Handling grippers for film spools

Abstract

Handling gripper for film reels, characterized in that it comprises a frame, a transverse movement frame, a Y-axis drive mechanism for driving the transverse movement frame to move along the Y-axis direction of the frame, a Z-axis drive mechanism arranged on the transverse movement frame, a frame body connected to the Z-axis drive mechanism, a gripping and drive mechanism arranged on the frame body, a first gripper and a second gripper which are drive-connected to the gripping and drive mechanism, wherein the Z-axis drive mechanism is used to drive the frame body to move up and down, wherein the gripping and drive mechanism is used to drive the first gripper and the second gripper to spread outwards synchronously or to fold inwards;wherein a connecting strip is provided on the bottom of the first gripper and the second gripper, which corresponds to the extension direction of the film coil, wherein the side surface of the connecting strip is provided with a rotatable clamping block, wherein the side surface of the clamping block is arc-shaped, wherein the height of the connecting strip is less than the height of the clamping block.;

Description

Technical area

[0001] The present utility model relates to the technical field of film reel transport and in particular to a handling gripper for film reels. Technical background

[0002] After the film is processed, it is usually stored in the form of a film reel. The film reel must be packaged to protect the film reel before transportation and shipping. Manufacturers with a high degree of automation typically use grippers that can be close to each other or far apart to clamp the film reel and then transport the film reel to the packaging station for film wrapping. Generally, prior art gears are driven to rotate by a motor, and the gears drive the two rotating shafts to rotate in a reverse direction, so that the first gripper and the second gripper, which are fixedly connected to the corresponding rotating shaft, provide a position for gripping the film reel when they spread outward (away from each other), and the first gripper and the second gripper grip the film reel when they fold inward (close to each other).In order to avoid leaving traces on the outer circumference of the film reel after gripping the film reel, cushion blocks are also provided at the end of the existing first gripper and the second gripper. However, because the cushion block is firmly connected to the first gripper or the second gripper, the diameter of the film reel to be gripped is different, and the contact position of the cushion block and the film reel with different diameters is different, that is, it cannot be guaranteed that the cushion block is always in contact with the film reel. The contact area between the cushion block and the film reel is small, and when the weight of the film reel is large, it will still leave scratches at the contact position of the film reel, which increases the defect rate of the film reel.

[0003] It turns out that the existing technology still needs to be improved. Content of the utility model

[0004] In view of the shortcomings of the above-mentioned prior art, the object of the present utility model is to provide a handling gripper for film reels, which aims to arrange a clamping block that can rotate around the end of the first gripper or the second gripper at the end of the first gripper and the second gripper, so that the clamping block can always be in contact with the surface of the film reel to be gripped, the contact area with the film reel is increased, and damage to the film reel is avoided when gripping the film reel and handling the film reel.

[0005] To achieve the above-mentioned purpose, the utility model uses the following technical solutions: A film reel handling gripper comprising a rack frame, a traversing frame, a Y-axis drive mechanism for driving the traversing frame to move along the Y-axis direction of the rack frame, a Z-axis drive mechanism arranged on the traversing frame, a frame body connected to the Z-axis drive mechanism, a gripping and driving mechanism arranged on the frame body, a first gripper and a second gripper drivingly connected to the gripping and driving mechanism, wherein the Z-axis drive mechanism is used to drive the frame body to move up and down, wherein the gripping and driving mechanism is used to drive the first gripper and the second gripper to synchronously expand outward or collapse inward;wherein a connecting bar is provided on the bottom of each of the first gripper and the second gripper, which corresponds to the extension direction of the film reel, wherein the side of the connecting bar is provided with a rotatable clamping block, wherein the side surface of the clamping block is arc-shaped, wherein the height of the connecting bar is less than the height of the clamping block;

[0006] In the film reel handling gripper, the side surface of the connecting bar is provided with a projection block, the projection block is provided with a bushing, the side surface of the clamping block is provided with a mounting hole, the projection block is inserted into the mounting hole, the clamping block is provided with a pin, the rod part of the pin is inserted into the bushing.

[0007] In the handling gripper for film reels, the side surface of the clamping block is firmly connected to a cushioning block, whereby the side surface of the cushioning block is curved.

[0008] In the film reel handling gripper, the Y-axis drive mechanism includes a linear motor and a connecting seat fixedly connected to the linear motor, the linear motor extending in the Y-axis direction, the connecting seat fixedly connected to the side wall of the traverse frame, two Y-axis position sensors are arranged on the linear motor, the two Y-axis position sensors each serving to induce an induction piece arranged on the connecting seat.

