Circulating clamp mechanism and plate processing equipment

Abstract

The utility model discloses a kind of clamping hand mechanism and plate processing equipment, it is related to plate processing field;Support beam along first direction extension is provided with clamping plate area along second direction one side, the upper surface of support beam is first mounting face, the side of support beam along second direction close to clamping plate area is second mounting face;Clamping hand subassembly close to clamping plate area;First translation subassembly on first mounting face can move along first direction, first support is equipped with clamping hand subassembly, second translation subassembly on second mounting face can move along first direction, second support is equipped with clamping hand subassembly, first avoiding component on first translation subassembly can drive first support linearly moves and / or rotates, second avoiding component on second translation subassembly can drive second support linearly moves and / or rotates, to make second drive mechanism and its on clamping hand subassembly and first drive mechanism and its on clamping hand subassembly avoid each other.The utility model can continuously clamp and transfer plate, and reduce cost and energy consumption, reduce occupied space.

Description

Technical Field

[0001] This utility model relates to the field of sheet metal processing technology, and in particular to a circulating gripper mechanism and sheet metal processing equipment. Background Technology

[0002] Currently, in the field of sheet metal processing, automated processing equipment such as panel cutting machines and six-sided drilling machining centers are commonly used to process sheet metal. Among these, gripping devices are used to efficiently and accurately clamp the sheet metal and facilitate its transfer. In existing technologies, to improve sheet metal processing efficiency, gripping devices employ two guide rail assemblies, two lifting assemblies, and multiple gripping assemblies. These gripping assemblies are mounted on the guide rail assemblies, and the two lifting assemblies are located on either side of the guide rail assemblies to facilitate the transfer of the gripping assemblies between the two guide rail assemblies. This allows the gripping assemblies to circulate along a set path, achieving continuous clamping of the sheet metal. However, existing gripping devices suffer from the following problems: large size, occupying a large space, and high packaging and transportation costs; the large number of gripping assemblies and their long travel distances increase manufacturing costs and operating energy consumption. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a circulating gripper mechanism and sheet metal processing equipment, which can not only realize continuous gripping and transfer of sheet metal, but also reduce costs and energy consumption, and reduce space occupation.

[0004] The first aspect of this utility model provides a cyclic gripper mechanism, which includes:

[0005] A support beam extends along a first direction, and a clamping plate area is provided on one side of the support beam along a second direction. The upper surface of the support beam is provided as a first mounting surface, and the side of the support beam near the clamping plate area along the second direction is provided as a second mounting surface.

[0006] A gripper assembly is disposed near the clamping plate area to grip the plate;

[0007] The first driving mechanism includes a first translation component, a first avoidance component, and a first support. The first translation component is disposed on the first mounting surface and can move along a first direction. The first support is provided with the gripper component, and the first avoidance component is disposed on the first translation component.

[0008] The second drive mechanism includes a second translation component, a second avoidance component, and a second support. The second translation component is disposed on the second mounting surface and can move along a first direction. The second support is provided with the gripper component, and the second avoidance component is disposed on the second translation component.

[0009] The first avoidance component is configured to drive the first support to move linearly and / or rotate to avoid the second drive mechanism and the gripper assembly thereon. The second avoidance component is configured to drive the second support to move linearly and / or rotate to avoid the first drive mechanism and the gripper assembly thereon. The first direction, the second direction, and the up and down direction are perpendicular to each other.

[0010] The circulating gripper mechanism according to the first aspect of the present invention has at least the following beneficial effects: the gripper assembly on the first drive mechanism can clamp the plate; the first translation component of the first drive mechanism is disposed on the first mounting surface of the support beam and can move along the extension direction of the support beam, thereby enabling the plate transfer operation; the gripper assembly on the second drive mechanism can stably clamp the plate; the second translation component of the second drive mechanism is disposed on the second mounting surface of the support beam and can move along the extension direction of the support beam, thereby enabling the plate transfer operation; at the same time, the second translation component and the first translation component have different and non-interfering motion paths, avoiding interference between the first translation component and the second translation component in linear motion.

[0011] Furthermore, the first avoidance component in the first drive mechanism can drive the first support to move linearly and / or rotate the gripper assembly, causing the first support and its gripper assembly to avoid the second drive mechanism and its gripper assembly, allowing the first drive mechanism and its gripper assembly to move along the first direction to grip and transfer the next piece of material; similarly, the second avoidance component in the second drive mechanism can drive the second support to move linearly and / or rotate the gripper assembly, causing the second support and its gripper assembly to avoid the first drive mechanism and its gripper assembly, allowing the second drive mechanism and its gripper assembly to move along the first direction to grip and transfer the next piece of material.

[0012] Through the unique structural design described above, the first and second drive mechanisms can drive the corresponding gripper components to take turns clamping and transferring the sheet metal. The two mechanisms do not interfere with each other, ensuring continuous clamping and transfer of the sheet metal, which is beneficial to improving the processing efficiency of the sheet metal. At the same time, the gripper components only need to move back and forth along the first direction, which can reduce the movement distance and save the number of gripper components, thus reducing manufacturing costs and operating energy consumption. Moreover, the circulating gripper mechanism is small in size and occupies little space, which is beneficial for packaging and transportation.

[0013] In some embodiments of this utility model, the output end of the first avoidance component is connected to the first support to drive the first support to move along the second direction or the up and down direction, or to drive the first support to rotate around an axis extending along the first direction or the up and down direction. The output end of the second avoidance component is connected to the second support to drive the second support to move along the up and down direction, or to drive the second support to rotate around an axis extending along the first direction or the second direction.

[0014] In some embodiments of the present invention, the first avoidance component includes a first rotary cylinder, which is disposed on the first translation component. The rotary table of the first rotary cylinder is connected to the first support to drive the first support to rotate around an axis in the vertical direction.

[0015] In some embodiments of this utility model, the first avoidance component further includes a first locking cylinder, the first support is disposed above the first translation component, the first support is provided with a first locking hole, the first translation component is provided with a first through hole, the first locking cylinder is disposed on the first translation component, and the movable rod of the first locking cylinder is configured to extend upward and be inserted into the first through hole and the first locking hole in sequence, so that the gripper component can grip the plate.

[0016] In some embodiments of the present invention, the second avoidance component includes a second rotary cylinder, which is disposed on the second translation component. The rotary table of the second rotary cylinder is connected to the second support to drive the second support to rotate about an axis along a second direction.

[0017] In some embodiments of this utility model, the second avoidance component further includes a second locking cylinder, the second support is disposed on the side of the second translation component close to the clamping plate area along the second direction, the second support is provided with a second locking hole, the second translation component is provided with a second through hole, the second locking cylinder is disposed on the second translation component, and the movable rod of the second locking cylinder is configured to extend along the second direction and be inserted into the second through hole and the second locking hole in sequence, so that the gripper component can clamp the plate.

