CN114572815A - Automatic clamping device for transplanting and conveying coil material frame - Google Patents

Abstract

The invention discloses an automatic clamping device for transplanting, conveying and taking a coil pipe material frame. The clamping device comprises a box body, a clamping jaw module, a transmission module, a self-locking module, a steel wire rope module and a connecting seat. The clamping jaw module and the transmission module are installed in the box body and used for grabbing the coil pipe material frame. The steel wire rope module comprises a plurality of steel wire ropes. The two ends of the steel wire rope are respectively connected with the box body and the connecting seat. The clamping jaw module is used for extending into a center hole of the coil pipe material frame and grabbing the coil pipe material frame. The clamping jaw module comprises a clamping jaw and a clamping jaw connecting rod. The transmission module includes a gear, a jaw link, and a rack bar. The self-locking module comprises a groove-shaped cam, a roller mounting rod, a roller and an extension spring. According to the automatic clamping device, the box body continuously moves downwards after contacting the material frame, so that the clamping jaws can automatically grab and release the material frame without using other power elements, the material frame can be automatically lifted, and the automatic clamping device can automatically separate from the material frame after the material frame reaches a positioning place.

Description

Automatic clamping device for transplanting and conveying coil material frame

Technical Field

The invention belongs to the technical field of material frame lifting and taking, and particularly relates to an automatic clamping device for transferring a coil pipe material frame.

Background

Semi-finished metal pipes in a factory workshop are generally placed in a circular coil pipe material frame; the structure of the coil pipe material frame is shown in fig. 3, the coil pipe material frame is divided into an inner ring and an outer ring, the inner ring and the outer ring are fixedly connected through a bottom metal surface, the outer layer limits the maximum diameter distance of a coil, the inner layer is used as the center bearing and the lifting point of a lifting appliance of a metal pipe and a cable rope, a lifting inner step is arranged at the contact position of a through hole at the center of a coil pipe and an end surface, and the coil pipe material frame is lifted by a lifting appliance supported in the inner wall of the central through hole or a lifting hook on the upper end surface of the coil pipe. When the material frame is small, the crane stays above the material frame by human intervention, and an operator manually uses the inner wall of the central through hole of the material frame supported by the lifting appliance or uses the lifting hook to lift the end face hook ring to control the crane to lift the coil pipe material frame to be placed on the next station. Along with the efficiency demand enlarges, the diameter of the metal coil pipe material frame is larger and larger, the position of the central through hole of the material frame far exceeds the range of the operation worker for placing the lifting appliance, the time and the labor are consumed by adopting the mode of manually using the lifting appliance in the past, and the efficiency is low. With the automatic and intelligent promotion of the crane, the dependence on the operation control requirements of workers is gradually reduced, and the transplanting and conveying of the coil pipe material frames do not need the intervention of the workers, so that the automatic clamping and automatic separating device for the large material frames is urgently needed.

Disclosure of Invention

The invention aims to solve the problems that lifting of a lifting appliance is controlled manually during transplanting and conveying of coil pipe material frames, the lifting appliance is difficult to separate from the material frames, the efficiency is low and the like, and provides a device for automatically clamping the large coil pipe material frames and automatically separating from the material frames after the lifting task is completed.

The automatic clamping device for transferring and conveying the coil pipe material frame comprises a box body, a clamping jaw module, a transmission module, a self-locking module, a steel wire rope module and a connecting seat. The clamping jaw module and the transmission module are installed in the box body and used for grabbing the coil pipe material frame. The steel wire rope module comprises a plurality of steel wire ropes. The two ends of the steel wire rope are respectively connected with the box body and the connecting seat. The clamping jaw module is used for extending into a center hole of the coil pipe material frame and grabbing the coil pipe material frame. The cable provides pulling force for the box body through the connecting seat and the steel wire rope.

