A gripper device for grasping cylindrical metal tube blanks

Abstract

This invention belongs to the field of automated material handling equipment technology, and discloses a gripper device for gripping cylindrical metal tube blanks. A clamping mounting mechanism is arranged circumferentially along the fixed flange of the device. A lead screw drive motor is installed at the center of the fixed flange. A threaded lead screw is rotatably mounted on the clamping mounting mechanism, and the shaft of the lead screw drive motor is connected to the end of the threaded lead screw. A lead screw connecting mechanism is slidably connected to the clamping mounting mechanism and threadedly connected to the threaded lead screw. A clamping mounting frame is mounted on the lead screw connecting mechanism. The clamping mounting frame includes an upper panel, a lower panel, and a pair of side panels. A connecting protrusion is integrally formed at the middle of the end of the lower panel. A pneumatic cylinder is horizontally mounted between the pair of side panels. The metal clamp is rotatably connected to the connecting protrusion via a clamping shaft, and the piston rod of the pneumatic cylinder is connected to the end of the metal clamp. This invention can adapt to metal tube blanks of different diameters, avoiding the tube blank eccentricity and slippage problems that easily occur with two-point gripping.

Description

Technical Field

[0001] This invention belongs to the field of automated handling equipment technology and discloses a gripper device for gripping cylindrical metal tube blanks. Background Technology

[0002] Metal tube blanks, especially cylindrical metal tube blanks, have a wide range of applications in various industrial fields such as transformers and machinery manufacturing. However, these materials generally have the characteristics of thin walls that are easily deformed, smooth surfaces and low friction. The ends of some coiled tube blanks are sharp and pointed, which can easily scratch workers during manual handling. They are completely unsuitable for traditional manual close-range handling operations. How to safely and efficiently complete the transfer of such coiled materials has become a core pain point that all related production lines must solve. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a gripper device for grasping cylindrical metal tube blanks. The technical solution adopted by the present invention is as follows: A gripper device for gripping cylindrical metal tube blanks includes a metal clamp and a device fixing flange. Several clamp mounting mechanisms are evenly distributed along the circumference of the device fixing flange, with the outer ends of the clamp mounting mechanisms extending outwards from the device fixing flange. A lead screw drive motor is installed at the center of the device fixing flange. A threaded lead screw is rotatably mounted on the clamp mounting mechanism along its length. The shaft of the lead screw drive motor is drively connected to the end of the threaded lead screw. A lead screw connection mechanism is slidably connected to the clamp mounting mechanism and threadedly connected to the threaded lead screw. A clamp mounting frame is mounted on the lead screw connection mechanism. The clamp mounting frame includes an upper panel, a lower panel, and a pair of parallel side panels. The side panels are L-shaped plates. A connecting protrusion is integrally formed at the middle of the end of the lower panel. A pneumatic cylinder is horizontally mounted in the middle of the pair of side panels. The metal clamp is rotatably connected to the connecting protrusion via a clamp shaft. The piston rod of the pneumatic cylinder is connected to the end of the metal clamp.

[0004] Preferably, a motor fixing mechanism is installed at the center of the upper surface of the device fixing flange. The motor fixing mechanism is a cubic box structure, and the lead screw drive motor is installed in the internal cavity of the motor fixing mechanism.

[0005] Preferably, a control box is installed on the upper surface of the device fixing flange on the side of the motor fixing mechanism. The control box contains a control mechanism, pneumatic components, a communication module, and electrical wiring.

[0006] Preferably, the clamp mounting mechanism includes a guide rail fixing bracket, with seated angular contact bearings at both ends of the guide rail fixing bracket along its length. The threaded screw is rotatably mounted on the guide rail fixing bracket at both ends via seated angular contact bearings. A pair of sliding guide rails are provided on both sides of the lower surface of the guide rail fixing bracket along its length. The upper surface of the screw connecting mechanism is provided with a groove that matches the sliding guide rails. The screw connecting mechanism has a screw nut that is threadedly connected to the threaded screw.

[0007] Preferably, the guide rail fixing bracket is made of U-shaped channel steel.

[0008] Preferably, the metal clamp is fitted with an anti-slip rubber pad on the side facing the device fixing flange.

[0009] Preferably, the lower end of the shaft of the lead screw drive motor is connected to a disc gear, and the end of the threaded lead screw near the fixed flange of the device is connected to a bevel gear, with the disc gear meshing and transmitting power with the bevel gear.

[0010] Preferably, the number of metal clamps is at least four and is an even number.

