Core-pulling gripper device and manipulator

The invention provides a core-pulling gripper device and a manipulator, and relates to the technical field of glass fiber production and manufacturing. The technical problems of complex structure, large size and relatively large occupied space of existing overturning pre-pulling tube equipment are solved. The core-pulling gripper device comprises a base, a gripping assembly and a core-pulling assembly, the gripping assembly and the core-pulling assembly are mounted on the base, the gripping assembly is used for gripping a direct yarn roll, and the core-pulling assembly separates or partially pulls out a paper tube from the direct yarn roll under the action of vacuum adsorption. According to the core-pulling gripper device, the direct yarn roll is gripped through the gripping assembly, thenthe paper tube is separated from or partially pulled out of the direct yarn roll through the action of vacuum adsorption of the core-pulling assembly, paper tube pulling or tube pre-pulling is conveniently and rapidly achiev