Clamp and robot

Abstract

A clamp and a robot are used for clamping a steel coil sleeve, the clamp comprises a support, the support extends in the first direction, and a connecting part is arranged at one end of the support; the clamping rods extend in the first direction, the multiple clamping rods are arranged in the second direction, and the second direction is the circumferential direction of the support; one end of the pose connecting rod is hinged to the support, and the other end of the pose connecting rod is hinged to the clamping rod; and the driving cylinder is arranged on the bracket, is in transmission connection with the pose connecting rod, and drives the pose connecting rod to rotate on the bracket, so that the other end of the pose connecting rod is far away from / close to the bracket, and the plurality of clamping rods are far away from / close to each other. After the clamp extends into the steel coil sleeve, the posture connecting rod is driven by the driving cylinder to rotate, the other end of the posture connecting rod is made to be far away from the support, and therefore the clamping rods are made to be far away from the support, the multiple clamping rods are expanded, clamping and fixing of the steel coil sleeve are achieved, and loading, unloading and logistics carrying of the steel coil sleeve in the whole steel coil production process can be achieved in cooperation with a robot.

Description

Technical Field

[0001] This utility model relates to the technical field of steel coil production equipment, and in particular to a clamp and robot. Background Technology

[0002] A coil sleeve is a tubular device used in the steel industry to wind and support steel coils. It is generally cylindrical and its main functions include providing support, precise positioning, and power transmission during the steel coil production process, as well as protection and handling / lifting during transportation. The inner diameter of the coil sleeve depends on the specifications of the steel coil it is used with, and is generally available in various sizes such as 508mm, 610mm, and 762mm. The material of the coil sleeve also depends on the steel coil manufacturing process, and various materials are available, including steel sleeves, rubber sleeves, and paper sleeves.

[0003] In the steel coil production process of the metallurgical industry, different types and materials of sleeves are needed to prevent the inner coil from collapsing and deforming. The rapid loading, unloading, and handling of these sleeves is a crucial step in steel coil production. With the increasing adoption of automated equipment in steel coil production, robots, due to their flexibility and adaptability, have become the preferred choice for many steel mills for the rapid loading, unloading, and handling of sleeves.

[0004] In the process of rapid loading, unloading, and handling of coil sleeves by robots, the robot gripper is a key factor determining the overall performance. Steel coil sleeves are heavy and come in various sizes and material specifications; therefore, designing a rapid loading, unloading, and handling robot gripper suitable for multiple sleeve specifications is of great significance to the entire steel coil production process. Utility Model Content

[0005] In view of the above-mentioned problems of the prior art, this application provides a clamp and a robot that can be adapted to steel coil sleeves of different specifications, so as to realize the rapid handling of steel coil sleeves of different specifications.

[0006] To achieve the above objectives, a first aspect of this application provides a clamp for gripping steel coil sleeves, comprising: a bracket extending along a first direction, one end of which is provided with a connecting portion for connecting to a robot's robotic arm; a clamping rod extending along the first direction, wherein multiple clamping rods are arranged along a second direction, the second direction being the circumferential direction of the bracket; a drive cylinder disposed on the bracket, located at the middle of the multiple clamping rods, having a drive rod extending along the first direction; a pose linkage, one end of which is hinged to the bracket, and the other end of which is hinged to the clamping rod; the pose linkage rotates on the bracket, causing the other end of the pose linkage to move away from / approach the bracket along the first direction, thereby causing the multiple clamping rods to move away from / approach each other; and a transmission linkage, one end of which is hinged to the drive rod, and the other end of which is hinged to the clamping rod.

[0007] As described above, after adjusting the first direction of the clamp to extend along the axial direction of the steel coil sleeve, the clamp is inserted into the steel coil sleeve. The drive cylinder drives the clamping rod to move through the transmission linkage, and in conjunction with the action of the position linkage, the clamping rod moves stably away from the support. By moving multiple clamping rods away from each other, they can expand and, after abutting against the inner circumferential surface of the steel coil sleeve, achieve clamping and fixing of the steel coil sleeve from within the sleeve. Combined with the robot, this enables the loading, unloading, and logistics handling of steel coil sleeves throughout the entire steel coil production process.

[0008] Furthermore, the position linkage can be rotated to different angles by a drive cylinder, thereby adjusting the distance between the position linkage and the support, and consequently adjusting the distance and expansion of the multiple clamping rods. This allows the fixture to be adapted to steel coil sleeves of different sizes and specifications, enabling rapid handling of steel coil sleeves of various specifications, and providing a wide clamping range.

[0009] As one possible implementation of the first aspect, the fixture further includes: a first sensor, the first sensor being used to identify the position information of the steel coil sleeve, and the robot correcting the gripping posture of the fixture based on the position information.

[0010] As described above, after obtaining the position information of the steel coil sleeve through the first sensor, the robot can correct the gripping posture of the fixture based on the position information, thereby improving the positional accuracy of the fixture when it is inserted into the steel coil sleeve, so that the fixture can be smoothly inserted into the steel coil sleeve.

[0011] As one possible implementation of the first aspect, the first sensor is also used to identify the diameter information of the steel coil sleeve, the diameter information being compared with the pre-stored diameter of the steel coil sleeve, and when the comparison result is inconsistent, the robot controls the fixture to stop.

[0012] As described above, the diameter information of the steel coil sleeve obtained by the first sensor can be compared with the pre-stored diameter information of steel coil sleeves. When the comparison result is consistent, that is, when the diameter information identified by the first sensor is the same as the pre-stored diameter information, it can be confirmed that the steel coil sleeve is accurate, and the fixture can clamp the steel coil sleeve. When the comparison result is inconsistent, that is, when the diameter information identified by the first sensor is different from the pre-stored diameter information, it can be confirmed that there is an error in the steel coil sleeve, and this steel coil sleeve is not the one that the fixture needs to clamp. Therefore, by controlling the fixture to stop, operators can easily confirm and handle the situation in a timely manner, avoiding errors and affecting the production process.

