CN117984352A - Film roll carrying gripper - Google Patents

Abstract

The invention relates to the technical field of film roll transportation and discloses a film roll carrying gripper, which comprises a frame, a transverse moving frame, a Y-axis driving mechanism, a Z-axis driving mechanism, a frame body, a grabbing driving mechanism, a first gripper and a second gripper, wherein the Z-axis driving mechanism is used for driving the frame body to move up and down, and the grabbing driving mechanism is used for driving the first gripper and the second gripper to synchronously open outwards or retract inwards; the bottom of first tongs with the second tongs is provided with the connecting strip unanimous with the extending direction of membrane book respectively, the side of connecting strip is provided with rotatable clamp splice, the side of clamp splice is the arc, the height of connecting strip is less than the height of clamp splice. The clamping blocks which can rotate around the connecting strip and are arc-shaped on the side surfaces are arranged, so that the film rolls with different roll diameters are ensured to be in surface contact all the time; the heights of the connecting strips and the clamping blocks are limited, and the rotation amplitude of the clamping blocks is limited.

Description

Film roll carrying gripper

Technical Field

The invention relates to the technical field of film roll transportation, in particular to a film roll carrying gripper.

Background

The membrane material is generally stored in the form of a membrane roll after processing, and the membrane roll still needs to be externally packed with a protective membrane roll before being transported and shipped, so that manufacturers with higher degree of automation generally adopt grippers which can be mutually close to and far away from to clamp the membrane roll, and then transport the membrane roll to a packing station for film covering and packing. The existing general gear that drives through the motor rotates, and the gear drives two axis of rotation reverse rotation, makes first handle and the second handle of the rigid coupling of axis of rotation that corresponds outwards prop out (be far away from each other) for the snatch of membrane roll provides the position, snatch the membrane roll when first handle and second handle inwards draw in (be close to each other). In order to avoid grabbing the film roll and leaving the trace of grabbing at the periphery of film roll after, current first tongs and the end of second tongs still can set up the cushion, but because the cushion is fixed connection with first tongs or second tongs, treat the roll diameter of grabbing the film roll different, the cushion is different with the contact position of different roll diameter film rolls, can not guarantee that the cushion is the face contact with the film roll all the time, and the contact area is less at the cushion and the film roll, and when the weight of film roll is great, still can leave the trace at the contact position of film roll, increases the defect rate of film roll.

It can be seen that there is a need for improvements and improvements in the art.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a film roll handling gripper, which aims to provide clamping blocks capable of rotating around the tail ends of a first gripper or a second gripper at the tail ends of the first gripper and the second gripper, so that the clamping blocks can always contact with a film roll presentation surface to be gripped, increase the contact area with the film roll, and avoid damaging the film roll when gripping and handling the film roll.

In order to achieve the above purpose, the invention adopts the following technical scheme:

The film roll carrying gripper comprises a frame, a transverse moving frame, a Y-axis driving mechanism for driving the transverse moving frame to move along the Y-axis direction of the frame, a Z-axis driving mechanism arranged on the transverse moving frame, a frame body connected with the Z-axis driving mechanism, a grabbing driving mechanism arranged on the frame body, a first gripper and a second gripper which are in transmission connection with the grabbing driving mechanism, wherein the Z-axis driving mechanism is used for driving the frame body to move up and down, and the grabbing driving mechanism is used for driving the first gripper and the second gripper to synchronously outwards prop or inwards retract; the bottom of first tongs with the second tongs is provided with the connecting strip unanimous with the extending direction of membrane book respectively, the side of connecting strip is provided with rotatable clamp splice, the side of clamp splice is the arc, the height of connecting strip is less than the height of clamp splice.

The membrane roll carrying tongs, wherein, the side of connecting strip is provided with the lug, the jack has been seted up on the lug, the mounting hole has been seted up to the side of clamp splice, the lug inserts in the mounting hole, be provided with the bolt on the clamp splice, the body of rod portion of bolt inserts in the jack.