[0018] In some embodiments of this utility model, the first avoidance component includes a first avoidance cylinder, the first support is disposed above the first translation component and slidably connected to the first translation component along a second direction, the two ends of the first avoidance cylinder are respectively connected to the first support and the first translation component, and the first avoidance cylinder is configured to drive the first support to move along the second direction; or,

[0019] The first obstacle avoidance assembly includes a first tilting cylinder, both the first support and the first tilting cylinder are hinged to the first translation assembly, the movable rod of the first tilting cylinder is hinged to the first support, and the hinge axis of the first support and the hinge axis of the first tilting cylinder both extend along a first direction; or,

[0020] The second avoidance assembly includes a second avoidance cylinder. The second support is disposed on the side of the second translation assembly near the clamping plate area along the second direction and is slidably connected to the second translation assembly in the vertical direction. The two ends of the second avoidance cylinder are respectively connected to the second support and the second translation assembly. The second avoidance cylinder is configured to drive the second support to move in the vertical direction; or,

[0021] The second avoidance component includes a second tilting cylinder. Both the second support and the second tilting cylinder are hinged to the second translation component. The movable rod of the second tilting cylinder is hinged to the second support. The hinge axis of the second support and the hinge axis of the second tilting cylinder both extend along a first direction.

[0022] In some embodiments of this utility model, the gripper assembly includes:

[0023] The mounting base is provided with a connecting portion for connecting to the first support or the second support;

[0024] A clamping plate assembly includes an upper clamping plate, a lower clamping plate, a first cylinder, and a second cylinder. The upper clamping plate and the lower clamping plate are slidably connected to the mounting base in the vertical direction and can move closer together in the vertical direction. The first cylinder is mounted on the mounting base, and the movable rod of the first cylinder is connected to the lower clamping plate to drive the lower clamping plate to move in the vertical direction. The second cylinder is mounted on the lower clamping plate, and the movable rod of the second cylinder is connected to the upper clamping plate to drive the upper clamping plate to move in the vertical direction.

[0025] In some embodiments of this utility model, the gripper assembly further includes an air-blowing block; the air-blowing block is disposed between the upper clamping plate and the lower clamping plate, and connected to the upper clamping plate; the air-blowing block has a plurality of air outlets spaced apart along a first direction, the air outlets being inclined from top to bottom toward the side closer to the clamping plate area along a second direction; and / or,

[0026] The lower clamping plate is provided with multiple connecting shafts extending in the vertical direction, the multiple connecting shafts being spaced apart in a first direction, and multiple bearings being sleeved on the connecting shafts. The upper clamping plate is provided with multiple through holes extending in the vertical direction, the multiple through holes being spaced apart in the first direction and arranged vertically opposite to the multiple connecting shafts, so that the bearings can pass through the through holes. The bearings on the multiple connecting shafts collectively define a plate positioning surface extending in the first direction; and / or,

[0027] The gripper assembly also includes a limiting block located above the lower clamping plate and connected to the mounting base to limit the lower clamping plate.

[0028] The second aspect of this utility model provides a sheet metal processing device, which includes a circulating gripper mechanism as described in any of the first aspect embodiments.

[0029] The sheet metal processing equipment according to the second aspect of the present invention has at least the following beneficial effects: the sheet metal processing equipment adopts the above-described circulating gripper mechanism, which can realize continuous sheet metal feeding, improve sheet metal processing efficiency, and also save space, reduce cost and energy consumption.

[0030] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural schematic diagram of the circulating gripper mechanism provided according to an embodiment of the present utility model;

[0032] Figure 2 This is a three-dimensional structural schematic diagram of the circulating gripper mechanism provided according to an embodiment of the present utility model from another perspective;

[0033] Figure 3 This is a three-dimensional structural diagram of the first driving mechanism in the avoidance state according to an embodiment of the present utility model;

[0034] Figure 4 This is a three-dimensional structural diagram of the second drive mechanism in the avoidance state according to an embodiment of the present utility model;

[0035] Figure 5 This is a three-dimensional structural schematic diagram of the second drive mechanism in an avoidance state according to an embodiment of the present utility model;

[0036] Figure 6This is a three-dimensional structural diagram of the first driving mechanism in the clamping state according to another embodiment of the present utility model;

[0037] Figure 7 This is a three-dimensional structural diagram of the second drive mechanism in an avoidance state according to another embodiment of the present utility model;

[0038] Figure 8 This is a three-dimensional structural schematic diagram of the gripper assembly provided according to an embodiment of the present utility model;

[0039] Figure 9 This is a side view of the gripper assembly provided according to an embodiment of the present utility model;

[0040] Figure 10 This is a three-dimensional structural diagram of the first driving mechanism in the clamping state according to another embodiment of the present utility model;

[0041] Figure 11 This is a three-dimensional structural diagram of the second driving mechanism in the clamping state according to another embodiment of the present utility model.

[0042] Reference numerals: 100, support beam; 101, first mounting surface; 102, second mounting surface;

[0043] 200. First drive mechanism; 211. First translation seat; 212. First motor; 213. First gear; 214. First through hole; 215. First slider; 216. First linear guide rail; 221. First support; 222. First locking hole; 223. First guide block; 231. First rotary cylinder; 232. First locking cylinder; 233. First clearance cylinder; 234. First tilting cylinder; 241. First hinge shaft; 242. Second hinge shaft;

[0044] 300. Second drive mechanism; 311. Second translation seat; 312. Second motor; 313. Second gear; 314. Second through hole; 315. Second slider; 316. Second guide block; 321. Second support; 322. Second locking hole; 331. Second rotary cylinder; 332. Second locking cylinder; 333. Second clearance cylinder; 334. Third locking cylinder; 335. Second tilting cylinder; 341. Third hinge shaft; 342. Fourth hinge shaft;

[0045] 400. Grip assembly; 410. Mounting base; 421. Upper clamping plate; 422. Lower clamping plate; 431. Second cylinder; 432. First cylinder; 441. Guide post; 442. Guide sleeve; 443. Third linear guide rail; 444. Third slider; 450. Air blowing block; 451. Air outlet; 460. Rubber pad; 470. Limiting block; 480. Connecting shaft; 490. Bearing;

[0046] 510, First rack; 520, Second rack; 610, First guide rail; 620, Second guide rail. Detailed Implementation

[0047] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0048] In the description of this utility model, it should be understood that features specified as "first" or "second" may explicitly or implicitly include one or more of those features. In the description of this utility model, unless otherwise stated, "several" means one or more, and "multiple" means two or more.

[0049] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0050] The following is for reference. Figures 1 to 11 This invention describes a circulating gripper mechanism and sheet metal processing equipment provided according to embodiments of the present invention.

[0051] like Figures 1 to 11 As shown, the circulating gripper mechanism according to the first aspect of this utility model can be applied in sheet metal processing equipment to realize the sheet metal feeding function. This circulating gripper mechanism not only enables continuous clamping and transfer of sheet metal, but also reduces costs and energy consumption, helping to increase enterprise production efficiency and reduce space occupation, making it easy to install and use in small workshops. Therefore, the circulating gripper mechanism has a competitive advantage and can be widely applied in the market.

[0052] The circulating gripper mechanism has a first direction, a second direction, and a vertical direction, wherein the first direction, the second direction, and the vertical direction are arranged perpendicularly to each other. In this embodiment, it is assumed that the first direction is the left-right direction and the second direction is the front-back direction.

[0053] like Figures 1 to 11As shown, the circulating gripper mechanism includes a support beam 100, a gripper assembly 400, a first drive mechanism 200, and a second drive mechanism 300. The gripper assembly 400 is mounted on both the first drive mechanism 200 and the second drive mechanism 300.