The clamping jaw module comprises a clamping jaw and a clamping jaw connecting rod. The inner ends of the two clamping jaws are respectively and rotatably connected with the opposite sides of the bottom of the inner cavity of the box body. The outer end of the clamping jaw extends out of the bottom of the box body, and the outer end part is provided with a hook part. Through the reverse upset of two clamping jaws for hook portion on two clamping jaws opens, is connected with the hoist and mount portion on the coil pipe material frame.

The transmission module comprises a gear, a clamping jaw connecting rod and a rack rod. The two gears are both arranged in the box body; one end of each clamping jaw connecting rod is rotatably connected with the eccentric positions of the two gears respectively; the other ends of the two clamping jaw connecting rods are respectively and rotatably connected with the clamping jaws. The top end of the rack rod which is vertically arranged is connected with the connecting seat in a sliding way; the bottom end of the rack rod extends into the space between the two gears; the two sides of the bottom end of the rack bar are provided with straight-line arranged gear teeth. The linearly arranged gear teeth on both sides of the rack bar are respectively meshed with the two gears.

The self-locking module comprises a groove-shaped cam, a roller mounting rod, a roller and an extension spring. The groove-shaped cam is fixed in the box body. One end of the roller mounting rod is rotatably connected with the rack rod, and the other end of the roller mounting rod is rotatably connected with a roller. The roller extends into the working profile groove on the grooved cam.

The working contour groove comprises an inner limiting surface and an outer limiting surface; the bottoms of the inner limiting surface and the outer limiting surface are both provided with limiting areas with lower two sides and higher middle part; the highest position of the limiting area at the bottom of the inner limiting surface and the highest position of the limiting area at the bottom of the outer limiting surface are staggered along the horizontal direction. Each time the rack bar moves downwards to the limit position relative to the box body and resets upwards once, the roller is switched once between the top center position and the bottom center position of the working contour groove; during the up-and-down movement of the rack bar, the roller only rotates in one direction. The top of the rack bar is provided with a limiting part; the rectangular spring is sleeved on the rack rod, and two ends of the rectangular spring respectively abut against the limiting parts on the box body and the rack rod.

Preferably, the middle position of the top of the inner limiting surface is provided with a mounting groove. The middle position of the top of the outer limiting surface is the highest position of the outer limiting surface. The central position of the mounting groove is provided with a thumb wheel through a one-way bearing; the poking wheel is provided with a plurality of poking sheets which are uniformly distributed along the circumferential direction of the poking wheel. The highest point of the diameter of the poking wheel in the vertical direction is lower than the highest point of the inner limiting surface, and the poking wheel with the poking sheet and capable of rotating only in one direction only allows the roller to pass through the upper part of the working contour groove in one direction. The rotating direction of the top of the thumb wheel is opposite to the staggering direction of the tip of the bottom of the outer limiting surface relative to the tip of the limiting area of the bottom of the inner limiting surface.

Preferably, the depth of the mounting groove is smaller than the width of the roller; so that the roller cannot enter the mounting groove.

Preferably, the automatic clamping device for the coil pipe material frame transplanting and conveying further comprises an extension spring. The two ends of the extension spring are respectively fixed with the middle parts of the rack bar and the roller mounting bar. The extension spring is positioned on one side of the roller mounting rod; the moving direction of the top of the thumb wheel relative to the roller mounting rod is opposite to the elastic direction of the tension spring to the roller mounting rod.

Preferably, the automatic clamping device for transferring and transplanting the coil pipe material frame further comprises a gear self-locking assembly; the gear self-locking assembly comprises a sliding block connecting rod, a clamping jaw fixing shaft, a sliding block and a sliding block groove. Two ends of the slide block connecting rod are respectively and rotatably connected with the eccentric position of the gear and the slide block; the slider is slidably connected to the slider slot. When the clamping jaw is opened to a preset position, the sliding block connecting rod is propped against the shaft shoulder on the clamping jaw fixing shaft.