[0011] The beneficial effects of this invention are: This gripper device precisely controls a multi-directional metal clamp to directly grasp vertically placed cylindrical metal billets. It can adaptively accommodate metal billets of different diameters, avoiding the problems of billet eccentricity and slippage that easily occur with traditional two-point gripping. When paired with a truss transport device, it enables rapid grasping and fixed-point transport of coiled billets, requiring no close-range human intervention throughout the process. This increases work efficiency by over 90% compared to traditional manual hoisting, significantly improving material handling efficiency and fundamentally reducing the manpower burden on frontline workers. It also completely eliminates safety hazards caused by billet slippage and collisions during handling. The gripper device features a rational overall structural design, high efficiency, and practicality, fully meeting the automated transport needs of various production lines with cylindrical metal billet processing procedures. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a perspective view of the gripper device according to an embodiment of the present invention; Figure 2 This is a front view of the gripper device according to an embodiment of the present invention; Figure 3 This is a bottom view of the gripper device according to an embodiment of the present invention; Figure 4 This is a top view of the gripper device according to an embodiment of the present invention; Figure 5 This is a perspective view of the metal clamp and clamp mounting bracket according to an embodiment of the present invention; Figure 6 This is a front view of the metal clamp and clamp mounting bracket according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the transmission structure of the threaded lead screw according to an embodiment of the present invention; In the diagram, 1. Pneumatic transmission mechanism; 2. Metal clamp; 3. Clamp mounting mechanism; 4. Threaded screw; 5. Device fixing flange; 6. Screw drive motor; 7. Motor fixing mechanism; 8. Control box; 9. Guide rail fixing bracket; 10. Screw connection mechanism; 11. Pneumatic cylinder; 12. Clamp mounting frame; 13. Clamp rotating shaft; 14. Disc gear; 15. Bevel gear. Detailed Implementation

[0013] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0014] like Figure 1-4 As shown, this embodiment of the invention provides a gripper device for grasping cylindrical metal tube blanks, including a disc-shaped device fixing flange 5. A motor fixing mechanism 7 is fixedly installed at the center of the upper surface of the device fixing flange 5. The device fixing flange 5 and the motor fixing mechanism 7 are preferably rigidly connected by high-strength bolts. The motor fixing mechanism 7 has a cubic box structure, and the lead screw drive motor 6 is fixedly installed in the internal cavity of the motor fixing mechanism 7, effectively isolating the motor operation from interference from dust and metal debris on site. A control box 8 is fixedly installed on the upper surface of the device fixing flange 5 on the side of the motor fixing mechanism 7. The control box 8 is equipped with a control mechanism and also integrates pneumatic components of the pneumatic transmission mechanism 1, a communication module, and integrated electrical wiring. The motor fixing mechanism 7 also serves as the connecting flange between the gripper device and the external truss transport device. The motor fixing mechanism 7 is fixedly connected to the truss transport device by high-strength bolts. The truss transport device can be used to realize the lifting, transporting, and lowering of the cylindrical metal tube blank after it has been grasped.

[0015] Eight clamping mounting mechanisms 3 are evenly distributed and fixedly installed along the circumference of the device fixing flange 5. The clamping mounting mechanisms 3 are fixed to the device fixing flange 5 by high-strength bolts. The outer ends of the clamping mounting mechanisms 3 extend a certain length outward from the device fixing flange 5, and the included angle between adjacent pairs of clamping mounting mechanisms 3 is 45 degrees. A threaded screw 4 is rotatably installed at the middle position in the width direction of the clamping mounting mechanism 3. The pneumatic transmission mechanism 1 and the metal clamp 2 are movably installed on the threaded screw 4. The horizontal movement of the pneumatic transmission mechanism 1 and the metal clamp 2 is realized by the rotation of the threaded screw 4.

[0016] like Figure 5 , Figure 6As shown, the clamp mounting mechanism 3 includes a guide rail fixing bracket 9. Sealed angular contact bearings are fixedly installed at both ends of the guide rail fixing bracket 9 along its length. The threaded screw 4 is rotatably mounted on the guide rail fixing bracket 9 at both ends via the seated angular contact bearings, and there is no axial movement when the threaded screw 4 rotates. A pair of sliding guide rails are fixedly installed on both sides of the lower surface of the guide rail fixing bracket 9 along its length. A groove adapted to the sliding guide rails is formed on the upper surface of the screw connecting mechanism 10. The screw connecting mechanism 10 is slidably connected to the guide rail fixing bracket 9 through the groove and the pair of sliding guide rails. Furthermore, the screw connecting mechanism 10 is threadedly connected to the threaded screw 4, with the threaded connection of the threaded screw 4 passing through the middle position of the screw connecting mechanism 10.

[0017] The guide rail fixing bracket 9 adopts a U-shaped channel steel integrated steel structure, which can be directly bent into shape using 20mm thick Q355 steel plate. The internal space of the U-shaped channel is used to rotate and embed the threaded screw 4. Limiting grooves are opened on both sides of the U-shaped channel as sliding guide rails. Bolt holes are reserved at the top of the U-shaped channel steel for fixing the connecting device fixing flange 5.

