A sheet metal part gripper

Abstract

This utility model discloses a sheet metal part gripper, which relates to the field of clamping technology. It includes a mounting joint, a cylinder, a disc, a gantry frame, a rotating plate, a pair of connecting plates, a pair of movable plates, and a pair of clamping plate assemblies. The upper end of the mounting joint is connected to an external robot arm, and the lower end of the mounting joint is fixedly connected to a top plate. The cylinder is fixedly positioned at the center of the lower bottom surface of the top plate, and the center of the upper surface of the disc is fixedly connected to the telescopic end of the cylinder. This utility model uses a motor to drive a rotating shaft and a rotating plate to rotate, causing the two ends of the rotating plate to pull one end of a pair of connecting plates to rotate. The horizontal component of the connecting plate causes the other end of the connecting plate to pull the pair of movable plates to move inward or outward simultaneously, achieving the purpose of horizontally driving the clamping plate assembly at the bottom of the limiting plate. It features strong synchronization, a simple single-motor structure, space saving, and convenient maintenance.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically a sheet metal part gripper. Background Technology

[0002] In the automotive, aerospace and other manufacturing industries, sheet metal parts are extremely common structural components. Their production process requires the use of robotic arms in conjunction with grippers to perform operations such as grasping, handling, assembling, or positioning of sheet metal parts.

[0003] Currently, the mainstream technology for automated gripper solutions used in sheet metal parts handling relies primarily on pneumatic systems. To achieve the opening and closing action of a pair of clamping plates, it is usually necessary to install an independent drive cylinder on each clamping plate or at different positions on the clamping plates.

[0004] However, this results in a bulky overall gripper structure and a cumbersome internal air passage (air pipes, connectors, valve island interfaces) layout, occupying valuable equipment space. This is especially problematic in space-constrained automation units or robotic arms, limiting their application flexibility. Furthermore, the synchronization of the movements of multiple cylinders deteriorates over time, easily exceeding the error range. This error can cause slight skewness or twisting of sheet metal parts at the moment of clamping, affecting product quality. Utility Model Content

[0005] To address the aforementioned shortcomings of existing technologies, this utility model provides a sheet metal part gripper. A motor drives a rotating shaft and a rotating plate to rotate, causing each end of the rotating plate to pull one end of a pair of connecting plates to rotate. The horizontal component of the connecting plate pulls the other end of the connecting plate to move a pair of movable plates simultaneously inwards or outwards, achieving the purpose of horizontally driving the clamping plate assembly at the bottom of the limiting plate. This provides strong synchronization, a simple single-motor structure, space saving, and convenient repair and maintenance.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A sheet metal part gripper includes an installation joint, a cylinder, a disc, a gantry frame, a rotating plate, a pair of connecting plates, a pair of movable plates, and a pair of clamping plate assemblies. The upper end of the installation joint is connected to an external robot arm, and the lower end of the installation joint is fixedly connected to a top plate. The cylinder is fixedly positioned at the center of the lower bottom surface of the top plate. The center of the upper surface of the disc is fixedly connected to the telescopic end of the cylinder. The upper surface of the disc is connected to the lower bottom surface of the top plate via multiple vertical limiting components. The cylinder can drive the disc to move vertically. An electric turntable is provided between the upper surface of the gantry frame and the lower bottom surface of the disc. The edge of the upper surface of the gantry frame is connected to the edge of the lower bottom surface of the disc via a rotation limiting component. The electric turntable can drive the gantry frame to rotate. A horizontal plate is fixedly provided at the bottom of the gantry frame. A pair of vertical plates are provided on the upper surface of the horizontal plate. A rotating shaft is rotatably connected between a pair of upright plates, with one end of the shaft passing through the upright plate and connected to a motor. The motor is fixedly connected to the outer wall of the upright plate. A rotating plate is positioned between the pair of upright plates and its center is fixedly connected to the rotating shaft. Sliding openings are provided on the left and right sides of the horizontal plate. A pair of movable plates are vertically positioned and pass through the sliding openings on the left and right sides respectively. One end of a pair of connecting plates is rotatably connected to both ends of the rotating plate, and the other end is rotatably connected to the upper end of the pair of movable plates. The pair of connecting plates are centrally symmetrical about the rotating shaft. Limiting plates are connected to the lower ends of the pair of movable plates respectively. The upper surfaces of the pair of limiting plates are connected to the lower bottom surface of the horizontal plate respectively through horizontal limiting components. The rotation driven by the motor and the rotation of the rotating plates can drive the pair of movable plates to move horizontally inward or horizontally outward simultaneously through the pair of connecting plates. A pair of clamping plate assemblies are fixedly installed on the lower bottom surface of the pair of limiting plates. The pair of clamping plate assemblies can clamp and grip sheet metal parts.