[0013] As one possible implementation of the first aspect, the drive rod extends from the other end of the bracket; the clamp further includes: a connector mounted on the end of the drive rod, the first sensor mounted on the connector at a position away from the end of the drive rod, and one end of the transmission link hinged to the connector.

[0014] As described above, by setting up a connecting piece, the transmission link can be easily hinged to the drive rod. Furthermore, by mounting the first sensor on the connecting piece, positioning it at the end furthest from the drive rod, the first sensor can be positioned at the corresponding end of the bracket. Therefore, when the drive clamp extends into the steel coil sleeve to grip it, the first sensor can be positioned facing the steel coil sleeve, facilitating its identification. Additionally, using the connecting piece for mounting the transmission link eliminates the need for a separate component for mounting the first sensor, resulting in a more compact fixture structure and reduced manufacturing costs.

[0015] As one possible implementation of the first aspect, the clamp further includes: a second sensor disposed on the clamping rod, which detects whether the clamping rod abuts against the inner circumferential surface of the steel coil sleeve, and controls the drive cylinder to stop when the clamping rod abuts against the inner circumferential surface of the steel coil sleeve.

[0016] As described above, by detecting whether the clamping rod is in contact with the steel coil sleeve using the second sensor, it can be determined whether the clamp has successfully clamped and fixed the steel coil sleeve. This reduces the difficulty of controlling the clamp and effectively prevents damage to the steel coil sleeve due to excessive clamping force.

[0017] As one possible implementation of the first aspect, viewed along the first direction, the plurality of clamping rods are located on the same working circle (the clamping rods abut against the inner circumferential surface of the steel coil sleeve, and when clamping the steel coil sleeve, the clamping rods are arranged along the circle, which is the working circle); the second sensor is a position detection switch, and the second sensor is exposed from the outside of the working circle.

[0018] As described above, by exposing the second sensor from the outside of the working circle, it is possible to ensure that the second sensor (position detection switch) is triggered when the clamping rod abuts against the inner circumferential surface of the steel coil sleeve, thereby improving the success rate of detection.

[0019] As one possible implementation of the first aspect, the other end of the pose link and the transmission link is tilted in a direction opposite to the first direction.

[0020] As one possible implementation of the first aspect, at least one of the clamping rods is provided with a plurality of the pose linkages.

[0021] As described above, by connecting the clamping rod to the bracket through multiple position linkages, the stability of the clamping rod can be improved, which in turn can improve the stability of the clamp when holding and transporting the steel coil sleeve.

[0022] As one possible implementation of the first aspect, the multiple pose linkages corresponding to the clamping rod are of equal length and arranged in parallel.

[0023] As described above, by ensuring that the multiple position links corresponding to the clamping rod are of equal length and arranged in parallel, a parallelogram structure can be formed between the clamping rod and the position links. Therefore, when the drive cylinder drives the position links to rotate, the clamping rod remains parallel to the first direction. This increases the contact area between the clamping rod and the inner circumferential surface of the steel coil sleeve when clamping and fixing it, thereby improving the stability of the fixture when clamping and transporting the steel coil sleeve.

[0024] As one possible implementation of the first aspect, the acute angle formed between the transmission link and the clamping rod is greater than the acute angle formed between the pose link and the clamping rod.

[0025] As described above, this application uses a transmission link to connect the clamping rod and the drive rod of the drive cylinder, driving the clamping rod to move along a first direction, thereby driving the position link to rotate (i.e., the transmission link is the driving link, and the position link is the driven link), causing the clamping rod to move away from / approach the support. By making the acute angle formed between the transmission link and the clamping rod (i.e., the transmission angle; the larger the transmission angle, the greater the force decomposed into the direction perpendicular to the clamping rod) greater than the acute angle formed between the position link and the clamping rod, the transmission angle of the transmission link can be made greater than the transmission angle when the position link is the driving link. Therefore, the force applied to the clamping rod perpendicular to the clamping rod direction can be increased, i.e., the pressure between the clamping rod and the inner circumferential surface of the steel coil sleeve can be increased, thereby improving the firmness and stability of the clamp on the steel coil sleeve.

[0026] As one possible implementation of the first aspect, three clamping rods are provided, and when viewed along the first direction, the three clamping rods are arranged in an acute-angled triangle.

[0027] As described above, by arranging the three clamping rods in an acute-angled triangle, it can be ensured that all three clamping rods can abut against the inner circumferential surface of the steel coil sleeve when the three clamping rods expand, thereby improving the stability of the clamp in holding and fixing the steel coil sleeve.

[0028] As one possible implementation of the first aspect, the three clamping rods are arranged in an equilateral triangle when viewed along the first direction.

[0029] As shown above, by arranging the three clamping rods in a single-sided triangle, the clamping force applied to the steel coil sleeve by the three clamping rods can be made more uniform, thereby improving the stability of the clamp in clamping and fixing the steel coil sleeve.

[0030] As one possible implementation of the first aspect, the clamping rod has a pad on its surface away from the support, the pad being made of a flexible material.

[0031] Therefore, by placing a pad made of flexible material on the surface of the clamping rod away from the support, damage to the steel coil sleeve can be reduced when the clamp holds the steel coil sleeve.

[0032] The second aspect of this application provides a robot for handling steel coil sleeves, comprising: a clamp, the clamp being any one of the clamps described in the first aspect of this application; and a robotic arm, the robotic arm being fixedly connected to a connecting portion of a support, and driving the clamp to move.