Preferably, the rack rod vertically slides downwards relative to the box body to drive the gear to rotate positively, and the two clamping jaws are driven to open through the clamping jaw connecting rod. Under the state that two clamping jaws opened to predetermineeing the position, the top of the straight line of the rack bar both sides arranged the teeth of a cogwheel and the gear separation that corresponds.

Preferably, the limiting shaft on the rack rod is arranged in the connecting seat sliding groove, and the upper limit position of the rack rod is limited by the end part of the connecting seat sliding groove.

Preferably, the tips of the hook portions at the outer ends of the jaws face towards a side adjacent to the inner ends of the jaws.

Preferably, a weighing module is arranged between the connecting seat and the cable used for hoisting.

Preferably, the top of the weighing module is connected with a crane cable through a bracket and a pulley.

Preferably, the working profile groove on the grooved cam is formed in a vertical plane.

Preferably, when the two clamping jaws are opened to the clamping working state, the axes of the clamping jaw connecting rods are intersected with the axis of the gear.

The invention has the beneficial effects that:

1. according to the automatic clamping device, the box body continuously moves downwards after contacting the material frame, so that the clamping jaws can automatically grab and release the material frame without using other power elements, the material frame can be automatically lifted and taken, the automatic clamping device automatically releases from the material frame after reaching a positioning place, and the clamping jaws do not need to be manually operated to open and close in the process.

2. The self-locking device is arranged in the lifting device, so that the internal mechanism of the lifting device is protected, the material frame cannot fall off due to the factors of the lifting device to cause danger in the lifting process, and the safety and the reliability of the lifting device are ensured.

3. The clamping device is simple in structure and easy to manufacture and install, and most of the clamping device is installed in the box body, so that interference of external factors is prevented, and parts are convenient to disassemble and replace.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a partially enlarged schematic view of a portion G in fig. 1.

Figure 3 is a schematic cross-sectional view of the coil frame being hoisted.

Figure 4 is a schematic view of a combination of a jaw module and a transmission module according to the invention.

Fig. 5 is a partially enlarged view of portion J of fig. 4.

Fig. 6 is a schematic view of the internal structure of the case of the present invention.

Fig. 7 is a partially enlarged view of the portion X in fig. 6.

FIG. 8 is a schematic sectional view of the case of the present invention.

Fig. 9 is a schematic view of the gripper module of the present invention extending into the center hole of the coil frame.

Figure 10 is a schematic view of the jaw modules of the present invention expanded in the coil frame center hole.

Fig. 11 is a partially enlarged view of a portion M in fig. 10.

FIG. 12 is a schematic front view of the process of hanging the coil frame according to the present invention.

Detailed Description

The structure of the invention is further explained in the following with the attached drawings.

Example 1

As shown in fig. 1-8, an automatic clamping device for a coil pipe material frame comprises a box body 2, a clamping jaw module, a transmission module, a self-locking module, a steel wire rope module and a weighing module 3. The top 311 of the weighing module 3 is connected to the crane cable via the bracket 4 and the pulley 5. The bottom of the weighing module 3 is connected with the box body in a sliding mode along the vertical direction. The clamping jaw module and the transmission module are installed in the box body and used for grabbing the coil pipe material frame 6. The bottom of the weighing module 3 is fixed with a connecting seat 312. The wire rope module comprises four wire ropes 11. Two ends of the steel wire rope 11 are respectively fixed with the box body steel wire rope rod 711 and the connecting seat steel wire rope rod 911. The box body wire rope rod 711 and the connecting seat wire rope rod 911 are respectively fixed on the box body 2 and the connecting seat 312. The steel wire rope 11 can transmit pulling force to the box body 2 to pull the coil pipe material frame 6, but the box body 6 is not limited to move upwards relative to the weighing module 3; weighing module 3 includes weighing sensor 3, can detect whether the area carries or no-load operation when hanging the frame of getting. The bottom of the clamping jaw module can stretch into the top of the central hole of the coil pipe material frame 6, and the two clamping jaws are opened to reversely buckle the downward limiting hoisting part 611 at the top of the coil pipe material frame 6.