[0054] The support beam 100 extends along a first direction, and a clamping area is provided on one side of the support beam 100 along a second direction. The clamping area contains at least two workstations, such as a loading workstation and a processing workstation. The processing workstation can be a cutting workstation or a drilling workstation, etc. Within the clamping area, the sheet metal can be clamped by a circulating gripper mechanism and conveyed along the first direction, allowing the sheet metal to be transferred from the loading workstation to the processing workstation. The upper surface of the support beam 100 is designated as a first mounting surface 101, and the side of the support beam 100 along the second direction near the clamping area is designated as a second mounting surface 102.

[0055] In this embodiment, as Figure 1 and Figure 2 As shown, the cross-sectional shape of the support beam 100 is square. The front side of the support beam 100 is the second mounting surface 102. The first mounting surface 101 is a horizontal plane, and the second mounting surface 102 is a vertical plane. The first mounting surface 101 and the second mounting surface 102 are two adjacent surfaces of the support beam 100. It is understood that the size and shape of the support beam 100 can be designed according to actual needs, as long as the first mounting surface 101 and the second mounting surface 102 are provided. The two ends of the support beam 100 along the first direction can be mounted using brackets to cooperate with other components of the sheet metal processing equipment. A sheet metal support platform, such as an air-floating platform or a platform with omnidirectional balls, can be provided in the clamping area.

[0056] The gripper assembly 400 is positioned close to the clamping plate area so that it can grip the sheet metal. It is understood that the sheet metal is positioned horizontally in the clamping plate area, such as... Figure 8 and Figure 9 As shown, the clamping assembly 400 has an upper clamping plate 421 and a lower clamping plate 422. The upper clamping plate 421 and the lower clamping plate 422 move closer to each other in the vertical direction to apply a stable clamping effect to the plate.

[0057] like Figure 3 and Figure 6As shown, the first drive mechanism 200 includes a first translation component, a first avoidance component, and a first support 221. The first translation component is disposed on the first mounting surface 101 and is configured to move along a first direction. The first support 221 is provided with a gripper assembly 400, which is fixedly connected to the first support 221, allowing the gripper assembly 400 to receive support from the first support 221. The first avoidance component is disposed on the first translation component and is configured to drive the first support 221 to move linearly and / or rotate, thereby avoiding the second drive mechanism 300 and its gripper assembly 400.

[0058] Specifically, the output end of the first clearance component is fixedly connected to the first support 221 to drive the first support 221 to move in the second direction or in the vertical direction, or to drive the first support 221 to rotate about an axis extending in the first direction or an axis extending in the vertical direction. The function of the first clearance component is to drive the first support 221 and the gripper assembly 400 on it to enter and exit the clamping plate area to achieve the clearance function.

[0059] Of course, it is not excluded that in other embodiments, the first avoidance component can drive the first support 221 to perform linear movement and rotation respectively, wherein the direction of linear movement can be a second direction or a vertical direction, and the extension direction of the rotation axis can be a first direction or a vertical direction. Furthermore, it is not excluded that in other embodiments, the first avoidance component can drive the first support 221 to move linearly in other directions, such that the linear movement direction of the first support 221 forms an acute angle with the length direction of the support beam 100. Moreover, it is not excluded that in other embodiments, the first avoidance component can drive the first support 221 to rotate about an axis extending in other directions, such that the rotation axis of the first support 221 forms an acute angle with the length direction of the support beam 100.

[0060] In this embodiment, as Figure 3 and Figure 6As shown, the first translation assembly includes a first translation seat 211, a first motor 212, and a first gear 213. The first translation seat 211 is provided with at least one first slider 215. The first slider 215 is fixed to the first translation seat 211 by bolts. Correspondingly, the first mounting surface 101 of the support beam 100 is provided with a first guide rail 610 extending in a first direction. The first guide rail 610 can be fixed to the support beam 100 by bolts. The first guide rail 610 is slidably connected to the first slider 215, so that the first translation seat 211 can move in the first direction. The first motor 212 is a forward and reverse motor. The first motor 212 is fixedly mounted on the first translation seat 211. The first gear 213 is fixedly connected to the output shaft of the first motor 212. Correspondingly, the support beam 100 is provided with a first rack 510 extending in the first direction. The first rack 510 is meshed with the first gear 213. The first rack 510 can be mounted on the first mounting surface 101 or on the side of the support beam 100 away from the clamping plate area in the second direction (i.e., the rear side).

[0061] It is understood that the first motor 212 can drive the first gear 213 to rotate during operation. Through the meshing action between the first gear 213 and the first rack 510, the first translation seat 211 can move linearly along the first direction. The shape and size of the first translation seat 211 and the first support 221 can be designed according to actual needs and are not specifically limited here. In some examples, only one gripper assembly 400 is provided on the first support 221. In other examples, two or more gripper assemblies 400 are provided on the first support 221. In this embodiment, two first drive mechanisms 200 are provided, and each first drive mechanism 200 is equipped with one gripper assembly 400. The two first drive mechanisms 200 and their gripper assemblies 400 cooperate to clamp the same plate. Of course, it is not excluded that the number of first drive mechanisms 200 is one, three or more. It is also not excluded that the first translation assembly adopts other structures, such as a linear module.

[0062] In some embodiments, the first avoidance component can drive the first support 221 to rotate about an axis extending in the vertical direction, such as... Figure 3 As shown, the first avoidance assembly includes a first rotary cylinder 231. The first rotary cylinder 231 is mounted on the first translation assembly. Specifically, the first rotary cylinder 231 is bolted to a first translation seat 211. The first translation seat 211 has a first opening to allow the first rotary cylinder 231 to be driven to connect with a first support 221. The rotary table of the first rotary cylinder 231 is rotatable about an axis extending vertically. The rotary table of the first rotary cylinder 231 is fixedly connected to the first support 221 to drive the first support 221 to rotate about an axis extending vertically.

[0063] It is understood that the gripper assembly 400 can be fixedly connected to one end of the first support 221, and the rotary table of the first rotary cylinder 231 is fixedly connected to the center of the first support 221. When the first support 221 is in the working position, the length of the first support 221 extends along the second direction, and the gripper assembly 400 is located on the side of the first support 221 along the second direction near the clamping plate area. At this time, the gripper assembly 400 on the first support 221 is located in the clamping plate area and can clamp the plate. When it is necessary to switch the first support 221 from the working position to the clearance position, the first rotary cylinder 231 is activated, allowing the first rotary cylinder 231 to drive the first support 221 to rotate the gripper assembly 400 90° on the horizontal plane, so that the gripper assembly 400 exits the clamping plate area, as shown below. Figure 3 As shown, at this time, the length of the first support 221 extends along the first direction. The driving rotation angle of the first rotary cylinder 231 is not limited to 90°, and can be set according to the actual situation.

[0064] Of course, it is possible that the first support 221 is mounted at the first opening by means of a bearing. Alternatively, it is also possible that the first clearance assembly uses a motor or a combination of a motor and a rotary bearing to replace the first rotary cylinder 231, thereby enabling the first support 221 to rotate relative to the first translational seat 211. Furthermore, the first clearance assembly can also use a motor or rotary cylinder in conjunction with a transmission structure such as a gear transmission mechanism or a linkage mechanism to drive the first support 221 to rotate around an axis extending vertically.

