Clamp synchronous grabbing mechanism

Abstract

The utility model provides a kind of gripper synchronous grabbing mechanism, it includes rack, multiple clamping jaws, driving mechanism and lifting power source;Multiple clamping jaws are distributed along the circumference of rack, and top are all rotationally connected with rack, for grabbing sheet material;Driving mechanism is located in the middle of rack bottom end, can be vertically moved relative to rack;Clamping jaw is provided with inclined plane towards the side of driving mechanism;Lifting power source drives driving mechanism to move along vertical direction, when driving mechanism is lifted upward, its outside side abuts inclined plane and drives the bottom of clamping jaw to rotate outwardly.The gripper synchronous grabbing mechanism is matched with inclined plane by driving mechanism, to realize the synchronous opening and closing of multiple clamping jaws by single driving, ensure that sheet material is evenly stressed, avoid tilting;Structure is simplified, reduces wear and tear and maintenance cost of spare part;And the opening and closing amplitude of clamping jaw can be controlled by adjusting the stroke of driving mechanism, adapt to sheet material of different sizes, improve versatility, applicable to sheet material stable grabbing transfer of automatic production line.

Description

Technical Field

[0001] This utility model relates to the field of automated gripping equipment technology, and in particular to a clamp synchronous gripping mechanism. Background Technology

[0002] In automated production processes, the gripping and transfer of sheet materials (such as metal sheets, plastic sheets, and paper sheets) is a crucial step, and the stability of this gripping directly affects the accuracy and efficiency of subsequent processing and assembly operations. In existing technologies, clamping mechanisms for gripping sheet materials typically employ multiple drive sources to control multiple grippers separately, or achieve gripper linkage through complex gear sets and linkage structures.

[0003] However, multi-drive source control methods are prone to problems such as differences in the response speed of various drive components (e.g., cylinders, motors) and fluctuations in power output, leading to asynchronous opening and closing of the grippers. This results in uneven force during material gripping, causing phenomena such as material tilting and falling off, which seriously affects the stability of subsequent processes. While fixtures using complex transmission structures such as gear sets and connecting rods can improve synchronization to some extent, they suffer from cumbersome structures, high manufacturing costs, and difficult assembly. Furthermore, long-term wear of transmission components can easily lead to jamming failures, increasing the frequency of equipment maintenance and operating costs. In addition, the existing fixtures lack sufficient flexibility in adjusting the opening and closing range of the grippers, making it difficult to adapt to the gripping needs of materials of different sizes, resulting in poor versatility.

[0004] Therefore, a clamping synchronous gripping mechanism is needed to solve the above-mentioned technical problems. Utility Model Content

[0005] This invention provides a synchronous gripping mechanism to solve the problems of insufficient synchronization, complex structure, and poor versatility of existing material gripping fixtures.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is: a clamping synchronous gripping mechanism, which includes: frame; The gripper is provided in multiple manner, and the multiple grippers are distributed around the circumference of the frame, and the top of each gripper is rotatably connected to the frame. The gripper is used to grip the material sheet. A drive mechanism is disposed at the middle of the bottom end of the frame, and the drive mechanism is movable vertically relative to the frame; and A lifting power source is mounted on the frame, and the execution end of the lifting power source is connected to the drive mechanism. The lifting power source drives the drive mechanism to move in the vertical direction. The gripper has an inclined surface facing the drive mechanism. The drive mechanism is raised upwards, and its outer periphery abuts against the inclined surface. The drive mechanism drives the bottom hook of the gripper to rotate outwards.

[0007] In this invention, the clamping synchronous gripping mechanism further includes an elastic element, which is disposed between the gripper and the frame, and is used to drive the bottom hook of the gripper to rotate inward.

[0008] In this invention, the elastic element is a compression spring, torsion spring, tension spring, nitrogen spring, elastic plunger, or metal spring.

[0009] In this utility model, the frame is provided with a mounting groove, and the top of the gripper and the compression spring are both assembled in the mounting groove; The top of the frame is also provided with a cover plate, which covers the opening of the mounting slot and is fixedly connected to the frame by screws.