[0009] In the film reel handling gripper, the upper surface of the frame is provided with a Y-axis collision prevention seat, wherein a plurality of Y-axis collision prevention seats are provided, wherein the plurality of Y-axis collision prevention seats are respectively arranged on both sides of the frame, wherein the traverse moving frame moves between the plurality of Y-axis collision prevention seats.

[0010] In the film reel handling gripper, the upper surface of the jig frame is provided with a Y-axis slide rail extending in the Y-axis direction, the Y-axis slide rail being slidably provided with a Y-axis slide block, the upper surface of the Y-axis slide block being fixedly connected to the lower surface of the traversing frame; the upper surface of the jig frame is provided with a Y-axis dust cover, one end of the Y-axis dust cover being fixedly connected to the jig frame, the other end being fixedly connected to the side wall of the traversing frame, the Y-axis slide rail and the Y-axis slide block both being arranged inside the Y-axis dust cover.

[0011] In the film reel handling gripper, the Z-axis drive mechanism includes a Z-axis motor and a screw elevator connected to the output end of the Z-axis motor, the bottom surface of the screw elevator being fixedly connected to the top surface of the frame body; a Z-axis slide rail extending in the Z-axis direction is arranged on the traversing frame, the Z-axis slide block being slidably arranged on the Z-axis slide rail, the side surface of the Z-axis slide block being fixedly connected to the side surface of the frame body.

[0012] In the film reel handling gripper, the gripping and driving mechanism comprises a gripping motor arranged on the frame body, a first gear drivingly connected to the output end of the gripping motor, a first rotary shaft rotatably arranged on the frame body, a second gear mounted on the first rotary shaft, and a first transmission structure arranged between the first gear and the second gear; wherein the first transmission structure comprises a fixing bracket fixed to a frame body, a fixing shaft fixedly connected to the fixing bracket, a third gear and a fourth gear rotatably arranged on the fixing shaft, the third gear and the fourth gear being fixedly connected; wherein the third gear is engaged with the first gear, the fourth gear is engaged with the second gear;wherein the frame body is drivingly provided with a second rotary shaft parallel to the first rotary shaft, the first rotary shaft and the second rotary shaft rotating in reverse through a second transmission structure, the first rotary shaft being fixedly connected to the first gripper and the second rotary shaft being fixedly connected to the second gripper;

[0013] In the film reel handling gripper, the pitch circle diameter of the second gear is larger than the pitch circle diameter of the first gear; the pitch circle diameter of the third gear is larger than the pitch circle diameter of the fourth gear, and the pitch circle diameter of the third gear is smaller than the pitch circle diameter of the second gear;wherein two symmetrically arranged first fan-shaped locking blocks protrude towards the centre of the circle on the inner circle of the third gear, wherein two symmetrically arranged fan-shaped grooves and a perforation located between the two fan-shaped grooves are formed between the two fan-shaped grooves, wherein two second fan-shaped locking blocks protrude outwards on a side surface of the fourth gear and can engage in the fan-shaped grooves, wherein two first fan-shaped locking blocks and two second fan-shaped locking blocks engage to form a ring, wherein the fastening shaft extends through the perforation;

[0014] In the film reel handling gripper, the third gear is provided with a limiting ring on the side surface of the first fan-shaped locking block, wherein the outer arcuate surface of the two first fan-shaped locking blocks is fixedly connected to the inner circular surface of the limiting ring, wherein the fan-shaped groove is provided in the limiting ring, wherein the outer arcuate surface of the two second fan-shaped locking blocks abuts the inner circular surface of the limiting ring.

[0015] Beneficial effects: The utility model provides a handling gripper for film reels.

[0016] By arranging a Y-axis drive mechanism, the transverse motion frame is allowed to move back and forth along the Y-axis direction; by arranging a Z-axis drive mechanism, the frame body is allowed to move back and forth along the Z-axis direction; by arranging a gripping and driving mechanism, the first gripper and the second gripper are allowed to grip and release the film reel simultaneously; by arranging a clamping block with an arc-shaped surface that can rotate around the connecting bar, it is ensured that the film reels with different reel diameters are always in surface contact; the height of the connecting bar and the clamping block is defined, and the rotation amplitude of the clamping block is defined. Illustration of the attached drawings Fig. 1 is a schematic diagram of the structure of the film reel handling gripper provided by the utility model. Fig. Figure 2 is a schematic diagram of the structure of the film reel handling gripper. Fig. 3 is a schematic diagram of the structure of the second gripper. Fig. Figure 4 is a schematic representation of the local structure of Fig. 1. Fig. Figure 5 is a schematic representation of the local structure of Fig. 2. Fig. Figure 6 is a schematic diagram of the structure of the third gear. Fig. Figure 7 is a schematic diagram of the structure of the fourth gear.

