Anti-falling type mechanical arm for mold manufacturing and using method of anti-falling type mechanical arm

Abstract

The invention discloses an anti-disengaging type mechanical arm for mold manufacturing and a using method, and belongs to the technical field of mechanical arms, the anti-disengaging type mechanical arm comprises a mechanical arm body and a tail end executing structure installed on the mechanical arm body, the tail end executing structure comprises a parallel pneumatic finger and a micro air extracting pump, and clamping seat assemblies are connected to two clamping jaws of the parallel pneumatic finger. After the tail end executing structure grabs the mold base, clamping force of spherical elastic air bags in the flexible reinforcing units located in the negative pressure grooves and negative pressure adsorption force in the negative pressure grooves are overlapped and jointly and additionally act on the surface of the mold base, and the grabbing firmness of the tail end executing structure on the mold base is enhanced through the overlapped effect; and in the process that the vacuum degree in the negative pressure groove is gradually increased, the clamping force on the mold base is further increased through the spherical elastic air bag with the increased size, so that the grabbing firmness of the tail end execution structure is further enhanced, and the risk that the mold base falls off in the moving process is greatly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of robot arms, and more specifically, to an anti-slip robot arm for mold manufacturing and a method of using the robot arm. Background Art

[0002] Injection mold is a common manufacturing tool, mainly used to manufacture plastic injection molded products. It is composed of high-precision molds and mold holders, and is used to manufacture plastic products of various shapes and sizes, such as plastic cups, plastic plates, plastic toys, auto parts, etc. In the injection molding process, the mold is injected with molten plastic, and then solidified through a cooling process to form the desired plastic product. Injection molds play a vital role in modern manufacturing.

[0003] The material used to make injection molds is generally chrome steel, which is hard, wear-resistant, corrosion-resistant, and can withstand repeated high pressure of rubber injection. The first step in making an injection mold is to make a mold base, which is the skeleton of the entire mold. All the parts of the mold are processed on the structure of the mold base. The process of making an injection mold is as follows: first, according to the requirements of the mold design, the chrome steel is processed into a size that meets the technical requirements on a milling machine to form a mold base; secondly, the mold base is subjected to multiple processes such as fine washing, chamfering, fine framing, and fine grinding; then, the cavity is processed on the mold base; finally, the produced mold is polished to improve the surface finish of the mold.

[0004] In the manufacture of injection molds, a robotic arm can facilitate operators to move the mold base to the target area, reducing the time and labor intensity of manual operation and improving production efficiency. However, when the existing robotic arm grabs the mold base made of chrome steel with a large weight and a relatively smooth surface through the grasping mechanism connected to its end, the side wall friction of the metal mold base is small, resulting in an increased risk of the mold base falling off during the process of grabbing and moving the mold base by the robotic arm, which poses certain safety hazards and is not conducive to the safe production of injection molds.

[0005] In view of this, we propose an anti-slip type robot arm for mold manufacturing and a method of using it. Summary of the invention

[0006] Technical problem to be solved: The purpose of this application is to provide an anti-slip robot arm for mold manufacturing and a method of use, which solves the technical problems raised in the above-mentioned background technology.

[0007] Technical solution: The technical solution of the present application provides an anti-slip type robot arm for mold manufacturing, including a robot arm main body and an end-execution structure installed on the robot arm main body, the end-execution structure includes parallel pneumatic fingers and a micro vacuum pump, and the two clamping claws of the parallel pneumatic fingers are connected to a clamp seat assembly, the clamp seat assembly includes a hollow clamp seat, and a plurality of negative pressure grooves connected to the inner cavity of the hollow clamp seat are evenly opened on the side wall of the hollow clamp seat, and a flexible reinforcement unit is arranged in each negative pressure groove, and an air flow hose connected to its inner cavity is connected to the hollow clamp seat; The flexible reinforcement unit includes a warning light and a C-shaped carrier frame connected to the negative pressure tank through a bracket, the C-shaped carrier frame is respectively connected with a capsule base and an insulating cylinder seat with a resistance wire wound around the outer circumference in a spiral arrangement, the capsule base is connected with a spherical elastic airbag extending from the negative pressure tank, and two groups of U-shaped frames are symmetrically slidable horizontally on the C-shaped carrier frame, one of the U-shaped frames is provided with a sheet switch terminal, and the other U-shaped frame is provided with a cooperative piece that cooperates with the sheet switch terminal; The two U-shaped frames are both connected with adjusting springs which cooperate with the resistance wire wound on the insulating cylinder seat. The two U-shaped frames are both provided with power driving parts, and the spherical elastic airbag is located between the two power driving parts.