[0033] As described above, after adjusting the first direction of the clamp to extend along the axial direction of the steel coil sleeve, the clamp is inserted into the steel coil sleeve. The position linkage is rotated by a drive cylinder, causing the other end of the position linkage to move away from the support, thereby moving the clamping rods away from the support. By moving the multiple clamping rods away from each other, they can expand and, after abutting against the inner circumferential surface of the steel coil sleeve, clamp and fix the steel coil sleeve. Furthermore, the position linkage can be rotated to different angles by the drive cylinder, thereby adjusting the distance between the position linkage and the support, and consequently adjusting the size of the expansion and separation of the multiple clamping rods. Therefore, the clamp can be adapted to steel coil sleeves of different sizes and specifications, enabling rapid handling of steel coil sleeves of different specifications.

[0034] These and other aspects of this invention will become more readily apparent in the following description of several embodiments. Attached Figure Description

[0035] The various features of this utility model and the relationships between them are further explained below with reference to the accompanying drawings. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to this application, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit this application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0036] Figure 1 This is a schematic diagram of the fixture in this application;

[0037] Figure 2 for Figure 1A schematic diagram of the structure after the clamp extends into the steel coil sleeve;

[0038] Figure 3 for Figure 1 A three-dimensional structural diagram of the main body of the central support;

[0039] Figure 4 for Figure 1 A three-dimensional structural diagram of the clamping rod, the posture linkage, and the transmission linkage;

[0040] Figure 5 for Figure 1 A three-dimensional structural diagram of the connector in the diagram.

[0041] Explanation of reference numerals in the attached figures

[0042] 10. Fixture; 100. Bracket; 110. Main body; 111. Hole; 112. Through hole; 113. Ear plate; 120. First connecting part; 200. Clamping rod; 210. Washer; 300. Positioning link; 400. Transmission link; 500. Drive cylinder; 510. Drive rod; 600. Connector; 610. Second connecting part; 620. Third connecting part; 630. Fourth connecting part; 631. Threaded ear plate; 700. First sensor; 800. Second sensor; 20. Steel coil sleeve. Detailed Implementation

[0043] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0044] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, or component, but does not exclude the presence or addition of one or more other features, integrals, or components, or groups thereof. Thus, the statement "equipment comprising means A and B" should not be limited to an equipment consisting solely of components A and B.

[0045] The terms "an embodiment" or "an embodiment" as used in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of the present invention. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0046] To facilitate the robot's clamping and securing of steel coil sleeves, one solution involves equipping the robot with a dedicated gripper and a steel coil sleeve compatible with the gripper. Specifically, the coil sleeve is positioned with the eye facing upwards, and a support block is installed inside the sleeve. The gripper includes a cylinder, a rotary servo motor, and a movable mounting plate. The cylinder body is connected to the external rotary servo motor, and the bottom of the cylinder's piston rod is connected to the movable mounting plate. The cylinder drives the movable mounting plate to extend and retract within the sleeve. The rotary servo motor controls the rotation of the cylinder and the movable mounting plate. A support block is located on the inner wall of the sleeve, used by the rotary servo motor to control the movable mounting plate to move away from or rest against the bottom of the support block. Several expansion and contraction devices are located on the side of the cylinder's piston rod, used to abut against the inner wall of the sleeve when the piston rod rises.

[0047] When the steel coil sleeve needs to be gripped, the moving drive mechanism enters the sleeve as a whole, at which point the movable hanging plate is parallel to the support block. When it reaches the designated position, the rotating servo motor drives the mechanism to rotate, causing the movable hanging plate and support block to become perpendicular, thus supporting the sleeve. Then, the cylinder drives the piston rod upward, lifting the connecting plate of the expansion and contraction device. Through the connecting strip, the sector plate expands outward, pressing against the inner wall of the sleeve. Since the sector plate and the sleeve are coaxial, the sleeve is precisely positioned during gripping, facilitating accurate placement during subsequent operations. Both the movable hanging plate and the expansion and contraction device provide strong support for the sleeve.

[0048] However, this method has the following drawbacks when used to clamp and fix steel coil sleeves:

[0049] First, there are restrictions on the placement of the steel coil sleeve. When using a clamp to grip the steel coil sleeve, the coil eye must be facing upwards.

[0050] Secondly, there are limitations on the structure of the steel coil sleeve. A support block adapted to the movable hanging plate needs to be set on the inner circumference of the steel coil sleeve, so that the movable hanging plate can pass over the support block and rotate to be located below the support block, supported by the bottom of the support block.

[0051] Third, the fixture has a complex structure. While the movable hanging plate supports the bottom of the support block, the fan-shaped plate of the expansion and contraction device expands outward and presses against the inner wall of the sleeve, accurately positioning the sleeve during gripping, which facilitates the precise placement requirements during subsequent placement.

[0052] Hereinafter, with reference to the accompanying drawings, possible embodiments of the clamp 10 in this application will be described by way of example.

[0053] This application provides a clamp 10 for gripping a steel coil sleeve 20, including a bracket 100, clamping rods 200, a positioning link 300, a transmission link 400, and a drive cylinder 500. The bracket 100 extends along a first direction A, and one end of the bracket 100 is provided with a first connecting portion 120 for connection to a robot's robotic arm. Multiple clamping rods 200 extend along the first direction A and are arranged along a second direction, which is the circumference of the bracket 100. The drive cylinder 500 is mounted on the bracket 100, located in the middle of the multiple clamping rods 200, and has a drive rod 510 extending along the first direction A. One end of the positioning link 300 is hinged to the bracket 100, and the other end is hinged to the clamping rods 200. The positioning link 300 rotates on the bracket 100, causing the other end of the positioning link 300 to move away from / approach the bracket 100, and causing the multiple clamping rods 200 to move away from / approach each other. One end of the transmission connecting rod 400 is hinged to the drive rod 510, and the other end is hinged to the clamping rod 200.

