A manipulator device for stamping and handling parts

Abstract

The present invention discloses a manipulator device for stamping and handling parts, and the present invention relates to the technical field of handling manipulators. The present invention includes a clamping assembly, which has a buffer structure for fixing parts during handling, a clamping block is provided at the interval between the clamping assembly and the connecting block, the side of the clamping block away from the clamping assembly is rotatably connected to the inner side surface of the connecting block through a rotating rod, the side of the clamping block away from the connecting block is slidably connected to the inner side surface of the clamping assembly, and the clamping assembly is provided with a plurality of clamping assemblies along the circumference of the clamping block, the buffer structure of the clamping assembly is used for buffering when clamping the stamping part, so as to avoid damage to the workpiece caused by excessive clamping speed, and the plurality of clamping assemblies can be driven independently, and compared with simultaneous driving, when clamping irregularly shaped stamping parts, the surface of the stamping parts can be better fitted, so as to avoid the generation of gaps between the stamping parts and the clamping assembly, thereby preventing the stamping parts from falling off during handling.

Description

Technical Field

[0001] The invention relates to the technical field of handling manipulators, and in particular to a manipulator device used for stamping and handling of parts. Background Art

[0002] The stamping process is a processing method that applies external force to the blank through the die to make it plastically deform or separate, so as to obtain a workpiece of a certain size, shape and performance. The application range of the stamping process is very wide. It can process metal sheets and bars, as well as a variety of non-metallic materials. Since the processing is usually carried out at room temperature, it is also called cold stamping.

[0003] In the forming process of stamping parts with complex structures, multiple stampings are required to form the product, that is, the stamping equipment is equipped with multiple molds, and the stamping parts are stamped multiple times between multiple stations. In traditional stamping equipment, when stamping parts are stamped multiple times between multiple stations, the stamping parts are manually moved, which has low work efficiency, large manual labor, high cost, and it is difficult to ensure the position of the stamping parts, and the product shape error is large. At present, some handling robots have appeared on the market, which have solved the shortcomings of manual handling of stamping parts to a certain extent. However, the current handling robot structure cannot effectively fix a variety of workpieces when clamping them. The shapes and sizes of stamping parts are different, and smaller parts often cannot be effectively moved. Therefore, we propose a robot device for stamping and moving parts. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a manipulator device for stamping and transporting parts, comprising:

[0005] A base, the bottom of the base is slidably connected with a translation mechanism, and a rotating seat is provided on the side of the base away from the translation mechanism, the inner side surface of the base is rotatably connected with the surface of the rotating seat, and a first connecting arm is provided on the side of the rotating seat away from the base, and the surface of the first connecting arm is rotatably connected to the inner side surface of the rotating seat through a rotating rod, and a second connecting arm is provided on the side of the first connecting arm away from the rotating seat, and the inner side surface of the second connecting arm is rotatably connected to the side surface of the first connecting arm through a rotating rod. The translation mechanism can drive the base to move between various workstations, load and unload stamping parts, or transport them between different stamping processes. When the manipulator device is working, the rotating seat is driven to rotate inside the base, the first connecting arm is driven to rotate inside the rotating seat, and the second connecting arm is driven to rotate relative to the first connecting arm, so as to realize free replacement of the position of the stamping parts;

[0006] A transport mechanism, which has a clamping structure and is used for transporting parts during stamping. The end of the transport mechanism is rotatably connected to the end of the second connecting arm away from the first connecting arm through a rotating rod. The transport mechanism clamps the stamped part and drives the transport mechanism to rotate relative to the second connecting arm, so as to adjust the direction of the workpiece, stamp different surfaces of the workpiece, or change the placement direction of the workpiece;

[0007] Wherein, the transport mechanism comprises:

[0008] A connecting block, wherein the connecting block is arranged at one end of the second connecting arm away from the first connecting arm, and a limiting assembly is arranged at the interval between the connecting block and the second connecting arm, and the limiting assembly is respectively fixedly connected to the side where the connecting block and the second connecting arm are close to each other. Different stamping parts have different shapes, and convenient clamping positions are also different. The driving connecting block to rotate relative to the second connecting arm can adjust the clamping angle, and the stamping part can be clamped more conveniently and firmly. The limiting assembly can limit the rotation of the connecting block, so that it can be stably rotated, and avoid large shaking when the connecting block rotates;