[0008] As an optional solution of the technical solution of this application document, the parallel pneumatic fingers in the end-effector structure are connected to the free end of the robot arm body; The hollow clamp seat is connected to the corresponding clamping jaws in the parallel pneumatic fingers; The negative pressure grooves provided on the hollow clamp seat are arranged in a rectangular array.

[0009] As an optional solution of the technical solution of this application document, the U-shaped frame includes an insulating longitudinal rod; One end of the insulating longitudinal rod is connected to a first insulating horizontal rod, and the other end is connected to a second insulating horizontal rod; The first insulating horizontal rod in the U-shaped frame is horizontally slidably inserted on the end of the C-shaped bearing frame, and the first insulating horizontal rod passes through the end of the C-shaped bearing frame and is connected with the insulating longitudinal rod.

[0010] As an optional solution of the technical solution of the present application document, the power drive member includes a return spring and an end passive seat connected to the end of the first insulating horizontal rod away from the insulating longitudinal rod in the U-shaped frame; The return spring is connected between the end passive seat and the end of the C-shaped carrier frame.

[0011] As an optional solution of the technical solution of the present application document, the insulating cylinder seat is located between the C-shaped carrier frame and the second insulating horizontal rod; The two adjusting springs are respectively connected to the two second insulating horizontal rods, and the free ends of the two adjusting springs are both closely attached to the surface of the resistance wire wound on the insulating cylinder seat.

[0012] As an optional solution of the technical solution of the present application document, the resistance wire wound on the insulating cylinder seat in all the flexible reinforcement units and the two adjustment springs are electrically connected to the micro air pump.

[0013] As an optional solution of the technical solution of the present application document, the cooperative member includes a synchronous insulating frame connected to the second insulating horizontal rod in the U-shaped frame corresponding to it; The synchronous insulating frame is connected with a switch spring.

[0014] As an optional solution of the technical solution of the present application document, the sheet-shaped switch terminal is connected to the second insulating horizontal rod in the U-shaped frame corresponding to it, and the surface of the sheet-shaped switch terminal is flush with the surface of the second insulating horizontal rod; The switch spring and the sheet-shaped switch terminal in each flexible reinforcing unit are electrically connected to the warning light in the flexible reinforcing unit, and when the switch spring contacts the sheet-shaped switch terminal, the warning light is triggered to turn on.

[0015] As an optional solution of the technical solution of the present application document, one end of the air flow hose away from the hollow clamp seat to which it is connected is connected to the input end of the micro vacuum pump; The surface of the hollow clamp seat is connected with an anti-skid pad, and a through hole is opened on the anti-skid pad at a position corresponding to each negative pressure groove on the hollow clamp seat; The micro air pump is connected to the parallel pneumatic fingers; The warning light is connected to the surface of the hollow clamp seat at a side away from the negative pressure groove.

[0016] The technical solution of the present application provides a method for using an anti-slip type mechanical arm for mold manufacturing, comprising the following steps: S1. Move the end effector structure to the mold base to be processed through the robot arm body; S2, after the mold base is grasped by the clamping seat assembly in the end effector structure, an additional clamping force is applied to the mold base surface by the flexible reinforcement unit extending from the negative pressure groove; S3, turning on the micro vacuum pump in the terminal actuator structure, and extracting the gas in the negative pressure tank through the micro vacuum pump, so that a vacuum state is formed in the negative pressure tank; S4, the negative pressure tank in a vacuum state exerts a vacuum adsorption force on the mold base clamped between the two sets of clamp base assemblies, so that the mold base can be adsorbed and fixed on the surface of the clamp base assembly after being grasped by the two sets of clamp base assemblies; S5. When the inside of the negative pressure tank is evacuated to a vacuum state, the volume of the spherical elastic airbag in the flexible enhancement unit gradually expands, so that the clamping force of the flexible enhancement unit on the surface of the mold base is also enhanced; S6. After the end effector grabs the mold base, the robot body moves the mold base to the next processing position.