[0054] As described above, after adjusting the first direction A of the clamp 10 to extend along the axial direction of the steel coil sleeve 20, the clamp 10 is inserted into the steel coil sleeve 20. The drive cylinder 500 drives the clamping rod 200 to move through the transmission link 400. Combined with the action of the position link 300, the clamping rod 200 is stably moved away from the bracket 100. By moving the multiple clamping rods 200 away from each other, the multiple clamping rods 200 can expand and, after abutting against the inner circumferential surface of the steel coil sleeve 20, achieve clamping and fixing of the steel coil sleeve 20 from the inside of the steel coil sleeve 20. With the help of the robot, the loading, unloading, and logistics handling of the steel coil sleeve 20 can be met throughout the entire steel coil production process.

[0055] Furthermore, the position linkage 300 can be rotated to different angles by the drive cylinder 500, thereby adjusting the distance between the position linkage 300 and the bracket 100, and consequently adjusting the size of the multiple clamping rods 200 as they move away from each other. This allows the clamp 10 to be adapted to steel coil sleeves 20 of different sizes and specifications, enabling rapid handling of steel coil sleeves 20 of different specifications, and providing a wide clamping range.

[0056] In some embodiments, the clamp 10 further includes a first sensor 700, which is used to identify the position information of the steel coil sleeve 20. The robot corrects the clamping posture of the clamp 10 based on the position information. Thus, after obtaining the position information of the steel coil sleeve 20 through the first sensor 700, the robot can correct the clamping posture of the clamp 10 based on the position information, thereby improving the positional accuracy of the clamp 10 when it extends into the steel coil sleeve 20, so that the clamp 10 can smoothly extend into the steel coil sleeve 20.

[0057] In some embodiments, the first sensor 700 is further used to identify the diameter information of the steel coil sleeve 20. This diameter information is compared with a pre-stored diameter of the steel coil sleeve 20. When the comparison result is inconsistent, the robot controls the gripper 10 to stop. Thus, the diameter information of the steel coil sleeve 20 obtained by the first sensor 700 can be compared with a pre-stored diameter. When the comparison result is consistent, i.e., the diameter information identified by the first sensor 700 is the same as the pre-stored diameter information, it can be confirmed that the steel coil sleeve 20 is correct, and the gripper 10 can grip the steel coil sleeve 20. When the comparison result is inconsistent, i.e., the diameter information identified by the first sensor 700 is different from the pre-stored diameter information, it can be confirmed that there is an error with the steel coil sleeve 20, and this steel coil sleeve 20 is not the one that the gripper 10 needs to grip. Therefore, by controlling the gripper 10 to stop, operators can easily confirm and handle the situation promptly, avoiding errors and affecting the production process.

[0058] In some embodiments, the drive rod 510 extends from the other end of the bracket 100. The clamp 10 also includes a connector 600, which is mounted on the end of the drive rod 510. A first sensor 700 is mounted on the connector 600 at the end away from the drive rod 510, and one end of the transmission link 400 is hinged to the connector 600. Thus, by providing the connector 600, the transmission link 400 can be easily hinged to the drive rod 510 via the connector 600. In addition, by mounting the first sensor 700 on the connector 600 and positioning it at the end away from the drive rod 510, the first sensor 700 can be positioned at the corresponding position at the other end of the bracket 100. Thus, when the drive clamp 10 extends into the steel coil sleeve 20 to clamp the steel coil sleeve 20, the first sensor 700 can be positioned at the end facing the steel coil sleeve 20, thereby facilitating the first sensor 700 to identify the steel coil sleeve 20. In addition, by using the connector 600 for mounting the transmission link 400 to mount the first sensor 700, there is no need to set up a separate component for mounting the first sensor 700, which makes the structure of the fixture 10 more compact and reduces manufacturing costs.

[0059] In some embodiments, the clamp 10 further includes a second sensor 800, which is disposed on the clamping rod 200. The second sensor 800 detects whether the clamping rod 200 abuts against the inner circumferential surface of the steel coil sleeve 20. When the clamping rod 200 abuts against the inner circumferential surface of the steel coil sleeve 20, the drive cylinder is controlled to stop. Thus, by detecting whether the clamping rod 200 abuts against the steel coil sleeve 20 through the second sensor 800, it can be determined whether the clamp 10 has successfully clamped and fixed the steel coil sleeve 20. This reduces the control difficulty of the clamp 10 and effectively prevents the steel coil sleeve 20 from being damaged due to excessive clamping force.

[0060] In some embodiments, viewed along the first direction A, multiple clamping rods 200 are located on the same working circle R (the clamping rods 200 abut against the inner circumferential surface of the steel coil sleeve 20; when clamping the steel coil sleeve 20, the clamping rods 200 are arranged along a circle, which is the working circle R). The second sensor 800 is a position detection switch, and the second sensor 800 protrudes from the outside of the working circle R. Therefore, by making the second sensor 800 protrude from the outside of the working circle R, it can be ensured that the second sensor 800 (position detection switch) is triggered when the clamping rods 200 abut against the inner circumferential surface of the steel coil sleeve 20, thereby improving the success rate of detection.

[0061] In some embodiments, the other end of the pose link 300 and the transmission link 400 is tilted in a direction opposite to the first direction A.

