A robot dedicated to stamping

Abstract

The application belongs to the technical field of manipulator manufacturing, and particularly relates to a manipulator special for stamping, which comprises a manipulator body and a control system, the execution end of the manipulator body is provided with two clamping claws which cooperate with each other, the two clamping claws can approach and move away from each other, a channel which is perpendicular to the clamping surface of the clamping claw is arranged on the clamping claw, the axis of the channel is parallel to the moving direction of one clamping claw relative to the other clamping claw, an inner diameter size adjuster is arranged in the channel, and the control system is signal connected with the manipulator body and the inner diameter size adjuster. The application adopts the mode that the channel is arranged on the clamping claw and the inner diameter size adjuster is arranged in the channel, so that the effective inner diameter of the channel can be slowly increased by the control system in the process of stamping the workpiece, and then stamping is carried out in cooperation with the punch of the stamping die, and the problem that the existing manipulator cannot continuously feed the material into the die in the process of stamping the die is solved.

Description

[0001] This application is a divisional application of a Chinese invention patent application. The original application date was July 12, 2024; the application number was 202410932673.4; the invention title was: A robotic arm specifically for stamping; the publication number was CN118455400A; due to the issue of unity of invention, the applicant has voluntarily filed this divisional application. Technical Field

[0002] This application belongs to the field of robotic arm manufacturing technology, specifically a robotic arm specifically designed for stamping. Background Technology

[0003] Currently, robotic arms can only perform the function of loading and unloading materials. Especially on stamping machines, the robotic arm usually clamps the sheet material onto the mold, then moves away, and the mold fixes the sheet material for stamping. During the stamping process, the punch of the mold needs to continuously add material into the mold to prevent the punch from breaking the sheet material. However, ordinary robotic arms cannot change the position of the sheet material they are holding, because changing the position of the holding position is equivalent to releasing the sheet material, meaning the sheet material is no longer clamped. Therefore, existing robotic arms cannot continuously add material into the mold during the stamping process. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of existing technologies by using a channel on the gripper and an inner diameter adjuster located within the channel. This allows the effective inner diameter of the channel to be gradually increased by the control system during the stamping process, thereby cooperating with the punch of the stamping die for stamping. This solves the problem that existing robotic arms cannot continuously feed material into the die during the stamping process.

[0005] To achieve the above objectives, the technical solution adopted in this application is:

[0006] A robotic arm specifically designed for stamping includes a robotic arm body and a control system. The actuator of the robotic arm body is provided with two cooperating grippers that can move closer to and further away from each other. Each gripper has a channel perpendicular to its gripping surface, and the axis of the channel is parallel to the direction in which one gripper moves relative to the other. An inner diameter adjuster is provided within the channel. The control system is signal-connected to the robotic arm body and the inner diameter adjuster.

[0007] Preferably, the inner diameter adjuster includes independent telescopic rods and a cross plate. Several independent telescopic rods are arranged in a circumferential array within the channel. The fixed end of each independent telescopic rod is fixedly disposed within the clamping jaw, and the free end of each independent telescopic rod extends into the channel. The independent telescopic rods are perpendicular to the axis of the channel. A cross plate is fixedly connected to the free end of each independent telescopic rod within the channel. The plane of the cross plate facing the clamping surface of the clamping jaw is on the same plane as the clamping surface of the clamping jaw. The control system signal is connected to the independent telescopic rods.

[0008] Preferably, the inner diameter adjuster includes adjustment units, each of which includes a main telescopic rod, N auxiliary telescopic rods, a core plate, and N auxiliary plates. Several adjustment units are arranged in a circumferential array within the channel. Each auxiliary plate is U-shaped, with the opening of the U-shape facing the geometric center of the channel. The core plate is located within the U-shape of the first auxiliary plate, and its shape and size are equal to the shape and size of the inner cross-section of the U-shape of the first auxiliary plate. The (X-1)th auxiliary plate is located within the U-shape of the Xth auxiliary plate, and its shape and size are equal to the shape and size of the inner cross-section of the U-shape on the Xth auxiliary plate. Each auxiliary plate has a clearance hole on its inner bottom surface. The fixed end of the main telescopic rod and... The fixed ends of the auxiliary telescopic rods are all fixedly disposed within the clamping claws. The free end of the main telescopic rod passes through the clearance holes on each of the auxiliary plates and is fixedly connected to the side wall of the core plate facing the first auxiliary plate. The free end of the first auxiliary telescopic rod passes through the clearance holes on the second auxiliary plate to the Nth auxiliary plate and is fixedly connected to the first auxiliary plate. The free end of the Mth auxiliary telescopic rod passes through the (M+1)th auxiliary plate to the Nth auxiliary plate and is fixedly connected to the Mth auxiliary plate. X is less than or equal to N, M is less than N, and X, M, and N are all natural numbers. The planes of the clamping surfaces of all the auxiliary plates and the core plates facing the clamping claws are all on the same plane as the clamping surfaces of the clamping claws. The main telescopic rods and all auxiliary telescopic rods are signal-connected to the control system.