[0009] The clamping assembly has a buffer structure for fixing parts during transportation. A card block is provided at the interval between the clamping assembly and the connecting block. The side of the card block away from the clamping assembly is rotatably connected to the inner side surface of the connecting block through a rotating rod. The side of the card block away from the connecting block is slidably connected to the inner side surface of the clamping assembly, and the clamping assembly is provided with several members along the circumference of the card block. After the clamping assembly reaches the predetermined position, the clamping assembly is driven to slide inside the card block. Several clamping assemblies cooperate to clamp the stamping parts. The buffer structure of the clamping assembly buffers when clamping the stamping parts to avoid damage to the workpiece caused by excessive clamping speed. Several clamping assemblies can be driven independently. Compared with simultaneous driving, when clamping irregularly shaped stamping parts, they can better fit the surface of the stamping parts to avoid gaps between the stamping parts and the clamping assembly, thereby preventing the stamping parts from falling off during transportation.

[0010] The cam is connected with the locking plate on one side of the locking plate, and the locking plate is connected with the locking plate on the other side of the locking plate, so that the locking plate is locked and the locking plate is locked.

[0011] Furthermore, a buffer spring is fixedly connected to a side of the clamping arm away from the clamping plate, and a square plate is fixedly connected to a side of the buffer spring away from the clamping arm. A side of the square plate close to the buffer spring is fixedly connected to a side of the plate body away from the clamping plate, and the buffer spring is sleeved on the outside of the plate body. When the plate body moves, the square plate moves, which drives the buffer spring to stretch. Before stable clamping, the buffer spring applies elastic force to the clamping plate so that the clamping plate has sufficient resistance to form a pre-fixation. When the clamping plate moves, the buffer elastic force is provided to prevent the clamping plate from moving too fast and causing damage to the workpiece.

[0012] Furthermore, the clamping plate is configured to be corrugated, the clamping plate is made of an elastic material, and the clamping plate is hollow. A rubber plate is provided inside the clamping plate, and the surface of the rubber plate is fixedly connected to the inner side of the clamping plate. The corrugated clamping plate has multiple depressions. During pre-fixing, smaller parts and irregular part surfaces can be limited to avoid the workpiece from being offset before being fully fixed, thereby ensuring the pre-fixing effect. At the same time, when fully fixed, the clamping plate can be deformed to better cover the workpiece to avoid the workpiece from slipping during transportation. The rubber plate inside the clamping plate can provide a buffer when the clamping plate contacts the workpiece to avoid the clamping plate damaging the workpiece. It can also assist the deformed clamping plate to recover its deformation, thereby avoiding the clamping plate from losing its elasticity and extending its service life.

[0013] Furthermore, limit plates are symmetrically arranged on both sides of the plate body, the limit plates are arranged in a trapezoidal shape, and the sides of the two limit plates close to each other are fixedly connected to the surface of the plate body, the limit plates are arranged in the circle of the buffer spring, and the surface of the limit plates is slidably connected to the inner side surface of the clamping arm, and an auxiliary component is arranged at the end of the clamping arm away from the column, and the limit plates are arranged to limit the plate body when it moves, thereby ensuring the stable sliding of the plate body, thereby ensuring the stable movement of the clamping plate and avoiding the workpiece from offsetting and slipping when predetermined. The limit plates are further limited when fixed, and a single plate body can move independently to adapt to the deformation caused by the clamping plate covering the workpiece, so as to better cover the workpiece, so that workpieces of different sizes and shapes can be firmly fixed and stably transported.