[0018] Preferably, a lead screw nut can be built into the lead screw connection mechanism 10, and the lead screw nut is rigidly locked to the threaded lead screw 4, so that a reliable threaded connection between the lead screw connection mechanism 10 and the threaded lead screw 4 can be achieved through the lead screw nut.

[0019] A clamp mounting bracket 12 is fixedly installed on the lower surface of the screw connection mechanism 10. The clamp mounting bracket 12 includes an upper panel and a lower panel, as well as a pair of parallel side panels that are fixedly connected to the upper and lower panels. The pair of side panels are L-shaped plates. A connecting protrusion is integrally formed at the middle of the end of the lower panel. The upper panel is slidably connected to the guide rail fixing bracket 9. A pneumatic cylinder 11 is fixedly installed horizontally in the middle of the pair of side panels. The metal clamp 2 is rotatably connected to the connecting protrusion on the lower panel through a clamp shaft 13. The piston rod of the pneumatic cylinder 11 is fixedly connected to the end of the metal clamp 2. The pneumatic cylinder 11 provides power for the rotation of the metal clamp 2. The piston rod of the pneumatic cylinder 11 drives the metal clamp 2 to complete the clamping and releasing actions. Anti-slip rubber pads can be fixedly installed on the side of the metal clamp 2 facing the device fixing flange 5 by adhesive bonding. The anti-slip rubber pads can increase friction and prevent damage to the surface of the tube blank, allowing the metal clamp 2 to better grip the metal tube blank. The metal clamp 2 can be made of alloy steel plate with a thickness of 20mm to ensure its mechanical strength.

[0020] like Figure 7 As shown, the transmission structure of the lead screw drive motor 6 driving the threaded lead screw 4 is existing technology. For example, the rotating shaft of the lead screw drive motor 6 passes through the device fixing flange 5, the lower end of the rotating shaft of the lead screw drive motor 6 is fixedly connected to the disc gear 14, and the end of the threaded lead screw 4 near the device fixing flange 5 is fixedly connected to the bevel gear 15. The disc gear 14 and the bevel gear 15 mesh and transmit power.

[0021] The control mechanism in control box 8 interacts with the main control system of the truss transport device. The main control system controls the control mechanism of this gripper device, which in turn controls the operation of the lead screw drive motor 6 and the pneumatic transmission mechanism 1. The control mechanism uses existing products; for example, it can be a Siemens S7-200SMART PLC controller.

[0022] The automatic operation of the lead screw drive motor 6 and the pneumatic transmission mechanism 1 is controlled by a PLC controller, and the signal communication protocols and control methods involved are all existing technologies. For example, the lead screw drive motor 6 includes a driver and a drive motor. The PLC controller sends commands to the driver of the lead screw drive motor 6. The driver receives and amplifies the signal and outputs torque, ultimately controlling the rotation of the drive motor to achieve automatic control of the reciprocating rotation of the disc gear 14. The disc gear 14 drives the bevel gear 15 to reciprocate synchronously. The rotational motion of the disc gear 14 is precisely converted into the linear displacement of the metal clamp 2 and the pneumatic cylinder 11 through the threaded lead screw 4. Furthermore, the pneumatic cylinder 11 of the pneumatic transmission mechanism 1 uses an SMC cylinder, and the communication module uses a Datatech DTD426M3N. The PLC controller sends control commands to the solenoid valve of the pneumatic cylinder 11 through the communication module. The solenoid valve actuates, thereby controlling the piston rod of the pneumatic cylinder 11 to clamp and release the metal clamp 2. The horizontal movement of the eight metal clamps 2 is controlled by the same output power, ensuring their synchronized movement.

[0023] The present invention embodiment is provided with a total of eight metal clamps 2. In practical applications, the number can be flexibly set according to the maximum weight of the metal tube blank that is frequently gripped. However, it is better to have an even number of metal clamps 2. This can ensure that the paired metal clamps 2 can complete the opposite clamping of the metal tube blank. At the same time, it is necessary to ensure that the overall clamping force of the metal clamps 2 is not less than 3 times the weight of the metal tube blank to prevent the product from falling or being unstable.

[0024] Furthermore, position sensors and pressure sensors can be installed on the metal clamp 2. The position sensors and pressure sensors communicate with the PLC controller. Based on the signals collected in real time by the position sensors and pressure sensors, the PLC controller can accurately control the clamping force and horizontal displacement of the metal clamp 2.