[0009] Preferably, the projection of the clamping claw onto the clamping surface of the clamping claw is a rectangular frame, and each side wall of the rectangular frame is provided with an inner diameter adjuster.

[0010] Preferably, the projection of the clamping claw on the clamping surface of the clamping claw is U-shaped, and each side wall of the U-shaped claw is provided with an inner diameter adjuster.

[0011] Preferably, the robotic arm body has two gripping claws fixedly connected to it by two sets of gripping telescopic rods, each of the gripping telescopic rods being parallel to each other, and the extension and retraction directions of the two sets of gripping telescopic rods being opposite.

[0012] Preferably, the surface of the horizontal plate facing the geometric center of the channel has rounded corners.

[0013] Compared with the prior art, this application has the following beneficial effects:

[0014] 1. This application adopts a method of setting a channel on the clamping claw and cooperating with an inner diameter adjuster set in the channel. This allows the effective inner diameter of the channel to be gradually increased by the control system through the inner diameter adjuster during the stamping process, so as to cooperate with the punch of the stamping die for stamping. This solves the problem that existing robots cannot continuously feed material into the die during the stamping process.

[0015] 2. This application controls the two clamping jaws to move away from each other and towards each other by setting up a clamping telescopic rod; when the clamping telescopic rod extends, the two clamping jaws move away from each other and release the clamped workpiece; when the clamping telescopic rod retracts, the two clamping jaws move towards each other and clamp the workpiece.

[0016] 3. Each horizontal plate of this application has rounded corners on the surface facing the geometric center of the channel, which can prevent the edge of the horizontal plate from cutting into the sheet material during the stamping process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this application;

[0018] Figure 2 This is a schematic diagram of the first design method for the inner diameter adjuster in this application;

[0019] Figure 3 This is a schematic diagram illustrating the stamping process performed while the sheet material is clamped in this application.

[0020] Figure 4 This is a schematic diagram of the clamping jaw structure when the inner diameter adjuster in this application adopts the first design method;

[0021] Figure 5 This is a schematic diagram of the structure in this application where the projection of the clamping claw on the clamping surface of the clamping claw is of the shape of an inverted triangle.

[0022] Figure 6 This is an exploded view of the adjustment unit in this application.

[0023] The components include: 1. Robotic arm body; 2. Gripping claw; 3. Independent telescopic rod; 4. Horizontal plate; 5. Main telescopic rod; 6. Secondary telescopic rod; 7. Core plate; 8. Sub-plate; 9. Alternating hole; 10. Gripping telescopic rod; 11. Base; 12. Track; 13. Mold; 14. Punch; 15. Sheet material. Detailed Implementation

[0024] like Figure 1-6As shown, a robotic arm specifically designed for stamping includes a robotic arm body 1 and a control system. The actuator of the robotic arm body 1 is provided with two cooperating gripping jaws 2. The two gripping jaws 2 can move closer to each other and further away from each other. Each gripping jaw 2 has a channel perpendicular to the gripping surface of the gripping jaw 2. The axis of the channel is parallel to the direction of movement of one gripping jaw 2 relative to the other gripping jaw 2. An inner diameter adjuster is provided in the channel. The control system is signal-connected to the robotic arm body 1 and the inner diameter adjuster.

[0025] In this embodiment, during use, the two gripping claws 2 of the robotic arm body 1 grip the sheet material 15 to the opening of the mold 13. At this time, the control system ensures that the geometric center of the channel and the geometric center of the opening of the mold 13 are both on the extension line of the central axis of the punch 14 of the mold 13. Figure 3 As shown, during the process of punch 14 punching sheet material 15, the inner diameter adjuster continuously increases the radius of the channel. Since the sheet material 15 is fixedly clamped by two clamping claws 2 and the clamping point cannot move, the sheet material 15 is continuously released as the inner diameter adjuster continuously increases the radius of the channel. This allows more of the sheet material 15 to enter the mold cavity of the mold 13 during the process of punch 14 entering the mold cavity (which is equivalent to continuously feeding material into the mold). This avoids the situation where punch 14 breaks the sheet material 15 during the punching process, and solves the problem that existing robotic arms cannot continuously feed material into the mold during the punching process.

