An additive manufacturing substrate hoist automated gripping device

Abstract

This invention discloses an automatic lifting and gripping device for additive manufacturing control surface substrates, belonging to the field of additive manufacturing technology. It solves the technical problems of existing lifting and gripping devices, which cannot guarantee accurate positioning of the control surface substrate and have low moving efficiency when lifting and moving it. The automatic lifting and gripping device of this invention includes a lifting unit, a gripping unit, a lifting electric cylinder drive unit, and a gear transmission unit. The gripping unit is located below the lifting unit and includes a first gripping plate and a second gripping plate. The gear transmission unit can drive the first and second gripping plates to move towards each other to position and grip the control surface substrate. After the gripping unit grips the control surface substrate, the lifting electric cylinder drive unit can drive the lifting unit to lift the gripping unit and the control surface substrate vertically. This invention can achieve precise positioning and high-efficiency gripping and lifting of the control surface substrate.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing technology, and in particular to an automatic clamping device for lifting additive manufacturing substrates. Background Technology

[0002] In the automated production line industry, there are many scenarios where clamping actions are used. The conventional method is to use pneumatic or electric cylinders with clamping functions to perform the clamping action. However, the workpiece size that clamping pneumatic and electric cylinders can clamp is relatively small, and they cannot clamp large workpieces. Especially in the current 3D printing industry, due to the large size of the control surface base plate and the control surface at a certain height above the base plate, the conventional clamping pneumatic and electric cylinders on the market do not meet the requirements.

[0003] The current common method is to use the threaded holes of the substrate to fix the substrate and move the rudder substrate to a specific position. In 3D printing production line applications, using threaded holes for hoisting and moving is inefficient and cannot guarantee the accurate positioning of the rudder substrate. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide an automatic clamping device for lifting additive manufacturing substrates, in order to solve the technical problems of existing lifting and clamping devices being unable to guarantee accurate positioning of the control surface substrate and having low moving efficiency when lifting and moving the control surface substrate.

[0005] The objective of this invention is mainly achieved through the following technical solutions:

[0006] This invention provides an automatic lifting and gripping device for additive manufacturing rudder surface substrates, which includes a lifting unit, a gripping unit, a lifting electric cylinder drive unit, and a gear transmission unit.

[0007] The clamping unit is located below the lifting unit. The clamping unit includes a first clamping plate and a second clamping plate. The gear transmission unit can drive the first clamping plate and the second clamping plate to move towards each other to position and clamp the rudder surface base plate.

[0008] After the clamping unit clamps the rudder surface base plate, the lifting electric cylinder drive unit can drive the lifting unit to lift the clamping unit and the rudder surface base plate in the vertical direction.

[0009] In one possible design, the lifting unit includes a lifting electric cylinder, a hoisting plate, and a lifting plate, with the lifting plate located below the hoisting plate and the two arranged parallel to each other in the horizontal direction; the lifting electric cylinder is located on the hoisting plate.

[0010] The lifting cylinder is equipped with a push rod, and the lifting plate and the lifting plate are connected by the push rod. The lifting cylinder drive unit can drive the push rod inside the lifting cylinder to extend and retract, thereby driving the lifting plate to move in the vertical direction.

[0011] In one possible design, the first clamping plate and the second clamping plate have the same structure and are symmetrically arranged about the rudder base plate. Both the first clamping plate and the second clamping plate are I-shaped clamping plates.

[0012] The first clamping plate includes a first top horizontal plate, a first vertical support plate, and a first bottom horizontal plate; the second clamping plate includes a second top horizontal plate, a second vertical support plate, and a second bottom horizontal plate.

[0013] The first bottom horizontal plate and the second bottom horizontal plate are each provided with a plurality of first positioning pin holes, and a first positioning pin is provided in the first positioning pin hole; both sides of the rudder surface base plate are provided with a plurality of second positioning pin holes, and when the rudder surface base plate is clamped by the first clamping plate and the second clamping plate, the first positioning pin can be inserted into the second positioning pin on the rudder surface base plate.