[0017] Beneficial effect: One or more technical solutions provided in the technical solution of the present application have at least the following technical effects or advantages: 1. After the end execution structure grasps the mold base, the clamping force of the spherical elastic airbag in the flexible reinforcement unit in the negative pressure groove and the negative pressure adsorption force in the negative pressure groove are superimposed on each other, and their additional action on the surface of the mold base is combined. This superposition effect enhances the firmness of the end execution structure in grasping the mold base, and in the process of gradually increasing the vacuum degree in the negative pressure groove, the spherical elastic airbag with increased volume further increases the clamping force on the mold base, thereby further enhancing the grasping firmness of the end execution structure, thereby greatly reducing the risk of the mold base falling off during movement and improving the safety of injection molding mold production.

[0018] 2. After the end execution structure grabs the mold base, when the additional clamping force is applied to the side wall of the mold base through the spherical elastic airbag in the flexible enhancement unit, the elastic spherical elastic airbag has a certain buffering effect. It can effectively reduce the direct impact and extrusion on the mold base when applying the clamping force, realize flexible clamping of the mold base, and avoid damage to the mold base.

[0019] 3. In the process of forming a vacuum environment in the negative pressure tank and increasing the volume of the spherical elastic airbag, the expanded spherical elastic airbag contacts the two power drive parts that continuously drive the two U-shaped frames to move in opposite directions. The two U-shaped frames moving in opposite directions make the switch spring contact the sheet switch terminal and trigger the warning light in the flexible reinforcement unit to turn on. After the operator observes the lit warning light, he can quickly determine that the environment has been formed inside the negative pressure tank in the clamp assembly, so that the flexible reinforcement unit can further monitor whether a vacuum environment is formed in the negative pressure tank. After the warning light in the flexible reinforcement unit lights up, the operator can lift the end execution structure that grasps the mold base through the main body of the robot arm, which ensures the firmness of the end execution structure to grasp the mold base, and also avoids the operator from moving the mold base before a stable vacuum environment is formed inside the negative pressure tank, thereby preventing the occurrence of unexpected risks.

[0020] 4. After the warning light in the flexible enhancement unit lights up before grabbing, the operator moves the mold base through this device. When a leak occurs in the vacuum system in the terminal execution structure, the vacuum environment in the negative pressure tank gradually weakens, and the volume of the spherical elastic airbag gradually shrinks, causing the two U-shaped frames to move toward each other. When the switch spring separates from the sheet switch terminal, the warning light that was originally on in the flexible enhancement unit turns off again. When the operator observes the above situation, he can quickly determine that the vacuum system in the terminal execution structure has leaked, and the lifted mold base needs to be slowly lowered to the ground or the load platform immediately, which is convenient for the operator to troubleshoot while effectively ensuring the safety of the injection mold production process.

[0021] 5. The gradually expanding spherical elastic airbag drives the two U-shaped frames to move in opposite directions, and the distance between the two adjusting springs also increases. More coils in the insulating cylinder seat are collected between the two adjusting springs, and the resistance value becomes larger, which causes the output power of the micro vacuum pump to decrease. As a result, after the flexible enhancement unit detects the formation of a vacuum environment in the negative pressure chamber, it synchronously lowers the power of the micro vacuum pump in the terminal execution structure. This can reduce unnecessary energy consumption while meeting the requirements for the firmness of the mold base grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of this application.

[0023] Figure 2 This is a schematic diagram of the structure of the terminal execution structure of this application.

[0024] Figure 3 It is a partially enlarged schematic diagram of the end execution structure of this application.

[0025] Figure 4 For this application Figure 3 A partial enlarged schematic diagram of part A.

[0026] Figure 5 For this application Figure 4 A partial enlarged schematic diagram of part B.

[0027] Figure 6 For this application Figure 4 A partial enlarged schematic diagram of part C in the middle.

[0028] Figure 7 It is a partial cross-sectional schematic diagram of the clamp seat assembly in this application.

[0029] Figure 8 For this application Figure 6 A partial enlarged schematic diagram of part D in the middle.

[0030] Fig. 9 For this application Figure 8 A partial enlarged schematic diagram of part E in the middle.

[0031] Fig.10 For this application Fig. 9 A partial enlarged schematic diagram of part F in the middle.