[0014] Furthermore, the auxiliary component includes a touch plate, which is slidably connected to an end of the clamping arm away from the column, and a side of the touch plate close to the clamping plate is fixedly connected to a side of the clamping plate away from the column, and the touch plate is inclined on a side of the clamping arm away from the square plate. When the part is too small, the clamping arm is driven perpendicular to the top of the workpiece, and the touch plate is driven to contact the workpiece. Multiple touch plates limit the workpiece and transport the workpiece vertically, thereby completing the transportation of smaller workpieces. When the touch plate moves, it drives the clamping plate to move, and the clamping plate is buffered, so that the touch plate can also be buffered.

[0015] Furthermore, a groove plate is fixedly connected to a side of the clamping arm away from the square plate, and the side of the groove plate away from the square plate passes through the inclined side of the touch plate, and the surface of the groove plate is slidably connected to the inner side of the touch plate, and tactile sensors are evenly distributed within the groove range of the groove plate, and the tactile sensor is fixedly connected to a side of the touch plate away from the clamping arm, driving the touch plate to contact the workpiece, the tactile sensor to contact the workpiece, the tactile sensor sends out instructions, and drives the manipulator to perform a series of actions, the touch plate moves, and the groove plate is stationary, and the multiple groove plates form a discontinuous space for holding workpieces, so that smaller parts that cannot be clamped can also be transported by being placed inside the multiple groove plates.

[0016] Furthermore, the touch plate is fixedly connected to a limit block on a side close to the clamping arm, and the surface of the limit block is slidably connected to the inner side surface of the clamping arm, the inner side surface of the limit block is slidably connected with a termination plate, the side of the termination plate away from the touch plate is fixedly connected to the inner side surface of the clamping arm, the side of the termination plate away from the clamping arm is fixedly connected with a connecting plate, the connecting plate penetrates the touch plate, and the connecting plate is fixedly connected to the groove plate. The touch plate moves, driving the limit block to slide inside the clamping arm, thereby making the movement of the touch plate more stable, and the limit block slides on the outside of the termination plate, and when the termination plate slides to the bottom of the inner side surface of the limit block, the movement is terminated, completing the bearing of smaller parts, and the termination plate can limit the movement of the limit block, further ensuring the stable movement of the touch plate.

[0017] Furthermore, the limiting assembly includes an annular groove plate, which is fixedly connected to a side of the second connecting arm close to the connecting block, an inner side surface of the annular groove plate is slidably connected to a ring plate, a side of the ring plate away from the second connecting arm is fixedly connected to a connecting seat, a side of the connecting seat away from the ring plate is fixedly connected to a side of the connecting block close to the second connecting arm, and the connecting block rotates to drive the connecting seat and the ring plate to rotate, and the ring plate slides inside the annular groove plate, thereby limiting the connecting block to prevent it from shaking during transportation.

[0018] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0019] The present invention has the beneficial effects:

[0020] The present invention provides a clamping assembly, and the column can limit the clamping arm when the clamping arm moves to prevent the clamping arm from shaking. When clamping the workpiece, the clamping plate is compressed, and the clamping plate and the plate body move relative to the clamping arm, thereby buffering the clamping of the workpiece to prevent damage to the workpiece caused by excessive clamping speed. Before stable clamping, the buffer spring applies elastic force to the clamping plate to make the clamping plate have sufficient resistance to form a pre-fixation. When the clamping plate moves, the buffer elastic force is provided to prevent damage to the workpiece caused by excessively fast movement of the clamping plate.

[0021] The present invention provides a clamping plate, and the corrugated clamping plate has multiple recesses. During pre-fixing, it can limit smaller parts and irregular part surfaces to avoid the workpiece from shifting before it is fully fixed, thereby ensuring the pre-fixing effect. At the same time, when it is fully fixed, the clamping plate can be deformed to better cover the workpiece to avoid the workpiece from slipping during transportation. The rubber plate inside the clamping plate can provide a buffer when the clamping plate contacts the workpiece to avoid the clamping plate damaging the workpiece. It can also assist the deformed clamping plate to recover its shape to avoid the clamping plate losing its elasticity and extend its service life.

