A sheet material gripping device for a robot arm

Abstract

The utility model relates to plate processing device technical field, specifically disclose a plate grabbing device for mechanical arm, including support, support plate mechanism and sucking disc mechanism, the utility model discloses can install in the mechanical arm execution end, through the collaborative operation of mechanical arm, support plate mechanism and sucking disc mechanism, realize plate grabbing and thin surface material pasting operation, the support plate mechanism is adjusted the support plate spacing with the linkage assembly self -adaptation by means of the sliding frame, thereby the hoisting different width plate and avoid contact surface adhesive, sucking disc mechanism passes through the sucking disc and independent lifting control of distributed layout, comprehensive adsorption and smooth lifting thin surface material, prevent the middle droop, ensure and plate complete pasting, effectively promote the pasting precision and operation reliability.

Description

Technical Field

[0001] This utility model relates to the field of sheet metal processing equipment, and in particular to a sheet metal gripping device for a robotic arm. Background Technology

[0002] In the field of sheet metal processing, a common type of composite structural sheet metal is made by bonding a core material to a decorative or functional thin-film surface material. During the manufacturing process, adhesive is typically applied to the core material first, and then the thin-film surface material is precisely adhered to it to ensure the finished product's appearance quality and performance. With the advancement of intelligent manufacturing and automation, using robotic arms to complete the bonding operation has become an important direction for improving production efficiency.

[0003] Currently, most robotic arm gripping mechanisms employ suction cup structures. However, these devices have significant limitations when dealing with adhesive-coated core materials. Due to the adhesive properties of the adhesive, traditional suction cups are prone to adhesion and contamination when in contact with the adhesive surface, affecting not only the gripping effect but also potentially causing uneven adhesive distribution or even damage. Furthermore, if large-format thin materials are only handled by clamping, the central area often sags due to insufficient support, leading to misalignment and uneven adhesion with the core material, severely impacting product quality and production efficiency. Therefore, there is an urgent need for a gripping device capable of handling both adhesive-coated core materials and easily deformable thin surface materials to solve these technological challenges. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a sheet metal gripping device for a robotic arm to solve the above problems.

[0005] A sheet metal gripping device for a robotic arm, comprising: support; The pallet mechanism includes two sliding frames that can slide left and right on the bracket, a plurality of pallets that are spaced apart from each of the sliding frames in the front-back direction, and a linkage component for driving the two sliding frames to move synchronously towards each other or away from each other. The pallets are used to support the plate. The suction cup mechanism, located between the two sliding frames, includes at least two mounting brackets fixed to the bracket, a plurality of vertically arranged first telescopic actuators spaced apart in the front-to-back direction on each of the mounting brackets, and a suction cup connected to the telescopic end of each of the first telescopic actuators. The suction cup is used to pick up thin sheet material.

[0006] Specifically, the sheet material gripping device also includes a swing pressure plate mechanism disposed on the sliding frame, with one swing pressure plate mechanism corresponding to each of the trays; the swing pressure plate mechanism includes a swing arm rotatably mounted on the sliding frame, a pressure roller rotatably mounted on the free end of the swing arm, and a swing drive assembly for driving the swing arm to swing, wherein the pressure roller can press the thin sheet material and the sheet material onto the tray when swinging down.

[0007] Specifically, the swing drive component includes: The linkage arm is fixedly connected to the swing arm via a first rotating shaft; The second telescopic actuator has its cylinder hinged to the sliding frame and its piston rod hinged to the linkage arm.

[0008] Specifically, both the first telescopic actuator and the second telescopic actuator are cylinders.

[0009] Specifically, the bracket is provided with a slide rail extending in the left and right direction, and the sliding frame slides in cooperation with the slide rail via a slider.

[0010] Specifically, the lowest position of the suction cup after the first telescopic driver drives it to descend is lower than the bottom surface of the tray.

[0011] Specifically, the linkage component includes: The third telescopic actuator has a cylinder body fixed to the bracket, and a piston rod connected to one of the sliding frames; The first connecting rod, the middle part of which is rotatably mounted to the bracket via a second rotating shaft; Two second links, one of which is hinged at one end to one end of the first link and at the other end to one of the sliding frames; the other of which is hinged at one end to the other end of the first link and at the other end to the other sliding frame.

[0012] Specifically, the third telescopic actuator is a cylinder.

[0013] Specifically, the bracket is provided with a mounting base for connecting the actuator of the robotic arm.