[0032] Fig.11 For this application Fig. 9 A partial enlarged schematic diagram of part G in the middle.

[0033] Description of the numbers in the figure: 101. Robotic arm body; 201. Parallel pneumatic fingers; 202. Hollow clamp seat; 203. Anti-skid pad; 204. Micro vacuum pump; 206. Airflow hose; 208. Warning light; 209. Spherical elastic airbag; 210. C-type carrier frame; 211. End passive seat; 213. Capsule base; 214. Insulating longitudinal rod; 215. Synchronous insulating frame; 216. Insulating cylinder seat; 217. Return spring; 218. First insulating horizontal rod; 219. Sheet switch terminal; 220. Switch spring; 221. Adjusting spring; 223. Second insulating horizontal rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. Reference Figures 1 to 4 as well as Figures 7 to 9 The embodiment of the present application provides an anti-slip type robot arm for mold manufacturing, including a robot arm body 101 and an end-execution structure installed on the robot arm body 101, the end-execution structure includes a parallel pneumatic finger 201 and a micro air pump 204, and two grippers in the parallel pneumatic finger 201 move horizontally toward each other or move away from each other; The micro air pump 204 is connected to the parallel pneumatic finger 201, and the parallel pneumatic finger 201 in the end-effector structure is connected to the free end of the robot arm body 101; The two clamping jaws of the parallel pneumatic finger 201 are connected to a clamping seat assembly, and the clamping seat assembly includes a hollow clamping seat 202, and the hollow clamping seat 202 is connected to the corresponding clamping jaws in the parallel pneumatic finger 201; A plurality of negative pressure grooves connected to the inner cavity of the hollow clamp seat 202 are evenly arranged on the side wall of the hollow clamp seat 202, and the negative pressure grooves opened on the hollow clamp seat 202 are preferably arranged in a rectangular array; Each negative pressure tank is equipped with a flexible reinforcement unit; The hollow clamp seat 202 is connected to an air flow hose 206 communicating with its inner cavity; One end of the airflow hose 206 away from the hollow clamp seat 202 to which it is connected is connected to the input end of the micro vacuum pump 204. The airflow hose 206 connected between the hollow clamp seat 202 and the micro vacuum pump 204 can be fixed to the robot arm body 101 by a structure such as a cable tie or a clamp to prevent the airflow hose 206 from affecting the end-effector structure in grasping the mold base, thereby facilitating the end-effector structure in grasping the mold base. The flexible enhancement unit includes a warning light 208 and a C-shaped carrier frame 210 connected to the negative pressure tank through a bracket. The warning light 208 is connected to the surface of the hollow clamping seat 202 away from the negative pressure tank. The C-shaped carrier frame 210 is respectively connected with a capsule base 213 and an insulating cylinder seat 216 with a resistance wire arranged in a spiral pattern wound around the periphery. The capsule base 213 is connected with a spherical elastic airbag 209 extending from the negative pressure groove and having elasticity. There are two sets of U-shaped frames symmetrically slidably arranged horizontally on the C-shaped carrier frame 210, one of which is provided with a sheet-shaped switch terminal 219, and the other U-shaped frame is provided with a cooperating member cooperating with the sheet-shaped switch terminal 219; The two U-shaped frames are connected with adjusting springs 221 which cooperate with the resistance wire wound on the insulating cylinder seat 216. The two U-shaped frames are provided with power driving parts, and the spherical elastic airbag 209 is located between the two power driving parts. The resistance wire wound on the insulating cylinder seat 216 in all the flexibility enhancement units and the two adjustment springs 221 are electrically connected to the micro air pump 204 .

[0037] After the end-execution structure grasps the mold base, the clamping force of the spherical elastic airbag 209 in the flexible reinforcement unit in the negative pressure groove and the negative pressure adsorption force in the negative pressure groove are superimposed on each other and act together on the surface of the mold base. This superposition effect enhances the firmness of the end-execution structure in grasping the mold base, and in the process of gradually increasing the vacuum degree in the negative pressure groove, the spherical elastic airbag 209 with increased volume further increases the clamping force on the mold base, thereby further enhancing the grasping firmness of the end-execution structure, thereby greatly reducing the risk of the mold base falling off during movement and improving the safety of injection molding mold production.