[0022] The present invention sets a limit plate to limit the plate body when it moves, thereby ensuring the stable sliding of the plate body, thereby ensuring the stable movement of the clamping plate, avoiding the workpiece from deflecting and slipping when predetermined, and further limiting the position when fixed, and the single plate body can move independently to adapt to the deformation caused by the clamping plate covering the workpiece, so as to better cover the workpiece, so that workpieces of different sizes and shapes can be firmly fixed and stably transported.

[0023] The present invention sets an auxiliary component. When the part is too small, the clamping arm is driven perpendicular to the top of the workpiece, the touch plate is driven to contact the workpiece, the touch plate moves, and the groove plate is stationary. The multiple groove plates form a discontinuous space for holding the workpiece, so that smaller parts that cannot be clamped can also be placed inside the multiple groove plates for transportation, thereby completing the transportation of smaller workpieces. When the touch plate moves, it drives the clamping plate to move, the clamping plate is buffered, and the touch plate can also be buffered. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of a manipulator device used for stamping and handling of parts according to the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the transport mechanism of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the clamping arm of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the clamping plate of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the limiting plate of the present invention;

[0029] Figure 6 It is a schematic diagram of the cross-sectional structure of the clamping arm of the present invention;

[0030] Figure 7 This is a schematic diagram of the auxiliary component structure of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the limit assembly of the present invention;

[0032] Fig. 9 It is a schematic diagram of the structure of the translation mechanism of the present invention.

[0033] In the figure: 1. base; 2. translation mechanism; 21. slide cylinder; 22. slide rod; 23. shock-absorbing spring; 24. sleeve plate; 3. rotating seat; 4. first connecting arm; 5. second connecting arm; 6. transport mechanism; 61. connecting block; 62. limiting assembly; 621. annular groove plate; 622. ring plate; 623. connecting seat; 63. clamping block; 65. clamping assembly; 651. column; 652. clamping arm; 653. plate body; 654. clamping plate; 655. square plate; 656. auxiliary assembly; 6561. touch plate; 6562. tactile sensor; 6563. groove plate; 6564. limiting block; 6565. connecting plate; 6566. termination plate; 657. buffer spring; 658. limiting plate; 659. rubber plate. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0035] Example 1, please refer to Figure 1-Figure 7 The present invention is a manipulator device for stamping and transporting parts, comprising:

[0036] A base 1, the bottom of the base 1 is slidably connected with a translation mechanism 2, a rotating seat 3 is provided on the side of the base 1 away from the translation mechanism 2, the inner side surface of the base 1 is rotatably connected with the surface of the rotating seat 3, a first connecting arm 4 is provided on the side of the rotating seat 3 away from the base 1, the surface of the first connecting arm 4 is rotatably connected with the inner side surface of the rotating seat 3 through a rotating rod, a second connecting arm 5 is provided on the side of the first connecting arm 4 away from the rotating seat 3, the inner side surface of the second connecting arm 5 is rotatably connected with the side surface of the first connecting arm 4 through a rotating rod, the translation mechanism 2 can drive the base 1 to move between various workstations, load and unload stamping parts, or transport them between different stamping processes. When the manipulator device is working, the rotating seat 3 is driven to rotate inside the base 1, the first connecting arm 4 is driven to rotate inside the rotating seat 3, and the second connecting arm 5 is driven to rotate relative to the first connecting arm 4, so as to realize the free replacement of the position of the stamping parts;

[0037] The transport mechanism 6 has a clamping structure and is used for transporting parts during stamping. The end of the transport mechanism 6 is rotatably connected to the end of the second connecting arm 5 away from the first connecting arm 4 through a rotating rod. The transport mechanism 6 clamps the stamped parts and drives the transport mechanism 6 to rotate relative to the second connecting arm 5, so as to adjust the direction of the workpiece, stamp different surfaces of the workpiece, or change the placement direction of the workpiece.