[0065] Furthermore, such as Figure 3 As shown, the first avoidance assembly also includes a first locking cylinder 232. A first support 221 is positioned above the first translation assembly and has a first locking hole 222, which can be a square hole, a round hole, or other types. The central axis of the first locking hole 222 extends vertically. The first translation assembly has a first through hole 214, which can be a square hole, a round hole, or other types. The central axis of the first through hole 214 extends vertically. When the first support 221 rotates to the working position, the first locking hole 222 and the first through hole 214 are vertically opposite and connected. In this embodiment, the first locking hole 222 is located at the end of the first support 221 that is furthest along its length from the gripper assembly 400.

[0066] The first locking cylinder 232 is a single-axis telescopic cylinder. The first locking cylinder 232 is mounted on the first translation assembly. Specifically, the first locking cylinder 232 is fixed to the first translation seat 211 by bolts. The movable rod of the first locking cylinder 232 can extend and retract in the vertical direction. The movable rod of the first locking cylinder 232 is configured to extend upward and be inserted into the first through hole 214 and the first locking hole 222 in sequence. At this time, the movable rod of the first locking cylinder 232 can be adapted to connect with the inner circumferential surface of the first locking hole 222, so that the gripper assembly 400 can grip the plate.

[0067] Understandably, when the first support 221 rotates from the avoidance position to the working position, the first locking cylinder 232 is activated. The movable rod of the first locking cylinder 232 is inserted into the first locking hole 222 to lock the first support 221 and the first translation seat 211. This prevents the gripper assembly 400 on the first support 221 from rotating on the horizontal plane when gripping and moving the plate along the first direction, which would reduce the gripping and transfer effect of the plate. At the same time, it can also reduce the load on the first rotary cylinder 231 during the plate feeding process, which helps to protect the first rotary cylinder 231.

[0068] When the first support 221 is about to rotate from the working position to the avoidance position, the first locking cylinder 232 is activated, causing the movable rod of the first locking cylinder 232 to retract from the first locking hole 222, so that the first support 221 can rotate at a set angle under the driving action of the first rotating cylinder 231.

[0069] In other embodiments, the first avoidance component can drive the first support 221 to move in a second direction, such as... Figure 6 As shown, the first avoidance assembly includes a first avoidance cylinder 233. A first support 221 is disposed above the first translation assembly, and the first support 221 is slidably connected to the first translation assembly along a second direction. The first avoidance cylinder 233 is a telescopic cylinder, and the movable rod of the first avoidance cylinder 233 can extend and retract along the second direction. Both ends of the first avoidance cylinder 233 are fixedly connected to the first support 221 and the first translation assembly, respectively. The first avoidance cylinder 233 is configured to drive the first support 221 to move along the second direction.

[0070] Specifically, the first translation seat 211 is provided with a first linear guide rail 216 extending along the second direction. Correspondingly, the bottom of the first support 221 is provided with a first guide block 223. The first guide block 223 is slidably connected to the first linear guide rail 216 and together they form a guide rail slider pair. The cylinder end of the first clearance cylinder 233 is fixedly connected to the first support 221, and the rod end of the first clearance cylinder 233 is fixedly connected to the first translation seat 211. When the movable rod of the first clearance cylinder 233 extends, the first support 221 can drive the gripper assembly 400 to move relative to the first translation seat 211 along the second direction and approach the clamping plate area, so that the gripper assembly 400 can clamp the plate in the clamping plate area. When the movable rod of the first clearance cylinder 233 retracts, the first support 221 can drive the gripper assembly 400 to move in the opposite direction relative to the first translation seat 211 along the second direction and move away from the clamping plate area. The first support 221 and the gripper assembly 400 are in a clearance position.

[0071] Of course, it is not excluded that in other embodiments, a linear drive device such as an electric cylinder or a hydraulic cylinder may be used instead of the first avoidance cylinder 233. In addition, it is not excluded that a linear drive device such as a cylinder may be used to drive the first support 221 to move in the vertical direction.

[0072] In some other embodiments, the first avoidance component can drive the first support 221 to rotate about an axis extending in a first direction, such as... Figure 10 As shown, the first avoidance assembly includes a first tilting cylinder 234. A first support 221 is located above the first translation assembly and is hinged to it. The first tilting cylinder 234 is a telescopic cylinder located on the side of the first support 221 away from the clamping plate area along a second direction. The first tilting cylinder 234 is hinged to the first translation assembly, and its movable rod is hinged to the first support 221. Both the hinge axis of the first support 221 and the hinge axis of the first tilting cylinder 234 extend along a first direction.

[0073] Specifically, the first translation seat 211 is provided with a bearing seat, and the first support 221 is provided with a second hinge shaft 242 extending along a first direction. The second hinge shaft 242 is mounted on a corresponding bearing seat on the first translation seat 211, so that the first support 221 can rotate up and down around the second hinge shaft 242. The first tilting cylinder 234 is provided with a first hinge shaft 241 extending along a first direction. The first hinge shaft 241 is mounted on a corresponding bearing seat on the first translation seat 211, so that the first tilting cylinder 234 can rotate up and down around the first hinge shaft 241. The first hinge shaft 241 is fixedly connected to the cylinder end of the first tilting cylinder 234.

[0074] Understandably, when the movable rod of the first tilting cylinder 234 extends, the first support 221 can drive the gripper assembly 400 to swing upward relative to the first translation seat 211 around the axis extending in the first direction, so that the gripper assembly 400 is away from the clamping plate area, ensuring that the first support 221 and the gripper assembly 400 are in a avoidance state. At this time, the first support 221 and the gripper assembly 400 on it are both located above the second support 321 and the gripper assembly 400 on it. The first support 221 and the gripper assembly 400 on it and the second support 321 and the gripper assembly 400 on it are misaligned in the vertical direction, so that the first support 221 and the gripper assembly 400 on it can move along the first direction without being hindered by the second support 321 and the gripper assembly 400 on it.

[0075] When the movable rod of the first tilting cylinder 234 retracts, the first support 221 can drive the gripper assembly 400 to swing downward relative to the first translation seat 211 around the axis extending in the first direction, so that the gripper assembly 400 is close to the clamping plate area and can stably clamp the plate in the clamping plate area.

[0076] Of course, it is not ruled out that an electric motor or rotary cylinder may be used in conjunction with a transmission structure such as a gear transmission mechanism or a linkage mechanism to drive the first support 221 to swing around an axis extending in the first direction.

[0077] like Figure 4 , Figure 5 and Figure 7 As shown, the second drive mechanism 300 includes a second translation component, a second avoidance component, and a second support 321. The second translation component is disposed on the second mounting surface 102 and is configured to move along a first direction. The second support 321 is provided with a gripper assembly 400, which is fixedly connected to the second support 321, allowing the gripper assembly 400 to receive support from the second support 321. The second avoidance component is disposed on the second translation component and is configured to drive the second support 321 to move linearly and / or rotate to avoid the first drive mechanism 200 and its gripper assembly 400.

[0078] Specifically, the output end of the second clearance component is fixedly connected to the second support 321 to drive the second support 321 to move in the vertical direction, or to drive the second support 321 to rotate about an axis extending in the first direction or an axis extending in the second direction. The function of the second clearance component is to drive the second support 321 and the gripper assembly 400 on it to enter and exit the clamping plate area to achieve the clearance function.

