Spindle gripping clamp and spindle gripping robot

Abstract

The utility model relates to a spindle grabbing clamp and spindle grabbing robot, and the clamp includes a grabbing hook and a push plate, the grabbing hook includes a plurality of independent hook bodies, the plurality of hook bodies can be close to or away from each other, so that the grabbing hook can open and close in the radial direction, the push plate is located at the periphery of the grabbing hook and can move along the axial direction of the grabbing hook, and the push plate and the grabbing hook are coaxially arranged, so that the utility model can solve the technical problems of the prior art, such as dependence on manual work, high labor intensity, low work efficiency, poor installation precision and high accident risk.

Description

Technical Field

[0001] This utility model belongs to the field of clamping technology, specifically relating to a spindle gripping clamp and a spindle gripping robot. Background Technology

[0002] In the tire manufacturing industry, steel wire calendering is a key process in the production of steel cord fabric. It is mainly used to uniformly embed metal steel wires into rubber at specific intervals and tensions, forming a cord material with high strength and a stable structure. This process places high demands on the stability of the steel wire laying, the precision of tension control, and the ability to continuously feed the material.

[0003] Currently, steel wire rolling production lines generally use coiled steel wire spindles as raw material supply units. Steel wire spindles are typically heavy-duty metal spools with high-strength steel wire wound around their outer circumference. In actual production, steel wire spindles need to be installed on dedicated spindle racks, and continuous and stable steel wire output is achieved through a wire feeding device. When a coil of steel wire is used up, a new steel wire spindle must be replaced promptly to ensure production continuity. However, in existing technologies, steel wire spindle replacement operations mostly rely on manual or semi-mechanized methods. Specifically, operators usually need to use auxiliary lifting equipment such as balance cranes to manually lift, align, thread, and fix the old spindle to complete the unloading of the old spindle and the installation of the new spindle. This operating mode has many drawbacks: First, due to the large weight of the steel wire spindles, frequent manual handling and hoisting significantly increase the labor intensity of operators; second, the entire replacement process is time-consuming, affecting the effective operating rate of the equipment and reducing overall production efficiency; third, manual operation makes it difficult to guarantee the accuracy and consistency of each installation, which may lead to wire deviation or tension fluctuation, affecting the rolling quality; finally, and most seriously, there is a risk of accidental detachment of the steel wire spindle or scratches from the rebound of the wire end during hoisting and positioning, which can easily cause personal injury accidents and pose significant safety hazards. Utility Model Content

[0004] To address the shortcomings of existing technologies, a spindle gripping fixture and a spindle gripping robot are proposed to solve the technical problems of existing technologies relying on manual labor, resulting in high labor intensity, low operating efficiency, poor installation accuracy, and high accident risk.

[0005] To achieve the above objectives, this utility model provides the following technical solution: In a first aspect, this utility model provides a spindle gripping fixture, comprising: The gripping hook comprises several independent hook bodies that can move closer or further apart, allowing the gripping hook to open and close radially. A push plate is located around the gripping hook and can move along the axial direction of the gripping hook. The push plate and the gripping hook are arranged coaxially.

[0006] The technical solution is further configured such that the first end of the hook body is bent to form a hook.

[0007] The technical solution is further configured to include an action shaft, which is located in the middle of several hooks and can move along the axial direction of the gripping hook.

[0008] The technical solution is further configured to include a fixing frame, wherein the fixing frame has a receiving cavity, and a shaft driving component for driving the actuating shaft to generate linear displacement is disposed in the receiving cavity.

[0009] The technical solution is further configured such that the second end of the hook extends into the cavity, and a telescopic rod is provided between the two, wherein the telescopic rod extends in a direction perpendicular to the axial direction of the gripping hook.

[0010] The technical solution is further configured such that the push plate is sleeved on the outside of the receiving cavity, and the fixed frame is provided with a push plate driving component that drives the push plate to produce linear displacement.

[0011] The technical solution is further configured such that the push plate drive component is symmetrically arranged around the central axis of the gripping hook. Secondly, this utility model provides a spindle gripping robot, which includes the aforementioned spindle gripping fixture.

[0012] The beneficial effects of this utility model are: 1. By setting radially opening and closing gripping hooks, after the gripping hooks are embedded in the center of the wire spindle, the radius is increased by several hooks moving away from each other, thus achieving reliable clamping of the spindle's inner hole; during unloading, the radius is reduced to release the spindle. This structure replaces traditional manual hoisting and shaft threading operations, realizing automated gripping and releasing of wire spindles, significantly reducing manual intervention, lowering labor intensity, and improving operational safety and production continuity.