[0038] Wherein, the transport mechanism 6 comprises:

[0039] The connecting block 61 is arranged at one end of the second connecting arm 5 away from the first connecting arm 4. A limiting assembly 62 is arranged at the interval between the connecting block 61 and the second connecting arm 5. The limiting assembly 62 is respectively fixedly connected to the side of the connecting block 61 and the second connecting arm 5 that are close to each other. Different stamping parts have different shapes, and convenient clamping positions are also different. The driving connecting block 61 to rotate relative to the second connecting arm 5 can adjust the clamping angle, and the stamping parts can be clamped more conveniently and firmly. The limiting assembly 62 can limit the rotation of the connecting block 61, so that it can rotate stably and avoid large shaking when the connecting block 61 rotates;

[0040] The clamping assembly 65 has a buffer structure and is used for fixing parts during transportation. A clamping block 63 is provided at the interval between the clamping assembly 65 and the connecting block 61. The side of the clamping block 63 away from the clamping assembly 65 is rotatably connected to the inner side surface of the connecting block 61 through a rotating rod. The side of the clamping block 63 away from the connecting block 61 is slidably connected to the inner side surface of the clamping assembly 65, and a plurality of clamping assemblies 65 are provided along the circumference of the clamping block 63. After the clamping assembly 65 reaches the predetermined position, the clamping assembly 65 is driven to slide inside the clamping block 63. The plurality of clamping assemblies 65 cooperate to clamp the stamping part. The buffer structure of the clamping assembly 65 performs buffering when clamping the stamping part to avoid damage to the workpiece caused by excessive clamping speed. The plurality of clamping assemblies 65 can be driven independently. Compared with simultaneous driving, when clamping an irregularly shaped stamping part, the surface of the stamping part can be better fitted to avoid gaps between the stamping part and the clamping assembly 65, thereby preventing the stamping part from falling off during transportation.

[0041] The clamping assembly 65 includes a column 651, which is fixedly connected to the inner side of the block 63. The surface of the column 651 is slidably connected to the clamping arm 652, and the surface of the clamping arm 652 is slidably connected to the inner side of the block 63. A clamping plate 654 is provided on one side of the clamping arm 652 near the axis of the block 63. A plate body 653 is fixedly connected to the side of the clamping plate 654 near the clamping arm 652. The end of the plate body 653 away from the clamping plate 654 passes through the clamping arm 652, and the surface of the clamping plate 654 is slidably connected to the inner side of the clamping arm 652, driving the clamping arm 652 to move inside the block 63. The surface slides, driving the plate body 653 to move, driving the clamping plate 654 to move, and the clamping plates 654 of several clamping assemblies 65 cooperate to clamp the workpiece. The column 651 can limit the clamping arm 652 when the clamping arm 652 moves to prevent the clamping arm 652 from shaking. When clamping the workpiece, the clamping plate 654 is compressed, and the clamping plate 654 and the plate body 653 move relative to the clamping arm 652, thereby buffering the clamping of the workpiece to avoid damage to the workpiece caused by excessive clamping speed. After the clamping plate 654 contacts the clamping arm 652, the clamping plate 654 stops buffering and stably clamps the workpiece.

[0042] A buffer spring 657 is fixedly connected to the side of the clamping arm 652 away from the clamping plate 654, and a square plate 655 is fixedly connected to the side of the buffer spring 657 away from the clamping arm 652. The side of the square plate 655 close to the buffer spring 657 is fixedly connected to the side of the plate body 653 away from the clamping plate 654, and the buffer spring 657 is sleeved on the outside of the plate body 653. When the plate body 653 moves, the square plate 655 moves, which drives the buffer spring 657 to stretch. Before stable clamping, the buffer spring 657 applies elastic force to the clamping plate 654 so that the clamping plate 654 has sufficient resistance to form a pre-fixation. When the clamping plate 654 moves, the buffer elastic force is provided to prevent the clamping plate 654 from moving too fast and causing damage to the workpiece.