[0038] After the end execution structure grasps the mold base, when additional clamping force is applied to the side wall of the mold base through the spherical elastic airbag 209 in the flexible reinforcement unit, the elastic spherical elastic airbag 209 has a certain buffering effect. It can effectively reduce the direct impact and extrusion on the mold base when the clamping force is applied, thereby achieving flexible clamping of the mold base and avoiding damage to the mold base.

[0039] Reference Figures 4 to 6 as well as Figures 8 to 10 , the embodiment of the present application provides an anti-slip type robot arm for mold manufacturing, the U-shaped frame includes an insulating longitudinal rod 214; One end of the insulating longitudinal rod 214 is connected to a first insulating horizontal rod 218, and the other end is connected to a second insulating horizontal rod 223. The insulating cylinder seat 216 is located between the C-shaped carrier frame 210 and the second insulating horizontal rod 223; The two adjusting springs 221 are respectively connected to the two second insulating horizontal rods 223, and the free ends of the two adjusting springs 221 are both closely attached to the surface of the resistance wire wound on the insulating tube seat 216; The first insulating horizontal rod 218 in the U-shaped frame is horizontally slidably inserted on the end of the C-shaped support frame 210 , and the first insulating horizontal rod 218 passes through the end of the C-shaped support frame 210 and is connected to the insulating longitudinal rod 214 .

[0040] Reference Figure 4 , Figure 5 and Figure 8 , the embodiment of the present application provides an anti-slip type robot arm for mold manufacturing, the power drive member includes a return spring 217 and an end passive seat 211 connected to the end of the first insulating horizontal rod 218 in the U-shaped frame away from the insulating longitudinal rod 214; The return spring 217 is connected between the end passive seat 211 and the end of the C-shaped support frame 210 .

[0041] Reference Figure 4 , Figure 6 , Figure 8 , Fig. 9 , Fig.11 , the embodiment of the present application provides an anti-slip type robot arm for mold manufacturing, the cooperative part includes a synchronous insulating frame 215 connected to the second insulating horizontal rod 223 in the U-shaped frame corresponding thereto; The synchronous insulating frame 215 is connected with a switch spring 220; The sheet-shaped switch terminal 219 is connected to the second insulating horizontal rod 223 in the corresponding U-shaped frame, and the surface of the sheet-shaped switch terminal 219 is flush with the surface of the second insulating horizontal rod 223; The switch spring 220 and the sheet-shaped switch terminal 219 in each flexible reinforcing unit are electrically connected to the warning light 208 in the flexible reinforcing unit, and when the switch spring 220 contacts the sheet-shaped switch terminal 219 , the warning light 208 is triggered to turn on.

[0042] In the process of forming a vacuum environment in the negative pressure tank and increasing the volume of the spherical elastic airbag 209, the expanded spherical elastic airbag 209 contacts the two power driving parts that continuously drive the two U-shaped frames to move in opposite directions. The two U-shaped frames moving in opposite directions make the switch spring 220 contact the sheet switch terminal 219 and trigger the warning light 208 in the flexible reinforcement unit to turn on. After the operator observes the lit warning light 208, he can quickly determine that the environment has been formed inside the negative pressure tank in the clamp assembly, so that the flexible reinforcement unit can further monitor whether a vacuum environment is formed in the negative pressure tank. After the warning light 208 in the flexible reinforcement unit lights up, the operator can lift the end execution structure that grasps the mold base through the robot arm body 101, which ensures the firmness of the end execution structure in grasping the mold base, and also avoids the operator from moving the mold base before a stable vacuum environment is formed inside the negative pressure tank, thereby preventing the occurrence of unexpected risks.

[0043] After the warning light 208 in the flexible enhancement unit lights up before grabbing, the operator moves the mold base through this device. When a leak occurs in the vacuum system in the terminal execution structure, the vacuum environment in the negative pressure tank gradually weakens, and the volume of the spherical elastic airbag 209 gradually shrinks, causing the two U-shaped frames to move toward each other. When the switch spring 220 separates from the sheet switch terminal 219, the warning light 208 that was originally on in the flexible enhancement unit turns off again. When the operator observes the above situation, he can quickly determine that the vacuum system in the terminal execution structure has leaked at this time, and the lifted mold base needs to be slowly lowered to the ground or the supporting platform immediately. This is convenient for the operator to troubleshoot the fault, and can also effectively ensure the safety of the injection mold production process.