The jaw module comprises a jaw 1, a jaw link 16 and a connecting shaft 712. The inner ends of the two clamping jaws 1 are respectively and rotatably connected with the opposite sides of the bottom of the inner cavity of the box body 2. The outer end of the clamping jaw 1 extends out of a second abdicating notch 213 in the middle position of the bottom of the box body 2, and the end part of the outer end is provided with a hook part; the tip of the hook portion faces toward the side near the inner end of the jaw. Through the reverse upset of two clamping jaws, can make the hook portion on two clamping jaws open, block hoist and mount portion 611 on coil pipe material frame 6. The hanging part 611 on the coil frame is in a stepped hole shape with a large inside and a small outside.

The transmission module comprises a gear 15, a jaw link 16 and a rack bar 12. The two gears 15 are symmetrically arranged inside the box body 2; one end of each clamping jaw connecting rod 16 is rotatably connected with the eccentric positions of the two gears 15 respectively, and the other end of each clamping jaw connecting rod is rotatably connected with the middle position of the clamping jaw 1 respectively. The top end of the rack rod 12 which is vertically arranged extends out of the abdicating notch 214 on the box body to be in sliding connection with the sliding groove on the connecting seat 312 of the weighing module 3, and the end part of the sliding groove is matched with the limiting shaft 10 which is fixed at the top end of the rack rod 12 to provide upper limit for the rack rod 12. The bottom end of the rack bar 12 extends between the two gears; the two sides of the bottom end of the rack bar are provided with linearly arranged gear teeth 1214.

The gear 15 is connected with the clamping jaw 1 for transmission through a clamping jaw connecting rod 16, and linearly arranged gear teeth 1214 on two sides of the rack rod 12 are respectively meshed with the two gears 15; when the rack bar 12 slides vertically downward relative to the housing 2, the driving gear 15 rotates forward and drives the two jaws 1 to open through the jaw links 16. When the rack bar 12 slides down to the area where the linearly arranged gear teeth 1213 are separated from the gear 15, the sliding of the rack bar 12 no longer drives the gear 15 to rotate, i.e. after the two jaws 1 are opened to the extreme position, the sliding of the rack bar 12 no longer drives the two jaws 1 to continue to open outward.

The self-locking module comprises a rack self-locking assembly and a gear connecting rod self-locking assembly. The rack self-locking assembly includes a grooved cam 211, a roller mounting bar 18, a roller 17 and an extension spring 19. The groove cam 211 is fixed in the case. The working profile slot on the slot cam 211 is formed in a vertical plane. One end of the roller mounting rod 18 is rotatably connected to a projecting shaft 1212 on the rack bar 12, and the other end is rotatably connected to the roller 17. The roller 17 extends into the working profile slot on the slotted cam 211.

The working contour groove comprises an inner limiting surface and an outer limiting surface; the distance between the inner limiting surface and the outer limiting surface at the minimum distance is slightly larger than the diameter of the roller 17; the bottoms of the inner limiting surface and the outer limiting surface are both provided with limiting areas with two low sides and a high middle part; the tip of the limiting area at the bottom of the inner limiting surface is staggered with the tip of the limiting area at the bottom of the outer limiting surface along the horizontal direction.

The middle position of the top of the inner limiting surface is provided with a mounting groove. The middle position of the top of the outer limiting surface is the highest position of the outer limiting surface. The center of the mounting groove is provided with a thumb wheel through a one-way bearing; the poking wheel is provided with a plurality of poking sheets 212 which are uniformly distributed along the circumferential direction of the poking wheel. The thumb wheel with the thumb tab 212 and capable of only one-way rotation only allows the roller 17 to pass over the working contour groove in one direction, so as to avoid the roller 17 from moving in the opposite direction. The rotating direction of the top of the thumb wheel is opposite to the staggering direction of the tip of the bottom of the outer limiting surface relative to the tip of the limiting area of the bottom of the inner limiting surface. The depth of the mounting groove is less than the width of the roller 17; the roller 17 cannot enter the mounting groove.

