A rotating gripping device

Abstract

This utility model discloses a rotating gripping device, including a base, a mounting frame, a swing arm, a first driving device, grippers, and an adjusting structure. The mounting frame is slidably mounted on the base. The swing arm is rotatably mounted on the mounting frame. The first driving device is mounted on the mounting frame and is used to drive the swing arm to rotate relative to the mounting frame. Two grippers are symmetrically arranged at the free ends of the swing arm, and the opposite sides of the grippers are provided with limiting notches adapted to the shape of the outer periphery of the coil. The adjusting structure is arranged between the grippers and the swing arm and is used to drive the two grippers to move towards or away from each other to adjust their spacing and clamp and limit the outer periphery of the coil. The first driving device drives the swing arm to rotate so that the clamped coil can be moved through the grippers. This utility model, through specially designed grippers and limiting notches, clamps the strongest positioning ring platform in the coil structure, completely avoiding the squeezing, bumping, and deformation caused by directly clamping thin-walled winding cylinders or using hanging ropes and hooks in traditional methods.

Description

Technical Field

[0001] This utility model particularly relates to a rotating gripping device. Background Technology

[0002] In industries such as wire and cable processing and metal wire processing, toroidal reels (spools) are commonly used as the carriers of workpieces. During the processing of these reels, they need to be gripped and transferred. Traditional clamping or lifting methods (such as using ropes, hooks, or directly clamping the winding cylinder) can easily cause the reel itself to be squeezed, bumped, or deformed. In particular, directly clamping the thin-walled cylindrical part used for winding can easily cause it to dent and deform, which not only damages the reel itself but may also crush valuable materials such as copper wire and cable wound inside, resulting in direct economic losses. Furthermore, existing automated gripping devices often lack dedicated positioning designs for the reel structure, leading to problems such as the reel shaking, rotating, or even slipping during gripping and flipping. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a rotating gripping device.

[0004] A rotating gripping device includes a base, a mounting frame, a swing arm, a first driving device, grippers, and an adjusting structure. The mounting frame is slidably disposed on the base. The swing arm is rotatably disposed on the mounting frame. The first driving device is disposed on the mounting frame and is used to drive the swing arm to rotate relative to the mounting frame. Two grippers are symmetrically disposed on the free ends of the swing arm, and the opposite sides of the grippers are provided with limiting notches adapted to the outer periphery shape of the spool. The adjusting structure is disposed between the grippers and the swing arm and is used to drive the two grippers to move towards or away from each other to adjust their spacing and clamp and limit the outer periphery of the spool. The first driving device drives the swing arm to rotate, so as to move the gripped spool through the grippers.

[0005] Preferably, the coil has a positioning ring platform and a support ring platform arranged coaxially, and a tooling cylinder connecting the two; the gripper clamps the positioning ring platform through its limiting notch and forms a radial constraint on the outer peripheral surface of the positioning ring platform.

[0006] Preferably, the adjustment structure includes a horizontal plate disposed on the swing arm, a motor disposed between the horizontal plate and the swing arm, a sliding groove being formed on the horizontal plate, the upper end of the gripper being slidably disposed in the sliding groove, and the motor being used to drive the gripper to move within the sliding groove to move the gripper closer to or further away from the swing arm.

[0007] Preferably, the swing arm has an L-shaped structure.

[0008] Preferably, the first driving device is a rotary motor.

[0009] Preferably, the base has an upwardly protruding mounting seat in the middle, and longitudinal travel grooves are provided on both sides of the mounting seat; a slider that slides in cooperation with the travel groove is fixedly provided on the mounting frame; the mounting frame is connected to a second driving device, which is used to drive the mounting frame to rise or fall relative to the base through the cooperation of the slider and the travel groove.

[0010] Preferably, the second driving device includes two telescopic motors, which are respectively disposed at both ends of the base; push blocks are fixedly connected to both sides of the mounting frame, and the push blocks are connected to the output ends of the telescopic motors; the telescopic motors drive the push blocks to move up and down, so as to drive the mounting frame to rise and fall synchronously as a whole.