[0014] In one possible design, the gear transmission unit includes a first guide rail, a first servo motor, and a reducer; the first guide rail includes a first track and a second track, the first servo motor and the reducer are both mounted on the lifting plate, and the shaft of the first servo motor is inserted into the reducer; the first track and the second track are arranged parallel to each other on the bottom surface of the lifting plate;

[0015] The bottom ends of the first track and the second track are slidably connected to the first top horizontal plate and the second top horizontal plate, respectively. The first track and the second track, together with the first top horizontal plate and the second top horizontal plate, form a rectangular frame.

[0016] A first rack fixing plate and a second rack fixing plate are provided between the first top horizontal plate and the second top horizontal plate, which are parallel to each other. A first rack is provided on the first rack fixing plate, and a second rack is provided on the second rack fixing plate. A gear is provided between the first rack and the second rack. The shaft of the reducer passes through the lifting plate and is rotatably connected to the gear.

[0017] When the reducer drives the gear to rotate, the first rack and the second rack move in opposite directions, while the first clamping plate and the second clamping plate move towards each other to clamp the rudder surface base plate.

[0018] In one possible design, both ends of the first rack fixing plate and the second rack fixing plate are provided with a fixed end and a free end. The fixed end of the first rack fixing plate is fixed to the first top horizontal plate, and the other end is provided in the slide groove on the second top horizontal plate and is slidably connected to the slide groove. The fixed end of the second rack fixing plate is fixed to the second top horizontal plate, and the other end is provided in the slide groove on the first top horizontal plate and is slidably connected to the slide groove.

[0019] In one possible design, the bottom ends of the first track are respectively provided with a first slider and a second slider, and the bottom ends of the second track are respectively provided with a third slider and a fourth slider;

[0020] The first slider and the third slider are located at both ends of the first top horizontal plate, and the second slider and the fourth slider are located at both ends of the second top horizontal plate, respectively.

[0021] The first servo motor drives the reducer to rotate. The shaft of the reducer passes through the lifting plate and is fixedly connected to the gear. When the first servo motor drives the gear to rotate through the reducer, the first clamping plate and the second clamping plate clamp the rudder base plate by moving towards each other through the first rack and the second rack.

[0022] In one possible design, the lifting electric cylinder drive unit includes a second servo motor, a motor mounting bracket, and a coupling;

[0023] The motor mounting bracket is fixed to the lifting cylinder, and the second servo motor is fixed to the motor mounting bracket. The second servo motor is connected to the lifting cylinder through a coupling and is used to drive the lifting cylinder.

[0024] In one possible design, the lifting unit also includes a first guide rod, a second guide rod, a first guide rod sleeve, and a second guide rod sleeve;

[0025] The first guide rod sleeve and the second guide rod sleeve are mounted on the lifting plate. The lower end of the first guide rod passes through the first guide rod sleeve and the lifting plate and is fixed to the lifting plate. The lower end of the second guide rod passes through the second guide rod sleeve and the lifting plate and is fixed to the lifting plate.

[0026] In one possible design, both the bottom horizontal plates of the first and second clamping plates are provided with positioning pin detection components, which are used to detect whether the positioning pins are simultaneously inserted into the corresponding first and second positioning pins.

[0027] In one possible design, the locating pin detection component is a proximity sensor.

[0028] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0029] (1) The present invention uses the first clamping plate and the second clamping plate to accurately clamp the rudder surface base plate, avoiding the defect that the rudder surface base plate cannot be accurately positioned; in addition, the present invention uses the gear transmission unit to drive the clamping unit to clamp the rudder surface base plate, eliminating the need for manual operation, thereby improving the clamping efficiency of the rudder surface base plate.

[0030] (2) The first bottom horizontal plate and the second bottom horizontal plate of the present invention are provided with a plurality of first positioning pin holes. When it is necessary to clamp the rudder substrate, the first clamping plate and the second clamping plate move towards each other under the drive of the gear transmission unit, so that the first positioning pin is fully inserted into the second positioning pin hole. The first positioning pin can not only accurately position the rudder substrate, but also provide an upward support force for the rudder substrate, thereby realizing the clamping of the rudder substrate.