[0010] In this utility model, the gripper includes: The gripping section is equipped with a bottom hook for contacting the sheet material; A connecting section, connected to the top of the gripping section, the connecting section being rotatably connected to the frame via a pivot, and the inclined surface being disposed on the inner bottom side of the connecting section; and A linkage section is disposed on the top side of the connecting section. The linkage section is connected to the elastic element and is used to drive the gripper to reset under the action of the elastic element.

[0011] In this invention, the driving mechanism is a rectangular frame structure, and the outer periphery of the driving mechanism abuts against the inclined surfaces of the plurality of grippers.

[0012] In this utility model, the clamping synchronous gripping mechanism also includes bearing steel, which is disposed outside the driving mechanism and at a position corresponding to the gripper. The bearing steel abuts against the inclined surface and is used to drive the gripper to rotate through the inclined surface under the drive of the driving mechanism.

[0013] In this utility model, the clamp synchronous gripping mechanism also includes: A clamping component is connected to the frame and is located above the enclosed area of ​​the plurality of grippers. The clamping component is used to press the material sheet downwards when picking up or putting down the material sheet.

[0014] In this utility model, a groove is provided on the outer periphery of the drive mechanism, one side of the bearing steel is contained in the groove, and the other side of the bearing steel extends out of the outer periphery of the drive mechanism.

[0015] In this utility model, the clamping component includes: A pressure plate, located below the drive mechanism, is used to press the material sheet; and A lifting guide rod, the bottom end of which is connected to the pressure plate and the top end of which is slidably connected to the frame; The pressure plate moves along the lifting guide rod towards the material sheet under its own gravity and thus achieves pressing.

[0016] Compared with the prior art, the advantages of this utility model are as follows: The synchronous gripping mechanism of this utility model, through the cooperation of the drive mechanism and the inclined plane of the grippers, allows a single lifting action to drive all circumferentially distributed grippers to rotate and open synchronously. This avoids action delays or misalignments caused by multiple drive sources, ensuring uniform force during material gripping, effectively preventing material tilting and falling off, and guaranteeing the accuracy of subsequent operations. The grippers use rotating connections and inclined plane transmission instead of complex gear sets or linkage structures, reducing the number of parts, lowering manufacturing costs and assembly difficulty, while also reducing the risk of failure due to transmission wear, and improving the service life and ease of maintenance of the mechanism.

[0017] In addition, the synchronous gripping mechanism can precisely control the opening and closing range of the hook at the bottom of the gripper by adjusting the lifting stroke of the drive mechanism, adapting to the gripping needs of different sized pieces and improving the applicability of the mechanism in diverse production scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of this utility model.

[0019] Figure 1 This is a schematic diagram of the overall structure of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention.

[0020] Figure 2 This is a cross-section showing the operating state of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention. Figure 1 .

[0021] Figure 3 This is a cross-section showing the operating state of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention. Figure 2 .

[0022] Figure 4 This is a partial structural diagram of the clamping synchronous gripping mechanism of a preferred embodiment of the present invention.

[0023] Figure 5 This is a perspective view of the gripper structure of a preferred embodiment of the present invention.

[0024] Figure 6 This is a cross-sectional view of the overall structure of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention.

[0025] Reference numerals: 11, frame; 111, mounting groove; 12, gripper; 121, gripping section; 1211, bottom hook; 122, connecting section; 1221, inclined plane; 123, linkage section; 124, rotating shaft; 13, drive mechanism; 131, groove; 14, elastic element; 15, cover plate; 16, bearing steel; 17, clamping component; 171, lifting guide rod; 172, pressure plate; 18, lifting power source; 20, material sheet. Detailed Implementation

[0026] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0027] In the diagram, units with similar structures are represented by the same labels.

[0028] In this utility model, terms such as “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as a restriction on the order of events.