The film roll carrying gripper is characterized in that a cushion block is fixedly connected to the side face of the clamping block, and the side face of the cushion block is arc-shaped.

The film roll carrying gripper comprises a Y-axis driving mechanism and a connecting seat, wherein the Y-axis driving mechanism comprises a linear motor and the connecting seat is fixedly connected with the linear motor, the linear motor is arranged in an extending mode along the Y-axis direction, and the connecting seat is fixedly connected with the side wall of the transverse moving frame; the linear motor is provided with two Y-axis in-place inductors, and the two Y-axis in-place inductors are respectively used for sensing the sensing pieces arranged on the connecting seat.

The film roll carrying gripper comprises a frame, wherein the upper surface of the frame is provided with Y-axis anti-collision seats, the Y-axis anti-collision seats are multiple, the Y-axis anti-collision seats are respectively located on two sides of the frame, and the transverse moving frame moves among the Y-axis anti-collision seats.

The film roll carrying gripper is characterized in that a Y-axis sliding rail extending along the Y-axis direction is arranged on the upper surface of the frame, a Y-axis sliding block is arranged on the Y-axis sliding rail in a sliding manner, and the upper surface of the Y-axis sliding block is fixedly connected with the lower surface of the transverse moving frame; the upper surface of frame is provided with Y axle dust cover, the one end of Y axle dust cover with the frame rigid coupling, the other end with the lateral wall rigid coupling of sideslip frame, Y axle slide rail with the Y axle slider is all located the inside of Y axle dust cover.

The film roll carrying gripper comprises a Z-axis driving mechanism and a screw rod lifter, wherein the Z-axis driving mechanism comprises a Z-axis motor and the screw rod lifter is in transmission connection with the output end of the Z-axis motor, and the bottom of the screw rod lifter is fixedly connected with the top of the frame body; the transverse moving frame is provided with a Z-axis sliding rail extending along the Z-axis direction, the Z-axis sliding rail is provided with a Z-axis sliding block in a sliding manner, and the side face of the Z-axis sliding block is fixedly connected with the side face of the frame body.

The film roll carrying gripper comprises a grabbing motor arranged on a frame body, a first gear in driving connection with the output end of the grabbing motor, a first rotating shaft rotatably arranged on the frame body, a second gear sleeved on the first rotating shaft, and a first transmission structure arranged between the first gear and the second gear; the first transmission structure comprises a fixed frame fixed on the frame body, a fixed shaft fixedly connected with the fixed frame, a third gear and a fourth gear rotatably arranged on the fixed shaft, and the third gear is fixedly connected with the fourth gear; the third gear is meshed with the first gear for transmission, and the fourth gear is meshed with the second gear for transmission; the frame body is rotatably provided with a second rotating shaft which is parallel to the first rotating shaft, the first rotating shaft and the second rotating shaft realize reverse rotation through a second transmission structure, the first rotating shaft is fixedly connected with the first gripper, and the second rotating shaft is fixedly connected with the second gripper.

The film roll carrying gripper, wherein the pitch circle diameter of the second gear is larger than that of the first gear; the pitch circle diameter of the third gear is larger than that of the fourth gear, and the pitch circle diameter of the third gear is smaller than that of the second gear; the inner circle of third gear is located to the protruding first fan-shaped fixture block that forms two symmetries settings of centre of a circle direction, forms two fan-shaped grooves that the symmetry set up and the perforation that is located between two fan-shaped grooves between two first fan-shaped fixture blocks, one side of fourth gear towards protruding two with fan-shaped groove adaptation male second fan-shaped fixture block, two first fan-shaped fixture blocks and two second fan-shaped fixture block joint form the ring, the fixed axle passes the perforation.

The membrane roll carrying tongs, wherein, the third gear is provided with still be provided with the spacing ring on the side of first fan-shaped fixture block, two the extrados of first fan-shaped fixture block with the interior round face rigid coupling of spacing ring, fan-shaped groove set up in the spacing ring, two the extrados of second fan-shaped fixture block with the interior round face butt of spacing ring.