[0017] Symbol description of the main component: 1- frame body, 2-gripper motor, 31-first gear, 32-second gear, 33-third gear, 331-first fan-shaped locking block, 332-fan-shaped groove, 333-perforation, 334-limit ring, 34-fourth gear, 341-second fan-shaped locking block, 35-fifth gear, 36-sixth gear, 37-first rotating shaft, 38-second rotating shaft, 39-fixing shaft, 40-fixing frame, 51-first gripper, 52-second gripper, 53-connecting bar, 54-clamping block, 55-projecting block, 56-pin, 57-cushioning block, 6-rack frame, 61-Y-axis anti-collision seat, 62-Y-axis dust cover, 7-Cross motion frame, 71-Z-axis slide rail, 72-Z-axis slide block, 81-Linear motor, 82-Connecting seat, 83-Y-axis position sensor, 84-Induction piece, 91-Z-axis motor, 92-Screw elevator. Specific embodiments

[0018] The utility model provides a handling gripper for film reels. To clarify the technical problems, technical solutions, and advantageous effects to be solved by the utility model, the utility model is described in more detail below in combination with the attached drawings and embodiments. It should be understood that the specific embodiments described herein serve only to explain the utility model and do not limit the utility model.

[0019] Please note the Fig. 1 to Fig. 5. The utility model provides a handling gripper for film reels, comprising a jig frame 6, a traversing frame 7, a Y-axis drive mechanism for driving the traversing frame 7 to move along the Y-axis direction of the jig frame 6, a Z-axis drive mechanism arranged on the traversing frame 7, a frame body 1 connected to the Z-axis drive mechanism, a gripping and driving mechanism arranged on the frame body 1, a first gripper 51 and a second gripper 52 drivingly connected to the gripping and driving mechanism, the Z-axis drive mechanism being used to drive the frame body 1 to move up and down, the gripping and driving mechanism being used to drive the first gripper 51 and the second gripper 52 to synchronously expand outward or collapse inward;wherein at the bottom of the first gripper 51 and the second gripper 52, a connecting bar 53 is provided which corresponds to the extension direction of the film reel, wherein the side of the connecting bar 53 is provided with a rotatable clamping block 54, wherein the side surface of the clamping block 54 is arcuate, wherein the height of the connecting bar 53 is less than the height of the clamping block 54;

[0020] In practice, the frame 6 moves in the X-axis direction and over the film reel to be transported. Under the action of the Y-axis drive mechanism, the transverse movement frame 7 moves directly over the film reel to be transported. Then, under the action of the Z-axis drive mechanism, the frame body 1 moves downward during operation of the gripping and driving mechanism, causing the first gripper 51 and the second gripper 52 to synchronously expand outward.When the frame body 1 drives the first gripper 51 and the second gripper 52 to be located on both sides of the film reel, the gripping and driving mechanism runs again, so that the first gripper 51 and the second gripper 52 synchronously fold inward, and the side surfaces of the two clamp blocks 54 are rotated by a certain angle around the connecting bar 53 until the arcuate side surface of the clamp blocks 54 is in contact with the outer peripheral surface of the film reel to realize the gripping of the film reel; then, the Z-axis driving mechanism drives the frame body 1, the first gripper 51, the second gripper 52, and the film reel to move upward, so that the jig frame 6 can move in the X-axis direction and move the film reel to the packaging station for wrapping the protective film.

[0021] See Fig. 3 and Fig. 5, where the heights of the connecting bar 53 and the clamping block 54 are limited. When the arcuate surface of the clamping block 54 rotates upward, the side surface of the upper part of the clamping block 54 facing the connecting rod 53 will abut against the upper part of the connecting rod 53; when the arcuate surface of the clamping block 54 rotates downward, the side surface of the lower part of the clamping block 54 facing the connecting rod 53 will abut against the lower part of the connecting rod 53, so that the clamping block 54 rotates within a certain range and the rotation angle of the clamping block 54 can be limited. Through the above settings, surface contact can be achieved for film reels with different reel diameters, thereby preventing damage to the film reel.