[0031] (3) By setting a first guide rod and a second guide rod, the present invention can guide the extension and retraction of the push rod inside the lifting cylinder, avoid the lifting cylinder from shaking during operation, and ensure that the push rod inside it can extend and retract stably in the vertical direction, thereby achieving the purpose of lifting the clamping unit.

[0032] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained through the embodiments described and the accompanying drawings. Attached Figure Description

[0033] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0034] Figure 1 This is a schematic diagram of the overall structure of the automatic lifting and clamping device for the additive manufacturing rudder surface substrate of the present invention;

[0035] Figure 2 An exploded view of the automatic lifting and gripping device for the additive manufacturing rudder surface substrate of the present invention;

[0036] Figure 3 This is a schematic diagram of the lifting electric cylinder drive unit of the automatic hoisting clamping device of the present invention;

[0037] Figure 4 This is a structural diagram of the lifting unit and the clamping unit of the automatic hoisting clamping device;

[0038] Figure 5 This is a schematic diagram of the structure of the first clamping plate;

[0039] Figure 6 This is a structural diagram of the gear transmission unit and the clamping unit;

[0040] Figure 7 This is a schematic diagram of the transfer platform in a metal additive manufacturing line.

[0041] Figure label:

[0042] 1- Lifting cylinder; 2- First guide rod; 3- First guide rod sleeve; 4- Lifting plate; 5- Belt fixing block; 6- Lifting plate; 7- Gear; 8- First rack; 9- First guide rail; 10- First rack fixing plate; 11- First clamping plate; 12- First positioning pin; 13- Proximity sensor; 14- Cable chain; 15- Cable chain plate moving side; 16- Cable chain plate fixed side; 17- Reducer; 18- First servo motor; 19- Second servo motor; 20- Motor mounting bracket; 21- - Coupling; 22- Limit sensor bracket; 23- Limit sensor; 24- Transfer platform; 25- Transfer trolley; 26- Printing cylinder; 27- First top horizontal plate; 28- First vertical support plate; 29- First bottom horizontal plate; 30- Second positioning pin hole; 31- Second rack fixing plate; 32- Fixed end of first rack fixing plate; 33- Free end of first rack fixing plate; 34- Fixed end of second rack fixing plate; 35- Free end of second rack fixing plate; 36- Workpiece. Detailed Implementation

[0043] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0044] The workpiece 36 of this invention has a length, width, and height all greater than 530mm × 530mm × 500mm. Existing clamping cylinders and electric cylinders can only clamp workpieces of relatively small size, making it impossible to clamp the rudder base plate and the large workpieces on it according to this invention.

[0045] This invention provides an automatic hoisting and gripping device for additively manufactured control surface substrates. The automatic hoisting and gripping device includes a lifting unit, a gripping unit, a lifting electric cylinder 1 driving unit, and a gear 7 transmission unit. The gripping unit is located below the lifting unit and includes a first gripping plate 11 and a second gripping plate. The gear 7 transmission unit can drive the first gripping plate 11 and the second gripping plate to move towards each other and clamp the control surface substrate. After the gripping unit clamps the control surface substrate, the lifting electric cylinder 1 driving unit can drive the lifting unit to lift the gripping unit in the vertical direction.

[0046] Specifically, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the clamping unit of the present invention includes a first clamping plate 11 and a second clamping plate. The first clamping plate 11 and the second clamping plate are arranged in a vertical direction and are arranged parallel to each other on both sides of the rudder surface substrate. The first clamping plate 11 and the second clamping plate can clamp the rudder surface substrate by moving towards each other, and the clamping plate and the rudder surface substrate are lifted by a lifting unit, so that the rudder surface substrate can be lifted in the vertical direction.

[0047] In existing 3D printing, the commonly used lifting device is to fix the rudder substrate using the substrate thread and then use the substrate thread to lift and move the rudder substrate. When fixing the substrate using the substrate thread, the lifting lugs need to be manually installed on the threaded holes. This installation method leads to low efficiency in clamping the rudder substrate and cannot guarantee accurate positioning of the rudder substrate. In addition, during the 3D printing process, the particle size of the metal powder is on the micrometer scale. The metal powder can easily deposit in the threaded holes, which can cause the positioning pins of the lifting lugs to fail to insert into the positioning pin holes of the rudder substrate, resulting in poor clamping.