[0014] The beneficial effects of this utility model are: 1. The sheet metal gripping device of this application can be installed on the execution end of a robotic arm. The sheet metal gripping device includes a support, a pallet mechanism and a suction cup mechanism. The sheet metal gripping and thin sheet metal lamination operations are completed through the coordinated action of the robotic arm, the suction cup mechanism and the pallet mechanism. 2. The pallet mechanism includes two sliding frames, multiple pallets, and a linkage component for driving the two sliding frames to move synchronously towards or away from each other. This design allows the pallets to adaptively adjust their spacing, thereby supporting boards of different widths without contacting the adhesive surface above them, effectively avoiding contamination and interference during operation. 3. The suction cup mechanism includes at least two mounting brackets, multiple vertically arranged first telescopic actuators, and suction cups connected to the telescopic ends of each first telescopic actuator. Through the distributed layout of multiple suction cups and independent lifting control, it achieves comprehensive adsorption and stable lifting of thin surface materials, preventing them from sagging in the middle and affecting positioning accuracy, and ensuring complete adhesion to the board. Attached Figure Description

[0015] Figure 1 The three-dimensional sheet metal gripping device of this application Figure 1 ; Figure 2 for Figure 1 Enlarged view of section A; Figure 3 The three-dimensional sheet metal gripping device of this application Figure 2 ; Figure 4 for Figure 3 Enlarged view of section B; Figure 5 The three-dimensional sheet metal gripping device of this application Figure 3 ; Figure 6 This is a front view of the sheet metal gripping device of this application after it has picked up the thin sheet material and gripped the sheet material. Figure 7 This is a schematic diagram of the structure in this application where the lower edge of the pressure roller presses the thin sheet material and the sheet material onto the support plate; Figure 8 The sheet metal gripping device of this application picks up thin sheet metal and grips the sheet metal in a three-dimensional manner. Figure 1 ; Figure 9 The sheet metal gripping device of this application picks up thin sheet metal and grips the sheet metal in a three-dimensional manner. Figure 2 .

[0016] The attached figures are labeled as follows: bracket 10, slide rail 11, slider 12, mounting base 13, pallet mechanism 20, sliding frame 21, pallet 22, linkage assembly 23, third telescopic actuator 231, first link 232, second link 233, suction cup mechanism 30, mounting frame 31, first telescopic actuator 32, suction cup 33, swing pressure plate mechanism 40, swing arm 41, pressure roller 42, swing drive assembly 43, linkage arm 431, second telescopic actuator 432, sheet material 50, thin surface material 60. Detailed Implementation

[0017] This utility model provides a sheet metal gripping device for a robotic arm. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0018] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0019] Please refer to Figures 1 to 9 This embodiment discloses a sheet metal gripping device for a robotic arm, including a support 10, a pallet mechanism 20, and a suction cup mechanism 30. The pallet mechanism 20 includes two sliding frames 21 that can slide left and right on the support 10, a plurality of pallets 22 that are spaced apart in the front-back direction on each sliding frame 21, and a linkage component 23 for driving the two sliding frames 21 to move synchronously towards or away from each other. The pallets 22 are used to support sheet metal 50. The suction cup mechanism 30 is disposed between the two sliding frames 21. The suction cup mechanism 30 includes at least two mounting frames 31 fixed to the support 10, a plurality of vertically arranged first telescopic actuators 32 that are spaced apart in the front-back direction on each mounting frame 31, and suction cups 33 connected to the telescopic ends of each first telescopic actuator 32. The suction cups 33 are used to pick up thin sheet material 60.

[0020] The sheet metal gripping device in this embodiment can be installed at the execution end of the robotic arm, and the operation is completed through the coordinated action of the robotic arm, the suction cup mechanism 30 and the pallet mechanism 20.

[0021] First, the suction cup mechanism 30 performs the material picking action: the robotic arm moves the entire sheet material gripping device above the thin sheet material 60, the first telescopic driver 32 drives the suction cup 33 to descend and adsorb the thin sheet material 60, and then lifts it so that the thin sheet material 60 is suspended above the support plate 22, effectively avoiding premature contact with the sheet material 50 to be glued later.

[0022] Subsequently, the pallet mechanism 20 performs a lifting action: the linkage component 23 drives the two sliding frames 21 to move in opposite directions to widen the distance between the pallets 22. After the robotic arm moves the entire board gripping device above the glued board 50, the linkage component 23 drives the sliding frames 21 to move towards each other, so that the pallet 22 accurately extends under the board 50 to support it.