[0022] See Fig. 1, Fig. 3 and Fig. 4. In some embodiments, the side surface of the connecting bar 53 is provided with a projection block 55, the projection block 55 being provided with a socket, the side surface of the terminal block 54 being provided with a mounting hole, the projection block 55 being inserted into the mounting hole, the terminal block 54 being provided with a pin 56, the rod part of the pin 56 being inserted into the socket. The pin 56 is fixed to the terminal block 54, and the projection block 55 can rotate about the pin 56, thereby allowing the terminal block 54 to rotate about the connecting bar 53. The structure described above is simple and easy to implement.

[0023] With reference to Fig. 3 In certain embodiments, the side surface of the clamping block 54 is fixedly connected to a cushion block 57, the side surface of the cushion block 57 being arcuate. The cushion block 57 is made of a material with elasticity that can prevent hard contact with the film reel when gripping the film reel, and defines the cushion block 57 as an arcuate surface that can improve the contact area with the outer peripheral surface of the film reel and increase stability when the film reel moves.

[0024] Referring to Fig. 1 and Fig. 2 In certain embodiments, the Y-axis drive mechanism comprises a linear motor 81 and a connecting seat 82 fixedly connected to the linear motor 81. The linear motor 81 extends in the Y-axis direction, the connecting seat 82 being fixedly connected to the side wall of the traversing frame 7. Two Y-axis position sensors 83 are arranged on the linear motor 81, the two Y-axis position sensors 83 each serving to induce an induction piece 84 arranged on the connecting seat 82. The linear motor 81 drives the connecting seat 82 to move back and forth in the Y-axis direction, and the connecting seat 82 drives the traversing frame 7, which is fixedly connected to it, to move back and forth in the Y-axis direction. Furthermore, the movement stroke of the traversing frame 7 can be limited by means of two Y-axis position sensors and an induction piece 84.

[0025] With reference to Fig. 1, in some embodiments, the upper surface of the stage frame 6 is provided with a Y-axis anti-collision seat 61, wherein a plurality of Y-axis anti-collision seats 61 are provided, the plurality of Y-axis anti-collision seats 61 being respectively arranged on both sides of the stage frame 6, and the traversing frame 7 moving between the plurality of Y-axis anti-collision seats 61. The provision of the Y-axis anti-collision seat 61 serves to prevent a malfunction of the linear motor 81 or the Y-axis position sensor 83, so that the movement stroke of the traversing frame 7 exceeds the distance between the two Y-axis position sensors 83, and plays a protective role.

[0026] With reference to Fig. 1, in some embodiments, the upper surface of the jig frame 6 is provided with a Y-axis slide rail (located inside the Y-axis dust cover 62, not shown) extending in the Y-axis direction. The Y-axis slide rail is slidably provided with a Y-axis slide block (located inside the Y-axis dust cover 62, not shown), and the upper surface of the Y-axis slide block is fixedly connected to the lower surface of the traversing frame 7. The connecting seat 82 is small, and the traversing frame 7 is large and heavy. By arranging the Y-axis slide rail and the Y-axis slide block, the traversing frame 7 can reciprocate smoothly along the Y-axis direction, thereby avoiding shaking of the frame body 1 connected to the traversing frame 7 and affecting the smooth movement of the film reel.

[0027] With reference to Fig. 1, in some embodiments, the upper surface of the stage frame 6 is provided with a Y-axis dust cover 62, one end of the Y-axis dust cover 62 being fixedly connected to the stage frame 6, and the other end being fixedly connected to the side wall of the traversing frame 7, with the Y-axis slide rail and the Y-axis slide block both being arranged inside the Y-axis dust cover 62. With the above arrangement, dirt can be prevented from entering the Y-axis slide rail, thereby ensuring the movement of the traversing frame 7.

[0028] With reference to the Fig. 1 and Fig. 2, the Z-axis drive mechanism includes a Z-axis motor 91 and a screw elevator 92 connected to the output end of the Z-axis motor 91, the bottom surface of the screw elevator 92 being fixedly connected to the top surface of the frame body 1; a Z-axis slide rail 71 extending in the Z-axis direction is arranged on the traverse frame 7, the Z-axis slide block 72 being slidably arranged on the Z-axis slide rail 71, and the side surface of the Z-axis slide block 72 being fixedly connected to the side surface of the frame body 1. The Z-axis motor 91 drives the frame body 1 to move up and down under the guidance of the Z-axis slide rail 71. The above settings are also used to ensure that the frame body 1 rises and falls smoothly.