[0011] The beneficial effects of this utility model are: This invention utilizes specially designed grippers and limiting notches to clamp the most robust positioning ring platform in the coil structure, completely avoiding the squeezing, bumping, and deformation caused by directly clamping thin-walled winding cylinders or using lifting rope hooks in traditional methods. Furthermore, the shape of the limiting notch adapts to the outer circumference of the positioning ring platform, and combined with the adjustable gripper spacing, it forms a stable and reliable radial constraint during clamping, ensuring that the coil maintains a preset relative position with the grippers during grasping and lifting, effectively eliminating the shaking, rotation, and even slippage problems common in existing technologies. Attached Figure Description

[0012] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a rotating gripping device according to this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a rotating gripping device according to this application. Figure 2 ; Figure 3 This is a schematic diagram of the structure of a rotating gripping device according to this application. Figure 3 ; Figure 4 This is a schematic diagram of the structure of a rotating gripping device according to this application. Figure 4 ; Figure 5 This is a schematic diagram of the structure of a rotating gripping device according to this application. Figure 5 . Detailed Implementation

[0013] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0014] The orientation shown in the accompanying drawings should not be construed as limiting the specific protection scope of this utility model, but is only for reference and understanding of preferred embodiments. The product components shown in the drawings can be changed in position, increased in number, or simplified in structure.

[0015] The “connection” described in the specification and the “connection” relationship between the components shown in the accompanying drawings can be understood as a fixed connection, a detachable connection, or a connection that forms an integral unit; it can be a direct connection or a connection through an intermediate medium. Those skilled in the art can understand the connection relationship according to the specific circumstances and can derive different implementation methods such as screwing, riveting, soldering, snap-fitting, or embedding to suitably replace it.

[0016] The directional terms such as up, down, left, right, top, and bottom mentioned in the instruction manual and the directions shown in the attached drawings indicate that the components can directly contact each other or contact each other through other features; for example, "up" can mean directly above or diagonally above, or it simply means above other objects; other directions can be understood by analogy.

[0017] The materials used to manufacture solid-shaped parts as shown in the specification and drawings may be metallic, non-metallic, or other synthetic materials. The machining processes used for solid-shaped parts may include stamping, forging, casting, wire cutting, laser cutting, injection molding, CNC milling, 3D printing, machining, etc. Those skilled in the art may adapt or combine the above materials and manufacturing processes according to different processing conditions, costs, and precision requirements.

[0018] A rotating gripping device includes a base 1, a mounting frame 2, a swing arm 3, a first driving device 4, grippers 5, and an adjustment structure. The mounting frame 2 is slidably disposed on the base 1. The swing arm 3 is rotatably disposed on the mounting frame 2. The first driving device 4 is disposed on the mounting frame 2 and is used to drive the swing arm 3 to rotate relative to the mounting frame 2. Two grippers 5 are symmetrically disposed on the free ends of the swing arm 3, and the opposite sides of the grippers 5 are provided with limiting notches 51 that are adapted to the outer periphery shape of the spool 6. The adjustment structure is disposed between the grippers 5 and the swing arm 3 and is used to drive the two grippers 5 to move towards or away from each other to adjust their spacing and clamp and limit the outer periphery of the spool 6. The first driving device 4 drives the swing arm 3 to rotate so as to move the clamped spool 6 through the grippers 5.

[0019] Furthermore, the coil 6 has a positioning ring platform 61 and a support ring platform 62 arranged coaxially, and a tooling cylinder 6363 connecting the two; the gripper 5 clamps the positioning ring platform 61 through its limiting notch 51 and forms a radial constraint on the outer peripheral surface of the positioning ring platform 61.

[0020] Furthermore, the adjustment structure includes a horizontal plate 71 disposed on the swing arm 3, a motor 72 disposed between the horizontal plate 71 and the swing arm 3, a sliding groove 73 provided on the horizontal plate 71, the upper end of the gripper 5 being slidably disposed in the sliding groove 73, and the motor 72 being used to drive the gripper 5 to move within the sliding groove 73 to move the gripper 5 closer to or further away from the swing arm 3.

[0021] Furthermore, the swing arm 3 has an L-shaped structure.