[0079] Of course, it is not excluded that in other embodiments, the second avoidance component can drive the second support 321 to perform linear movement and rotation respectively, wherein the direction of linear movement can be up and down, and the extension direction of the rotation axis can be a first direction or a second direction. Furthermore, it is not excluded that in other embodiments, the second avoidance component can drive the second support 321 to move linearly in other directions, such that the linear movement direction of the second support 321 forms an acute angle with the length direction of the support beam 100. Moreover, it is not excluded that in other embodiments, the second avoidance component can drive the second support 321 to rotate about an axis extending in other directions, such that the rotation axis of the second support 321 forms an acute angle with the length direction of the support beam 100.

[0080] In this embodiment, as Figure 4 , Figure 5 and Figure 7 As shown, the second translation assembly includes a second translation base 311, a second motor 312, and a second gear 313. The second translation base 311 is provided with at least one second slider 315, which is fixed to the second translation base 311 by bolts. Correspondingly, the second mounting surface 102 of the support beam 100 is provided with a second guide rail 620 extending in the first direction. The second guide rail 620 can be fixed to the support beam 100 by bolts and is slidably connected to the second slider 315, enabling the second translation base 311 to move in the first direction. The second motor 312 is a forward and reverse reversible motor, which is fixedly mounted on the second translation base 311. The second gear 313 is fixedly connected to the output shaft of the second motor 312. Correspondingly, the support beam 100 is provided with a second rack 520 extending in the first direction, which meshes with the second gear 313. The second rack 520 can be provided on the second mounting surface 102 or on the lower surface of the support beam 100.

[0081] It is understood that the second motor 312 can drive the second gear 313 to rotate during operation. Utilizing the meshing between the second gear 313 and the second rack 520, the second translation seat 311 can move linearly along the first direction. The size and shape of the second translation seat 311 and the second support 321 are not limited. One or more gripper assemblies 400 can be provided on the second support 321. In this embodiment, there are two second drive mechanisms 300, each with one gripper assembly 400 installed. The two second drive mechanisms 300 and their gripper assemblies 400 cooperate to stably clamp the same plate. Of course, it is not excluded that there is only one, three, or more second drive mechanisms 300. It is also not excluded that the second translation assembly adopts other structures, such as a linear module.

[0082] In some embodiments, the second avoidance component can drive the second support 321 to rotate about an axis extending in a second direction, such as... Figure 4 and Figure 5 As shown, the second avoidance assembly includes a second rotary cylinder 331. The second rotary cylinder 331 is mounted on the second translation assembly. Specifically, the second rotary cylinder 331 is bolted to a second translation seat 311. The second translation seat 311 has a second opening to facilitate a drive connection between the second rotary cylinder 331 and the second support 321. The rotary table of the second rotary cylinder 331 is rotatable about an axis extending in a second direction. The rotary table of the second rotary cylinder 331 is fixedly connected to the second support 321 to drive the second support 321 to rotate about an axis extending in the second direction.

[0083] It is understood that the gripper assembly 400 can be fixedly connected to the upper end of the second support 321, and the rotary table of the second rotary cylinder 331 is fixedly connected to the center position of the second support 321. When the second support 321 is in the working position, the length of the second support 321 extends in the vertical direction, and the gripper assembly 400 is located on the upper side of the second support 321. At this time, the gripper assembly 400 on the second support 321 is located in the clamping area and can clamp the plate. When it is necessary to switch the second support 321 from the working position to the clearance position, the second rotary cylinder 331 is activated, allowing the second rotary cylinder 331 to drive the second support 321 to rotate the gripper assembly 400 90° in the vertical plane, so that the gripper assembly 400 exits the clamping area, as shown. Figure 4 and Figure 5 As shown, at this time, the length of the second support 321 extends along the first direction. The driving rotation angle of the second rotary cylinder 331 is not limited to 90°, and can be set according to the actual situation.

[0084] Of course, it is possible that the second support 321 is mounted at the second opening by means of a bearing. Alternatively, it is also possible that the first clearance assembly uses a motor or a combination of a motor and a rotary bearing to replace the second rotary cylinder 331, thereby enabling the second support 321 to rotate relative to the second translational seat 311. Furthermore, the second clearance assembly can also use a motor or rotary cylinder in conjunction with a transmission structure such as a gear transmission mechanism or a linkage mechanism to drive the second support 321 to rotate around an axis extending in the second direction.

[0085] Furthermore, such as Figure 4 and Figure 5As shown, the second avoidance assembly also includes a second locking cylinder 332. The second support 321 is located on the side of the second translation assembly near the clamping plate area along the second direction. The second support 321 has a second locking hole 322, which is not limited to a circular hole; the central axis of the first locking hole 222 extends along the second direction. The second translation assembly has a second through hole 314, which is not limited to a circular hole; the central axis of the second through hole 314 extends along the second direction. When the second support 321 rotates to the working position, the second locking hole 322 and the second through hole 314 are opposite to each other and connected in the second direction. In this embodiment, the second locking hole 322 is located at the end of the second support 321 away from the gripper assembly 400 along its length.

[0086] The second locking cylinder 332 is a single-axis telescopic cylinder. The second locking cylinder 332 is mounted on the second translation assembly. Specifically, the second locking cylinder 332 is fixed to the second translation seat 311 by bolts. The movable rod of the second locking cylinder 332 can extend and retract in the second direction. The movable rod of the second locking cylinder 332 is configured to extend in the second direction and be inserted into the second through hole 314 and the second locking hole 322 in sequence. At this time, the movable rod of the second locking cylinder 332 can be adapted to connect with the inner circumferential surface of the second locking hole 322, so that the gripper assembly 400 can grip the plate.

[0087] Understandably, when the second support 321 rotates from the avoidance position to the working position, the second locking cylinder 332 is activated. The movable rod of the second locking cylinder 332 is inserted into the second locking hole 322 to lock the second support 321 and the second translation seat 311. This prevents the gripper assembly 400 on the second support 321 from rotating in the vertical plane when gripping and moving the plate along the first direction, which would reduce the gripping and transfer effect of the plate. At the same time, it can also reduce the load on the second rotary cylinder 331 during the plate feeding process, which is beneficial to protecting the second rotary cylinder 331.

[0088] When the second support 321 is about to rotate from the working position to the avoidance position, the second locking cylinder 332 is activated, causing the movable rod of the second locking cylinder 332 to retract from the second locking hole 322, so that the second support 321 can rotate at a set angle under the driving action of the second rotary cylinder 331.

[0089] In other embodiments, the second avoidance component can drive the second support 321 to move in the vertical direction, such as... Figure 7As shown, the second avoidance assembly includes a second avoidance cylinder 333. A second support 321 is located on the side of the second translation assembly near the clamping plate area along the second direction. The second support 321 is slidably connected to the second translation assembly in the vertical direction. The second avoidance cylinder 333 is a telescopic cylinder; its movable rod can extend and retract in the vertical direction. Both ends of the second avoidance cylinder 333 are fixedly connected to the second support 321 and the second translation assembly, respectively. The second avoidance cylinder 333 is configured to drive the second support 321 to move in the vertical direction.