The beneficial effects are that:

The invention provides a film roll carrying gripper, which is provided with a Y-axis driving mechanism, so that a transverse moving frame can reciprocate along the Y-axis direction; a Z-axis driving mechanism is arranged, so that the frame body can reciprocate along the Z-axis direction; a grabbing driving mechanism is arranged, so that the first gripper and the second gripper can synchronously grab and release the film roll; the clamping blocks which can rotate around the connecting strips and are arc-shaped on the side surfaces are arranged, so that the film rolls with different roll diameters are always in surface contact; the heights of the connecting strips and the clamping blocks are limited, and the rotation amplitude of the clamping blocks is limited.

Drawings

Fig. 1 is a schematic structural diagram of a film roll handling gripper according to the present invention.

Fig. 2 is a schematic diagram of a film roll handling gripper.

Fig. 3 is a schematic structural view of the second gripper.

Fig. 4 is a schematic view of a partial structure of fig. 1.

Fig. 5 is a partial schematic structure of fig. 2.

Fig. 6 is a schematic structural view of a third gear.

Fig. 7 is a schematic structural view of a fourth gear.

Description of main reference numerals: the device comprises a 1-frame body, a 2-grabbing motor, a 31-first gear, a 32-second gear, a 33-third gear, a 331-first fan-shaped clamping block, a 332-fan-shaped groove, a 333-perforation, a 334-limiting ring, a 34-fourth gear, a 341-second fan-shaped clamping block, a 35-fifth gear, a 36-sixth gear, a 37-first rotating shaft, a 38-second rotating shaft, a 39-fixed shaft, a 40-fixed frame, a 51-first grab, a 52-second grab, a 53-connecting strip, a 54-clamping block, a 55-lug, a 56-bolt, a 57-cushion block, a 6-frame, a 61-Y-axis anti-collision seat, a 62-Y-axis dust cover, a 7-traversing frame, a 71-Z-axis sliding rail, a 72-Z-axis sliding block, a 81-linear motor, a 82-connecting seat, a 83-Y-axis in-place sensor, a 84-sensing piece, a 91-Z-axis motor and a 92-lead screw lifter.

Detailed Description

The invention provides a film roll carrying gripper, which is used for making the purposes, technical schemes and effects of the invention clearer and more definite, and is further described in detail below by referring to the accompanying drawings and examples. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1-5, the present invention provides a film roll handling gripper, which includes a frame 6, a traversing frame 7, a Y-axis driving mechanism for driving the traversing frame 7 to move along the Y-axis direction of the frame 6, a Z-axis driving mechanism disposed on the traversing frame 7, a frame 1 connected with the Z-axis driving mechanism, a grabbing driving mechanism disposed on the frame 1, a first gripper 51 and a second gripper 52 in driving connection with the grabbing driving mechanism, wherein the Z-axis driving mechanism is used for driving the frame 1 to move up and down, and the grabbing driving mechanism is used for driving the first gripper 51 and the second gripper 52 to synchronously open outwards or retract inwards; the bottoms of the first gripper 51 and the second gripper 52 are respectively provided with a connecting strip 53 consistent with the extending direction of the film roll, the side surface of the connecting strip 53 is provided with a rotatable clamping block 54, the side surface of the clamping block 54 is arc-shaped, and the height of the connecting strip 53 is smaller than that of the clamping block 54.

In practical application, the frame 6 moves along the direction of the X axis and moves to the upper side of the film roll to be carried, under the action of the Y axis driving mechanism, the transverse moving frame 7 moves to the position right above the film roll to be carried, and then under the action of the Z axis driving mechanism, the frame body 1 moves downwards, meanwhile, the grabbing driving mechanism operates to enable the first gripper 51 and the second gripper 52 to synchronously and outwards prop open, when the frame body 1 drives the first gripper 51 and the second gripper 52 to be positioned at two sides of the film roll, the grabbing driving mechanism operates again to enable the first gripper 51 and the second gripper 52 to synchronously and inwards retract, the side surfaces of the two clamping blocks 54 rotate around the connecting strip 53 by a certain angle until the side surfaces of the clamping blocks 54 in an arc shape are in contact with the peripheral surface of the film roll, so that the grabbing of the film roll is realized; then the Z-axis driving mechanism operates to drive the frame body 1, the first gripper 51, the second gripper 52 and the film roll to move upwards, and the frame 6 can move along the X-axis direction and move the film roll to the packaging station for wrapping the protective film.