[0022] Furthermore, the first driving device 4 is a rotary motor.

[0023] Furthermore, the center of the base 1 protrudes upward to form a mounting seat 8, and the mounting seat 8 has longitudinal travel grooves 9 on both sides; the mounting frame 2 is fixedly provided with a slider 91 that slides in cooperation with the travel groove 9; the mounting frame 2 is connected to a second driving device, which is used to drive the mounting frame 2 to rise or fall relative to the base 1 through the cooperation of the slider 91 and the travel groove 9.

[0024] Furthermore, the second driving device includes two telescopic motors 10, which are respectively disposed at both ends of the base 1; push blocks 11 are fixedly connected to both sides of the mounting frame 2, and the push blocks 11 are connected to the output ends of the telescopic motors 10; the telescopic motors 10 drive the push blocks 11 to move up and down, so as to drive the mounting frame 2 to move up and down synchronously.

[0025] The working principle of this utility model is as follows: First, the two grippers 5 are moved away from each other by adjusting the structure, so that the distance between them is greater than the outer diameter of the positioning ring platform 61 on the upper part of the spool 6. Then, the second drive device is activated, driving the mounting frame 2 to descend as a whole, so that the grippers 5 at the free end of the swing arm 3 are lowered to the height of the positioning ring platform 61 of the spool 6. The first drive device 4 operates, driving the swing arm 3 to rotate, moving the grippers 5 to the pre-clamping position where the positioning ring platform 61 is located between the two grippers 5. Then, the adjusting structure drives the two grippers 5 to move towards each other until the limiting notch 51 on the grippers 5 fully contacts and clamps the outer circumference of the positioning ring platform 61 of the spool 6, forming a stable and reliable radial constraint. After the clamping is secure, the second drive device is activated again, driving the mounting frame 2 to rise and lift the spool 6 from its original position. Finally, the first drive device 4 drives the swing arm 3 to rotate to the designated position (such as the wire feeding position), completing the gripping and transfer of the spool 6.

[0026] Based on the above technical solution, the design principle for adjusting the distance between the two grippers 5 is as follows: a motor 72 is provided at the free end of the swing arm 3, a horizontal plate 71 is connected to the motor 72, and a sliding groove 73 is provided on the horizontal plate 71. The upper ends of the two grippers 5 are respectively slidably engaged with the sliding groove 73. The motor 72 drives the two grippers 5 to move closer or further away from each other to clamp and limit the wire reel 6 (or, for example, a bidirectional lead screw is provided in the sliding groove 73, and the two grippers 5 are connected to the bidirectional lead screw. The rotating motor 72 drives the bidirectional lead screw to rotate, thereby causing the two grippers 5 to move closer or further away from each other). As an embodiment 1, the wire reel 6 is generally configured as a positioning ring platform 61 and a support ring platform 62. A tooling cylinder 63 for winding copper wire or steel wire is provided between the positioning ring platform 61 and the support ring platform 62. The function of this rotating gripping device is to grip the wire reel 6 and transfer it to the designated position of the next process for subsequent winding, unwinding, or storage processing operations.

[0027] Based on the above technical solution, regarding the structural cooperation between the swing arm 3 and the mounting frame 2, a rotary motor, namely the first drive device 4 (such as a servo motor or RV geared motor), is fixedly mounted on the mounting frame 2. The swing arm 3 is directly connected to the output shaft of the rotary motor or through a coupling. By controlling the forward and reverse rotation of the rotary motor, the swing arm 3 can be driven to rotate relative to the mounting frame 2 in the horizontal plane.

[0028] Based on the above technical solution, the working principle of the mounting frame 2 rising or falling relative to the base 1 is as follows: A mounting seat 8 is formed by protruding upwards in the middle of the base 1 to provide extremely high rigidity. Two longitudinal travel grooves 9 are machined on the left and right sides of the mounting seat 8. The mounting frame 2 is a gantry frame, with two sliders 91 fixedly installed on its inner side. The sliders 91 slide in contact with the travel grooves 9. Telescopic motors 10 are provided at both ends of the base 1, and the telescopic motors 10 are connected to the push blocks 11 of the mounting frame 2. When the two telescopic motors 10 push the push blocks 11 upwards respectively, the push blocks 11 push the mounting frame 2 upwards. Under the sliding contact of the sliders 91 and the travel grooves 9, the mounting frame 2 and the swing arm 3, gripper 5 and coil 6 carried on it are lifted smoothly and vertically.