[0048] Compared with the prior art, the present invention uses the first clamping plate 11 and the second clamping plate to accurately clamp the rudder surface substrate, avoiding the defect that the rudder surface substrate cannot be accurately positioned; in addition, the present invention uses the gear 7 transmission unit to drive the clamping unit to clamp the rudder surface substrate, eliminating the need for manual operation, thereby improving the clamping efficiency of the rudder surface substrate.

[0049] After the clamping unit clamps and fixes the rudder surface base plate, in order to lift the workpiece 36 on the rudder surface base plate vertically in the opposite direction, the lifting unit of the present invention includes a lifting cylinder 1, a lifting plate 4, and a lifting plate 6. The lifting plate 6 is located below the lifting plate 4 and the two are arranged parallel to each other in the horizontal direction; the lifting cylinder 1 is located above the lifting plate 4; the lifting cylinder 1 is provided with a push rod, and the lifting plate 4 and the lifting plate 6 are connected by the push rod. The driving unit of the lifting cylinder 1 can drive the push rod in the lifting cylinder 1 to extend and retract, thereby driving the lifting plate 6 to move in the vertical direction.

[0050] Specifically, such as Figure 7 As shown, the automatic lifting and gripping device for the additive manufacturing rudder substrate of the present invention is mounted on the metal additive manufacturing production line transfer platform 24 and above the printing cylinder 26. The metal additive manufacturing production line transfer platform 24 is provided with a second guide rail, on which a conveyor belt is mounted. In addition, a belt mounting groove is provided at the bottom of the lifting plate 4, into which the belt can be placed and fixed to the lifting plate 4 by the belt fixing block 5. When the conveyor belt is driven, it can drive the lifting plate 4 to move horizontally along the second guide rail, thereby driving the gripping unit below the lifting plate 4 and the workpiece 36 on the rudder substrate to move, so as to move the workpiece 36 to the working position of the transfer trolley 25.

[0051] When lifting the rudder base plate, the lifting plate 4 is first installed on the second guide rail. Then, the lifting cylinder 1 is bolted to the lifting plate 4. The lifting cylinder 1 contains a push rod that passes through the lifting plate 4. A push rod flange is located at the bottom of the through-hole portion of the push rod. The lifting plate 6 is mounted on this push rod flange and secured with bolts. When the driving unit of the lifting cylinder 1 drives the push rod to extend or retract vertically, the height of the lifting plate 4 remains constant, while the height of the lifting plate 6 and the height of the clamping unit increase or decrease with the extension or retraction of the push rod. When the push rod retracts, it lifts the lifting plate 6, and simultaneously, the clamping unit, fixedly connected to the lifting plate 6, lifts the rudder base plate, ultimately lifting the workpiece 36 on the rudder base plate.

[0052] To more accurately grip the rudder substrate, the first gripping plate 11 and the second gripping plate of the present invention have the same structure and are symmetrically arranged about the rudder substrate. Both the first gripping plate 11 and the second gripping plate are I-shaped gripping plates. The first gripping plate 11 includes a first top horizontal plate 27, a first vertical support plate 28 and a first bottom horizontal plate 29. The second gripping plate includes a second top horizontal plate, a second vertical support plate and a second bottom horizontal plate. The first bottom horizontal plate 29 and the second bottom horizontal plate are provided with a plurality of first positioning pin holes 12, and a first positioning pin 12 is provided in the first positioning pin hole 12. Both sides of the rudder substrate are provided with a plurality of second positioning pin holes 30. When gripping the rudder substrate, the first positioning pin 12 can be inserted into the second positioning pin on the rudder substrate.