Referring to fig. 3 and 5, the heights of the connecting bar 53 and the clamping block 54 are limited, and when the arc surface of the clamping block 54 rotates upwards, the side surface of the upper part of the clamping block 54 facing the connecting bar 53 is abutted against the upper part of the connecting bar 53; when the cambered surface of the clamping block 54 rotates downwards, the side surface of the lower part of the clamping block 54, which faces the connecting strip 53, can be abutted against the lower part of the connecting strip 53, so that the clamping block 54 can rotate within a certain range, and the rotation angle of the clamping block 54 can be limited. Through the arrangement, the surface contact can be realized on the film rolls with different roll diameters, and the damage of the film rolls can be avoided.

Referring to fig. 1,3 and 4, in some embodiments, a bump 55 is disposed on a side surface of the connection bar 53, a jack is disposed on the bump 55, a mounting hole is disposed on a side surface of the clamping block 54, the bump 55 is inserted into the mounting hole, a latch 56 is disposed on the clamping block 54, and a rod body of the latch 56 is inserted into the jack. The bolt 56 is fixed on the clamp block 54, and the lug 55 can rotate around the bolt 56, so that the clamp block 54 can rotate around the connecting strip 53.

Referring to fig. 3, in some embodiments, a pad 57 is fixedly connected to a side surface of the clamping block 54, and the side surface of the pad 57 is arc-shaped. The cushion block 57 is made of elastic materials, so that hard contact to the film roll during film roll grabbing can be avoided, the cushion block 57 is limited to be an arc surface, the contact area with the outer peripheral surface of the film roll can be increased, and the stability of the film roll during moving can be improved.

Referring to fig. 1 and 2, in some embodiments, the Y-axis driving mechanism includes a linear motor 81 and a connecting base 82 fixedly connected to the linear motor 81, the linear motor 81 is disposed to extend along the Y-axis direction, and the connecting base 82 is fixedly connected to a side wall of the traversing frame 7; the linear motor 81 is provided with two Y-axis in-place sensors 83, and the two Y-axis in-place sensors 83 are respectively used for sensing pieces 84 arranged on the connecting base 82. The linear motor 81 operates to drive the connecting seat 82 to reciprocate along the direction of the Y axis, and the connecting seat 82 drives the transverse moving frame 7 fixedly connected with the connecting seat to reciprocate along the direction of the Y axis. And the moving stroke of the traversing rack 7 can be limited by two Y-axis in-place sensors and sensing pieces 84.

Referring to fig. 1, in some embodiments, the upper surface of the frame 6 is provided with a plurality of Y-axis anti-collision seats 61, the plurality of Y-axis anti-collision seats 61 are respectively located at two sides of the frame 6, and the traverse frame 7 moves between the plurality of Y-axis anti-collision seats 61. The arrangement of the Y-axis anti-collision seat 61 is used for preventing the movement stroke of the traversing frame 7 from exceeding the distance between the two Y-axis in-place sensors 83 when the linear motor 81 or the Y-axis in-place sensors 83 are out of order, thereby playing a role in protection.

Referring to fig. 1, in some embodiments, a Y-axis sliding rail (located inside the Y-axis dust cover 62, not shown) extending along the Y-axis direction is disposed on the upper surface of the frame 6, and a Y-axis sliding block (located inside the Y-axis dust cover 62, not shown) is slidably disposed on the Y-axis sliding rail, and the upper surface of the Y-axis sliding block is fixedly connected to the lower surface of the traverse frame 7. The connecting seat 82 is small in size, the transverse moving frame 7 is large in size and weight, and the Y-axis sliding rail and the Y-axis sliding block are arranged, so that the transverse moving frame 7 can move reciprocally along the Y-axis direction smoothly, and the shaking of the frame body 1 connected with the transverse moving frame 7 is avoided, and the smooth movement of the film roll is influenced.