[0029] Please refer to Figure 1 , Figure 2 and Figure 3 ,in Figure 1 This is a schematic diagram of the overall structure of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention. Figure 2 This is a cross-section showing the operating state of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention. Figure 1 . Figure 3 This is a cross-section showing the operating state of the clamping synchronous gripping mechanism according to a preferred embodiment of the present invention. Figure 2 .

[0030] The following is a preferred embodiment of a clamping synchronous gripping mechanism provided by this utility model that can solve the above technical problems.

[0031] A preferred embodiment of the synchronous gripping mechanism provided by this utility model is as follows: A synchronous gripping mechanism includes a frame 11, grippers 12, a drive mechanism 13, and a lifting power source 18; multiple grippers 12 are provided, distributed circumferentially along the frame 11, and the top of each gripper 12 is rotatably connected to the frame 11, and the grippers 12 are used to grip the material sheet 20; the drive mechanism 13 is located at the middle of the bottom end of the frame 11, and the drive mechanism 13 can move vertically relative to the frame 11; the lifting power source 18 is connected to the frame 11; the drive mechanism 13 is connected to the execution end of the lifting power source 18, and the lifting power source 18 drives the drive mechanism 13 to move vertically, and the lifting power source 18 provides a stable vertical driving force, which has a faster response speed and simpler control compared to the motor screw structure. The gripper 12 has an inclined surface 1221 on the side facing the drive mechanism 13. The drive mechanism 13 is raised upward, and the outer periphery of the drive mechanism 13 abuts against the inclined surface 1221. The drive mechanism 13 drives the bottom hook 1211 of the gripper 12 to rotate outward.

[0032] The frame 11 provides stable support for the entire assembly, the grippers 12 are responsible for the gripping action, and the drive mechanism 13 provides power transmission. The circumferentially distributed design of the multiple grippers 12 ensures even force distribution on the material sheet 20, preventing tilting or damage to the material sheet 20 caused by single-point gripping. The top of the grippers 12 is rotatably connected to the frame 11, providing a rotational fulcrum for the opening and closing action of the grippers 12, ensuring that the grippers 12 can rotate flexibly to adapt to gripping and releasing needs, and guaranteeing gripping stability. The drive mechanism 13 is centrally located and can simultaneously cooperate with the multiple circumferentially distributed grippers 12, ensuring balanced driving force on each gripper 12 and preventing asynchronous action of the grippers 12 due to drive position misalignment. Vertical movement can directly drive the opening and closing of the grippers 12 through height changes, simplifying the transmission path and improving action response speed. The inclined plane 1221 structure converts the vertical motion of the drive mechanism 13 into the rotational motion of the gripper 12, eliminating the need for additional complex transmission components and achieving a synchronous effect of "one-motor-multiple-drive". The drive mechanism 13 can drive the gripper 12 to open by lifting it up. The action logic is simple and intuitive. Moreover, the force and stroke of each gripper 12 driven by the inclined plane 1221 are consistent, ensuring synchronous opening and closing and preventing the material piece 20 from shifting due to the difference in the movement of the gripper 12.

[0033] The following is a detailed description of the clamp synchronous gripping mechanism in this embodiment: Combination Figure 3 In this embodiment, the clamping synchronous gripping mechanism further includes an elastic element 14, which is disposed between the gripper 12 and the frame 11. The elastic element 14 is used to drive the bottom hook 1211 of the gripper 12 to rotate inward. The elastic element 14 provides the reset power for the gripper 12, so that the gripper 12 can be closed without additional driving components, simplifying the mechanism structure and control logic. When the gripper 12 is closed, the elastic force of the elastic element 14 maintains the clamping state, which can adapt to materials 20 of different thicknesses and avoid damage to the material 20 caused by rigid clamping.

[0034] In this embodiment, the elastic element 14 can be a compression spring, torsion spring, tension spring, nitrogen spring, elastic plunger, or metal spring, etc., all of which can be used in this mechanism, as long as they can realize the function of driving the bottom hook 1211 of the gripper 12 to rotate inward to reset. In this embodiment, the elastic element 14 is preferably a compression spring. Compared with a torsion spring, the spring force direction is more stable, and there is no need to precisely align the rotation center during assembly, reducing the installation difficulty; the spring force adjustment of the compression spring is more convenient (simply replace with different specifications), which can better adapt to different gripping force requirements, and at the same time, the service life is longer, reducing maintenance costs.