[0007] Preferably, the clamping plate assembly includes a mounting plate, a mounting base, and a clamping plate. The mounting plate is fixedly disposed on the lower bottom surface of the limiting plate, and the mounting plates on both sides are vertically and parallelly designed. The mounting base is detachably disposed on the inner side wall of the mounting plate by means of multiple screws, and the clamping plate is fixedly disposed on the inner side wall of the mounting base.

[0008] Preferably, the inner sidewall of the clamp is provided with a rubber pad.

[0009] Preferably, the vertical limiting component includes multiple limiting rods arranged in a circular matrix and fixedly mounted on the disc. The top plate has limiting holes at the positions corresponding to the limiting rods, and the limiting rods are inserted into the limiting holes and vertically movably connected to the top plate.

[0010] Preferably, the rotation limiting component includes multiple sliders arranged in a circular matrix and fixedly mounted on the gantry frame. The bottom surface of the disc has an annular groove corresponding to the positions of the multiple sliders, and the sliders are slidably connected to the annular grooves.

[0011] Preferably, the horizontal limiting component includes a pair of slide rails, which are designed along the moving direction of the moving plate and fixedly installed on the bottom surface of the horizontal plate. The upper surface of the pair of limiting plates is provided with a sliding groove corresponding to the position of the slide rail, and the slide rail is slidably connected to the sliding groove.

[0012] Preferably, the motor is a torque motor.

[0013] This utility model provides a sheet metal part gripper, which has the following beneficial effects:

[0014] 1. This utility model uses a motor to drive the rotating shaft and rotating plate to rotate, so that the two ends of the rotating plate pull one end of a pair of connecting plates to rotate. The horizontal component of the connecting plate pulls the other end of the connecting plate to move a pair of moving plates inward or outward at the same time, so as to achieve the purpose of horizontal driving of the clamping plate assembly at the bottom of the limiting plate. It has strong synchronization, simple single motor structure, saves space, and is also convenient for repair and maintenance.

[0015] 2. The clamping plate assembly of this utility model includes a mounting plate, a mounting base, and a clamping plate. The mounting plate is fixedly installed on the bottom surface of the limiting plate. The mounting plates on both sides are vertically and parallelly designed. The mounting base is detachably installed on the inner side wall of the mounting plate by multiple screws. The clamping plate is fixedly installed on the mounting base. The mounting base and the clamping plate can be disassembled, and different clamping plates can be replaced according to different sheet metal parts. Attached Figure Description

[0016] Figure 1 This is a front sectional view of a sheet metal part gripper according to the present invention;

[0017] Figure 2 This is a right-side cross-sectional view of a sheet metal part gripper according to the present invention.