Referring to fig. 1, in some embodiments, a Y-axis dust cover 62 is disposed on the upper surface of the frame 6, one end of the Y-axis dust cover 62 is fixedly connected with the frame 6, the other end is fixedly connected with the side wall of the traverse frame 7, and the Y-axis sliding rail and the Y-axis sliding block are both located inside the Y-axis dust cover 62. By the above arrangement, sundries can be prevented from entering the Y-axis slide rail, thereby ensuring the movement of the traverse frame 7.

Referring to fig. 1 and 2, in some embodiments, the Z-axis driving mechanism includes a Z-axis motor 91, and a screw lifter 92 drivingly connected to an output end of the Z-axis motor 91, where a bottom of the screw lifter 92 is fixedly connected to a top of the frame 1; the transverse moving frame 7 is provided with a Z-axis sliding rail 71 extending along the Z-axis direction, the Z-axis sliding rail 71 is provided with a Z-axis sliding block 72 in a sliding manner, and the side surface of the Z-axis sliding block 72 is fixedly connected with the side surface of the frame body 1. The Z-axis motor 91 operates to drive the frame 1 to reciprocate up and down under the guiding action of the Z-axis slide rail 71, and the above arrangement is also used to ensure that the frame 1 stably rises and falls.

Referring to fig. 4 and 5, in some embodiments, the grabbing driving mechanism includes a grabbing motor 2 disposed on the frame1, a first gear 31 drivingly connected to an output end of the grabbing motor 2, a first rotating shaft 37 rotatably disposed on the frame1, a second gear 32 sleeved on the first rotating shaft 37, and a first transmission structure disposed between the first gear 31 and the second gear 32; the first transmission structure comprises a fixed frame 40 fixed on the frame body 1, a fixed shaft 39 fixedly connected with the fixed frame 40, a third gear 33 and a fourth gear 34 rotatably arranged on the fixed shaft 39, and the third gear 33 and the fourth gear 34 are fixedly connected; the third gear 33 is meshed with the first gear 31 for transmission, and the fourth gear 34 is meshed with the second gear 32 for transmission; the frame body 1 is rotatably provided with a second rotating shaft 38 parallel to the first rotating shaft 37, the first rotating shaft 37 and the second rotating shaft 38 realize reverse rotation through a second transmission structure, the first rotating shaft 37 is fixedly connected with the first gripper 51, and the second rotating shaft 38 is fixedly connected with the second gripper 52.

In practical application, the grabbing motor 2 rotates forward to drive 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 with the first rotating shaft 37, the first rotating shaft 37 enables the first gripper 51 to open outwards under the action of the second transmission structure, and meanwhile, the second rotating shaft 38 rotates reversely (opposite to the rotating direction of the first rotating shaft 37) under the action of the second transmission structure, so that the second gripper 52 fixedly connected with the second rotating shaft 38 is driven to open outwards synchronously, and mutual separation of the first gripper 51 and the second gripper 52 is realized; when the grabbing motor 2 rotates reversely, under the action of the gear set, the first gripper 51 and the second gripper 52 are folded inwards, namely, are close to each other until the bottoms of the first gripper 51 and the second gripper 52 are abutted against the film roll, and grabbing of the film roll is achieved.

Specifically, the center of the third gear 33 and the center of the fourth gear 34 are respectively embedded with a bearing, the bearings are fixed in the third gear 33 or the fourth gear 34 through a clamp spring, and the fixed shaft 39 sequentially passes through the centers of the two bearings.