[0035] like Figure 4 As shown, in this embodiment, the frame 11 has a mounting groove 111, and the top of the gripper 12 and the compression spring are both assembled in the mounting groove 111. The top of the frame 11 is also provided with a cover plate 15, which covers the opening of the mounting groove 111 and is fixedly connected to the frame 11 by screws. The mounting groove 111 provides assembly space for the gripper 12 and the compression spring, avoiding collision damage caused by exposed parts, while ensuring the accurate positioning of each part and improving the overall compactness of the mechanism. The cover plate 15 and the screw fixing structure facilitate later disassembly and maintenance, and can prevent dust and impurities from entering the mounting groove 111 and affecting the movement of the parts, ensuring the long-term stable operation of the mechanism.

[0036] The structure of gripper 12 is described below: Combination Figure 2 , Figure 3 and Figure 5 The gripper 12 includes a gripping section 121, a connecting section 122, and a linkage section 123. The gripping section 121 is provided with a bottom hook 1211 for contacting the sheet 20. The gripper 12 is designed in three sections, each with a clear function, which facilitates targeted optimization of the structure (e.g., the gripping section 121 can be treated with anti-slip material, and the connecting section 122 can be strengthened). The bottom hook 1211 structure can form a reliable contact with the edge of the sheet 20, preventing the sheet 20 from slipping during gripping, which is especially suitable for smooth or thin sheets 20.

[0037] The connecting section 122 is connected to the top of the gripping section 121. The connecting section 122 is rotatably connected to the frame 11 via a rotating shaft 124. The inclined surface 1221 is located on the inner bottom side of the connecting section 122. The connecting section 122 serves as a transition between the gripping section 121 and the frame 11. It achieves stable rotation via the rotating shaft 124, ensuring accurate rotation trajectory when the gripper 12 opens and closes. The inclined surface 1221 is located on the inner bottom side of the connecting section 122, enabling precise alignment with the drive mechanism 13 located in the middle of the frame 11. When the drive mechanism 13 moves vertically, its outer periphery can directly contact the inner inclined surface 1221, avoiding spatial interference or alignment deviation caused by the outward protrusion of the inclined surface 1221, ensuring a stable drive force transmission path. At the same time, the inner layout protects the inclined surface 1221 from accidental collisions and wear with external components, extending the service life of the inclined surface 1221 and ensuring long-term drive efficiency. The linkage section 123 is located on the top side of the connecting section 122. The linkage section 123 is connected to the elastic element 14. The linkage section 123 is used to drive the gripper 12 to reset under the action of the elastic element 14. The linkage section 123 is located on the top side of the connecting section 122, which not only provides stable power for the reset of the gripper 12 through the connection with the elastic element 14, but also avoids spatial interference with other components, ensuring accurate and continuous reset action.

[0038] The structure of the drive mechanism 13 is described below: Combination Figure 6 The drive mechanism 13, acting as a power transmission carrier, converts the single-point power of the power source into a synchronous driving force for multiple grippers 12, ensuring balanced force on each gripper 12. The drive mechanism 13 has a rectangular frame structure, with its outer periphery abutting against the inclined surfaces 1221 of the multiple grippers 12. This rectangular frame structure reduces the weight of the lifting plate while maintaining strength, lowering the load on the power source and improving operational flexibility. The abutting between its outer periphery and the inclined surfaces 1221 of the multiple grippers 12 ensures that the lifting plate can simultaneously contact all grippers 12 during movement, achieving a synchronized "one-move-multiple-drive" effect and preventing asynchronous opening and closing of the grippers 12.

[0039] In this embodiment, the drive mechanism 13 specifically adopts a drive plate or rectangular frame structure. In practical applications, other structural forms that can move in the vertical direction and drive multiple grippers to rotate synchronously can also be selected as alternatives, as long as the requirements of power transmission stability, synchronization and compatibility with the inclined surface 1221 of the gripper 12 are met.