[0018] In the diagram: 1. Mounting connector; 2. Top plate; 3. Cylinder; 4. Limiting rod; 5. Disc; 6. Electric turntable; 7. Portal frame; 8. Slider; 9. Annular groove; 10. Horizontal plate; 11. Vertical plate; 12. Rotating shaft; 13. Rotating plate; 14. Motor; 15. Connecting plate; 16. Moving plate; 17. Slide opening; 18. Limiting plate; 19. Slide rail; 20. Slide groove; 21. Mounting plate; 22. Mounting base; 23. Clamping plate; 24. Rubber pad; 25. Screw. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] like Figure 1-2As shown, a sheet metal part gripper includes an assembly of a mounting joint 1, a cylinder 3, a disc 5, a gantry frame 7, a rotating plate 13, a pair of connecting plates 15, a pair of moving plates 16, and a pair of clamping plates 23. The upper end of the mounting joint 1 is connected to an external robot arm, and the lower end of the mounting joint 1 is fixedly connected to a top plate 2. The cylinder 3 is fixedly positioned at the center of the lower bottom surface of the top plate 2. The center of the upper surface of the disc 5 is fixedly connected to the telescopic end of the cylinder 3. The upper surface of the disc 5 and the lower bottom surface of the top plate 2 are connected by multiple vertical limiting components. The cylinder 3 can drive the disc 5 to move vertically. An electric turntable 6 is provided between the upper surface of the gantry frame 7 and the lower bottom surface of the disc 5. The edge of the upper surface of the gantry frame 7 is aligned with the edge of the lower bottom surface of the disc 5. The positions are connected by a rotation limit assembly. The electric turntable 6 can drive the gantry frame 7 to rotate. A horizontal plate 10 is fixedly installed at the bottom of the gantry frame 7. A pair of vertical plates 11 are installed on the upper surface of the horizontal plate 10. The pair of vertical plates 11 are arranged front and back and a rotating shaft 12 is rotatably installed between the pair of vertical plates 11. One end of the rotating shaft 12 passes through the vertical plate 11 and is connected to a motor 14. The motor 14 is fixedly connected to the outer wall of the vertical plate 11. The rotating plate 13 is arranged between the pair of vertical plates 11 and its center position is fixedly connected to the rotating shaft 12. Sliding openings 17 are opened on the left and right sides of the horizontal plate 10. A pair of moving plates 16 are vertically arranged and pass through the sliding openings 17 on the left and right sides respectively. One end of a pair of connecting plates 15 is rotatably connected to both ends of the rotating plate 13, and the other end is connected to a pair of moving plates 16. The upper end of the movable plate 16 is rotatably connected, and a pair of connecting plates 15 are centrally symmetrical about the rotating shaft 12. The lower ends of the pair of movable plates 16 are respectively connected to limit plates 18. The upper surfaces of the pair of limit plates 18 are respectively connected to the lower bottom surface of the horizontal plate 10 through horizontal limit components. The rotation driven by the motor 14 and the rotation of the rotating plate 13 can drive the pair of movable plates 16 to move horizontally inward or horizontally outward simultaneously through the pair of connecting plates 15. A pair of clamping plate 23 assemblies are respectively fixedly installed on the lower bottom surface of the pair of limit plates 18. The pair of clamping plate 23 assemblies can clamp and grip sheet metal parts. The clamping plate 23 assembly includes a mounting plate 21, a mounting base 22, and a clamping plate 23. The mounting plate 21 is fixedly installed on the lower bottom surface of the limit plate 18, and the mounting plates 21 on both sides are vertically... The mounting base 22 is detachably mounted on the inner wall of the mounting plate 21 by multiple screws 25, and the clamping plate 23 is fixedly mounted on the inner wall of the mounting base 22. A rubber pad 24 is provided on the inner wall of the clamping plate 23. The vertical limiting assembly includes multiple limiting rods 4 arranged in a circular matrix and fixedly mounted on the disc 5. Limiting holes are provided on the top plate 2 corresponding to the positions of the limiting rods 4, and the limiting rods 4 are inserted into the limiting holes and vertically movably connected to the top plate 2. The rotation limiting assembly includes multiple sliders 8 arranged in a circular matrix and fixedly mounted on the portal frame 7. Annular grooves 9 are provided on the bottom surface of the disc 5 corresponding to the positions of the sliders 8, and the sliders 8 are slidably connected to the annular grooves 9.The horizontal limiting assembly includes a pair of slide rails 19, which are designed along the moving direction of the moving plate 16 and fixedly installed on the lower surface of the horizontal plate 10. A groove 20 is formed on the upper surface of the pair of limiting plates 18 corresponding to the position of the slide rails 19, and the slide rails 19 are slidably connected to the grooves 20. The motor 14 is a torque motor.