The roller 17 is switched once between the top center position and the bottom center position of the working contour groove every time the rack bar is moved down to the extreme position with respect to the housing; since there is a height difference between the top center and the bottom center of the working contour groove, by moving the rack bar downward to the extreme position, the rack bar can be switched between the two working positions where there is a height difference. The two working positions of the rack bar correspond to the open state and the closed state of the two clamping jaws respectively.

Both ends of the tension spring 19 are fixed to the middle portions of the rack bar and the roller mounting bar 18, respectively. The extension spring 19 is positioned at one side of the roller mounting rod 18; the direction of movement of the top of the thumb wheel relative to the roller mounting bar 18 is opposite to the direction of mounting of the tension spring 19 relative to the roller mounting bar 18.

The top of the rack bar is provided with a limiting part; the rectangular spring 8 is sleeved on the rack rod, and two ends of the rectangular spring respectively abut against the limiting parts on the box body and the rack rod. The rectangular spring 8 is in a pressed state, the extension spring 19 is in a pulled state, the elastic force of the rectangular spring 8 to the box body is far larger than the pulling force of the extension spring 19 to the roller mounting rod 18, when the clamping jaw 1 is in a folded state, due to the effect of the rectangular spring 8, the roller 17 is limited at the middle position of the top of the working outline (namely, is in contact with the highest position of the outer limiting surface), and at the moment, the roller is just in contact with the two shifting pieces of the rotating shifting piece 212. When the clamping jaws 1 are in an opening state to hoist the coil pipe material frame 6, the rollers 17 are positioned on the concave parts of the working outline grooves under the action of the rack rods 12 and are attached to the concave parts of the working outline grooves, so that the rack rods have upper and lower stable limit positions (the two stable limit positions respectively correspond to the opening state and the closing state of the two clamping jaws) relative to the box body in the vertical direction.

The gear self-locking assembly comprises a sliding block connecting rod 14, a clamping jaw connecting rod 16, a clamping jaw fixing shaft 712, a sliding block 13 and a sliding block groove 215. The slider link 14 connects the gear 15 and the slider 13, and the slider 13 is slidable in the slider groove 215. When the two clamping jaws 1 clamp the hoisting part 611 at the upper end face of the coil pipe material frame 6 to move upwards, part of the pulling force of the clamping jaws 1 is transmitted to the gear 15 by the connecting rod 16, the gear 15 is forced to rotate towards the direction of the pulling force, the sliding block connecting rod 14 contacts with the shoulder 7121 on the clamping jaw fixing shaft 712 to limit the rotation of the gear, the force leakage of the gear is completed, and the self-locking of the gear 15 is completed by the sliding block connecting rod 14.

As an alternative example, the roller mounting bar 18 is rotatably connected to the rack bar 12 by a protruding connecting shaft 1212 fixed to the rack bar 12; the two ends of the extension spring 19 are respectively connected with the middle hook block of the roller mounting rod 18 and the hook block 1212 of the small rod protruding towards one side in the middle of the rack rod 12.

As an alternative example, the inner end part of the clamping jaw 1 is arranged in the box body 2 through a clamping jaw fixing shaft 712 and cannot be displaced along the axial direction under the action of the clamping jaw fixing shaft 712, the middle part of the clamping jaw is connected with the clamping jaw connecting rod 16 through a short shaft, the two connecting parts form a rotating pair, and in an initial state, the maximum distance between the lower end parts of the two clamping jaws is far smaller than the diameter of a central opening of the material frame.