[0029] Referring to the Fig. 4 and Fig. 5, the gripping and driving mechanism comprises a gripping motor 2 arranged on the frame body 1, a first gear 31 drivingly connected to the output end of the gripping motor 2, a first rotary shaft 37 rotatably arranged on the frame body 1, a second gear 32 mounted on the first rotary shaft 37, and a first transmission structure arranged between the first gear 31 and the second gear 32; wherein the first transmission structure comprises a fixing bracket 40 fixed to a frame body 1, a fixing shaft 39 fixedly connected to the fixing bracket 40, a third gear 33 and a fourth gear 34 rotatably arranged on the fixing shaft 39, wherein the third gear 33 and the fourth gear 34 are fixedly connected; wherein the third gear 33 is in engagement with the first gear 31, wherein the fourth gear 34 is in engagement with the second gear 32;wherein the frame body 1 is drivingly provided with a second rotary shaft 38 which is parallel to the first rotary shaft 37, the first rotary shaft 37 and the second rotary shaft 38 rotating in reverse through a second transmission structure, the first rotary shaft 37 being fixedly connected to the first gripper 51 and the second rotary shaft 38 being fixedly connected to the second gripper 52;

[0030] In practical applications, the gripper motor 2 rotates in the forward direction and drives the first gear 31 to rotate, the first gear 31 drives the third gear 33 and the fourth gear 34 to rotate synchronously, the fourth gear 34 drives the second gear 32 to rotate, the second gear 32 is fixedly connected to the first rotary shaft 37, the first rotary shaft 37 causes the first gripper 51 to spread outward under the action of the second transmission structure, At the same time, the second rotary shaft 38 is reversely rotated (opposite to the rotation direction of the first rotary shaft 37) under the action of the second transmission structure, thereby driving the second gripper 52, which is fixedly connected to the second rotary shaft 38, to spread outward synchronously, so that the first gripper 51 and the second gripper 52 are separated from each other;when the gripper motor 2 is reversely rotated under the action of the wheel set, the first gripper 51 and the second gripper 52 are folded inwardly together, ie close to each other, until the bottom of the first gripper 51 and the second gripper 52 abut against the film reel to achieve gripping of the film reel;

[0031] Specifically, the center of the third gear 33 and the center of the fourth gear 34 are each embedded with bearings, and the bearings are fixed in the third gear 33 or the fourth gear 34 by a snap ring, and the fixing shaft 39 in turn passes through the centers of the two bearings.

[0032] With reference to Fig. 4, and more specifically, the second transmission structure includes two fifth gears 35 and two sixth gears 36, wherein the two fifth gears 35 are respectively interleaved at both ends of the first rotary shaft 37, the two sixth gears 36 are respectively interleaved at both ends of the second rotary shaft 38, the two fifth gears 35 respectively mesh with the corresponding sixth gears 36, and the two fifth gears 35 and the two sixth gears 36 rotate in opposite directions. In this embodiment, the first gripper 51 and the second gripper 52 are hollow, each composed of two arcuate plates and stays connecting the two arcuate plates, so that the stability of the clamping operation of the first gripper 51 and the second gripper 52 is further improved by fixing the two fifth gears 35 and the sixth gear 36 respectively with the corresponding arcuate plates.In addition, the second gear 32 drives the first rotary shaft 37 to rotate, the first rotary shaft 37 drives the fifth gear 35 to rotate synchronously, the fifth gear 35 drives the sixth gear 36 to rotate when rotating, and the sixth gear 36 drives the second rotary shaft 38 to rotate. That is, the second rotary shaft 38 can drive the second gripper 52, and the first rotary shaft 37 drives the first gripper 51 to expand or collapse inward synchronously. The structure is simple, easy to achieve, and the synchronization rate is high.

[0033] With reference to Fig. 5, in some embodiments, the pitch diameter of the second gear 32 is larger than the pitch diameter of the first gear 31; wherein the pitch diameter of the third gear 33 is larger than the pitch diameter of the fourth gear 34, wherein the pitch diameter of the third gear 33 is smaller than the pitch diameter of the second gear 32; In the above setting, when the gripper motor 2 drives the first gear 31 with a small pitch diameter to rotate, the torque of the third gear 33 with a large pitch diameter becomes larger, the torque of the second gear 32 with a larger pitch diameter becomes larger, and after the torque becomes larger, the transmission efficiency can be improved, which ensures that the first gripper 51 and the second gripper 52 can firmly grip the heavier film spool.