[0021] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, as follows:

[0022] According to the instruction manual Figure 1-2 As can be seen, the upper end of the mounting connector 1 in this utility model is connected to an external robot arm, and this connection and the external robot arm are in line with existing technology. During operation, the external robot arm moves this utility model directly above the sheet metal part. Before clamping, the pair of clamping plates 23 are in an open state. Then, the cylinder 3 operates, driving the disc 5 to move downwards, and finally driving the pair of clamping plates 23 to move downwards to a suitable height position on both sides of the sheet metal part. Then, the electric turntable 6 operates, driving the gantry frame 7 to rotate, and finally driving the pair of clamping plates 23 to rotate. The appropriate position can be selected by human observation. Of course, to improve the degree of automation, sensors can be used. Sensors can be set on the outside or on the clamping plates 23 to determine the clamping position. This operation can be achieved using existing technology. Finally, motor 14 operates, driving the rotating shaft 12 and rotating plate 13 to rotate. Due to the restriction of the sliding opening 17 and the horizontal limiting assembly, the moving plate 16 can only move horizontally. Furthermore, the two ends of a pair of connecting plates 15 are rotatably connected to the two ends of the rotating plate 13 and the upper ends of the pair of moving plates 16, respectively. Simultaneously, the pair of connecting plates 15 are centrally symmetrical about the rotating shaft 12. Figure 1 As shown, the rotating plate 13 rotates counterclockwise. The rotating plate 13 pulls a pair of moving plates 16 horizontally inward through the connecting plates 15 on the left and right sides, thereby driving the limiting plate 18 and a pair of clamping plates 23 to move inward, clamping and gripping the sheet metal parts. It has strong synchronization. The single motor 14 has a simple structure, saves space, and is also convenient for maintenance.

[0023] The clamping plate 23 assembly includes a mounting plate 21, a mounting base 22, and a clamping plate 23. The mounting plate 21 is fixedly mounted on the bottom surface of the limiting plate 18. The mounting plates 21 on both sides are vertically and parallelly designed. The mounting base 22 is detachably mounted on the inner wall of the mounting plate 21 by multiple screws 25. The clamping plate 23 is fixedly mounted on the inner wall of the mounting base 22. The mounting base 22 and the clamping plate 23 are detachable. Different clamping plates 23 can be replaced according to different sheet metal parts. In addition, the inner wall of the clamping plate 23 can be provided with a rubber pad 24, preferably a high-temperature resistant and non-slip rubber pad 24, to improve applicability.

[0024] The vertical limiting component includes multiple limiting rods 4, which are arranged in a circular matrix and fixedly mounted on the disc 5. The top plate 2 has limiting holes corresponding to the positions of the limiting rods 4. The limiting rods 4 are inserted into the limiting holes and vertically connected to the top plate 2. The structure is simple and ensures the stability of the cylinder 3 driving the disc 5 to move vertically. At the same time, it balances the force of the cylinder 3 in the non-vertical direction and ensures the normal operation of the cylinder 3.

[0025] The rotation limiting component includes multiple sliders 8, which are arranged in a circular matrix and fixedly mounted on the gantry frame 7. The bottom surface of the disc 5 has an annular groove 9 corresponding to the positions of the multiple sliders 8. The sliders 8 are slidably connected to the annular groove 9. The structure is simple, ensuring the stability of the rotation of the gantry frame 7, while balancing the non-circular forces of the electric turntable 6 and ensuring the normal operation of the electric turntable 6.

[0026] The horizontal limiting component includes a pair of slide rails 19. The pair of slide rails 19 are designed along the moving direction of the moving plate 16 and are fixedly installed on the bottom surface of the horizontal plate 10. The upper surface of the pair of limiting plates 18 is provided with a groove 20 corresponding to the position of the slide rails 19. The slide rails 19 and the groove 20 are slidably connected. The structure is simple and ensures the stability of the horizontal movement of the limiting rod 4, the moving plate 16 and the pair of clamping plates 23. At the same time, in conjunction with the connecting plate 15 and the rotating plate 13, the moving plate 16 can be moved horizontally to ensure its normal operation.