[0044] The spherical elastic airbag 209, which gradually expands in volume, drives the two U-shaped frames to move in opposite directions. At the same time, the distance between the two adjusting springs 221 also increases continuously. More coils in the insulating cylinder seat 216 are received between the two adjusting springs 221, and the resistance value becomes larger, causing the output power of the micro vacuum pump 204 to decrease. As a result, after the flexible enhancement unit detects the formation of a vacuum environment in the negative pressure chamber, the power of the micro vacuum pump 204 in the terminal execution structure is synchronously lowered. This can reduce unnecessary energy consumption while meeting the requirements for the firmness of the mold base grasping.

[0045] Reference Figure 2 The embodiment of the present application provides an anti-slip type robot arm for mold manufacturing, wherein the surface of the hollow clamp seat 202 is connected with an anti-skid pad 203, and through holes are provided on the anti-skid pad 203 at positions corresponding to each negative pressure groove on the hollow clamp seat 202. The friction between the hollow clamp seat 202 and the mold base is increased by the anti-skid pad 203 connected to the hollow clamp seat 202.

[0046] The embodiment of the present application provides a method for using an anti-slip type mechanical arm for mold manufacturing, comprising the following steps: S1, moving the end effector structure to the mold base to be processed by the robot arm body 101; S2, after the mold base is grasped by the clamping seat assembly in the end effector structure, an additional clamping force is applied to the mold base surface by the flexible reinforcement unit extending from the negative pressure groove; S3, turning on the micro vacuum pump 204 in the terminal actuator structure, and extracting the gas in the negative pressure tank through the micro vacuum pump 204, so that a vacuum state is formed in the negative pressure tank; S4, the negative pressure tank in a vacuum state exerts a vacuum adsorption force on the mold base clamped between the two sets of clamp base assemblies, so that the mold base can be adsorbed and fixed on the surface of the clamp base assembly after being grasped by the two sets of clamp base assemblies; S5. When the inside of the negative pressure tank is evacuated to a vacuum state, the volume of the spherical elastic airbag 209 in the flexible enhancement unit gradually expands, so that the clamping force of the flexible enhancement unit on the surface of the mold base is also enhanced; S6. After the end effector structure grabs the mold base, the robot body 101 moves the mold base to the next processing position.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An anti-dropout mechanical arm for mold manufacturing, characterized in that: The invention comprises a robot arm body (101) and an end-actuation structure installed on the robot arm body (101), wherein the end-actuation structure comprises parallel pneumatic fingers (201) and a micro air pump (204), wherein two clamping claws of the parallel pneumatic fingers (201) are connected to a clamp seat assembly, wherein the clamp seat assembly comprises a hollow clamp seat (202), wherein a plurality of negative pressure grooves connected to an inner cavity of the hollow clamp seat (202) are evenly arranged on a side wall of the hollow clamp seat (202), wherein each negative pressure groove is provided with a flexible reinforcement unit, and an air flow hose (206) connected to the inner cavity of the hollow clamp seat (202) is connected to the hollow clamp seat (202); The flexible reinforcement unit comprises a warning light (208) and a C-shaped support frame (210) connected to the negative pressure tank via a bracket, the C-shaped support frame (210) being respectively connected to a capsule base (213) and an insulating cylinder seat (216) having a resistance wire wound around the outer circumference in a spiral arrangement, the capsule base (213) being connected to a spherical elastic air bag (209) extending from the negative pressure tank, and two groups of U-shaped frames being symmetrically slidable horizontally on the C-shaped support frame (210), one of the U-shaped frames being provided with a sheet-shaped switch terminal (219), and the other U-shaped frame being provided with a cooperating member cooperating with the sheet-shaped switch terminal (219); The two U-shaped frames are both connected with an adjusting spring (221) that cooperates with the resistance wire wound on the insulating cylinder seat (216). The two U-shaped frames are both provided with a power driving member, and the spherical elastic airbag (209) is located between the two power driving members.

2. The anti-dropout mechanical arm for mold manufacturing according to claim 1, characterized in that: The parallel pneumatic fingers (201) in the end-effector structure are connected to the free end of the robot arm body (101); The hollow clamp seat (202) is connected to the corresponding clamping claws in the parallel pneumatic fingers (201); The negative pressure grooves provided on the hollow clamping seat (202) are arranged in a rectangular array.

