female head 3. The quick-change male head 2 cooperates with the quick-change female head 3 to realize the convenient disassembly of the main body of the device to facilitate the convenient replacement of the main body of the device.

[0027] The specific implementation process of this embodiment is as follows: When gripping and replacing the inner paper tube of the steel coil, the device is first connected to the external robot arm through the robot connecting flange 1. Then, the device is connected only to the external power supply and control components to put the device into use. During use, the welding gripper 7 is moved by the cylinder 14. While moving, the two welding grippers 7 can move and clamp synchronously under the action of the cylinder 14 by means of the synchronous connecting rod 18, the synchronous fisheye bearing 16, the positioning pin 19, and the synchronous swing component 20. This avoids the eccentricity caused by different forces on both sides of the inner paper tube of the steel coil during clamping, resulting in better clamping and positioning accuracy of the inner paper tube of the steel coil, which facilitates efficient replacement of the inner paper tube of the steel coil. At the same time, the gripping detection sensor 10 is used to detect the clamping force of the welding gripper 7, and the length detection sensor 17 is used to detect the length of the inner paper tube of the steel coil gripped by the welding gripper 7. This allows the self-centering clamping device to adapt to the clamping requirements of paper tubes of different thicknesses, making it more flexible to use.

[0028] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-centering clamping device for paper tubes, characterized in that: The system includes a clamping connecting rod (4), one end of which is fitted with a fixed plate (5). Two cylinders (14) are symmetrically mounted on both sides of the upper end of the fixed plate (5). The telescopic part of each cylinder (14) is connected to a gripper connecting block (11) via a cylinder fisheye bearing (12). A welding gripper (7) is connected to the bottom end of the gripper connecting block (11). Two linear guide rail modules (9) are symmetrically mounted on both sides of the fixed plate (5) to guide the movement of the welding gripper (7). The bottom end of the fixed plate (5) is located at the two welding... A synchronous swing member (20) is installed between the grippers (7). The two ends of the synchronous swing member (20) are connected to the corresponding welding grippers (7) by a synchronous connecting rod (18) through a positioning pin (19). A synchronous shaft (22) is installed between the top of the synchronous swing member (20) and the fixed plate (5) through a round nut (21). A length detection sensor (17) is installed on one side of the bottom end of the fixed plate (5). A gripping detection sensor (10) is installed at one of the gripper connecting blocks (11) at the top of the fixed plate (5).

2. The self-centering clamping device for paper tubes according to claim 1, characterized in that: A positioning pin (13) is also installed between the cylinder fisheye bearing (12) and the gripper connecting block (11), and a friction plate (8) is also installed on the lower side of the clamping surface of the welding gripper (7).

3. The self-centering clamping device for paper tubes according to claim 1, characterized in that: The synchronous connecting rod (18) is connected to the welding gripper (7) through a synchronous fisheye bearing (16), and the welding gripper (7) is slidably engaged with the linear guide module (9).

4. The self-centering clamping device for paper tubes according to claim 3, characterized in that: The gripper connecting block (11) is bolted to the welding gripper (7), and the gripper connecting block (11) passes through the fixed plate (5) and slides with the fixed plate (5).

5. The self-centering clamping device for paper tubes according to claim 1, characterized in that: Two positioning bushings (6) are symmetrically installed on both sides of the top of the fixed plate (5), and an electrical box (15) is installed on one side wall of the clamp connecting rod (4).

6. The self-centering clamping device for paper tubes according to claim 1, characterized in that: The clamp connecting rod (4) is connected to a quick-change female head (3) at one end facing away from the fixed plate (5), and a robot connecting flange (1) is installed on one side of the quick-change female head (3).

7. The self-centering clamping device for paper tubes according to claim 6, characterized in that: A quick-change male connector (2) is connected between the robot connecting flange (1) and the quick-change female connector (3).

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