[0043] The clamping plate 654 is configured to be corrugated, and the clamping plate 654 is made of an elastic material, and the clamping plate 654 is configured to be hollow, and a rubber plate 659 is configured inside the clamping plate 654, and the surface of the rubber plate 659 is fixedly connected to the inner side surface of the clamping plate 654, and the corrugated clamping plate 654 has multiple depressions, and during pre-fixation, it can limit smaller parts and irregular part surfaces, and avoid the workpiece from being offset before being fully fixed, thereby ensuring the pre-fixing effect; at the same time, when being fully fixed, the clamping plate 654 can be deformed to better cover the workpiece, and avoid the workpiece from slipping during transportation; the rubber plate 659 inside the clamping plate 654 can provide a buffer when the clamping plate 654 contacts the workpiece, and avoid the clamping plate 654 from damaging the workpiece, and can also assist the deformed clamping plate 654 to recover its deformation, and avoid the clamping plate 654 from losing its elasticity, thereby extending its service life.

[0044] Limiting plates 658 are symmetrically arranged on both sides of the plate body 653. The limiting plates 658 are arranged in a trapezoidal shape, and the sides of the two limiting plates 658 that are close to each other are fixedly connected to the surface of the plate body 653. The limiting plates 658 are arranged in the circle of the buffer spring 657, and the surface of the limiting plates 658 is slidably connected to the inner side surface of the clamping arm 652. An auxiliary component 656 is arranged at the end of the clamping arm 652 away from the column 651. The limiting plates 658 are arranged to limit the plate body 653 when it moves, thereby ensuring the stable sliding of the plate body 653, thereby ensuring the stable movement of the clamping plate 654 and avoiding the workpiece from deviating and slipping when predetermined. The limiting plates 658 are further limited when fixed, and a single plate body 653 can move independently to adapt to the deformation caused by the clamping plate 654 covering the workpiece, so as to better cover the workpiece, so that workpieces of different sizes and shapes can be firmly fixed and stably transported.

[0045] The auxiliary component 656 includes a touch plate 6561, which is slidably connected to one end of the clamping arm 652 away from the column 651, and the side of the touch plate 6561 close to the clamping plate 654 is fixedly connected to the side of the clamping plate 654 away from the column 651, and the touch plate 6561 is located on the side of the clamping arm 652 away from the square plate 655 and is tilted. When the part is too small, the clamping arm 652 is driven perpendicular to the top of the workpiece, and the touch plate 6561 is driven to contact the workpiece. Multiple touch plates 6561 limit the workpiece and transport the workpiece vertically, thereby completing the transportation of smaller workpieces. When the touch plate 6561 moves, it drives the clamping plate 654 to move, and the clamping plate 654 is buffered, so that the touch plate 6561 can also be buffered.

[0046] A groove plate 6563 is fixedly connected to the side of the clamping arm 652 away from the square plate 655, and the side of the groove plate 6563 away from the square plate 655 passes through the inclined side of the touch plate 6561, and the surface of the groove plate 6563 is slidably connected to the inner side of the touch plate 6561, and tactile sensors 6562 are evenly distributed within the groove range of the groove plate 6563, and the tactile sensors 6562 are fixedly connected to the side of the touch plate 6561 away from the clamping arm 652, driving the touch plate 6561 to contact the workpiece, and the tactile sensor 6562 to contact the workpiece, and the tactile sensor 6562 issues a command to drive the manipulator to perform a series of actions, the touch plate 6561 moves, and the groove plate 6563 is stationary, and multiple groove plates 6563 constitute a discontinuous space for holding workpieces, so that smaller parts that cannot be clamped can also be transported by being placed inside multiple groove plates 6563.

[0047] The side of the touch plate 6561 close to the clamping arm 652 is fixedly connected to the limit block 6564, and the surface of the limit block 6564 is slidably connected to the inner side of the clamping arm 652. The inner side of the limit block 6564 is slidably connected to the end plate 6566. The side of the end plate 6566 away from the touch plate 6561 is fixedly connected to the inner side of the clamping arm 652. The side of the end plate 6566 away from the clamping arm 652 is fixedly connected to the connecting plate 6565. The connecting plate 6565 penetrates the touch plate 6561. 565 is fixedly connected to the groove plate 6563, and the touch plate 6561 moves, driving the limit block 6564 to slide inside the clamping arm 652, thereby making the movement of the touch plate 6561 more stable. The limit block 6564 slides on the outside of the termination plate 6566. When the termination plate 6566 slides to the bottom of the inner side of the limit block 6564, the movement is terminated, completing the bearing of smaller parts. The termination plate 6566 can limit the movement of the limit block 6564, further ensuring the stable movement of the touch plate 6561.