Referring to fig. 4, in detail, the second transmission structure includes two fifth gears 35 and two sixth gears 36, the two fifth gears 35 are respectively sleeved at two ends of the first rotating shaft 37, the two sixth gears 36 are respectively sleeved at two ends of the second rotating shaft 38, the two fifth gears 35 are respectively engaged with the corresponding sixth gears 36 for transmission, and the rotation directions of the two fifth gears 35 and the two sixth gears 36 are opposite. In this embodiment, the first gripper 51 and the second gripper 52 are hollow, and are respectively composed of two arcuate plates and a supporting rod connecting the two arcuate plates, so that the stability of the clamping process of the first gripper 51 and the second gripper 52 is further improved by arranging two fifth gears 35 and six gears 36 to be fixedly connected with the corresponding arcuate plates. The second gear 32 drives the first rotating shaft 37 to rotate, the first rotating shaft 37 drives the fifth gear 35 to synchronously rotate, the fifth gear 35 drives the sixth gear 36 to rotate when rotating, the sixth gear 36 drives the second rotating shaft 38 to rotate, the second rotating shaft 38 can drive the second gripper 52 to synchronously open or close inwards, the first rotating shaft 37 drives the first gripper 51 to synchronously open or close outwards, the structure is simple, the realization is easy, and the synchronization rate is high.

Referring to fig. 5, in some embodiments, the pitch diameter of the second gear 32 is greater than the pitch diameter of the first gear 31; the third gear 33 has a pitch diameter larger than the pitch diameter of the fourth gear 34, and the third gear 33 has a pitch diameter smaller than the pitch diameter of the second gear 32. In the above arrangement, when the grabbing motor 2 drives the first gear 31 with small pitch circle diameter to rotate, the moment of the third gear 33 with large pitch circle diameter is increased, the moment of the second gear 32 with larger pitch circle diameter is increased, and after the moment is increased, the transmission efficiency can be improved, so that the first gripper 51 and the second gripper 52 can be ensured to firmly grab the film roll with large weight.

Referring to fig. 6 and 7, specifically, the inner circle of the third gear 33 protrudes toward the center of the circle to form two first fan-shaped blocks 331 that are symmetrically disposed, two fan-shaped grooves 332 that are symmetrically disposed and a through hole 333 that is located between the two fan-shaped grooves 332 are formed between the two first fan-shaped blocks 331, two second fan-shaped blocks 341 that are inserted into the fan-shaped grooves 332 and are protruded outwards from one side of the fourth gear 34, the two first fan-shaped blocks 331 and the two second fan-shaped blocks 341 are clamped together to form a ring, and the fixing shaft 39 passes through the through hole 333. In the prior art, because the third gear 33 and the fourth gear 34 have a torque difference, the conventional manner of realizing connection between the third gear 33 and the fourth gear through the screw and the threaded hole easily breaks the screw, and the breaking of the screw means that the fourth gear 34 falls down, thereby affecting the normal operation of the whole gear shaft. In the above improvement, by arranging two first fan-shaped clamping blocks 331 on the side surface of the third gear 33, fan-shaped grooves 332 are formed above and below the formed perforation 333, positions are provided for inserting the second fan-shaped clamping blocks 341 on the fourth gear 34, after the two second fan-shaped clamping blocks 341 are inserted into the corresponding fan-shaped grooves 332, the radial limit of the third gear 33 and the fourth gear 34 can be realized, the third gear 33 and the fourth gear 34 can synchronously rotate, the perforation 333 of the third gear 33 and the fourth gear 34 is fixed on the frame body 1 through the fixing shaft 39, and the limit in the axial direction is realized. And the fan-shaped groove 332 and the second fan-shaped clamping block 341 are also limited to be matched with each other in shape, so that excessive gaps left after the second fan-shaped clamping block 341 is inserted into the fan-shaped groove 332 can be avoided, the contact area between the side surface of the second fan-shaped clamping block 341 and the side surface of the first fan-shaped clamping block 331 is increased, and further, the situation that an excessive moving space still exists after the second fan-shaped clamping block 341 is inserted into the fan-shaped groove 332, and the synchronous rate of the rotation of the fifth gear 35 and the sixth gear 36 is influenced is further prevented.