[0023] Finally, the suction cup mechanism 30 completes the bonding operation: the first telescopic driver 32 drives the suction cup 33 to smoothly move the thin face material 60 downwards, precisely pressing it onto the adhesive surface of the board 50. The entire process, through the sequential coordination of the support plate 22 and the suction cup 33, avoids the suction cup 33 from contacting the adhesive and prevents the thin face material 60 from sagging due to suspension, ensuring the bonding quality and alignment accuracy of the composite board.

[0024] Furthermore, the sheet material gripping device also includes a swing pressure plate mechanism 40 mounted on the sliding frame 21, with one swing pressure plate mechanism 40 corresponding to each pallet 22. The swing pressure plate mechanism 40 includes a swing arm 41 rotatably mounted on the sliding frame 21, a pressure roller 42 rotatably mounted on the free end of the swing arm 41, and a swing drive assembly 43 for driving the swing arm 41 to swing. The pressure roller 42 can press the thin sheet material 60 and the sheet material 50 onto the pallet 22 when swinging downwards. After the suction cup 33 attaches the thin sheet material 60 to the surface of the sheet material 50, the swing drive assembly 43 drives the swing arm 41 to swing downwards, causing the pressure roller 42 at its end to press against the surface of the sheet material 50. Through the upper and lower limiting effect of the pressure roller 42 and the pallet 22 on the sheet material 50, the deviation of the sheet material 50 can be avoided when the robotic arm transfers. The pressure roller 42 contacts the sheet material 50 in a rolling manner, effectively avoiding direct adhesion to the surface adhesive while providing uniform pressure.

[0025] Furthermore, the swing drive assembly 43 includes a linkage arm 431 and a second telescopic actuator 432; the linkage arm 431 is fixedly connected to the swing arm 41 via a first rotating shaft; the cylinder of the second telescopic actuator 432 is hinged to the sliding frame 21, and the piston rod of the second telescopic actuator 432 is hinged to the linkage arm 431. The swing drive assembly 43 pushes or pulls the linkage arm 431 hinged to it through the telescopic movement of the piston rod of the second telescopic actuator 432, thereby causing the swing arm 41, which is fixed to the linkage arm 431, to swing around its pivot; this structure converts linear drive into stable rotational motion, enabling the pressure roller 42 to press down or lift with controllable force and precise angle, thus ensuring uniform pressure on the thin surface material 60 and the plate 50 during the pressing process.

[0026] In a preferred embodiment, both the first telescopic actuator 32 and the second telescopic actuator 432 are cylinders. Using cylinders as the first and second telescopic actuators 32 and 432 provides stable and reliable power output for the lifting and lowering movement of the suction cup 33 and the swinging motion of the swing arm 41. The rapid response characteristics of the cylinder ensure that the suction cup 33 can efficiently complete the action of picking up and releasing the thin material 60, while simultaneously driving the pressure roller 42 to achieve rapid and gentle pressing and releasing. Its simple structure and convenient maintenance make it very suitable for high-frequency repetitive operations on automated production lines.

[0027] In a preferred embodiment, the bracket 10 is provided with a slide rail 11 extending in the left-right direction, and the sliding frame 21 is slidably engaged with the slide rail 11 via a slider 12. The engagement structure of the slide rail 11 and the slider 12 provides high-precision linear guidance for the left-right movement of the sliding frame 21, ensuring that the support plate 22 can run smoothly along a predetermined trajectory during opening and closing, effectively preventing positional deviation.

[0028] Furthermore, the lowest position of the suction cup 33 after being driven down by the first telescopic actuator 32 is lower than the bottom surface of the tray 22. When the suction cup 33 is driven down to its lowest position by the first telescopic actuator 32, it can be ensured that the working surface of the suction cup 33 is completely lower than the bottom surface of the tray 22. This height difference provides unobstructed operating space for the suction cup 33 to pick up the thin material 60 located directly below it. At the same time, this design allows the thin material 60 being picked up to completely detach from the adhesive surface of the lower plate 50 after being lifted, effectively avoiding accidental contact or adhesion between the thin material 60 and the adhesive during the transfer process, ensuring the cleanliness and accuracy of subsequent bonding.

[0029] Furthermore, the linkage assembly 23 includes a third telescopic actuator 231, a first connecting rod 232, and a first connecting rod 232; the cylinder of the third telescopic actuator 231 is fixed to the bracket 10, and the piston rod of the third telescopic actuator 231 is connected to one of the sliding frames 21; the middle part of the first connecting rod 232 is rotatably mounted on the bracket 10 through a second rotating shaft; one end of one of the second connecting rods 233 is hinged to one end of the first connecting rod 232, and the other end is hinged to one of the sliding frames 21; one end of the other second connecting rod 233 is hinged to the other end of the first connecting rod 232, and the other end is hinged to the other sliding frame 21.