[0025] The operation process of the gripper device for gripping cylindrical metal tube blanks provided in this embodiment of the invention is as follows: According to the requirements of the production process, the truss transport device drives the gripper device to move directly above the metal tube blank. The truss transport device drives the gripper device to move down until the height of the metal clamp 2 is lower than the top of the metal tube blank. The initial position of the metal clamp 2 is located at the outer end of the guide rail fixing bracket 9, which is far away from the device fixing flange 5. The main control system of the truss transport device sends control commands to the control mechanism of this gripper device. The control mechanism controls the screw drive motor 6 to move, the disc gear 14 drives the bevel gear 15 to rotate, the threaded screw 4 rotates and drives the eight metal clamps 2 to move horizontally towards the metal tube blank in sync until the eight metal clamps 2 cooperate to clamp the metal tube blank. The control mechanism controls the action of the pneumatic cylinder 11, and the eight metal clamps 2 work together to clamp the metal tube blank; The truss transport device drives the gripper device to move the metal tube blank to the designated work position and place it stably; The control mechanism controls the pneumatic cylinder 11 and the lead screw drive motor 6 to move in opposite directions, the gripper device releases the metal tube blank, and then prepares to start the next round of metal tube blank handling.

[0026] In the embodiments of the present invention, all technical features not described in detail are existing technologies or conventional technical means, and will not be repeated here.

[0027] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit them. The scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention.

Claims

1. A gripper device for gripping cylindrical metal tube blanks, comprising a metal clamp (2) and a device fixing flange (5), characterized in that, Several clamping installation mechanisms (3) are evenly distributed around the circumference of the device fixing flange (5). The outer ends of the clamping installation mechanisms (3) extend outward from the device fixing flange (5). The screw drive motor (6) is installed at the center of the device fixing flange (5). The threaded screw (4) is rotatably installed on the clamping installation mechanism (3) along its length. The shaft of the screw drive motor (6) is connected to the end of the threaded screw (4). The screw connection mechanism (10) is slidably connected to the clamping installation mechanism (3) and simultaneously connected to the threaded screw. The lead screw (4) is threaded, and the clamp mounting bracket (12) is installed on the lead screw connection mechanism (10). The clamp mounting bracket (12) includes an upper panel, a lower panel, and a pair of parallel side panels. The side panels are L-shaped plates. A connecting protrusion is integrally formed at the middle of the end of the lower panel. The pneumatic cylinder (11) is installed horizontally in the middle of the pair of side panels. The metal clamp (2) is rotatably connected to the connecting protrusion through the clamp shaft (13). The piston rod of the pneumatic cylinder (11) is connected to the end of the metal clamp (2).

2. The gripper device for gripping cylindrical metal tube blanks according to claim 1, characterized in that, A motor fixing mechanism (7) is installed at the center of the upper surface of the device fixing flange (5). The motor fixing mechanism (7) is a cubic box structure, and the screw drive motor (6) is installed in the internal cavity of the motor fixing mechanism (7).

3. The gripper device for gripping cylindrical metal tube blanks according to claim 2, characterized in that, A control box (8) is installed on the upper surface of the device fixing flange (5) on the side of the motor fixing mechanism (7). The control box (8) contains a control mechanism, pneumatic components, a communication module and electrical circuits.

4. The gripper device for gripping cylindrical metal tube blanks according to claim 1, characterized in that, The clamping installation mechanism (3) includes a guide rail fixing bracket (9). Both ends of the guide rail fixing bracket (9) are provided with seated angular contact bearings. Both ends of the threaded screw (4) are rotatably mounted on the guide rail fixing bracket (9) through seated angular contact bearings. A pair of sliding guide rails are provided on both sides of the lower surface of the guide rail fixing bracket (9) in the length direction. The upper surface of the screw connection mechanism (10) is provided with a sliding groove that matches the sliding guide rail. The screw connection mechanism (10) has a screw nut that is threadedly connected to the threaded screw (4).

5. The gripper device for gripping cylindrical metal tube blanks according to claim 4, characterized in that, The guide rail fixing bracket (9) is made of U-shaped channel steel.

6. The gripper device for gripping cylindrical metal tube blanks according to claim 5, characterized in that, The metal clamp (2) is fitted with an anti-slip rubber pad on the side facing the device fixing flange (5).

7. The gripper device for gripping cylindrical metal tube blanks according to claim 1, characterized in that, The lower end of the shaft of the lead screw drive motor (6) is connected to the disc gear (14), and the end of the threaded lead screw (4) near the device fixing flange (5) is connected to the bevel gear (15). The disc gear (14) and the bevel gear (15) are meshed and connected for transmission.

8. A gripper device for gripping cylindrical metal tube blanks according to any one of claims 1-7, characterized in that, The number of metal clamps (2) is at least four and is an even number.

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