[0027] Among them, motor 14 is a torque motor, which can continue to operate even when the motor is at low speed or even stalled (i.e. the rotor cannot rotate), without causing damage to the motor.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sheet metal part gripper, characterized in that, The assembly includes a mounting connector (1), a cylinder (3), a disc (5), a gantry frame (7), a rotating plate (13), a pair of connecting plates (15), a pair of moving plates (16), and a pair of clamping plates (23). The upper end of the mounting connector (1) is connected to an external robot arm, and the lower end of the mounting connector (1) is fixedly connected to a top plate (2). The cylinder (3) is fixedly positioned at the center of the lower bottom surface of the top plate (2). The center of the upper surface of the disc (5) is fixedly connected to the telescopic end of the cylinder (3). The upper surface of the disc (5) and the lower bottom surface of the top plate (2) are connected by multiple vertical limiting devices. The cylinder (3) is connected to the component, and can drive the disc (5) to move vertically. An electric turntable (6) is provided between the upper surface of the gantry frame (7) and the lower bottom surface of the disc (5). The edge of the upper surface of the gantry frame (7) and the edge of the lower bottom surface of the disc (5) are connected by a rotation limiting component. The electric turntable (6) can drive the gantry frame (7) to rotate. A horizontal plate (10) is fixedly provided at the bottom of the gantry frame (7). A pair of vertical plates (11) are provided on the upper surface of the horizontal plate (10). The pair of vertical plates (11) are arranged front and back and a rotating shaft (12) is rotatably provided between the pair of vertical plates (11). One end of the rotating shaft (12) passes through the upright plate (11) and is connected to a motor (14). The motor (14) is fixedly connected to the outer wall of the upright plate (11). The rotating plate (13) is arranged between a pair of upright plates (11) and its center position is fixedly connected to the rotating shaft (12). The horizontal plate (10) has sliding openings (17) on its left and right sides. A pair of moving plates (16) are vertically arranged and pass through the sliding openings (17) on the left and right sides respectively. One end of a pair of connecting plates (15) is rotatably connected to both ends of the rotating plate (13), and the other end is rotatably connected to the upper end of the pair of moving plates (16). The plate (15) is centrally symmetrical about the pivot (12). The lower ends of a pair of movable plates (16) are respectively connected to limit plates (18). The upper surfaces of the pair of limit plates (18) are respectively connected to the lower bottom surface of the horizontal plate (10) through horizontal limit components. The rotation driven by the motor (14) and the rotation of the rotating plate (13) can drive the pair of movable plates (16) to move horizontally inward or horizontally outward at the same time through a pair of connecting plates (15). A pair of clamping plate (23) components are respectively fixedly installed on the lower bottom surface of the pair of limit plates (18). The pair of clamping plate (23) components can clamp and grip the sheet metal parts.

2. A sheet metal part gripper according to claim 1, characterized in that The clamping plate (23) assembly includes a mounting plate (21), a mounting base (22), and a clamping plate (23). The mounting plate (21) is fixedly mounted on the bottom surface of the limiting plate (18). The mounting plates (21) on both sides are vertically and parallelly designed. The mounting base (22) is detachably mounted on the inner wall of the mounting plate (21) by multiple screws (25). The clamping plate (23) is fixedly mounted on the inner wall of the mounting base (22).

3. A sheet metal part gripper according to claim 2, characterized in that The inner wall of the clamp (23) is provided with a rubber pad (24).

4. The sheet metal part gripper of claim 1, wherein, The vertical limiting component includes multiple limiting rods (4), which are arranged in a ring matrix and fixedly mounted on the disc (5). The top plate (2) has limiting holes at the positions corresponding to the limiting rods (4), and the limiting rods (4) are inserted into the limiting holes and vertically connected to the top plate (2).

5. The sheet metal part gripper of claim 1, wherein, The rotation limiting component includes multiple sliders (8), which are arranged in a ring matrix and fixedly mounted on the gantry frame (7). The bottom surface of the disc (5) is provided with an annular groove (9) corresponding to the position of the multiple sliders (8), and the sliders (8) are slidably connected to the annular groove (9).

6. The sheet metal part gripper of claim 1, wherein, The horizontal limiting component includes a pair of slide rails (19). The pair of slide rails (19) are designed along the moving direction of the moving plate (16) and fixedly installed on the bottom surface of the horizontal plate (10). The upper surface of the pair of limiting plates (18) is provided with a groove (20) corresponding to the position of the slide rail (19). The slide rail (19) and the groove (20) are slidably connected.

7. A sheet metal part gripper according to claim 1, characterized in that, The motor (14) is a torque motor.

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