[0026] There are two design methods for the inner diameter adjuster:

[0027] Method 1: The inner diameter adjuster includes independent telescopic rods 3 and a horizontal plate 4. Several independent telescopic rods 3 are arranged in a circular array within the channel. The fixed end of each independent telescopic rod 3 is fixedly disposed within the clamping claw 2, and the free end of each independent telescopic rod 3 extends into the channel. Each independent telescopic rod 3 is perpendicular to the axis of the channel. A horizontal plate 4 is fixedly connected to the free end of each independent telescopic rod 3 within the channel. The plane on the horizontal plate 4 facing the clamping surface of the clamping claw 2 is on the same plane as the clamping surface of the clamping claw 2. The control system signal is connected to the independent telescopic rods 3.

[0028] After this setting, as follows: Figure 3 As shown, the two grippers 2 of the robotic arm body 1 hold the sheet material 15 to the opening of the mold 13. At this time, the control system controls the geometric center of the channel and the geometric center of the opening of the mold 13 to be on the extension line of the central axis of the punch 14 of the mold 13. During the process of the punch 14 punching the sheet material 15, the control system controls the independent telescopic rod 3 to continuously retract, so that... Figure 3The right-side horizontal plate 4 continues to move in direction A. Figure 3 The horizontal plate 4 on the left side continuously moves away from direction A, thus continuously releasing the sheet material 15. This allows more of the sheet material 15 to enter the mold cavity as the punch 14 enters the mold cavity, preventing the punch 14 from breaking the sheet material 15 during the stamping process. Another advantage of this design is that when producing products that can be obtained using only channel stamping without a mold, the distance between the horizontal plate 4 and the geometric center of the channel can be adjusted by controlling the extension and retraction of the independent telescopic rod 3 through the control system to produce different product models.

[0029] Method 2: For example Figure 4 As shown, the inner diameter adjuster includes adjustment units. Each adjustment unit includes a main telescopic rod 5, N auxiliary telescopic rods 6, a core plate 7, and N auxiliary plates 8. Several adjustment units are arranged in a circumferential array within the channel. Each auxiliary plate 8 is U-shaped, with the opening of the U-shape facing the geometric center of the channel. The core plate 7 is located within the U-shape of the first auxiliary plate 8, and its shape and size are equal to the shape and size of the inner cross-section of the U-shape of the first auxiliary plate 8. The (X-1)th auxiliary plate 8 is located within the U-shape of the Xth auxiliary plate 8, and its shape and size are equal to the shape and size of the inner cross-section of the U-shape on the Xth auxiliary plate 8. Each auxiliary plate 8 has a clearance hole 9 on its inner bottom surface. The fixed end of the main telescopic rod 5 and the auxiliary... The fixed ends of the telescopic rods 6 are all fixedly installed inside the clamping claws 2. The free ends of the main telescopic rods 5 pass through the clearance holes 9 on each of the sub-plates 8 and are fixedly connected to the side wall of the core plate 7 facing the first sub-plate 8. The free ends of the first sub-telescopic rods 6 pass through the clearance holes 9 on the second sub-plate 8 to the Nth sub-plate 8 and are fixedly connected to the first sub-plate 8. The free ends of the Mth sub-telescopic rods 6 pass through the (M+1)th sub-plate 8 to the Nth sub-plate 8 and are fixedly connected to the Mth sub-plate 8. X is less than or equal to N, M is less than N, and X, M, and N are all natural numbers. The planes of the clamping surfaces of all the sub-plates 8 and the core plate 7 facing the clamping claws 2 are all on the same plane as the clamping surface of the clamping claws 2. The main telescopic rods 5 and all the sub-telescopic rods 6 are signal-connected to the control system.