[0030] The linkage component 23 drives the two sliding frames 21 to move through the two third telescopic actuators 231 respectively, and transmits power synchronously to the other sliding frame 21 through the symmetrical linkage mechanism formed by the first link 232 and the two second links 233, ensuring that the two sliding frames 21 can move towards or away from each other in strict synchronization, thus ensuring the symmetry and stability of the action of the pallet 22 when supporting or releasing the plate 50.

[0031] As a preferred embodiment, the third telescopic actuator 231 is a cylinder. Using a cylinder as the third telescopic actuator 231 provides a stable and efficient power source for the linkage component 23, driving the two sliding frames 21 to achieve precise synchronous movement in opposite directions or in opposite directions. The rapid response characteristics of the cylinder ensure that the pallet 22 can quickly adapt to plates 50 of different widths. Its simple structure and convenient control effectively reduce the complexity of the system and maintenance costs.

[0032] In a preferred embodiment, the bracket 10 is provided with a mounting base 13 for connecting the robotic arm execution end. The mounting base 13 is fixed to the robotic arm execution end by mounting holes and structural components such as screws.

[0033] The preferred embodiments of this utility model have been described in detail above. However, this invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this invention.

Claims

1. A sheet metal gripping device for a robotic arm, characterized in that, include: Support (10); The pallet mechanism (20) includes two sliding frames (21) that can slide left and right on the bracket (10), a plurality of pallets (22) that are spaced apart in the front and back direction on each of the sliding frames (21), and a linkage component (23) for driving the two sliding frames (21) to move synchronously towards each other or away from each other. The pallets (22) are used to support the plate (50). The suction cup mechanism (30) is located between the two sliding frames (21) and includes at least two mounting frames (31) fixed to the bracket (10), a plurality of vertically arranged first telescopic actuators (32) spaced apart in the front-back direction on each of the mounting frames (31), and a suction cup (33) connected to the telescopic end of each of the first telescopic actuators (32). The suction cup (33) is used to pick up the thin sheet material (60).

2. The sheet metal gripping device according to claim 1, characterized in that, It also includes a swing pressure plate mechanism (40) provided on the sliding frame (21), and one swing pressure plate mechanism (40) is provided for each of the pallets (22); the swing pressure plate mechanism (40) includes a swing arm (41) rotatably mounted on the sliding frame (21), a pressure roller (42) rotatably mounted on the free end of the swing arm (41), and a swing drive assembly (43) for driving the swing arm (41) to swing. The pressure roller (42) can press the thin face material (60) and the plate (50) onto the pallet (22) when swinging down.

3. The sheet metal gripping device according to claim 2, characterized in that, The swing drive assembly (43) includes: The linkage arm (431) is fixedly connected to the swing arm (41) via the first rotating shaft; The second telescopic actuator (432) has its cylinder body hinged to the sliding frame (21) and its piston rod hinged to the linkage arm (431).

4. The sheet metal gripping device according to claim 3, characterized in that, Both the first telescopic actuator (32) and the second telescopic actuator (432) are cylinders.

5. The sheet metal gripping device according to claim 1, characterized in that, The bracket (10) is provided with a slide rail (11) extending in the left and right direction, and the sliding frame (21) slides with the slide rail (11) through a slider (12).

6. The sheet metal gripping device according to claim 1, characterized in that, The lowest position of the suction cup (33) after being driven down by the first telescopic driver (32) is lower than the bottom surface of the tray (22).

7. The sheet metal gripping device according to claim 1, characterized in that, The linkage component (23) includes: The third telescopic actuator (231) has its cylinder fixed to the bracket (10) and its piston rod connected to one of the sliding frames (21); The first link (232) has its middle part rotatably mounted on the bracket (10) via the second pivot. Two second links (233), one end of which is hinged to one end of the first link (232) and the other end is hinged to one of the sliding frames (21); the other end of which is hinged to the other end of the first link (232) and the other end is hinged to the other sliding frame (21).

8. The sheet metal gripping device according to claim 7, characterized in that, The third telescopic actuator (231) is a cylinder.

9. The sheet metal gripping device according to claim 1, characterized in that, The bracket (10) is provided with a mounting base (13) for connecting the actuator of the robotic arm.

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