[0090] Specifically, the second support 321 is provided with a second linear guide rail extending in the vertical direction. Correspondingly, the second translation seat 311 is provided with a second guide block 316. The second guide block 316 is slidably connected to the second linear guide rail and together they form a guide rail slider pair. The cylinder end of the second clearance cylinder 333 is fixedly connected to the second translation seat 311, and the rod end of the second clearance cylinder 333 is fixedly connected to the second support 321. When the movable rod of the second clearance cylinder 333 extends, the second support 321 can drive the gripper assembly 400 to move upward relative to the second translation seat 311 and enter the clamping plate area, so that the gripper assembly 400 can clamp the plate in the clamping plate area. When the movable rod of the second clearance cylinder 333 retracts, the second support 321 can drive the gripper assembly 400 to move downward relative to the second translation seat 311 and exit the clamping plate area, and the second support 321 and the gripper assembly 400 are in a clearance position.

[0091] Of course, it is not excluded that in other embodiments, linear drive devices such as electric cylinders and hydraulic cylinders may be used to replace the second avoidance cylinder 333.

[0092] In addition, the second avoidance assembly also includes a third locking cylinder 334, which is located between the second translation assembly and the second support 321. The third locking cylinder 334 is configured to lock the second translation assembly and the second support 321 after the movable rod of the second avoidance cylinder 333 moves upward into position. When the third locking cylinder 334 releases its locking effect, the second avoidance cylinder 333 can then drive the second support 321 to move downward.

[0093] Specifically, the third locking cylinder 334 is fixedly mounted on the end of the second support 321 away from the gripper assembly 400 along its length. The second support 321 has a third opening through which the movable rod of the third locking cylinder 334 passes. Correspondingly, the second translation seat 311 has a third locking hole. When the second clearance cylinder 333 drives the second support 321 and the gripper assembly 400 to move upward into position, the movable rod of the third locking cylinder 334 can extend along the second direction and, after passing through the third opening, insert into the third locking hole, thereby locking the second support 321 and the second translation seat 311.

[0094] In some other embodiments, the second avoidance component can drive the second support 321 to rotate about an axis extending in the first direction, such as... Figure 11 As shown, the second avoidance assembly includes a second tilting cylinder 335. A second support 321 is located on the side of the second translation assembly near the clamping plate area along the second direction, and the second support 321 is hinged to the second translation assembly. The second tilting cylinder 335 is a telescopic cylinder located below the second support 321 and hinged to the second translation assembly. Furthermore, the movable rod of the second tilting cylinder 335 is hinged to the second support 321. The hinge axis of the second support 321 and the hinge axis of the second tilting cylinder 335 both extend along the first direction.

[0095] Specifically, the second translation seat 311 is provided with a bearing seat, and the second support 321 is provided with a fourth hinge shaft 342 extending along the first direction. The fourth hinge shaft 342 is mounted on a corresponding bearing seat on the second translation seat 311, so that the second support 321 can rotate up and down around the fourth hinge shaft 342. The second tilting cylinder 335 is provided with a third hinge shaft 341 extending along the first direction. The third hinge shaft 341 is mounted on a corresponding bearing seat on the second translation seat 311, so that the second tilting cylinder 335 can rotate up and down around the third hinge shaft 341. The third hinge shaft 341 is fixedly connected to the cylinder end of the second tilting cylinder 335.

[0096] Understandably, when the movable rod of the second tilting cylinder 335 extends, the second support 321 can drive the gripper assembly 400 to swing downward relative to the second translation seat 311 around the axis extending in the first direction, so that the gripper assembly 400 is away from the clamping plate area, ensuring that the second support 321 and the gripper assembly 400 are in a avoidance state. At this time, the second support 321 and the gripper assembly 400 on it are both located below the first support 221 and the gripper assembly 400 on it. The second support 321 and the gripper assembly 400 on it and the first support 221 and the gripper assembly 400 on it are misaligned in the vertical direction, so that the second support 321 and the gripper assembly 400 on it can move in the first direction without being hindered by the first support 221 and the gripper assembly 400 on it.

[0097] When the movable rod of the second tilting cylinder 335 retracts, the second support 321 can drive the gripper assembly 400 to swing upward relative to the second translation seat 311 around the axis extending in the first direction, so that the gripper assembly 400 is close to the clamping plate area and can stably clamp the plate in the clamping plate area.

[0098] Of course, it is not ruled out that an electric motor or rotary cylinder may be used in conjunction with a transmission structure such as a gear transmission mechanism or a linkage mechanism to drive the second support 321 to swing around an axis extending in the first direction.

[0099] It is understood that the first drive mechanism 200 and the second drive mechanism 300 of the above-described structure can be used in any combination. For example, in Embodiment 1, when the first clearance component of the first drive mechanism 200 can drive the first support 221 to rotate in the horizontal plane, the second clearance component of the second drive mechanism 300 can drive the second support 321 to rotate in the vertical plane. In Embodiment 2, when the first clearance component of the first drive mechanism 200 can drive the first support 221 to rotate in the horizontal plane, the second clearance component of the second drive mechanism 300 can drive the second support 321 to move in the vertical direction. In Embodiment 3, when the first clearance component of the first drive mechanism 200 can drive the first support 221 to move in the second direction, the second clearance component of the second drive mechanism 300 can drive the second support 321 to rotate in the vertical plane. In Embodiment 4, when the first obstacle avoidance component of the first drive mechanism 200 can drive the first support 221 to move in the second direction, the second obstacle avoidance component of the second drive mechanism 300 can drive the second support 321 to move in the up and down direction.

[0100] In the circulating gripper mechanism provided in the first aspect embodiment of this utility model, the gripper assembly 400 on the first drive mechanism 200 can clamp the sheet metal. The first translation component of the first drive mechanism 200 is disposed on the first mounting surface 101 of the support beam 100 and can move along the extension direction of the support beam 100, thereby realizing the sheet metal transfer operation. The gripper assembly 400 on the second drive mechanism 300 can stably clamp the sheet metal. The second translation component of the second drive mechanism 300 is disposed on the second mounting surface 102 of the support beam 100 and can move along the extension direction of the support beam 100, thereby completing the sheet metal transfer operation. By cleverly utilizing the adjacent first mounting surface 101 and second mounting surface 102 on the support beam 100, the second translation component and the first translation component have different and non-interfering motion paths, avoiding interference between the first translation component and the second translation component in linear motion.

[0101] Furthermore, the first clearance component in the first drive mechanism 200 can drive the first support 221 to move the gripper assembly 400 along the second direction or rotate it around an axis extending in the vertical direction, causing the first support 221 and the gripper assembly 400 to exit the clamping plate area, thereby clearing the second drive mechanism 300 and the gripper assembly 400, allowing the second drive mechanism 300 and the gripper assembly 400 to clamp the plate and transport the plate along the first direction. At the same time, the first drive mechanism 200 and the gripper assembly 400 move in the opposite direction relative to the second drive mechanism 300 and the gripper assembly 400 in the first direction to clamp and transfer the next plate.

[0102] Similarly, the second avoidance component in the second drive mechanism 300 can drive the second support 321 to move the gripper assembly 400 in the vertical direction or rotate it around the axis extending in the second direction, causing the second support 321 and the gripper assembly 400 to exit the clamping plate area, thereby avoiding the first drive mechanism 200 and the gripper assembly 400, allowing the first drive mechanism 200 and the gripper assembly 400 to clamp the plate and feed it in the first direction. At the same time, the second drive mechanism 300 and the gripper assembly 400 move in the opposite direction to the first drive mechanism 200 and the gripper assembly 400 in the first direction to clamp and transfer the next plate.