[0062] In some embodiments, the second sensor 800 is mounted on the clamping rod 200, located on the side of the clamping rod 200 that abuts against the inner circumferential surface of the steel coil sleeve 20. The second sensor 800 and the clamping rod 200 are slidably connected in the direction of approaching / moving away from the bracket 100, thereby allowing the position of the sensor 800 to be adjusted. Thus, when operations such as transport or maintenance do not require the use of the clamp 10, the position of the second sensor 800 can be adjusted so that the second sensor 800 is retracted within the working circle R, preventing potential damage caused by the second sensor 800 being exposed. Alternatively, before using the clamp 10, the position of the second sensor 800 can be adjusted so that the second sensor 800 extends beyond the working circle R, allowing the second sensor 800 to detect and confirm the abutment between the clamping rod 200 and the inner circumferential surface of the steel coil sleeve 20.

[0063] In some embodiments, at least one clamping rod 200 is provided with a plurality of position links 300. Thus, by connecting the clamping rod 200 to the bracket 100 through the plurality of position links 300, the stability of the clamping rod 200 can be improved, thereby improving the stability of the clamp 10 when clamping and transporting the steel coil sleeve 20.

[0064] In some embodiments, the multiple pose linkages 300 corresponding to the clamping rod 200 are of equal length and arranged in parallel. Therefore, by ensuring that the multiple pose linkages 300 corresponding to the clamping rod 200 are of equal length and arranged in parallel, a parallelogram structure is formed between the clamping rod 200 and the pose linkages 300. Thus, when the drive cylinder 500 drives the pose linkages 300 to rotate, the clamping rod 200 remains parallel to the first direction A. This increases the contact area between the clamping rod 200 and the inner circumferential surface of the steel coil sleeve 20 when clamping and fixing the steel coil sleeve 20, thereby improving the stability of the fixture 10 when clamping and transporting the steel coil sleeve 20.

[0065] In some embodiments, the acute angle formed between the transmission link 400 and the clamping link 200 is greater than the acute angle formed between the pose link 300 and the clamping link 200.

[0066] As described above, in this application, the clamping rod 200 is connected to the drive rod 510 of the drive cylinder 500 by the transmission link 400, which drives the clamping rod 200 to move along the first direction A, thereby driving the pose link 300 to rotate (i.e., the transmission link 400 is the driving link and the pose link 300 is the driven link), so that the clamping rod 200 moves away from / closes to the bracket. By making the acute angle formed between the transmission link 400 and the clamping rod 200 (i.e., the transmission angle; the larger the transmission angle, the greater the force decomposed into the direction perpendicular to the clamping rod 200) larger than the acute angle formed between the pose link 300 and the clamping rod 200, the transmission angle of the transmission link 400 can be made greater than the transmission angle when the pose link 300 is the driving link. This increases the force applied to the clamping rod 200 in the direction perpendicular to the clamping rod 200, thereby increasing the pressure between the clamping rod 200 and the inner circumferential surface of the steel coil sleeve 20, and thus improving the firmness and stability of the clamp 10 in holding the steel coil sleeve 20.

[0067] In some embodiments, the end of the drive rod 510 is hinged to the middle position of the pose link 300, directly driving the pose link 300 to rotate on the support 100.

[0068] In some embodiments, one end of the pose linkage 300 is hinged to the drive rod 510, the other end is hinged to the clamping rod 200, and the middle position is hinged to the bracket 100. The pose linkage 300 is directly driven by the drive cylinder 500 to rotate on the bracket 100.

[0069] In some embodiments, three clamping rods 200 are provided, and when viewed along the first direction A, the three clamping rods 200 are arranged in an acute-angled triangle. Therefore, by arranging the three clamping rods 200 in an acute-angled triangle, it can be ensured that all three clamping rods 200 can abut against the inner circumferential surface of the steel coil sleeve 20 when the clamps are expanded, thereby improving the stability of the clamp 10 in clamping and fixing the steel coil sleeve 20.

[0070] In some embodiments, viewed along the first direction A, the three clamping rods 200 are arranged in an equilateral triangle. Therefore, by arranging the three clamping rods 200 in a single-sided triangle, the clamping force applied by the three clamping rods 200 to the steel coil sleeve 20 can be made more uniform, thereby improving the stability of the clamp 10 in clamping and fixing the steel coil sleeve 20.

[0071] In some embodiments, two clamping rods 200 are provided. Thus, when the two clamping rods 200 are positioned apart from each other to clamp and fix the steel coil sleeve 20, the two clamping rods 200 are located at the two ends of the same radial line of the steel coil.

[0072] In some embodiments, the clamping rods 200 are provided in four, five or other numbers, and when viewed along the first direction A, the multiple clamping rods 200 are arranged in a circular pattern.

[0073] In some embodiments, a pad 210 is provided on the surface of the clamping rod 200 away from the support 100, and the pad 210 is made of a flexible material. Thus, by providing a pad 210 made of a flexible material on the surface of the clamping rod 200 away from the support 100, damage to the steel coil sleeve 20 can be reduced when the clamp 10 clamps the steel coil sleeve 20.

[0074] The above description provides an exemplary embodiment of the possible embodiments of the clamp 10 in this application. This application also provides a robot for transporting steel coil sleeves 20. The robot includes a clamp 10 and a robotic arm. The clamp 10 is mounted on the robotic arm and moves under the drive of the robotic arm. The clamp 10 can be any of the possible implementations of the clamp 10 described above. The robotic arm is fixedly connected to the first connecting portion 120 of the support 100 of the clamp 10, driving the clamp 10 to move. The specific structure of the clamp 10 will not be elaborated here.