As an alternative example, two gears 15 are provided with bearings in their central holes, the bearings are symmetrically mounted on both sides of the housing through a fixed shaft and cannot be axially displaced, the end faces of the gears are connected with a jaw link 16 and a slider link 14, and the two gears 15 can be simultaneously engaged with the linearly arranged gear teeth 1213 on both sides of the rack bar 12.

As an alternative example, the extension spring 19 is a tension spring, and the rectangular spring 8 is a compression spring.

The material frame clamping process of the automatic clamping device for transferring and transferring the material frame of the coil pipe comprises the following steps:

in an initial state, a crane is positioned right above a coil pipe material frame, a cable is put down, the coil pipe material frame clamping device moves down, a clamping jaw 1 extends into a central hole of a coil pipe material frame 6, the lower end face of a box body 2 is contacted with the upper end face of the coil pipe material frame 6, the cable is continuously put down, a connecting seat 312 of a weighing module is contacted with a limiting shaft 10 on a rack rod 12 in a sliding groove face way to drive the rack rod 12 to move downwards, a rectangular spring 8 is pressed, a roller 17 is driven by a roller mounting rod 18 and a thumb wheel shifting sheet 212 to roll along a groove-shaped cam 211, linearly-arranged gear teeth 1214 on the end part of the rack rod 12 are meshed with a gear 115 to enable the gear to rotate forwards, a clamping jaw connecting rod 16 enables the clamping jaw 1 to expand towards two sides under the rotation of the gear, a sliding block connecting rod 14 drives a sliding block 13 to slide towards two sides along a sliding groove 215 under the rotation of the gear, and the linearly-arranged gear teeth 1214 on the rack rod 12 are not meshed with the gear 15 along with the continuous putting down of the cable, the clamping jaw 1 is unfolded to the limit position, the roller 17 is positioned at the stable limit position below the inner limit surface under the action of the rectangular spring 8 and the extension spring 19, and the self-locking of the rack self-locking assembly is completed; the sliding block connecting rod 14 is driven by the gear 15 to be in contact with a shaft shoulder 7121 on the clamping jaw fixing shaft 712, so that the rotation of the gear 15 is limited, and the self-locking of the gear rod piece self-locking assembly is completed.

The hoist hawser rises, 11 pulling boxes 2 of wire rope, clamping jaw 1 in the box rises wholly, 1 hook portion of clamping jaw and coil pipe material frame's lifting hook portion 611 contact, coil pipe material frame rises, rise to appointed height after, the hoist reachs the purpose and transfers the position, the hawser descends, terminal surface contact is to the designated plane under the coil pipe material frame, along with the hawser continues to transfer, spacing face of spout on the connecting seat 312 contacts with spacing axle 10 on the rack bar 12 once more, a rack bar downward displacement segment distance once more, rectangular spring 8 continues pressurized, spacing face below stable extreme position in gyro wheel 17 leaves, downward contact is to outer spacing face, the gear does not take place the motion this moment. The cable moves upwards, under the action of the rectangular spring, the linearly-arranged gear teeth 1214 at the end part of the rack rod 12 are meshed with the gear 15 again to drive the gear to rotate reversely, the clamping jaw connecting rod 16 drives the clamping jaw 1 to fold under the action of the gear, and the roller 17 rolls upwards along the inner and outer limiting surfaces under the action of the extension spring 19 and the rectangular spring 8 to complete the unlocking of the rack self-locking assembly; the slider connecting rod 14 drives the slider 13 to slide towards the center along the slider sliding groove 215 under the reverse rotation of the gear, and the slider is no longer in contact with the shaft shoulder 7121 on the clamping jaw fixing shaft 712, so that the unlocking of the gear self-locking assembly is completed. Along with the displacement that the hawser continues upwards, clamping jaw 1 folds to initial condition completely, and gyro wheel 17 moves to the top of outer spacing face and stabilizes the extreme position along the recess under rectangle spring, extension spring, thumb wheel effect, and coil pipe material frame presss from both sides and gets the device and break away from the material frame, accomplishes the task of getting and transferring of hanging of coil pipe material frame, and the hoist repeats this step and accomplishes the task of getting and transferring of hanging of coil pipe material frame transplanting conveying.