[0103] Therefore, the first drive mechanism 200 and its gripper assembly 400 and the second drive mechanism 300 and its gripper assembly 400 can move independently back and forth in a straight line in the first direction to complete the clamping and transfer of the plate, thereby achieving the purpose of continuously clamping and conveying the plate, which helps to improve the plate processing efficiency.

[0104] The circulating gripper mechanism provided in this embodiment of the invention, through the aforementioned unique structural design, enables the first drive mechanism 200 and the second drive mechanism 300 to drive the corresponding gripper components 400 to alternately complete the gripping and transfer of the sheet metal. The two mechanisms do not interfere with each other, thus ensuring continuous gripping and transfer of the sheet metal, which is beneficial for improving sheet metal processing efficiency. Simultaneously, the gripper components 400 only need to move back and forth along the first direction, reducing the moving distance of the gripper components 400, thereby reducing the number of gripper components 400 required and lowering manufacturing costs and operating energy consumption. Furthermore, the circulating gripper mechanism is small in size and occupies little space, making it easy to install and use in confined factory spaces, and facilitating packaging and transportation, thus reducing transportation costs.

[0105] In some embodiments, such as Figure 8 and Figure 9 As shown, the gripper assembly 400 includes a mounting base 410 and a clamping plate assembly.

[0106] The mounting base 410 is provided with a connecting part, which is used to fix it to the first support 221 or the second support 321.

[0107] The clamping plate assembly includes an upper clamping plate 421, a lower clamping plate 422, a first cylinder 432, and a second cylinder 431. The upper clamping plate 421 is located above the lower clamping plate 422 and is vertically opposite to it. Both the upper and lower clamping plates 421 and 422 are slidably connected to the mounting base 410 in the vertical direction, and can move closer together in the vertical direction to clamp the sheet metal. Specifically, the mounting base 410 is provided with multiple third linear guide rails 443, which extend vertically and are fixed to the mounting base 410. Correspondingly, both the upper and lower clamping plates 421 and 422 are provided with third sliders 444, which are slidably connected to the third linear guide rails 443, allowing the upper and lower clamping plates 421 and 422 to move stably up and down relative to the mounting base 410.

[0108] Furthermore, the upper clamping plate 421 is provided with guide posts 441 extending in the vertical direction, and the lower clamping plate 422 is provided with guide sleeves 442, with the guide posts 441 and guide sleeves 442 being adapted to each other. In addition, elastic pads, which can be rubber pads 460, are provided on the opposing surfaces of the upper clamping plate 421 and the lower clamping plate 422. When the upper clamping plate 421 and the lower clamping plate 422 are brought close together to clamp the sheet material, the upper and lower surfaces of the sheet material can contact the elastic pads of the upper clamping plate 421 and the lower clamping plate 422 respectively, thereby protecting the surface of the sheet material.

[0109] Both the first cylinder 432 and the second cylinder 431 are telescopic cylinders. The first cylinder 432 is fixedly mounted on the mounting base 410. The movable rod of the first cylinder 432 can extend and retract in the vertical direction. The movable rod of the first cylinder 432 is fixedly connected to the lower clamping plate 422 to drive the lower clamping plate 422 to move in the vertical direction. The second cylinder 431 is fixedly mounted on the lower clamping plate 422. The second cylinder 431 can move up and down with the lower clamping plate 422. The movable rod of the second cylinder 431 can extend and retract in the vertical direction. The movable rod of the second cylinder 431 is fixedly connected to the upper clamping plate 421 to drive the upper clamping plate 421 to move in the vertical direction.

[0110] Understandably, when the gripper assembly 400 is about to grip the sheet metal, the movable rod of the first cylinder 432 retracts, driving the lower clamping plate 422 downwards so that it is positioned below the sheet metal. The movable rod of the second cylinder 431 extends, driving the upper clamping plate 421 upwards so that it is positioned above the sheet metal. At this time, the vertical distance between the upper and lower clamping plates 421 increases and becomes greater than the thickness of the sheet metal. Then, the movable rod of the first cylinder 432 extends, driving the lower clamping plate 422 upwards, while the movable rod of the second cylinder 431 retracts, driving the upper clamping plate 421 downwards. This causes the upper and lower clamping plates 421 and 422 to work together to firmly grip the sheet metal. This configuration enables the upper and lower clamping plates 421 and 422 to move quickly and grip the sheet metal.

[0111] Of course, it is not ruled out that a combination of motor, gear and two racks can be used to drive the upper clamping plate 421 and the lower clamping plate 422 to move synchronously, so as to make the upper clamping plate 421 and the lower clamping plate 422 move closer or further away from each other.

[0112] Furthermore, such as Figure 8 and Figure 9 As shown, the gripper assembly 400 also includes a limiting block 470. The limiting block 470 is located above the lower clamping plate 422 and is fixedly connected to the mounting base 410 to limit the upper clamping plate 422. In this embodiment, two limiting blocks 470 are provided and arranged at intervals along a first direction. After the lower clamping plate 422 moves upward into position under the driving action of the first cylinder 432, the lower clamping plate 422 can contact the limiting block 470, thereby limiting the upward movement distance of the lower clamping plate 422.

[0113] Furthermore, such as Figure 8 and Figure 9 As shown, the gripper assembly 400 also includes an air-blowing block 450. The air-blowing block 450 is disposed between the upper clamping plate 421 and the lower clamping plate 422, and is fixedly connected to the upper clamping plate 421. The air-blowing block 450 has an air inlet and multiple air outlets 451. The air inlet can be connected to an air supply device, such as an air tank, via a pipe, allowing compressed air to flow into the inner cavity of the air-blowing block 450 through the air inlet and be ejected through the multiple air outlets 451. Multiple air outlets 451 are arranged at certain intervals along the first direction. Moreover, the air outlets 451 are inclined from top to bottom towards the side closer to the clamping plate area along the second direction. Therefore, when the upper clamping plate 421 is above the plate and is about to clamp the plate, compressed air can flow out from the air outlets 451 and blow towards the upper surface of the plate to blow away impurities such as dust on the upper surface of the plate, thus avoiding damage to the surface of the plate due to impurities at the contact surface between the plate and the upper clamping plate 421.

[0114] Furthermore, such as Figure 8 and Figure 9 As shown, the lower clamping plate 422 is provided with multiple connecting shafts 480. The length of the connecting shafts 480 extends in the vertical direction. The lower end of the connecting shafts 480 is fixedly connected to the lower clamping plate 422. The multiple connecting shafts 480 are spaced apart in the first direction. Moreover, multiple bearings 490 are sleeved on each connecting shaft 480. The outer circumferential surface of the connecting shaft 480 is adapted to the inner circumferential surface of the bearing 490, and the bearing 490 can rotate around the connecting shaft 480.

[0115] The upper clamping plate 421 has multiple through holes extending vertically and spaced apart along a first direction. These through holes are vertically opposite to multiple connecting shafts 480, allowing bearings 490 to pass through them. The through holes are circular, with an inner diameter greater than or equal to the outer diameter of the bearing 490. The bearings 490 on the multiple connecting shafts 480 collectively define a plate positioning surface extending along the first direction. This plate positioning surface is configured to position the plate along a second direction near the gripper assembly 400.