[0053] Specifically, such as Figure 2 and Figure 5 As shown, the first bottom horizontal plate 29 and the second bottom horizontal plate of the present invention are provided with a plurality of first positioning pin holes 12. When it is necessary to clamp the rudder surface base plate, the first clamping plate 11 and the second clamping plate move towards each other under the drive of the gear 7 transmission unit until the first positioning pin 12 is fully inserted into the second positioning pin hole 30. When lifting the rudder surface base plate, the first positioning pin 12 can not only accurately position the rudder surface base plate, but also provide an upward support force for the rudder surface base plate, thereby realizing the clamping of the rudder surface base plate.

[0054] It should also be emphasized that the first positioning pin 12 hole and the second positioning pin hole 30 are both arranged in the horizontal direction. The second positioning pin hole 30 is located on the bottom side of the rudder base plate. The number of the second positioning pin holes 30 is the same as the number of the first positioning pin 12 holes and the number of the first positioning pin 12. For example, there are four first positioning pin holes 12, which are respectively located at the two ends of the first bottom horizontal plate 29 and the second bottom horizontal plate. There are also four second positioning pin holes 30, which are respectively located on both sides of the bottom of the rudder base plate.

[0055] To avoid the deposition of metal powder inside the second positioning pin holes 30, the four second positioning pin holes 30 of the present invention are inverted U-shaped cavities.

[0056] Compared with existing horizontally arranged threaded holes, the present invention sets the four second positioning pin holes 30 into inverted U-shaped cavities, which can avoid the deposition of metal powder in the second positioning pin holes 30, thereby avoiding the phenomenon of poor clamping caused by the first positioning pin 12 not being inserted into the second positioning pin hole 30 on the rudder surface substrate.

[0057] In order to detect whether the first positioning pin 12 is successfully inserted into the second positioning pin hole 30, the present invention provides proximity sensors 13 between the two first positioning pin holes 12 on the first bottom horizontal plate 29 and the second bottom horizontal plate, respectively. The proximity sensors 13 are used to detect whether the first positioning pin 12 is successfully inserted into the second positioning pin hole 30, so as to prevent danger when the rudder board is lifted.

[0058] To ensure that the first clamping plate 11 and the second clamping plate can smoothly complete the clamping action of the rudder base plate, the gear 7 transmission unit of the present invention includes a first guide rail 9, a first servo motor 18, and a reducer 17; the first guide rail 9 includes a first track and a second track, the first servo motor 18 and the reducer 17 are both mounted above the lifting plate 6, and the shaft of the first servo motor 18 is inserted into the reducer 17; the first track and the second track are arranged parallel to each other on the bottom surface of the lifting plate 6; the bottom ends of the first track and the second track are slidably connected to the first top horizontal plate 27 and the second top horizontal plate, respectively, and the first track and the second track are connected to the first... The top horizontal plate 27 and the second top horizontal plate form a rectangular frame; a first rack fixing plate 10 and a second rack fixing plate 31, which are parallel to each other, are provided between the first top horizontal plate 27 and the second top horizontal plate. The first rack fixing plate 10 is provided with a first rack 8, and the second rack fixing plate 31 is provided with a second rack. A gear 7 is provided between the first rack 8 and the second rack; the shaft of the reducer 17 passes through the lifting plate 6 and is rotatably connected to the gear 7; when the reducer 17 drives the gear 7 to rotate, the first rack 8 and the second rack move in opposite directions, and at the same time the first clamping plate 11 and the second clamping plate move towards each other to clamp the rudder surface base plate.