[0040] like Figure 1 and Figure 4As shown, in this embodiment, the synchronous gripping mechanism of the clamp also includes a bearing steel 16. The bearing steel 16 is disposed outside the drive mechanism 13 and corresponds to the position of the gripper 12. The bearing steel 16 abuts against the inclined surface 1221 and is used to drive the gripper 12 to rotate through the inclined surface 1221 under the drive of the drive mechanism 13. The bearing steel 16 has high hardness and strong wear resistance, which can reduce the frictional loss between the lifting plate and the inclined surface 1221 of the gripper 12 and extend the service life of the component. When the bearing steel 16 abuts against the inclined surface 1221, it is in rolling contact, which has less friction than sliding contact, reduces the driving resistance of the drive mechanism 13, and makes the gripper 12 move more smoothly.

[0041] Furthermore, a groove 131 is provided on the outer periphery of the drive mechanism 13. One side of the bearing steel 16 is accommodated in the groove 131, and the other side of the bearing steel 16 extends out of the outer periphery of the drive mechanism 13. The groove 131 structure enables precise positioning and fixation of the bearing steel 16, preventing the bearing steel 16 from shifting or falling off during movement. The bearing steel 16 extends out to form a lifting plate, ensuring full contact with the inclined surface 1221 of the gripper 12, preventing drive failure due to obstruction by the lifting plate structure, and ensuring reliable power transmission.

[0042] The following describes the other structural components of the clamping synchronous gripping mechanism: Combination Figure 1 and Figure 6 The synchronous gripping mechanism in this embodiment also includes a pressing component 17, which is connected to the frame 11. The pressing component 17 is located above the area enclosed by multiple grippers 12. The pressing component 17 is used to press down on the material sheet 20 when picking up or putting down the material sheet 20. Before the grippers 12 grasp the material sheet 20, the pressing component 17 fixes the position of the material sheet 20 to prevent the grippers 12 from misaligning due to the positional displacement of the material sheet 20. When picking up or putting down the material, the pressing component 17 presses down on the material sheet 20 to prevent the material sheet 20 from shaking or tilting at the moment the grippers 12 open and close. This is especially suitable for thin and easily deformable material sheets 20, improving the gripping accuracy.

[0043] In this embodiment, the pressing component 17 includes a lifting guide rod 171 and a pressure plate 172; the pressure plate 172 is located below the drive mechanism 13 and is used to press the material sheet 20. The bottom end of the lifting guide rod 171 is connected to the pressure plate 172, and the top end is slidably connected to the frame 11. The middle part of the lifting guide rod 171 passes through the guide hole of the frame 11 and is movably engaged with it. The lifting guide rod 171 effectively prevents the pressure plate 172 from shifting or tilting when it is raised or lowered, ensuring the stability of the pressure plate 172 during use.

[0044] Under its own weight, the pressure plate 172 automatically moves downward along the lifting guide rod 171, thereby applying uniform pressure to the material sheet 20 below to achieve clamping. This gravity clamping method has a simple and reliable structure, requiring no additional power source (such as cylinders, motors, etc.), reducing the complexity of the mechanism and manufacturing costs. At the same time, since the pressure plate 172 falls naturally by gravity, its clamping force is gentle and uniform, effectively preventing deformation or damage to the material sheet 20 due to excessive local pressure.

[0045] The lifting guide rod 171 effectively prevents the pressure plate 172 from shifting or tilting during lifting, ensuring its stability and alignment during use and guaranteeing consistent clamping effect. Furthermore, the pressure plate 172 is located below the drive mechanism 13, and its gravity-clamping action is independent of the drive mechanism 13's driving action, preventing mutual interference and ensuring the coordination and reliability of the mechanism's components. The height of the pressure plate 172 can be adaptively adjusted according to the thickness of the sheet 20, thus accommodating sheets 20 of different specifications.