[0013] 2. The coaxial arrangement of the push plate and the gripping hook ensures the high alignment of the spindle and the spindle frame axis, avoiding problems such as uneven wire feeding and uneven tension caused by installation misalignment. This improves the layout accuracy of the steel wire cord and the consistency of the calendering quality, and reduces the scrap rate. Attached Figure Description

[0014] Figure 1 This is a longitudinal cross-sectional schematic diagram of the spindle gripping fixture in this embodiment of the present invention; Figure 2 This is a side view of the spindle gripping fixture in an embodiment of this utility model; Figure 3 This is a schematic diagram of the assembly of the spindle gripping fixture and the spindle in an embodiment of this utility model.

[0015] In the attached diagram: 100, gripping hook; 101, hook body; 102, hook; 200, push plate; 300, actuating shaft; 400, shaft drive component; 500, push plate drive component; 600, fixing frame; 700, telescopic rod; 800, winding drum; 900, spindle frame. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solution of this utility model, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0017] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0018] According to an embodiment of this utility model, a spindle gripping fixture is provided. Please refer to [link / reference]. Figures 1 to 3 The device includes a gripping hook 100 and a push plate 200. The gripping hook 100 includes several independent hook bodies 101, which can move closer or further apart from each other, allowing the gripping hook 100 to open and close radially. The push plate 200 is located around the gripping hook 100 and can move along the axial direction of the gripping hook 100. The push plate 200 and the gripping hook 100 are arranged coaxially.

[0019] Understandably, by setting a radially opening and closing gripping hook 100, after the gripping hook 100 is embedded in the inner hole of the wire spindle 800, the radius is increased by several hooks 101 moving away from each other, thus achieving reliable clamping of the inner hole of the wire spindle 800; during unloading, the radius is reduced to release the wire spindle, and the push plate 200 pushes the wire spindle to the spindle frame 900. This structure replaces traditional manual hoisting and shaft threading operations, realizing automated gripping and release of the wire spindle, significantly reducing manual intervention, lowering labor intensity, and improving operational safety and production continuity. At the same time, the coaxial arrangement of the push plate 200 and the gripping hook 100 can ensure the high alignment of the wire spindle and the spindle frame axis, avoiding problems such as wire eccentricity and uneven tension caused by installation misalignment, thereby improving the layout accuracy of the wire cord and the consistency of the rolling quality, and reducing the scrap rate.

[0020] In one embodiment of the spindle gripping fixture, please refer to... Figures 1 to 3 The first end of the hook 101 is bent to form a hook 102.

[0021] Optionally, the central axes of several hooks 101 are located on the same circumference, and the hooks 101 are evenly arranged around the circumference. In this embodiment, the four hooks 101 are arranged in pairs opposite each other to form a symmetrical clamping structure. During clamping and handling, each hook 101 is subjected to uniform force, avoiding uneven loading or torsion, ensuring that the wire spindle maintains a stable posture during handling, and further improving installation accuracy and safety.

[0022] Optionally, the first end of the hook body 101 is bent away from the center of the circumference to form a hook 102, which has a connecting arc surface and a vertical surface. With the increased radius of the gripping hook 100, the vertical surface of the hook 102 makes surface contact with the end face of the wire spindle 800, effectively dispersing the clamping force, avoiding stress concentration, and preventing indentation or deformation of the wire spindle 800. The arc surface connects the vertical surface and the hook body 101, providing good geometric transition. When the clamp is initially inserted into the inner hole of the wire spindle 800, the arc surface acts as a guide, guiding the hook body 101 smoothly into the hole, preventing scraping or jamming between the hook body 101 and the edge of the inner hole of the wire spindle 800 due to misalignment, thus improving the success rate of automatic docking and operational stability.

[0023] In one embodiment of the spindle gripping fixture, please refer to... Figures 1 to 3 It also includes an actuating shaft 300, which is located in the middle of a plurality of hooks 101 and can move along the axial direction of the gripping hook 100.

[0024] After the gripping hook 100 expands radially and clamps the wire spindle, the actuating shaft 300 moves axially toward the first end of the hook body 101 (i.e., the end where the hook 102 is located), directly supporting or approaching the distal region of the hook body 101. This action forms an internal support structure at the critical force-bearing parts of the clamp, significantly improving the structural rigidity of the entire gripping hook 100 under load, preventing the hook body 101 from bending due to external loads (such as spindle weight or handling inertia), and ensuring stable and reliable clamping.

[0025] Understandably, during handling, the weight of the wire spindle will generate a large cantilever bending moment on the hook 101, especially at the contact point between the hook 102 and the reel 800 (far from the root of the hook 101), which can easily cause the hook 101 to flip outward or cause stress concentration at the root. After the actuating shaft 300 moves forward, it provides support to the far end of the hook 101, significantly reducing the bending moment effect, preventing the hook 101 from deforming, shifting, or even disengaging, and improving safety and reliability.