[0059] Specifically, such as Figure 6As shown, one end of the first track is slidably connected to the first top horizontal plate 27, and the other end is slidably connected to the second top horizontal plate. Similarly, one end of the second track is slidably connected to the first top horizontal plate 27, and the other end is slidably connected to the second top horizontal plate. It should be noted that a first rack fixing plate 10 and a second rack fixing plate 31, which are parallel to each other, are provided between the first top horizontal plate 27 and the second top horizontal plate. The first rack fixing plate 10 and the second rack fixing plate 31 are both located inside the first track and the second track. The first track, the first rack fixing plate 10, the second rack fixing plate 31, and the second track are arranged sequentially and are parallel to each other. A first rack 8 is provided on the first rack fixing plate 10. The rack fixing plate 31 is provided with a second rack, and a gear 7 is provided between the first rack 8 and the second rack. The gear 7 is located directly below the reducer 17. The shaft of the reducer 17 passes through the lifting plate 6 in the vertical direction and is connected to the gear 7 below. The first servo motor 18 transmits torque to the gear 7 through the reducer 17. When the gear 7 rotates, it will drive the first rack 8 and the second rack to move relative to each other, while the position of the gear 7 does not change. The relative movement of the first rack 8 and the second rack will drive the first clamping plate 11 and the second clamping plate to move towards each other. At this time, each of the first positioning pins 12 is inserted into the corresponding second positioning pin hole 30 on the rudder surface base plate to realize the clamping function of the clamping unit.

[0060] Compared with the prior art, the present invention uses the gear 7 transmission assembly to drive the gear 7 to rotate. When the gear 7 rotates, the first rack 8 and the second rack drive the first clamping plate 11 and the second clamping plate to automatically clamp the rudder surface base plate without manual operation, thereby making the clamping efficiency of the rudder surface base plate high.

[0061] To better facilitate the movement of the first clamping plate 11 and the second clamping plate, both ends of the first rack fixing plate 10 and the second rack fixing plate 31 of the present invention are provided with a fixed end and a free end. The fixed end 32 of the first rack fixing plate is fixed to the first top horizontal plate 27, and the other end (the free end 33 of the first rack fixing plate) is provided in the groove on the second top horizontal plate and is slidably connected to the groove. The fixed end 34 of the second rack fixing plate is fixed to the second top horizontal plate, and the other end (the free end 35 of the second rack fixing plate) is provided in the groove on the first top horizontal plate 27 and is slidably connected to the groove.

[0062] It should be noted that the free end 33 of the first rack fixing plate and the free end 35 of the second fixed rack fixing plate are both embedded in the corresponding slide grooves. Furthermore, when the gear 7 drives the first rack 8 and the second rack to move, the sliding length of the free ends of the first rack 8 and the second rack is less than the length of the first rack fixing plate 10 and the second rack fixing plate embedded in the corresponding slide grooves, so as to prevent the free ends of the first rack fixing plate 10 and the second rack fixing plate 31 from disengaging from the corresponding slide grooves.

[0063] To achieve a sliding connection between the first guide rail and the first clamping plate 11 and the second clamping plate, the present invention provides a first slider and a second slider at the bottom ends of the first track, and a third slider and a fourth slider at the bottom ends of the second track; the first slider and the third slider are located at the ends of the first top horizontal plate 27, and the second slider and the fourth slider are located at the ends of the second top horizontal plate; the first servo motor 18 drives the reducer 17 to rotate, and the shaft of the reducer 17 passes through the lifting plate 6 and is fixedly connected to the gear 7. When the first servo motor 18 drives the gear 7 to rotate through the reducer 17, the first clamping plate 11 and the second clamping plate clamp the rudder base plate by moving towards each other through the first rack 8 and the second rack.

[0064] In order to drive the lifting cylinder to perform lifting and clamping unit, the lifting cylinder 1 driving unit of the present invention includes a second servo motor 19, a motor mounting bracket 20 and a coupling 21; the motor mounting bracket 20 is fixed on the lifting cylinder 1, the second servo motor 19 is fixed on the motor mounting bracket 20, the second servo motor 19 is connected to the lifting cylinder 1 through the coupling 21, and the second servo motor 19 is used to drive the lifting cylinder 1.

[0065] Specifically, such as Figure 3 As shown, the motor mounting bracket 20 is connected to the lifting cylinder 1 by bolts. The second servo motor 19 is mounted on the motor mounting bracket 20. The shaft of the second servo motor 19 is connected to the lifting cylinder 1 by a coupling 21, so that the second servo motor 19 drives the lifting cylinder 1 to achieve the lifting function.