Referring to fig. 6, in some embodiments, a limiting ring 334 is further disposed on a side surface of the third gear 33, where the first fan-shaped clamping block 331 is disposed, outer arc surfaces of the two first fan-shaped clamping blocks 331 are fixedly connected with an inner circular surface of the limiting ring 334, the fan-shaped groove 332 is disposed in the limiting ring 334, and outer arc surfaces of the two second fan-shaped clamping blocks 341 are abutted with the inner circular surface of the limiting ring 334. After the second fan-shaped clamping blocks 341 are inserted into the fan-shaped grooves 332, the two first fan-shaped clamping blocks 331 are also equivalent to being inserted into gaps at two sides of the second fan-shaped clamping blocks 341, the contact area of the two first fan-shaped clamping blocks is larger, the limiting rings 334 can provide positions for the installation of the first fan-shaped clamping blocks 331, and the second fan-shaped clamping blocks 341 can be further limited, so that the second fan-shaped clamping blocks 341 are stably inserted into the corresponding fan-shaped grooves 332.

Referring to fig. 6 and 7, in some embodiments, each of the two first fan-shaped clamping blocks 331 and the two second fan-shaped clamping blocks 341 occupies one fourth of the volume of the ring. That is, the two first and second fan-shaped blocks 331 and 341 are equally divided, and the third and fourth gears 33 and 34 can be smoothly rotated.

Referring to fig. 6 and 7, in some embodiments, the first fan-shaped clamping block 331 and the limiting ring 334 are integrally formed with the third gear 33; the second fan-shaped clamping block 341 and the fourth gear 34 are integrally formed. During casting, the third gear 33, the two first fan-shaped clamping blocks 331 and the limiting ring 334 are integrally cast, so that the third gear, the two first fan-shaped clamping blocks 331 and the limiting ring 334 are integrated, seamless connection is realized, and the structural rigidity is stronger. Likewise, the fourth gear 34 and the second fan-shaped clamping block 341 are integrally cast, which is beneficial to improving the overall structural rigidity.

In summary, the present invention provides the Y-axis driving mechanism to enable the traverse frame 7 to reciprocate along the Y-axis direction; a Z-axis driving mechanism is arranged to enable the frame body 1 to reciprocate along the Z-axis direction; a grabbing driving mechanism is arranged, so that the first gripper 51 and the second gripper 52 can synchronously grab and unwind the film roll; the clamping blocks 54 which can rotate around the connecting strips 53 and are arc-shaped on the side surfaces are arranged, so that the film rolls with different roll diameters are always in surface contact; the heights of the connecting bars 53 and the clamping blocks 54 are defined, and the rotational amplitude of the clamping blocks 54 is defined.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be understood that equivalents and modifications will occur to those skilled in the art based on the present invention and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention.

Claims (10)

1. The film roll carrying gripper is characterized by comprising a frame, a transverse moving frame, a Y-axis driving mechanism for driving the transverse moving frame to move along the Y-axis direction of the frame, a Z-axis driving mechanism arranged on the transverse moving frame, a frame body connected with the Z-axis driving mechanism, a grabbing driving mechanism arranged on the frame body, a first gripper and a second gripper which are in transmission connection with the grabbing driving mechanism, wherein the Z-axis driving mechanism is used for driving the frame body to move up and down, and the grabbing driving mechanism is used for driving the first gripper and the second gripper to synchronously outwards prop open or inwards fold; the bottom of first tongs with the second tongs is provided with the connecting strip unanimous with the extending direction of membrane book respectively, the side of connecting strip is provided with rotatable clamp splice, the side of clamp splice is the arc, the height of connecting strip is less than the height of clamp splice.

2. The film roll handling gripper of claim 1, wherein the side of the connecting bar is provided with a bump, the bump is provided with a jack, the side of the clamping block is provided with a mounting hole, the bump is inserted into the mounting hole, the clamping block is provided with a bolt, and the rod body of the bolt is inserted into the jack.

3. The film roll handling gripper of claim 2, wherein the side of the clamping block is fixedly connected with a cushion block, and the side of the cushion block is arc-shaped.