[0075] The specific structure of the clamp 10 in this application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0076] Example 1

[0077] Figure 1 This is a schematic diagram of the structure of the clamp 10 in this application; Figure 2 for Figure 1 A schematic diagram of the structure after the clamp 10 extends into the steel coil sleeve 20. (See diagram below.) Figure 1 As shown, the fixture 10 includes a bracket 100, clamping rods 200, a position linkage 300, a transmission linkage 400, and a drive cylinder 500. Three clamping rods 200 are provided and mounted on the bracket 100 via the position linkage 300. The drive cylinder 500 is connected to the clamping rods 200 via the transmission linkage 400, driving the clamping rods 200 away from / approaching the bracket 100 to clamp and fix the steel coil sleeve 20.

[0078] Figure 3 for Figure 1 A three-dimensional structural diagram of the main body 110 of the intermediate support 100. (See diagram below.) Figures 1-3As shown, the bracket 100 includes a main body 110 and a first connecting part 120. The main body 110 is a hollow cylindrical shell-like component with multiple perforated holes 111 on its outer circumferential surface. These holes reduce the weight of the main body 110 and facilitate user access to and removal of the drive cylinder 500 within the main body 110. The axis of the main body 110 extends along a first direction A. The first connecting part 120 is a connecting flange, with its axis coinciding with the axis of the main body 110. It is fixedly installed at one end of the main body 110 for fixed connection with the robot's robotic arm.

[0079] like Figure 1 , Figure 3 As shown, the drive cylinder 500 is a pneumatic cylinder, which is fixedly installed inside the main body 110 by screws, thereby making the fixture 10 structure compact. The drive rod 510 of the drive cylinder 500 is located at the axial position of the main body 110, and the other end of the main body 110 is provided with a through hole 112 at the axial position. After the drive cylinder 500 is installed, the drive rod 510 extends out from the other end of the main body 110 through the through hole 112 and moves telescopically along the first direction A.

[0080] Figure 4 for Figure 1 A three-dimensional structural diagram of the clamping rod 200, the posture connecting rod 300, and the transmission connecting rod 400. (See diagram below.) Figure 1 , Figure 4 As shown, the clamping rod 200, the pose linkage 300, and the transmission linkage 400 are elongated plate-shaped components. There are three clamping rods 200, which are evenly distributed circumferentially along the main body 110 when viewed along the first direction A, so that the three clamping rods 200 are on the same working circle R. Each clamping rod 200 is mounted on the main body 110 of the bracket 100 via two pose linkages 300, and each clamping rod 200 is connected to the drive rod 510 of the drive cylinder 500 via a transmission linkage 400.

[0081] Specifically, one end of the pose link 300 is hinged to the ear plate 113 on the outer peripheral surface of the main body 110 via a pin, allowing the pose link 300 to rotate in the plane where the axis of the main body 110 is located. The other end of the pose link 300 is hinged to the surface of the clamping rod 200 facing the support 100, allowing relative rotation between the pose link 300 and the clamping rod 200. Thus, the clamping rod 200 can form a four-bar linkage with the main body 110 through the two pose links 300. The rotation of the pose link 300 on the main body 110 causes the other end of the pose link 300 to approach / move away from the main body 110, thereby allowing the clamping rod 200 to approach / move away from the main body 110. This adjusts the position and orientation of the clamping rod 200, which in turn adjusts the diameter of the working circle R where the three clamping rods 200 are located, to accommodate the clamping requirements of steel coil sleeves 20 with different diameters.

[0082] Each clamping rod 200 corresponds to two pose linkages 300 of the same length, forming a parallelogram structure with the clamping rod 200, so that the clamping rod 200 always remains parallel to the axis of the main body 110 when the pose linkage 300 rotates.

[0083] Figure 5 for Figure 1 A three-dimensional structural diagram of connector 600 is shown. Figure 1 , Figure 5 As shown, the clamp 10 also includes a connector 600, which includes a second connecting portion 610, a third connecting portion 620, and a fourth connecting portion 630. The second connecting portion 610 is cylindrical and can be threaded to the end of the drive rod 510 at one end, for example, to fix the connector 600 to the drive rod 510. Three third connecting portions 620 are provided on the outer circumferential surface of the second connecting portion 610. The three third connecting portions 620 are equidistant from one end of the second connecting portion 610 and are located at positions corresponding to the three clamping rods 200. The fourth connecting portion 630 is located at the other end of the second connecting portion 610 and extends four threaded lugs 631 radially outward along the second connecting portion 610 for mounting the first sensor 700 described below.

[0084] like Figure 1 , Figure 2As shown, the three third connecting parts 620 are respectively connected to the corresponding clamping rods 200 through a transmission link 400. That is, one end of the transmission link 400 is hinged to the third connecting part 620, and the other end is hinged to the surface of the clamping rod 200 facing the bracket 100. Thus, the drive rod 510 can drive the clamping rod 200, the two position links 300 and the main body 110 to rotate through the transmission link 400 to form a four-bar linkage, thereby forming a six-bar linkage. The six-bar linkage forms two closed loops (a closed loop is formed between the clamping rod 200, the two position links 300 and the main body 110, and a closed loop is formed between the drive rod 510, the transmission link 400, the clamping rod 200 and the position link 300 near the transmission link 400), that is, a multi-closed-loop structure is formed to improve the stability of the transmission structure.

[0085] The length of the transmission link 400 is greater than the length of the position link 300. The other end of the transmission link 400 is inclined toward the first connecting part 120. When the connecting member 600 moves along the axis of the main body 110 with the drive rod 510, it can drive the clamping rod 200 to move along the axis of the main body 110 through the second connecting member 600, thereby driving the position link 300 to rotate, so that the clamping rod 200 approaches / moves away from the bracket 100.