[0030] In this embodiment, during use, initially both the main telescopic rod 5 and the auxiliary telescopic rod 6 extend, causing the core plate 7 to detach from the U-shape of the first auxiliary plate 8, the first auxiliary plate 8 to detach from the U-shape of the second auxiliary plate 8, and the Xth auxiliary plate 8 to detach from the U-shape of the (X+1)th auxiliary plate 8. This ensures that the projection of the area enclosed by all the core plates 7 onto the mold 13 is equal to or slightly larger than the inner diameter of the punch 14. Then, as the punch 14 enters the mold cavity of the mold 13, the main telescopic rod 5 slowly retracts, causing the core plate 7 to retract into the U-shape of the auxiliary plate 8 closest to the core plate 7 on an adjustment unit, namely the first clamping auxiliary plate 8. The clamping mechanism includes all the sub-plates 8 except the first sub-plate 8, as well as the clamping claws 2. Then, the sub-plates 8 are retracted one at a time, from the first sub-plate 8 to the Nth sub-plate 8, so that the core plate 7 to the (N-1)th sub-plate 8 are slowly retracted into the U-shape of the Nth sub-plate 8. Compared with the previous design, this inner diameter adjuster method can ensure that the clamped part of the sheet material 15 is maximized during the inner diameter adjustment process, thereby avoiding deformation and wrinkling of the sheet material 15 due to improper clamping during the stamping process.

[0031] As a preferred embodiment, the projection of the clamping claw 2 onto the clamping surface of the clamping claw 2 is a rectangular frame, and each side wall of the rectangular frame is provided with an inner diameter adjuster.

[0032] As a preferred method, such as Figure 5 As shown, the projection of the clamping claw 2 on the clamping surface of the clamping claw 2 is U-shaped, and each side wall of the U-shaped claw is provided with an inner diameter adjuster.

[0033] As a preferred embodiment, the robotic arm body 1 is fixedly connected to two gripping claws 2 via two sets of gripping telescopic rods 10. Each gripping telescopic rod 10 is parallel to each other, and the extension and retraction directions of the two sets of gripping telescopic rods 10 are opposite. This design is intended to control the two gripping claws 2 to move away from each other and towards each other. When the gripping telescopic rods 10 extend, the two gripping claws 2 move away from each other, releasing the gripped workpiece; when the gripping telescopic rods 10 retract, the two gripping claws 2 move towards each other, gripping the workpiece.

[0034] As a preferred embodiment, the surface of the horizontal plate 4 facing the geometric center of the channel has rounded corners. This design prevents the edge of the horizontal plate 4 from cutting into the sheet material 15 during the stamping process.

[0035] Preferably, it also includes a track 12 and a base 11. The base 11 is slidably disposed between the two ends of the track 12, and the robot body 1 is fixedly disposed on the base 11. In this way, the base 11 can be controlled to move on the track 12, thereby enabling the robot body 1 to move and thus expanding the travel range of the robot body 1.

Claims

1. A robotic arm specifically designed for stamping, characterized in that, The system includes a robotic arm body (1) and a control system. The robotic arm body (1) has two cooperating gripping claws (2) at its execution end. The two gripping claws (2) can move closer to each other and further away from each other. The gripping claws (2) have a channel with an axis perpendicular to the gripping surface of the gripping claws (2). The axis of the channel is parallel to the direction of movement of one gripping claw (2) relative to the other gripping claw (2). An inner diameter adjuster is provided in the channel. The control system is connected to the robotic arm body (1) and the inner diameter adjuster. The inner diameter adjuster includes independent telescopic rods (3) and a horizontal plate (4). Several independent telescopic rods (3) are arranged in a circular array in the channel. The fixed end of the independent telescopic rod (3) is fixed in the clamping claw (2). The free end of the independent telescopic rod (3) extends into the channel. The independent telescopic rod (3) is perpendicular to the axis of the channel. The free end of each independent telescopic rod (3) is fixedly connected to a horizontal plate (4) in the channel. The plane on the horizontal plate (4) facing the clamping surface of the clamping claw (2) is in the same plane as the clamping surface of the clamping claw (2). The control system signal is connected to the independent telescopic rod (3). Two gripping claws (2) hold the sheet material (15) to the opening of the mold (13). At this time, the control system controls the geometric center of the channel and the geometric center of the opening of the mold (13) to be on the extension line of the central axis of the punch (14) of the mold (13). During the process of the punch (14) punching the sheet material (15), the control system controls the independent telescopic rod (3) to continuously contract, and the inner diameter adjuster continuously increases the radius of the channel, which continuously releases the sheet material (15). This allows more of the sheet material (15) to enter the mold cavity of the mold (13) during the punching process, thereby preventing the punch (14) from breaking the sheet material (15) during the punching process.

2. The robotic arm specifically designed for stamping according to claim 1, characterized in that, The horizontal plate (4) has rounded corners on the surface facing the geometric center of the channel.

Images