3. The anti-dropout mechanical arm for mold manufacturing according to claim 1, characterized in that: The U-shaped frame comprises an insulating longitudinal rod (214); One end of the insulating longitudinal rod (214) is connected to a first insulating horizontal rod (218), and the other end is connected to a second insulating horizontal rod (223); The first insulating horizontal rod (218) in the U-shaped frame is horizontally slidably inserted on the end of the C-shaped bearing frame (210), and the first insulating horizontal rod (218) passes through the end of the C-shaped bearing frame (210) and is connected to the insulating longitudinal rod (214).

4. The anti-dropout mechanical arm for mold manufacturing according to claim 3, characterized in that: The power drive member comprises a return spring (217) and an end passive seat (211) connected to an end of a first insulating horizontal rod (218) in the U-shaped frame away from the insulating longitudinal rod (214); The return spring (217) is connected between the end passive seat (211) and the end of the C-shaped support frame (210).

5. The anti-dropout mechanical arm for mold manufacturing according to claim 3, characterized in that: The insulating cylinder seat (216) is located between the C-shaped bearing frame (210) and the second insulating horizontal rod (223); The two adjusting spring pieces (221) are respectively connected to the two second insulating horizontal rods (223), and the free ends of the two adjusting spring pieces (221) are both tightly attached to the surface of the resistance wire wound on the insulating cylinder seat (216).

6. The anti-dropout mechanical arm for mold manufacturing according to claim 1, characterized in that: The resistance wires wound on the insulating cylinder seats (216) in all the flexible enhancement units and the two adjustment springs (221) are electrically connected to the micro air pump (204).

7. The anti-dropout mechanical arm for mold manufacturing according to claim 3, characterized in that: The cooperative member comprises a synchronous insulating frame (215) connected to the second insulating horizontal rod (223) in the corresponding U-shaped frame; The synchronous insulating frame (215) is connected to a switch spring (220).

8. The anti-dropout mechanical arm for mold manufacturing according to claim 7, characterized in that: The sheet-shaped switch terminal (219) is connected to a second insulating horizontal rod (223) in a corresponding U-shaped frame, and a surface of the sheet-shaped switch terminal (219) is flush with a surface of the second insulating horizontal rod (223); The switch spring (220) and the sheet-shaped switch terminal (219) in each of the flexible reinforcement units are electrically connected to the warning light (208) in the flexible reinforcement unit, and when the switch spring (220) contacts the sheet-shaped switch terminal (219), the warning light (208) is triggered to turn on.

9. The anti-dropout mechanical arm for mold manufacturing according to claim 1, characterized in that: One end of the air flow hose (206) away from the hollow clamp seat (202) to which it is connected is connected to the input end of the micro air pump (204); The surface of the hollow clamp seat (202) is connected to an anti-skid pad (203), and a through hole is provided on the anti-skid pad (203) at a position corresponding to each negative pressure groove on the hollow clamp seat (202); The micro air pump (204) is connected to the parallel pneumatic finger (201); The warning light (208) is connected to the surface of the hollow clamping seat (202) on a side away from the negative pressure groove.

10. The method for using the anti-dropout type mechanical arm for mold manufacturing according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, moving the end effector structure to the mold base to be processed by the robot arm body (101); S2, after the mold base is grasped by the clamping seat assembly in the end effector structure, an additional clamping force is applied to the mold base surface by the flexible reinforcement unit extending from the negative pressure groove; S3, turning on the micro vacuum pump (204) in the terminal execution structure, and extracting the gas in the negative pressure tank through the micro vacuum pump (204), so that a vacuum state is formed in the negative pressure tank; S4, the negative pressure tank in a vacuum state exerts a vacuum adsorption force on the mold base clamped between the two sets of clamp base assemblies, so that the mold base can be adsorbed and fixed on the surface of the clamp base assembly after being grasped by the two sets of clamp base assemblies; S5. When the inside of the negative pressure tank is evacuated to a vacuum state, the volume of the spherical elastic airbag (209) in the flexible enhancement unit gradually expands, so that the clamping force of the flexible enhancement unit on the surface of the mold base is also enhanced; S6. After the end effector structure grabs the mold base, the robot arm body (101) moves the mold base to the next processing position.

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