[0086] like Figures 1-3 As shown, the three transmission links 400 are of equal length, and the other end of the transmission link 400 is hinged to the clamping rod 200 at the same position. Therefore, when the connecting member 600 moves along the axial direction of the main body 110 with the drive rod 510, the clamping rod 200 is driven to move the same distance along the axial direction of the main body 110 by the second connecting member 600. In addition, the six position links 300 are of equal length, so that when the clamping rod 200 drives the position links 300 to rotate, the distance the clamping rod 200 approaches / moves away from the bracket 100 is equal. As a result, the three clamping rods 200 can always form an equilateral triangle structure (viewed along the axial direction of the main body 110), so that the center of the working circle R always coincides with the axis of the main body 110, thereby improving the stability of the clamping 10 working circle R in clamping and fixing steel coil sleeves 20 with different diameters such as 508mm, 610mm, and 762mm.

[0087] like Figure 1 , Figure 2 As shown, the fixture 10 also includes a first sensor 700, which is a vision recognition system. It is mounted on the fourth connecting part 630 and is coaxial with the drive rod 510. It is used to identify information of the steel coil sleeve 20. The information includes at least the position information and diameter information of the steel coil sleeve 20.

[0088] When the robot drives the gripper 10 to perform operations, the other end of the support 100 driven by the robotic arm faces the end of the steel coil sleeve 20 so that the first sensor 700 can identify the diameter of the steel coil sleeve 20 and obtain its diameter information. The correctness of the information flow of the steel coil sleeve 20 can be verified through the diameter information of the steel coil sleeve 20 obtained by the first sensor 700. Specifically, the robot's controller pre-stores the diameter information of the steel coil sleeve 20 to be gripped. After the first sensor 700 identifies the diameter of the steel coil sleeve 20 and obtains the diameter information, the controller compares the obtained diameter information with the pre-stored diameter information. If the comparison result is that the obtained diameter information is the same as the pre-stored diameter information, that is, the comparison result is consistent, it can be confirmed that the steel coil sleeve 20 is the target steel coil sleeve 20 that the gripper 10 needs to grip, and the robot controls the gripper 10 to grip the steel coil sleeve 20. If the comparison result shows that the obtained diameter information is different from the pre-stored diameter information, that is, the comparison result is inconsistent, it can be confirmed that the steel coil sleeve 20 is not the target steel coil sleeve 20 that the clamp 10 needs to clamp. The robot controls the clamp 10 to stop clamping the steel coil sleeve 20, and the staff will confirm and handle it.

[0089] Furthermore, the position information of the steel coil sleeve 20 obtained by the first sensor 700 can facilitate the robot to correct and adjust the position and posture of the gripper 10 when it extends into the steel coil sleeve 20, so that the gripper 10 can smoothly extend into the steel coil sleeve 20. This reduces the difficulty of controlling the robot to grip the steel coil sleeve 20 and increases the success rate of the gripper 10 extending into the steel coil sleeve 20.

[0090] like Figures 1-3As shown, the fixture 10 also includes a second sensor 800, which is a position detection switch. It is mounted on the clamping rod 200 by screws, located on the side surface of the clamping rod 200 adjacent to the surface away from the main body 110 and extending radially along the main body 110. The second sensor 800 is slidably connected to the clamping rod 200 radially along the main body 110, allowing the second sensor 800 to slide outwards, protruding from the outside of the working circle R, or slide inwards, retracting to the inside of the working circle R. Thus, before the fixture 10 operates, the position of the second sensor 800 is adjusted so that it protrudes from the outside of the working circle R. Therefore, during operation, when the clamping rod 200 abuts against the inner circumferential surface of the steel coil sleeve 20, the second sensor 800 contacts the inner circumferential surface of the steel coil sleeve 20, thereby providing a positioning signal to inform the robot that the clamping is in place. Therefore, the clamping position of the clamp 10 can be determined by the second sensor 800. Upon receiving the clamping signal, feedback can be sent to the pneumatic system (i.e., the system controlling the drive cylinder 500). Through coordination with the pneumatic system, the paper sleeve and rubber sleeve can be protected from damage, eliminating the need for additional modifications to the steel coil sleeve 20. Furthermore, when the clamp 10 stops operating, the position of the second sensor 800 can be adjusted, retracting it from the outer side of the working circle R to the inner side. This reduces the likelihood of damage such as collisions to the clamp 10 during transfer or storage.

[0091] like Figures 1-3 As shown, a pad 210 is provided on the surface of the clamping rod 200 away from the bracket 100. The pad 210 is made of a flexible material, which can reduce damage to the steel coil sleeve 20 when the clamp 10 clamps the steel coil sleeve 20.

[0092] In summary, the specific steps for transferring the steel coil sleeve using the clamp 10 in this embodiment include:

[0093] Step S901: The first connecting part 120 of the bracket 100 is fixedly connected to the robot's mechanical arm by bolts, so that the robot can drive the gripper 10 to move.

[0094] Step S902: Adjust the position of the second sensor 800 so that the second sensor 800 is exposed outside the working circle R formed by the clamping rod 200.

[0095] Step S903: The robot drives the gripper 10 to move through the robotic arm, so that the other end of the main body 110 faces the end of the steel coil sleeve 20. The first sensor 700 located on the connector 600 takes a picture of the steel coil sleeve and identifies the diameter and position information of the steel coil sleeve through the visual recognition system.