[0066] In order to guide the clamping unit, the lifting unit of the present invention further includes a first guide rod, a second guide rod, a first guide rod sleeve 3, and a second guide rod sleeve; the first guide rod sleeve 3 and the second guide rod are sleeved on the lifting plate 4, the lower end of the first guide rod passes through the first guide rod sleeve 3 and the lifting plate 4 and is fixed on the lifting plate 6, and the lower end of the second guide rod passes through the second guide rod sleeve and the lifting plate 4 and is fixed on the lifting plate 6.

[0067] Specifically, such as Figure 2 As shown, both the first guide rod sleeve 3 and the second guide rod sleeve are hollow tubular. The first guide rod sleeve 3 and the second guide rod sleeve are bolted to the lifting plate 4 in the vertical direction. The lower end of the first guide rod 2 passes through the first guide rod sleeve 3 and the lifting plate 4 and is fixed in the groove on the lifting plate 6. Similarly, the lower end of the second guide rod passes through the second guide sleeve and the lifting plate 4 and is fixed in the groove on the lifting plate 6.

[0068] Compared with the prior art, the present invention, by setting a first guide rod and a second guide rod, can guide the extension and retraction of the push rod inside the lifting cylinder 1, avoid the lifting cylinder 1 from shaking during operation, and ensure that the push rod inside it extends and retracts stably in the vertical direction, thereby achieving the purpose of lifting the clamping unit.

[0069] To avoid danger when clamping the rudder base plate, the bottom horizontal plate of the first clamping plate 11 and the second clamping plate of the present invention is provided with a positioning pin detection component. The positioning pin detection component is used to detect whether the positioning pin is simultaneously inserted into the corresponding first positioning pin 12 and second positioning pin.

[0070] Specifically, a positioning pin detection component is provided at the middle position of the two first positioning pins 12 on the first bottom horizontal plate 29 and the second bottom horizontal plate. The positioning pin detection component (e.g., proximity sensor 13) can detect in time whether the first positioning pin 12 is successfully inserted into the second positioning pin hole 30 on the rudder surface substrate. Once it is found that the first positioning pin 12 fails to be successfully inserted into the second positioning pin hole 30 on the rudder surface substrate, the situation can be fed back in time to avoid danger and accidents when lifting the clamping unit.

[0071] It should be noted that the lifting unit of the present invention also includes a safety detection component. Specifically, such as Figure 4 As shown, a limit sensor 23 and a limit sensor 23 bracket 22 are provided on the bottom surface of the hoisting plate 4. The safety detection component (limit sensor 23) is installed on the limit sensor 23 and limit sensor 23 bracket 22 to ensure the safety of the lifting unit.

[0072] It should also be emphasized that the automatic lifting and clamping device for additive manufacturing rudder substrate of the present invention has a simple structure, is easy to disassemble and maintain, and can improve the production efficiency of the overall 3D printing production line.

[0073] The automatic lifting and clamping device of the present invention also includes a cable chain 14, which has a cable chain plate moving side 15 and a cable chain plate fixed side 16. The cable chain plate fixed side 16 is fixed on the lifting plate 4, and the cable chain plate moving side 15 is fixed on the lifting plate 6. The cable chain 14 is used to fix the wires to facilitate power supply to the lifting unit and the clamping unit.