[0046] The lifting guide rod 171 can directly slide with the frame 11. A sleeve-type sliding structure can be further selected to optimize guiding performance and ensure more precise and stable sliding. In this embodiment, the lifting guide rod 171 adopts a sleeve-type sliding structure, mainly consisting of a fixed rod and a movable rod. The fixed rod is vertically fixed to the top of the frame 11 and is a hollow cylindrical structure with an internal guide channel for the movable rod to move up and down. The movable rod is coaxially arranged with the fixed rod, and its outer wall and the inner wall of the fixed rod are smoothly and precisely slidably fitted in the vertical direction through a suitable sliding structure (such as a guide sleeve, linear bearing, etc.). The bottom end of the movable rod extends downward beyond the lower end of the fixed rod and further penetrates a pre-set guide hole on the frame 11. The bottom end of the movable rod is securely connected to the pressure plate 172 through a fixing method (such as threaded connection, pin connection, or flange connection). The top end of the movable rod is not connected to any power source; it only achieves limited guidance through sliding cooperation with the fixed rod.

[0047] The working principle of this utility model: 1. Initial state: The gripper 12 is kept closed under the action of the elastic element 14 (compression spring), the bottom hook 1211 is retracted inward, and the multiple grippers 12 enclose to form a gripping space; the drive mechanism 13 is in a low position, and the drive mechanism 13 is not in contact or only slightly in contact with the inclined surface 1221 of the gripper 12, and no force is applied; the pressure plate 172 of the clamping component 17 is in a high position, which does not affect the entry of the material sheet 20.

[0048] 2. Gripping preparation: When the material piece 20 is conveyed to the gripper 12, the pressure plate 172 of the pressing component 17 can automatically move downward along the guide of the lifting guide rod 171 under its own weight, pressing the material piece 20 on the bearing surface to prevent the material piece 20 from shifting or tilting during the gripping process, and providing a stable reference for the positioning of the gripper 12.

[0049] 3. Grippers 12 close and grip: The lifting power source 18 drives the drive mechanism 13 to move down, which drives the bearing steel 16 on the outer periphery to descend synchronously. The bearing steel 16 and the inclined surface 1221 of the linkage section 123 of grippers 12 disengage. At this time, the compression spring releases its elastic force, pushing the linkage section 123 to rotate. Through the connecting section 122 (around the rotating shaft 124), the bottom hook 1211 of the gripping section 121 rotates inward. Multiple grippers 12 close synchronously, and the bottom hook 1211 contacts and clamps the edge of the material piece 20, completing the gripping action.

[0050] 4. Grabbing and Transfer: After the gripper 12 clamps the material piece 20, the pressure plate 172 of the pressing component 17 presses the material piece 20 under its own weight; the drive mechanism 13 remains in a low position, and the gripper 12 maintains the clamping state under the continuous action of the compression spring, ensuring that the material piece 20 does not fall off during the transfer process.

[0051] 5. Releasing the material piece 20: When the material piece 20 is moved to the target position, the lifting power source 18 drives the drive mechanism 13 to move upward, and the bearing steel 16 moves upward and abuts against the inclined surface 1221 of the gripper 12. Through the guiding action of the inclined surface 1221, the linkage section 123 is pushed to rotate outward against the spring force, which drives the bottom hook 1211 of the connecting section 122 and the gripping section 121 to rotate outward. Multiple grippers 12 open simultaneously, and the material piece 20 is released from the gripper and placed in the target position.

[0052] 6. Reset Cycle: After the material is released, the drive mechanism 13 moves down to reset, and the pressure spring drives the gripper 12 to close again, waiting for the mechanism to return to the initial state and waiting for the next gripping cycle.

[0053] This completes the working process of the clamp synchronous gripping mechanism in this preferred embodiment.

[0054] The synchronous movement of the gripper 12 is achieved through the cooperation of the drive mechanism 13 and the inclined plane 1221. Combined with the reset function of the elastic element 14 and the positioning function of the clamping component 17, the entire mechanism can stably complete the gripping, transfer and release of the material piece 20. The gripping force is uniform and the movement is highly coordinated, making it suitable for automated handling scenarios of various specifications of material pieces 20.