[0096] Step S904: The robot controller compares the diameter information acquired by the first sensor 700 with the pre-stored diameter information to verify the correctness of the information flow of the steel coil sleeve 20. If the comparison result shows that the acquired diameter information is the same as the pre-stored diameter information, i.e., the comparison result is consistent, it can be confirmed that the steel coil sleeve 20 is the target steel coil sleeve 20 that the clamp 10 needs to clamp, and proceed to step S905. If the comparison result shows that the acquired diameter information is different from the pre-stored diameter information, i.e., the comparison result is inconsistent, it can be confirmed that the steel coil sleeve 20 is not the target steel coil sleeve 20 that the clamp 10 needs to clamp, and the robot controls the clamp 10 to stop clamping the steel coil sleeve 20, which is then confirmed and processed by the operator.

[0097] Step S905: The robot controls the robotic arm to adjust the position and orientation of the gripper according to the position information, so that the axis of the main body 110 coincides with the axis of the steel coil sleeve 20.

[0098] Step S906: The robot controls the robotic arm to drive the clamp to extend into the steel coil sleeve 20 along the axis of the steel coil sleeve 20.

[0099] Step S907: While keeping the support 100 stationary, the robot controller controls the drive rod 510 of the drive cylinder 500 via the pneumatic system to extend outward along the first direction A. This, in turn, drives the three gripping rods 200 to move via the three transmission links 400. Combined with the pose link 300, the gripping rods 200 move stably away from the support 100, causing the diameter of the working circle R formed by the three gripping rods 200 to gradually increase.

[0100] In step S908, when the three clamping rods 200 abut against the inner circumferential surface of the steel coil sleeve 20, the second sensor 800 is triggered, sending a positioning signal to inform the robot that the clamping is in place. After receiving the positioning signal from the second sensor 800, the robot confirms that the clamp 10 has completed the clamping and fixing of the steel coil sleeve 20, and stops the drive rod 510 of the drive cylinder 500 through the pneumatic system. This avoids excessive clamping force that could damage the steel coil sleeve 20.

[0101] In step S909, the robot uses its robotic arm to drive the gripper 10 and the steel coil sleeve 20 to a predetermined position. Once in position, the robot's controller uses a pneumatic system to control the drive rod 510 of the drive cylinder 500 to retract in the opposite direction to the first direction A. This, in turn, drives the three clamping rods 200 to move in the opposite direction to the first direction A via three transmission links 400. This causes the pose link 300 to rotate in the opposite direction to the first direction A, thereby moving the clamping rods 200 towards the support 100, gradually reducing the diameter of the working circle R formed by the three clamping rods 200. This releases the gripper from its hold on the steel coil sleeve 20.

[0102] Example 2

[0103] Embodiment 2 of this application also provides another embodiment of the clamp 10. The clamp 10 in Embodiment 2 differs from the clamp 10 in Embodiment 1 in that it has four clamping rods 200, positioned at the four corners of a square when viewed along the first direction, with the support 100 located at the center of the square formed by the four clamping rods 200. Each clamping rod 200 is mounted on the support via three pose linkages 300. Other structural features of the clamp 10 in Embodiment 2 are the same as those in Embodiment 1, and will not be repeated here.

[0104] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this utility model is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this utility model. Therefore, although this application has been described in detail through the above embodiments, this utility model is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this utility model, all of which fall within the protection scope of this utility model.

Claims

1. A clamp for gripping steel coil sleeves, characterized in that, include: A support extending along a first direction, with a connecting portion at one end for connecting to the robotic arm of a robot; Clamping rods, which extend along the first direction, and multiple clamping rods are provided and arranged along the second direction, which is the circumferential direction of the bracket; A drive cylinder is mounted on the bracket and located in the middle of the plurality of clamping rods, and has a drive rod extending along the first direction; The pose linkage has one end hinged to the bracket and the other end hinged to the clamping rod; the pose linkage rotates on the bracket, causing the other end of the pose linkage to move away from / approach the bracket along the first direction, and causing the plurality of clamping rods to move away from / approach each other; A transmission link, one end of which is hinged to the drive rod and the other end of which is hinged to the clamping rod.

2. The clamp according to claim 1, characterized in that, Also includes: The first sensor is used to identify the position information of the steel coil sleeve, and the robot corrects the gripping posture of the fixture based on the position information.

3. The clamp according to claim 2, characterized in that, The first sensor is also used to identify the diameter information of the steel coil sleeve, which is used to compare with the pre-stored diameter of the steel coil sleeve. When the comparison result is inconsistent, the robot controls the fixture to stop.

4. The clamp according to claim 2, characterized in that, The drive rod extends from the other end of the bracket; and also includes: A connector is mounted on the end of the drive rod, the first sensor is mounted on the connector, and one end of the transmission link is hinged to the drive rod by hinge to the connector.

5. The clamp according to claim 1, characterized in that, Also includes: The second sensor, which is mounted on the clamping rod, detects whether the clamping rod abuts against the inner circumferential surface of the steel coil sleeve. When the clamping rod abuts against the inner circumferential surface of the steel coil sleeve, the drive cylinder is controlled to stop.

6. The clamp according to claim 5, characterized in that, Viewed along the first direction, the plurality of clamping rods are located on the same working circle; the second sensor is a position detection switch, and the second sensor is exposed from the outside of the working circle.

7. The clamp according to claim 1, characterized in that, A plurality of pose linkages are connected to a single clamping rod. The plurality of pose linkages corresponding to the same clamping rod are of equal length, arranged in parallel along the first direction.

8. The clamp according to claim 7, characterized in that, The acute angle formed between the transmission link and the clamping rod is greater than the acute angle formed between the posture link and the clamping rod.

9. The clamp according to claim 1, characterized in that, The clamping rod has a pad on its surface away from the bracket, and the pad is made of a flexible material.

10. A robot, characterized in that, For handling steel coil sleeves, including: The clamp is the clamp according to any one of claims 1-9; A robotic arm is fixedly connected to the support frame and drives the gripper to move.

Images