[0029] This invention utilizes specially designed grippers 5 and limiting notches 51 to clamp the most robust positioning ring platform 61 within the coil 6 structure, completely avoiding the squeezing, bumping, and deformation caused by directly clamping thin-walled winding cylinders or using lifting rope hooks in traditional methods. Furthermore, the shape of the limiting notches 51 is adapted to the outer periphery of the positioning ring platform 61, and combined with the adjustable gripper spacing, it forms a stable and reliable radial constraint during clamping, ensuring that the coil 6 maintains a preset relative position with the grippers 5 during gripping and lifting, effectively eliminating the shaking, rotation, and even slippage problems common in existing technologies.

[0030] Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that various changes or modifications can be made to the present invention without departing from the principles and spirit of the present invention as defined by the claims. Therefore, the detailed description of the embodiments in this disclosure is for explanation only and not for limiting the present invention, but rather the scope of protection is defined by the content of the claims.

Claims

1. A rotary gripping device, characterized in that The device includes a base (1), a mounting frame (2), a swing arm (3), a first driving device (4), grippers (5), and an adjustment structure. The mounting frame (2) is slidably disposed on the base (1). The swing arm (3) is rotatably disposed on the mounting frame (2). The first driving device (4) is disposed on the mounting frame (2) and is used to drive the swing arm (3) to rotate relative to the mounting frame (2). Two grippers (5) are symmetrically disposed on the free ends of the swing arm (3), and the opposite sides of the grippers (5) are provided with limiting notches (51) that are adapted to the outer periphery shape of the coil (6). The adjustment structure is disposed between the grippers (5) and the swing arm (3) and is used to drive the two grippers (5) to move towards or away from each other to adjust their spacing and clamp and limit the outer periphery of the coil (6). The first driving device (4) drives the swing arm (3) to rotate so as to move the clamped coil (6) through the grippers (5).

2. A rotary gripping device according to claim 1, characterised in that The coil (6) has a positioning ring platform (61) and a support ring platform (62) arranged coaxially, and a tooling cylinder (63) connecting the two; the gripper (5) clamps the positioning ring platform (61) through its limiting notch (51) and forms a radial constraint on the outer peripheral surface of the positioning ring platform (61).

3. A rotating gripping device according to claim 1, characterized in that The adjustment structure includes a horizontal plate (71) disposed on the swing arm (3), a motor (72) disposed between the horizontal plate (71) and the swing arm (3), a sliding groove (73) is provided on the horizontal plate (71), the upper end of the gripper (5) is slidably disposed in the sliding groove (73), and the motor (72) is used to drive the gripper (5) to move within the sliding groove (73) so as to move the gripper (5) closer to or further away.

4. A rotary gripping device according to claim 1, wherein The swing arm (3) has an L-shaped structure.

5. A rotary gripping device according to claim 1, wherein The first driving device (4) is a rotary motor.

6. A rotary gripping device according to claim 1, wherein The base (1) has an upward protrusion in the middle to form a mounting seat (8), and the mounting seat (8) has longitudinal travel grooves (9) on both sides; the mounting frame (2) is fixedly provided with a slider (91) that slides in cooperation with the travel groove (9); the mounting frame (2) is connected to a second driving device, which is used to drive the mounting frame (2) to rise or fall relative to the base (1) through the cooperation of the slider (91) and the travel groove (9).

7. A rotary gripping device according to claim 6, characterised in that The second driving device includes two telescopic motors (10), which are respectively located at both ends of the base (1); push blocks (11) are fixedly connected to both sides of the mounting frame (2), and the push blocks (11) are connected to the output end of the telescopic motors (10); the telescopic motors (10) drive the push blocks (11) to move up and down, so as to drive the mounting frame (2) to move up and down synchronously.

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