[0055] In this embodiment, the driving mechanism and the lifting drive structure that moves the pressure plate vertically are not limited to cylinder drive. Depending on the power requirements, precision requirements, and installation space limitations of the actual application scenario, common linear drive structures such as electric actuators and linear screw drives can also be selected. For example, an electric actuator can achieve stable lifting and lowering of the drive mechanism through motor drive, while a linear screw drive can achieve high-precision displacement adjustment of the drive mechanism through the meshing transmission of the screw and nut. The specific installation and connection methods of the above-mentioned different drive structures are all conventional choices that can be easily implemented by those skilled in the art based on existing technology, and will not be elaborated here.

[0056] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A clamping synchronous gripping mechanism, characterized in that, include: frame; The gripper is provided in multiple manner, and the multiple grippers are distributed around the circumference of the frame, and the top of each gripper is rotatably connected to the frame. The gripper is used to grip the material sheet. as well as A drive mechanism is disposed at the middle of the bottom end of the frame, and the drive mechanism is movable vertically relative to the frame; and A lifting power source is mounted on the frame, and the execution end of the lifting power source is connected to the drive mechanism. The lifting power source drives the drive mechanism to move in the vertical direction. The gripper has an inclined surface facing the drive mechanism. The drive mechanism is raised upwards, and its outer periphery abuts against the inclined surface. The drive mechanism drives the bottom hook of the gripper to rotate outwards.

2. The clamping synchronous gripping mechanism according to claim 1, characterized in that, It also includes an elastic element disposed between the gripper and the frame, the elastic element being used to drive the bottom hook of the gripper to rotate inward.

3. The clamping synchronous gripping mechanism according to claim 2, characterized in that, The elastic element is a compression spring, torsion spring, tension spring, nitrogen spring, elastic plunger, or metal spring.

4. The clamping synchronous gripping mechanism according to claim 3, characterized in that, The frame is provided with a mounting slot, and the top of the gripper and the compression spring are both assembled into the mounting slot; The top of the frame is also provided with a cover plate, which covers the opening of the mounting slot and is fixedly connected to the frame by screws.

5. The clamping synchronous gripping mechanism according to claim 2, characterized in that, The gripper includes: The gripping section is equipped with a bottom hook for contacting the sheet material; A connecting section, connected to the top of the gripping section, the connecting section being rotatably connected to the frame via a pivot, and the inclined surface being disposed on the inner bottom side of the connecting section; and A linkage section is disposed on the top side of the connecting section. The linkage section is connected to the elastic element and is used to drive the gripper to reset under the action of the elastic element.

6. The clamping synchronous gripping mechanism according to claim 1, characterized in that, The drive mechanism is a rectangular frame structure, and the outer periphery of the drive mechanism abuts against the inclined surfaces of the plurality of grippers.

7. The clamping synchronous gripping mechanism according to claim 1, characterized in that, The driving mechanism further includes a bearing steel, which is disposed on the outside of the driving mechanism and at a position corresponding to the gripper. The bearing steel abuts against the inclined surface and is used to drive the gripper to rotate through the inclined surface under the drive of the driving mechanism.

8. The clamping synchronous gripping mechanism according to claim 7, characterized in that, The drive mechanism has a groove on its outer periphery, one side of the bearing steel is housed in the groove, and the other side of the bearing steel extends out of the outer periphery of the drive mechanism.

9. The clamping synchronous gripping mechanism according to claim 1, characterized in that, Also includes: A clamping component is connected to the frame and is located above the enclosed area of ​​the plurality of grippers. The clamping component is used to press the material sheet downwards when picking up or putting down the material sheet.

10. The clamping synchronous gripping mechanism according to claim 9, characterized in that, The clamping component includes: A pressure plate, located below the drive mechanism, is used to press the material sheet; and A lifting guide rod, the bottom end of which is connected to the pressure plate and the top end of which is slidably connected to the frame; The pressure plate moves along the lifting guide rod towards the material sheet under its own gravity and thus achieves pressing.

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