[0034] With reference to the Fig. 6 and Fig. 7. In particular, two symmetrically arranged first fan-shaped locking blocks 331 project towards the centre of the circle on the inner circle of the third gear 33, two symmetrically arranged fan-shaped grooves 332 being formed between the two first fan-shaped locking blocks 331 and a perforation 333 being formed between the two fan-shaped grooves 332, two second fan-shaped locking blocks 341 projecting outwards on a side surface of the fourth gear 34 and being able to engage in the fan-shaped grooves 332, two first fan-shaped locking blocks 331 and two second fan-shaped locking blocks 341 engaging to form a ring, the fastening shaft 39 passing through the perforation 333.In the prior art, due to the torque difference between the third gear 33 and the fourth gear 34, it is easy to connect the screw in a conventional manner through the screw and the threaded hole. If the screw breaks, the normal operation of the entire transmission shaft will be affected if the fourth gear 34 falls off. By disposing two first fan-shaped locking blocks 331 on the side surface of the third gear 33, in the above-mentioned improvement scheme, a fan-shaped groove 332 is formed above and below the formed perforation 333 to provide a position for inserting the second fan-shaped locking block 341 onto the fourth gear 34.After the two second fan-shaped locking blocks 341 are inserted into the corresponding fan-shaped groove 332, the radial direction limitation for the third gear 33 and the fourth gear 34 can be realized, allowing the third gear 33 and the fourth gear 34 to rotate synchronously. The perforation 333 of the third gear 33 and the fourth gear 34 fixes both of them to the frame body 1 through the fixing shaft 39 to achieve axial direction limitation. The above connection method has higher structural stability compared with the conventional screw and threaded hole, and the structure is rigid, which can greatly extend the service life of the gear 33 and the fourth gear 34.It also defines that the fan-shaped groove 332 is compatible with the shape of the second fan-shaped locking block 341, which can avoid excessive gaps remaining after the second fan-shaped locking block 341 is inserted into the fan-shaped groove 332, increase the contact area between the side surface of the second fan-shaped locking block 341 and the side surface of the first fan-shaped locking block 331, and further prevent excessive movement space from remaining after the second fan-shaped locking block 341 is inserted into the fan-shaped groove 332, which affects the synchronization rate when the fifth gear 35 and the sixth gear 36 rotate.

[0035] Referring to Fig. 6, in some embodiments, the third gear 33 is provided with a limiting ring 334 on the side surface of the first fan-shaped locking block 331, wherein the outer arcuate surface of the two first fan-shaped locking blocks 331 is fixedly connected to the inner circular surface of the limiting ring 334, wherein the fan-shaped groove 332 is provided in the limiting ring 334, wherein the outer arcuate surface of the two second fan-shaped locking blocks 331 abuts the inner circular surface of the limiting ring 334.After inserting the second fan-shaped locking block 341 into the fan-shaped groove 332, the two first fan-shaped locking blocks 331 are also inserted into the gap on both sides of the second fan-shaped locking block 341, the contact area of ​​which is larger, and the limiting ring 334 can provide a position for mounting the first fan-shaped locking block 331 and further limit the second fan-shaped locking block 341, so that the second fan-shaped locking block 341 can be firmly inserted into the corresponding fan-shaped groove 332.

[0036] With reference to Fig. 6 and Fig. 7, in some embodiments, two of the first fan-shaped locking blocks 331 and two of the second fan-shaped locking blocks 341 each account for a quarter of the volume of the ring. That is, the two first fan-shaped locking blocks 331 and the two second fan-shaped locking blocks 341 have an aliquot structure that ensures smooth rotation of the third gear 33 and the fourth gear 34.

[0037] With reference to Fig. 6 and Fig.7, in some embodiments, the first fan-shaped locking block 331 and the limiting ring 334 are integrally formed with the third gear 33; the second fan-shaped locking block 341 is integrally formed with the fourth gear 34. During casting and molding, the third gear 33 and the two first fan-shaped locking blocks 331 and the limiting ring 334 are integrally cast and molded to form a single unit, thereby achieving seamless connection and greater structural rigidity. Similarly, the fourth gear 34 and the second fan-shaped locking block 341 are integrally cast and molded to improve the structural rigidity of the entire unit.