[0116] Understandably, once the upper clamping plate 421 and the lower clamping plate 422 have moved into position, the plate can be brought closer to the gripper assembly 400 along the second direction, and the side of the plate can be brought into contact with the outer peripheral surfaces of the multiple bearings 490. This allows the plate to be positioned relative to the gripper assembly 400 in the second direction by its side conforming to the plate positioning surface, ensuring sufficient contact between the plate and the gripper assembly 400 and enhancing the clamping effect. After positioning, the upper clamping plate 421 and the lower clamping plate 422 can be driven together to clamp the plate.

[0117] like Figures 1 to 11 As shown, the sheet metal processing equipment according to the second aspect embodiment of the present invention includes a circulating gripper mechanism as in the first aspect embodiment.

[0118] Understandably, the sheet metal processing equipment can be a panel saw or a sheet metal milling device, and is equipped with at least one circulating gripper mechanism for clamping and transferring the sheet metal. The circulating gripper mechanism can be used in conjunction with a sheet metal support platform (such as an air-floating platform). The support platform provides support to the sheet metal, while the circulating gripper mechanism clamps the sheet metal and moves it along a first direction.

[0119] The sheet metal processing equipment adopts the above-mentioned circulating gripper mechanism, which can realize continuous sheet feeding, improve sheet metal processing efficiency, save space, and reduce costs and energy consumption.

[0120] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0121] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A circulating gripper mechanism, characterized in that, include: A support beam extends along a first direction, and a clamping plate area is provided on one side of the support beam along a second direction. The upper surface of the support beam is provided as a first mounting surface, and the side of the support beam near the clamping plate area along the second direction is provided as a second mounting surface. A gripper assembly is disposed near the clamping plate area to grip the plate; The first driving mechanism includes a first translation component, a first avoidance component, and a first support. The first translation component is disposed on the first mounting surface and can move along a first direction. The first support is provided with the gripper component, and the first avoidance component is disposed on the first translation component. The second drive mechanism includes a second translation component, a second avoidance component, and a second support. The second translation component is disposed on the second mounting surface and can move along a first direction. The second support is provided with the gripper component, and the second avoidance component is disposed on the second translation component. The first avoidance component is configured to drive the first support to move linearly and / or rotate to avoid the second drive mechanism and the gripper assembly thereon. The second avoidance component is configured to drive the second support to move linearly and / or rotate to avoid the first drive mechanism and the gripper assembly thereon. The first direction, the second direction, and the up and down direction are perpendicular to each other.

2. The circulating gripper mechanism according to claim 1, characterized in that, The output end of the first obstacle avoidance component is connected to the first support to drive the first support to move along the second direction or the up and down direction, or to drive the first support to rotate about an axis extending along the first direction or the up and down direction. The output end of the second obstacle avoidance component is connected to the second support to drive the second support to move along the up and down direction, or to drive the second support to rotate about an axis extending along the first direction or the second direction.

3. The circulating gripper mechanism according to claim 1, characterized in that, The first avoidance component includes a first rotary cylinder, which is mounted on the first translation component. The rotary table of the first rotary cylinder is connected to the first support to drive the first support to rotate about an axis in the vertical direction.

4. The circulating gripper mechanism according to claim 3, characterized in that, The first avoidance component further includes a first locking cylinder. The first support is disposed above the first translation component. The first support has a first locking hole. The first translation component has a first through hole. The first locking cylinder is disposed on the first translation component. The movable rod of the first locking cylinder is configured to extend upward and be inserted into the first through hole and the first locking hole in sequence, so that the gripper component can grip the plate.

5. The circulating gripper mechanism according to claim 1, characterized in that, The second avoidance assembly includes a second rotary cylinder, which is disposed on the second translation assembly. The rotary table of the second rotary cylinder is connected to the second support to drive the second support to rotate about an axis along a second direction.

6. The circulating gripper mechanism according to claim 5, characterized in that, The second avoidance assembly further includes a second locking cylinder. The second support is located on the side of the second translation assembly that is close to the clamping plate area along the second direction. The second support is provided with a second locking hole. The second translation assembly is provided with a second through hole. The second locking cylinder is located on the second translation assembly. The movable rod of the second locking cylinder is configured to extend along the second direction and be inserted into the second through hole and the second locking hole in sequence, so that the gripper assembly can clamp the plate.

7. The circulating gripper mechanism according to claim 1, characterized in that, The first avoidance assembly includes a first avoidance cylinder. The first support is disposed above the first translation assembly and slidably connected to the first translation assembly along a second direction. The two ends of the first avoidance cylinder are respectively connected to the first support and the first translation assembly. The first avoidance cylinder is configured to drive the first support to move along the second direction; or... The first obstacle avoidance assembly includes a first tilting cylinder, both the first support and the first tilting cylinder are hinged to the first translation assembly, the movable rod of the first tilting cylinder is hinged to the first support, and the hinge axis of the first support and the hinge axis of the first tilting cylinder both extend along a first direction; or, The second avoidance assembly includes a second avoidance cylinder. The second support is disposed on the side of the second translation assembly near the clamping plate area along the second direction and is slidably connected to the second translation assembly in the vertical direction. The two ends of the second avoidance cylinder are respectively connected to the second support and the second translation assembly. The second avoidance cylinder is configured to drive the second support to move in the vertical direction; or, The second avoidance component includes a second tilting cylinder. Both the second support and the second tilting cylinder are hinged to the second translation component. The movable rod of the second tilting cylinder is hinged to the second support. The hinge axis of the second support and the hinge axis of the second tilting cylinder both extend along a first direction.

8. The circulating gripper mechanism according to claim 1, characterized in that, The gripper assembly includes: The mounting base is provided with a connecting portion for connecting to the first support or the second support; A clamping plate assembly includes an upper clamping plate, a lower clamping plate, a first cylinder, and a second cylinder. The upper clamping plate and the lower clamping plate are slidably connected to the mounting base in the vertical direction and can move closer together in the vertical direction. The first cylinder is mounted on the mounting base, and the movable rod of the first cylinder is connected to the lower clamping plate to drive the lower clamping plate to move in the vertical direction. The second cylinder is mounted on the lower clamping plate, and the movable rod of the second cylinder is connected to the upper clamping plate to drive the upper clamping plate to move in the vertical direction.

9. The circulating gripper mechanism according to claim 8, characterized in that, The gripper assembly further includes an air-blowing block; the air-blowing block is disposed between the upper clamping plate and the lower clamping plate, and connected to the upper clamping plate; the air-blowing block has a plurality of air outlets spaced apart along a first direction, the air outlets being inclined downwards towards the side closer to the clamping plate area along a second direction; and / or, The lower clamping plate is provided with multiple connecting shafts extending in the vertical direction, the multiple connecting shafts being spaced apart in a first direction, and multiple bearings being sleeved on the connecting shafts. The upper clamping plate is provided with multiple through holes extending in the vertical direction, the multiple through holes being spaced apart in the first direction and arranged vertically opposite to the multiple connecting shafts, so that the bearings can pass through the through holes. The bearings on the multiple connecting shafts collectively define a plate positioning surface extending in the first direction; and / or, The gripper assembly also includes a limiting block located above the lower clamping plate and connected to the mounting base to limit the lower clamping plate.

10. A sheet metal processing equipment, characterized in that, Includes the circulating gripper mechanism as described in any one of claims 1 to 9.

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