Example 2

This example differs from example 1 in that: in the embodiment, a gear connecting rod self-locking assembly is not arranged; after the clamping jaw 1 is opened to the maximum displacement, the gear self-locking can be completed only by arranging the center of the gear 16 and two connecting positions of the clamping jaw connecting rod 16 on the same straight line, and the effect of discharging is completed.

Example 3

This example differs from example 1 in that: in the embodiment, the dial wheel is not arranged, and the extension spring is not arranged; the highest part of the top of the inner limiting surface of the working profile groove of the groove-shaped cam is staggered with the highest part of the top of the outer limiting surface; the highest part of the top of the outer limiting surface and the highest part of the limiting area at the bottom of the inner limiting surface are respectively an upper limiting point and a lower limiting point; the upper limit point and the lower limit point correspond to an upper working position and a lower working position of the rack bar, respectively. The inner limiting surface part right below the upper limiting point and the outer limiting surface part right below the lower limiting point are inclined upwards in opposite directions, so that the roller only rotates in one direction in the process of up-and-down motion of the gear rod.

Claims (10)

1. The utility model provides a device is got to automatic clamp of coil pipe material frame transplanting conveying which characterized in that: the clamping jaw device comprises a box body (2), a clamping jaw module, a transmission module, a self-locking module, a steel wire rope module and a connecting seat (312); the clamping jaw module and the transmission module are arranged in the box body and used for grabbing the coil pipe material frame (6); the steel wire rope module comprises a plurality of steel wire ropes (11); two ends of the steel wire rope (11) are respectively connected with the box body (2) and the connecting seat (312); the clamping jaw module is used for extending into a center hole of the coil pipe material frame (6) and grabbing the coil pipe material frame (6); the cable provides tension for the box body (2) through the connecting seat (312) and the steel wire rope (11);

the clamping jaw module comprises a clamping jaw (1) and a clamping jaw connecting rod (16); the inner ends of the two clamping jaws (1) are respectively and rotatably connected with the opposite sides of the bottom of the inner cavity of the box body (2); the outer end of the clamping jaw (1) extends out of the bottom of the box body (2), and the end part of the outer end is provided with a hook part; the bent hook parts on the two clamping jaws are opened through reverse overturning of the two clamping jaws and are connected with a hoisting part (611) on the coil pipe material frame (6);

the transmission module comprises a gear (15), a clamping jaw connecting rod (16) and a rack rod (12); the two gears (15) are both arranged in the box body (2); one ends of the two clamping jaw connecting rods (16) are respectively and rotatably connected with the eccentric positions of the two gears (15); the other ends of the two clamping jaw connecting rods (16) are respectively and rotatably connected with the clamping jaws (1); the top end of a rack rod (12) which is vertically arranged is connected with a connecting seat (312) in a sliding way; the bottom end of the rack rod (12) extends into the space between the two gears; both sides of the bottom end of the rack bar are provided with linearly arranged gear teeth (1214); the linearly arranged gear teeth (1214) on both sides of the rack bar (12) are respectively meshed with the two gears (15);

the self-locking module comprises a groove-shaped cam (211), a roller mounting rod (18), a roller (17) and an extension spring (19); the groove-shaped cam (211) is fixed in the box body; one end of the roller mounting rod (18) is rotationally connected with the rack rod (12), and the other end is rotationally connected with a roller (17); the roller (17) extends into a working profile groove on the groove-shaped cam (211);

the working contour groove comprises an inner limiting surface and an outer limiting surface; the bottoms of the inner limiting surface and the outer limiting surface are both provided with limiting areas with two low sides and a high middle part; the highest part of the limiting area at the bottom of the inner limiting surface is staggered with the highest part of the limiting area at the bottom of the outer limiting surface along the horizontal direction; each time the rack bar moves downwards to the limit position relative to the box body and returns upwards once, the roller (17) switches once between the top center position and the bottom center position of the working contour groove; in the process that the rack bar moves up and down, the roller (17) only rotates in one direction; the top of the rack bar is provided with a limiting part; the rectangular spring (8) is sleeved on the rack rod, and two ends of the rectangular spring respectively abut against the limiting parts on the box body and the rack rod.

2. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: a mounting groove is formed in the middle of the top of the inner limiting surface; the middle position of the top of the outer limiting surface is the highest position of the outer limiting surface; the center of the mounting groove is provided with a thumb wheel through a one-way bearing; a plurality of shifting pieces (212) which are uniformly distributed along the circumferential direction of the shifting wheel are arranged on the shifting wheel; the highest point of the diameter of the thumb wheel in the vertical direction is lower than the highest point of the inner limiting surface, and the thumb wheel which is provided with a thumb piece (212) and can only rotate in a single direction only allows the roller (17) to pass through the upper part of the working contour groove in one direction; the rotating direction of the top of the thumb wheel is opposite to the staggering direction of the tip of the bottom of the outer limiting surface relative to the tip of the limiting area of the bottom of the inner limiting surface.

3. The automatic clamping device for coil pipe material frame transplanting conveying as claimed in claim 2, characterized in that: the depth of the mounting groove is smaller than the width of the roller (17).

4. The automatic gripping device for the transfer of the coil pipe material frame as claimed in claim 2 or 3, wherein: also comprises a tension spring (19); two ends of the extension spring (19) are respectively fixed with the middle parts of the rack bar and the roller mounting bar (18); the extension spring (19) is positioned at one side of the roller mounting rod (18); the moving direction of the top of the thumb wheel relative to the roller mounting rod (18) is opposite to the elastic force direction of the tension spring (19) to the roller mounting rod (18).

5. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: the gear self-locking assembly is further included; the gear self-locking assembly comprises a sliding block connecting rod (14), a clamping jaw connecting rod (16), a clamping jaw fixing shaft (712), a sliding block (13) and a sliding block groove (215); two ends of the sliding block connecting rod (14) are respectively and rotatably connected with the eccentric position of the gear (15) and the sliding block (13); the sliding block (13) is connected on the sliding block groove (215) in a sliding way; when the clamping jaw is opened to a preset position, the sliding block connecting rod (14) is propped against a shaft shoulder on the clamping jaw fixing shaft.

6. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: the rack rod (12) vertically slides downwards relative to the box body (2), drives the gear (15) to rotate in the positive direction, and drives the two clamping jaws (1) to open through the clamping jaw connecting rod (16); when the two clamping jaws (1) are opened to the preset positions, the tops of the linearly arranged gear teeth (1214) on the two sides of the rack bar (12) are separated from the corresponding gears (15).

7. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: the limiting shaft (10) on the rack rod is arranged in the sliding groove of the connecting seat (312), and the upper limit position of the rack rod (12) is limited by the end part of the sliding groove of the connecting seat (312).

8. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: when the two clamping jaws (1) are opened to a clamping working state, the axes of the clamping jaw connecting rods are intersected with the axis of the gear.

9. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: and a weighing module (3) is arranged between the connecting seat (312) and the cable for hoisting.

10. The automatic gripping device for the transfer of the coil frame as claimed in claim 1, wherein: the highest position of the top of the outer limiting surface and the highest position of a limiting area at the bottom of the inner limiting surface are respectively an upper limit site and a lower limit site; the upper limit point and the lower limit point respectively correspond to the upper working position and the lower working position of the rack bar; the inner limiting surface part right below the upper limiting point and the outer limiting surface part right below the lower limiting point are inclined upwards in opposite directions.

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