4. The film roll carrying gripper of claim 1, wherein the Y-axis driving mechanism comprises a linear motor and a connecting seat fixedly connected with the linear motor, the linear motor is arranged in an extending manner along the direction of the Y-axis, and the connecting seat is fixedly connected with the side wall of the transverse moving frame; the linear motor is provided with two Y-axis in-place inductors, and the two Y-axis in-place inductors are respectively used for sensing the sensing pieces arranged on the connecting seat.

5. The film roll handling gripper of claim 4, wherein the upper surface of the frame is provided with a plurality of Y-axis anti-collision seats, a plurality of Y-axis anti-collision seats are respectively located on two sides of the frame, and the traversing frame moves between a plurality of Y-axis anti-collision seats.

6. The film roll carrying gripper of claim 4, wherein a Y-axis sliding rail extending along the Y-axis direction is arranged on the upper surface of the frame, a Y-axis sliding block is slidably arranged on the Y-axis sliding rail, and the upper surface of the Y-axis sliding block is fixedly connected with the lower surface of the transverse moving frame; the upper surface of frame is provided with Y axle dust cover, the one end of Y axle dust cover with the frame rigid coupling, the other end with the lateral wall rigid coupling of sideslip frame, Y axle slide rail with the Y axle slider is all located the inside of Y axle dust cover.

7. The film roll handling gripper of claim 1, wherein the Z-axis drive mechanism comprises a Z-axis motor and a screw lifter in driving connection with an output end of the Z-axis motor, and wherein the bottom of the screw lifter is fixedly connected with the top of the frame; the transverse moving frame is provided with a Z-axis sliding rail extending along the Z-axis direction, the Z-axis sliding rail is provided with a Z-axis sliding block in a sliding manner, and the side face of the Z-axis sliding block is fixedly connected with the side face of the frame body.

8. The film roll handling gripper of claim 1, wherein the gripping drive mechanism comprises a gripping motor disposed on the frame, a first gear drivingly connected to an output end of the gripping motor, a first rotating shaft rotatably disposed on the frame, a second gear sleeved on the first rotating shaft, and a first transmission structure disposed between the first gear and the second gear; the first transmission structure comprises a fixed frame fixed on the frame body, a fixed shaft fixedly connected with the fixed frame, a third gear and a fourth gear rotatably arranged on the fixed shaft, and the third gear is fixedly connected with the fourth gear; the third gear is meshed with the first gear for transmission, and the fourth gear is meshed with the second gear for transmission; the frame body is rotatably provided with a second rotating shaft which is parallel to the first rotating shaft, the first rotating shaft and the second rotating shaft realize reverse rotation through a second transmission structure, the first rotating shaft is fixedly connected with the first gripper, and the second rotating shaft is fixedly connected with the second gripper.

9. The film roll handling gripper of claim 8, wherein the pitch diameter of said second gear is greater than the pitch diameter of said first gear; the pitch circle diameter of the third gear is larger than that of the fourth gear, and the pitch circle diameter of the third gear is smaller than that of the second gear; the inner circle of third gear is located to the protruding first fan-shaped fixture block that forms two symmetries settings of centre of a circle direction, forms two fan-shaped grooves that the symmetry set up and the perforation that is located between two fan-shaped grooves between two first fan-shaped fixture blocks, one side of fourth gear towards protruding two with fan-shaped groove adaptation male second fan-shaped fixture block, two first fan-shaped fixture blocks and two second fan-shaped fixture block joint form the ring, the fixed axle passes the perforation.

10. The film roll carrying gripper of claim 9, wherein the third gear is provided with a limiting ring on the side surface of the first fan-shaped clamping block, the outer cambered surfaces of the two first fan-shaped clamping blocks are fixedly connected with the inner circular surface of the limiting ring, the fan-shaped grooves are arranged in the limiting ring, and the outer cambered surfaces of the two second fan-shaped clamping blocks are abutted with the inner circular surface of the limiting ring.