[0074] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic lifting and gripping device for additive manufacturing rudder surface substrates, characterized in that, It includes a lifting unit, a clamping unit, a lifting electric cylinder drive unit, and a gear transmission unit; The automatic lifting and gripping device for the additive manufacturing rudder surface substrate is located on the transfer platform of the metal additive manufacturing line and above the printing cylinder. The clamping unit is located below the lifting unit, and the gear transmission unit can drive the first clamping plate and the second clamping plate to move towards each other to position and clamp the rudder surface base plate. After the clamping unit clamps the rudder surface base plate, the lifting electric cylinder drive unit can drive the lifting unit to lift the clamping unit and the rudder surface base plate in the vertical direction. The lifting unit includes a lifting cylinder, a hoisting plate, and a lifting plate. The lifting plate is located below the hoisting plate, and the two are arranged parallel to each other in the horizontal direction. The lifting cylinder is located on the hoisting plate. A push rod is provided inside the lifting cylinder. The hoisting plate and the lifting plate are connected through the push rod. The lifting cylinder drive unit can drive the push rod inside the lifting cylinder to extend and retract, thereby moving the lifting plate in the vertical direction. The metal additive manufacturing line transfer platform is equipped with a second guide rail, on which a conveyor belt is mounted. A belt mounting groove is provided at the bottom of the lifting plate. The conveyor belt is placed into the belt mounting groove and fixed to the lifting plate using belt fixing blocks. When the conveyor belt is driven, it can drive the lifting plate to move horizontally along the second guide rail, thereby driving the clamping unit and the workpiece on the rudder base plate below the lifting plate to move the workpiece to the working position of the transfer trolley. The clamping unit includes a first clamping plate and a second clamping plate, both of which are I-shaped clamping plates. The first clamping plate includes a first top horizontal plate, a first vertical support plate, and a first bottom horizontal plate. The second clamping plate includes a second top horizontal plate, a second vertical support plate, and a second bottom horizontal plate. Both the first and second bottom horizontal plates are provided with multiple first positioning pin holes, and a first positioning pin is provided in each of the first positioning pin holes. Both sides of the rudder base plate are provided with multiple second positioning pin holes. When clamping the rudder base plate, the first positioning pin can be inserted into the second positioning pin on the rudder base plate. The second locating pin hole is an inverted U-shaped cavity; The gear transmission unit includes a first guide rail, a first servo motor, and a reducer; the first guide rail includes a first track and a second track, the first servo motor and the reducer are both mounted on the lifting plate, and the shaft of the first servo motor is inserted into the reducer; the first track and the second track are arranged parallel to each other on the bottom surface of the lifting plate; The bottom ends of the first track and the second track are slidably connected to the top of the first clamping plate and the top of the second clamping plate, respectively, and the first track and the second track together with the top of the first clamping plate and the second clamping plate form a rectangular frame; A first rack fixing plate and a second rack fixing plate are provided between the first top horizontal plate and the second top horizontal plate, which are parallel to each other. The first rack fixing plate is provided with a first rack, and the second rack fixing plate is provided with a second rack. A gear is provided between the first rack and the second rack. The shaft of the reducer passes through the lifting plate and is rotatably connected to the gear. The first servo motor drives the gear to rotate through the reducer. The gear drives the first rack and the second rack to move relative to each other. When the first rack and the second rack move relative to each other, they drive the first clamping plate and the second clamping plate to move towards each other, so that the first positioning pin is inserted into the corresponding second positioning pin hole on the rudder base plate.

2. The automatic clamping device for lifting additively manufactured rudder surface substrates according to claim 1, characterized in that, The first clamping plate and the second clamping plate have the same structure and are symmetrically arranged about the rudder base plate.

3. The automatic lifting and gripping device for additive manufacturing rudder surface substrate according to claim 2, characterized in that, The bottom ends of the first track are respectively provided with a first slider and a second slider, and the bottom ends of the second track are respectively provided with a third slider and a fourth slider; The first servo motor drives the reducer to rotate. The shaft of the reducer passes through the lifting plate and is fixedly connected to the gear. When the first servo motor drives the gear to rotate through the reducer, the first clamping plate and the second clamping plate clamp the rudder base plate by moving towards each other through the first rack and the second rack.

4. The automatic lifting and gripping device for additive manufacturing rudder surface substrate according to claim 3, characterized in that, The first slider and the third slider are located at both ends of the first top horizontal plate, and the second slider and the fourth slider are located at both ends of the second top horizontal plate.

5. The automatic lifting and gripping device for additive manufacturing rudder surface substrate according to any one of claims 1 to 4, characterized in that, The lifting electric cylinder drive unit also includes a second servo motor, a motor mounting bracket, and a coupling.

6. The automatic lifting and gripping device for additive manufacturing rudder surface substrate according to claim 5, characterized in that, The motor mounting bracket is fixed to the lifting electric cylinder, and the second servo motor is fixed to the motor mounting bracket. The second servo motor is connected to the lifting electric cylinder through the coupling, and the second servo motor is used to drive the lifting electric cylinder.

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