[0038] In summary, by providing a Y-axis drive mechanism in the utility model, the traversing frame 7 is enabled to reciprocate along the Y-axis direction; by providing a Z-axis drive mechanism, the frame body 1 is enabled to reciprocate along the Z-axis direction; by providing a gripping and driving mechanism, the first gripper 51 and the second gripper 52 are enabled to grip and release the film reel simultaneously; by providing a clamping block 54 with an arcuate surface that is rotatable about the connecting bar 53, it is ensured that the film reels with different reel diameters are always in surface contact; the height of the connecting bar 53 and the clamping block 54 is defined, and the rotation amplitude of the clamping block 54 is defined.

[0039] When describing the utility model, it should be noted that the terms "center", "longitudinal", "transverse", "width", "thickness", "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", "tip", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., refer to the orientation or positional relationship shown in the attached drawings or the orientation or positional relationship in which the utility model subject matter is usually arranged in use. This orientation or positional relationship is intended solely to facilitate and simplify the description of the utility model and is not intended to indicate or imply that the arrangement or component referred to has a particular orientation and must be constructed and operated in a particular manner, and is therefore not to be construed as a limitation of the utility model.

[0040] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be interpreted to indicate or imply a relative importance, or to imply the number of technical features emphasized. Thus, a feature referred to as "first," "second," and "third" may explicitly or implicitly include one or more such features. In the description of this application, a "plurality," unless otherwise specified, means more than two.

[0041] When describing the utility model, it should be noted that the terms "install," "connect," and "attach" are to be interpreted broadly unless expressly stated and restricted otherwise. For example, it may refer to a fixed connection, a detachable connection, or a one-piece connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediate medium; or a connection within two components. A person skilled in the art will be able to understand the specific meaning of the above terms in the context of the utility model in each individual case.

[0042] It is understood that for a person of ordinary skill in the art, the technical solution of the present utility model and the concept of the invention can be equivalently replaced or modified, and all such modifications or substitutions should fall within the scope of protection of the present utility model.

[0043] The utility model relates to the technical field of film reel transport and discloses a handling gripper for film reels, comprising a rack frame, a transverse movement frame, a Y-axis drive mechanism, a Z-axis drive mechanism, a frame body, a gripping and driving mechanism, a first gripper, and a second gripper, wherein the Z-axis drive mechanism is used to drive the frame body to move up and down, wherein the gripping and driving mechanism is used to drive the first gripper and the second gripper to synchronously spread outward or fold inward;wherein a connecting bar is provided at the bottom of each of the first gripper and the second gripper, which corresponds to the extension direction of the film reel, wherein the side of the connecting bar is provided with a rotatable clamping block, wherein the side surface of the clamping block is arcuate, wherein the height of the connecting bar is less than the height of the clamping block. By arranging a clamping block with an arcuate surface that can be rotated about the connecting bar, it is ensured that the film reels with different reel diameters are always in surface contact; the height of the connecting bar and the clamping block is defined, and the rotation amplitude of the clamping block is defined.