[0026] In one embodiment of the spindle gripping fixture, please refer to... Figures 1 to 3 It also includes a fixing frame 600, which has a receiving cavity inside, and a shaft drive 400 that drives the actuating shaft 300 to generate linear displacement is provided in the receiving cavity.

[0027] Optionally, the mounting bracket 600 has a base with a protrusion in the center of the base extending away from the base to form a protrusion. A receiving cavity is located inside the protrusion, and the shaft drive component 400 is fixed in the receiving cavity by bolts. This embedded integrated structure makes the overall fixture structure more compact and aesthetically pleasing, facilitating deployment in space-constrained automated production lines.

[0028] Optionally, the base of the 600 mounting bracket is designed with a standard mounting interface, which can be directly connected to the flange end of the industrial robot via bolts or other quick-change devices.

[0029] In one embodiment of the spindle gripping fixture, please refer to... Figures 1 to 3 The second end of the hook body 101 extends into the receiving cavity, and a telescopic rod 700 is provided between the two. The telescopic direction of the telescopic rod 700 is perpendicular to the axial direction of the gripping hook 100. This structure converts the linear motion of the telescopic rod 700 into the radial opening and closing action of the gripping hook 100.

[0030] In one embodiment of the spindle gripping fixture, please refer to... Figures 1 to 3 The push plate 200 is sleeved on the outside of the receiving cavity, and the fixing frame 600 is provided with a push plate drive member 500 for driving the push plate 200 to produce linear displacement.

[0031] After the clamp moves the wire rod to position 900, the gripping hook 100 retracts radially, and the push plate 200 moves axially along the gripping hook 100 under the action of the push plate drive 500, pushing the wire rod axially out of the gripping hook 100 and directly onto the support shaft of the spindle frame 900. This design achieves full automation from "gripping" to "installation", completely replacing manual shaft insertion and significantly improving spindle changing efficiency and automation level.

[0032] Optionally, in order to improve the matching degree with the shape of the wire spindle 800, the pusher plate 200 is designed to be annular, and its outer diameter is not less than the outer contour diameter of the wire spindle 800.

[0033] Optionally, the push plate drive component 500 is symmetrically arranged around the central axis of the gripping hook 100, so that the push plate 200 is subjected to consistent force in all directions during movement, avoiding deflection, jamming or unilateral wear caused by uneven pushing force, ensuring that the push plate 200 always advances smoothly along the axial direction, and improving the reliability of the action and service life. According to an embodiment of this utility model, a spindle gripping robot is provided. Please refer to [link / reference]. Figures 1 to 3 This includes the aforementioned spindle gripping fixture.

[0034] During operation, the fixing frame 600 is fixed to the robot wrist. After the clamp moves into position, the gripping hook 100 is inserted into the inner hole of the wire spindle 800. The telescopic rod 700 moves, and the gripping hook 100 expands radially to reliably clamp the inner hole of the wire spindle 800. After the clamp moves the wire spindle to the position of the spindle frame 900, the telescopic rod 700 moves again, and the gripping hook 100 retracts radially. Under the action of the push plate drive 500, the push plate 200 moves axially along the gripping hook 100, pushing the wire spindle axially out of the gripping hook 100 and directly onto the support shaft of the spindle frame 900, thus completing the installation of the wire spindle.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0037] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0038] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0039] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A spindle gripping fixture, characterized in that, include: The gripping hook comprises several independent hook bodies that can move closer or further apart, allowing the gripping hook to open and close radially. A push plate is located around the gripping hook and can move along the axial direction of the gripping hook. The push plate and the gripping hook are arranged coaxially.

2. The spindle gripping fixture according to claim 1, characterized in that, The first end of the hook is bent to form a hook.

3. The spindle gripping fixture according to claim 1, characterized in that, It also includes an actuating shaft, which is located in the middle of several hooks and can move along the axial direction of the gripping hook.

4. The spindle gripping fixture according to claim 3, characterized in that, It also includes a fixing frame, which has a receiving cavity inside, and a shaft driving component that drives the actuating shaft to produce linear displacement is provided in the receiving cavity.

5. The spindle gripping fixture according to claim 4, characterized in that, The second end of the hook extends into the cavity, and a telescopic rod is provided between them. The telescopic rod extends in a direction perpendicular to the axial direction of the gripping hook.

6. The spindle gripping fixture according to claim 4 or 5, characterized in that, The push plate is sleeved on the outside of the receiving cavity, and the fixed frame is provided with a push plate drive component that drives the push plate to produce linear displacement.

7. The spindle gripping fixture according to claim 6, characterized in that, The push plate drive component is symmetrically arranged around the central axis of the gripping hook.

8. A spindle-grabbing robot, characterized in that, Includes the spindle gripping fixture according to any one of claims 1-7.

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