Claims

[1] Handling gripper for film reels, characterized bythat comprises a rack frame, a traverse movement frame, a Y-axis drive mechanism for driving the traverse movement frame to move along the Y-axis direction of the rack frame, a Z-axis drive mechanism arranged on the traverse movement frame, a frame body connected to the Z-axis drive mechanism, a gripping and driving mechanism arranged on the frame body, a first gripper and a second gripper which are drivingly connected to the gripping and driving mechanism, wherein the Z-axis drive mechanism is used to drive the frame body to move up and down, wherein the gripping and driving mechanism is used to drive the first gripper and the second gripper to synchronously spread outwards or fold inwards;wherein a connecting bar is provided at the bottom of each of the first gripper and the second gripper, which bar corresponds to the extension direction of the film reel, wherein the side surface of the connecting bar is provided with a rotatable clamping block, wherein the side surface of the clamping block is arc-shaped, wherein the height of the connecting bar is less than the height of the clamping block; [2] Handling gripper for film reels according to claim 1, characterized by that the side surface of the connecting bar is provided with a projection block, wherein the projection block is provided with a bushing, wherein the side surface of the terminal block is provided with a mounting hole, wherein the projection block is inserted into the mounting hole, wherein the terminal block is provided with a pin, wherein the rod part of the pin is inserted into the bushing. [3] Handling gripper for film reels according to claim 2, characterized bythat the side surface of the clamping block is firmly connected to a cushioning block, whereby the side surface of the cushioning block is curved. [4] Handling gripper for film reels according to claim 1, characterized by in that the Y-axis drive mechanism comprises a linear motor and a connecting seat fixedly connected to the linear motor, wherein the linear motor extends in the direction of the Y-axis, wherein the connecting seat is fixedly connected to the side wall of the traverse movement frame, wherein two Y-axis position sensors are arranged on the linear motor, wherein the two Y-axis position sensors each serve to induce an induction piece arranged on the connecting seat. [5] Handling gripper for film reels according to claim 4, characterized bythat the upper surface of the rack frame is provided with a Y-axis collision protection seat, wherein a plurality of Y-axis collision protection seats are provided, wherein the plurality of Y-axis collision protection seats are respectively arranged on both sides of the rack frame, wherein the transverse movement frame moves between the plurality of Y-axis collision protection seats. [6] Handling gripper for film reels according to claim 4, characterized bythat the upper surface of the rack frame is provided with a Y-axis slide rail extending in the Y-axis direction, wherein the Y-axis slide rail is slidably provided with a Y-axis slide block, wherein the upper surface of the Y-axis slide block is fixedly connected to the lower surface of the traverse movement frame; wherein the upper surface of the rack frame is provided with a Y-axis dust cover, wherein one end of the Y-axis dust cover is fixedly connected to the rack frame, wherein the other end is fixedly connected to the side wall of the traverse movement frame, wherein the Y-axis slide rail and the Y-axis slide block are both arranged within the Y-axis dust cover. [7] Handling gripper for film reels according to claim 1, characterized bythat the Z-axis drive mechanism comprises a Z-axis motor and a screw elevator connected to the output end of the Z-axis motor, wherein the bottom surface of the screw elevator is fixedly connected to the top surface of the frame body; wherein a Z-axis slide rail extending in the Z-axis direction is arranged on the traverse movement frame, wherein the Z-axis slide block is slidably arranged on the Z-axis slide rail, wherein the side surface of the Z-axis slide block is fixedly connected to the side surface of the frame body. [8] Handling gripper for film reels according to claim 1, characterized bythat the gripping and driving mechanism comprises a gripping motor arranged on the frame body, a first gear drivingly connected to the output end of the gripping motor, a first rotary shaft rotatably arranged on the frame body, a second gear mounted on the first rotary shaft, a first transmission structure arranged between the first gear and the second gear; wherein the first transmission structure comprises a mounting bracket fastened to a frame body, a mounting shaft fixedly connected to the mounting bracket, a third gear and a fourth gear rotatably arranged on the mounting shaft, wherein the third gear and the fourth gear are fixedly connected; wherein the third gear is in engagement with the first gear, wherein the fourth gear is in engagement with the second gear;wherein the frame body is drivingly provided with a second rotary shaft parallel to the first rotary shaft, the first rotary shaft and the second rotary shaft rotating in reverse through a second transmission structure, the first rotary shaft being fixedly connected to the first gripper and the second rotary shaft being fixedly connected to the second gripper; [9] Handling gripper for film reels according to claim 8, characterized bythat the pitch circle diameter of the second gear is larger than the pitch circle diameter of the first gear; wherein the pitch circle diameter of the third gear is larger than the pitch circle diameter of the fourth gear, wherein the pitch circle diameter of the third gear is smaller than the pitch circle diameter of the second gear; wherein two symmetrically arranged first fan-shaped locking blocks protrude towards the center of the circle on the inner circle of the third gear, wherein two symmetrically arranged fan-shaped grooves and a perforation located between the two fan-shaped grooves are formed between the two first fan-shaped locking blocks, wherein two second fan-shaped locking blocks protrude outwards on a side surface of the fourth gear and can engage in the fan-shaped grooves, wherein two first fan-shaped locking blocks and two second fan-shaped locking blocks engage to form a ring, wherein the fastening shaft runs through the perforation. [10] Handling gripper for film reels according to claim 9, characterized by that the third gear is provided with a limiting ring on the side surface of the first fan-shaped locking block, wherein the outer arcuate surface of the two first fan-shaped locking blocks is fixedly connected to the inner circular surface of the limiting ring, wherein the fan-shaped groove is provided in the limiting ring, wherein the outer arcuate surface of the two second fan-shaped locking blocks abuts the inner circular surface of the limiting ring.

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