[0048] Example 2, please refer to Figure 1-Figure 9 The limiting assembly 62 includes a ring groove plate 621, which is fixedly connected to the side of the second connecting arm 5 close to the connecting block 61, and the inner side surface of the ring groove plate 621 is slidably connected to the ring plate 622, and the side of the ring plate 622 away from the second connecting arm 5 is fixedly connected to the connecting seat 623, and the side of the connecting seat 623 away from the ring plate 622 is fixedly connected to the side of the connecting block 61 close to the second connecting arm 5. The connecting block 61 rotates, driving the connecting seat 623 and the ring plate 622 to rotate, and the ring plate 622 slides inside the ring groove plate 621, thereby limiting the connecting block 61 to prevent it from shaking during transportation.

[0049] The translation mechanism 2 includes a slide cylinder 21, the top of the slide cylinder 21 is fixedly connected to the bottom of the base 1, and the side of the base 1 away from the rotating seat 3 is fixedly connected to the output end of the slide cylinder 21, and the base 1 is symmetrically provided with sleeves 24 on both sides, and the sides of the two sleeves 24 close to each other are fixedly connected to the surface of the base 1, and the sleeve 24 is provided with a sliding rod 22 on the side away from the base 1, and the inner side of the sleeve 24 is slidably connected to the surface of the sliding rod 22, and the sliding rod 22 is fixedly connected to the surface of the slide cylinder 21, and both sides of the sleeve 24 are fixedly connected There is a shock-absorbing spring 23, which is sleeved on the outside of the slide rod 22, and the ends of the two shock-absorbing springs 23 that are away from each other are fixedly connected to the surface of the slide rod 22. During transportation, the slide cylinder 21 is started, and the slide cylinder 21 drives the base 1 to move, and finally drives the workpiece to move, so as to realize the transportation of the workpiece. The movement of the base 1 drives the sleeve plate 24 to move, and the sleeve plate 24 slides on the surface of the slide rod 22, so that the movement of the base 1 is more stable, and at the same time, the shock-absorbing spring 23 is deformed, so as to buffer and reduce shock during movement, so as to avoid shaking and affect the transportation of the workpiece.

[0050] When in use, the touch plate 6561 is driven to contact with the workpiece, the tactile sensor 6562 is driven to contact with the workpiece, and the tactile sensor 6562 issues a command to drive the manipulator to perform a series of actions, drive the rotating seat 3 to rotate inside the base 1, drive the first connecting arm 4 to rotate inside the rotating seat 3, drive the second connecting arm 5 to rotate relative to the first connecting arm 4, and the connecting block 61 rotates, driving the connecting seat 623 and the ring plate 622 to rotate, and the ring plate 622 slides inside the ring groove plate 621 to realize the free replacement of the position of the stamping part, and drive the clamping arm 652 to slide on the inner side of the block 63, drive the plate body 653 to move, drive the clamping plate 654 to move, the plate body 653 moves, drive the square plate 655 to move, drive the buffer spring 657 to stretch, and several clamping components 65 The clamping plate 654 cooperates to clamp the workpiece. After the clamping plate 654 contacts the clamping arm 652, the clamping plate 654 stops buffering and deforms to cover the workpiece, thereby stably clamping the workpiece. When a small workpiece is transported, the touch plate 6561 moves, driving the limit block 6564 to slide inside the clamping arm 652, and the limit block 6564 slides on the outside of the end plate 6566. When the end plate 6566 slides to the bottom of the inner side of the limit block 6564, the movement is terminated, completing the loading of smaller parts. During transportation, the slide cylinder 21 is started, and the slide cylinder 21 drives the base 1 to move. The movement of the base 1 drives the sleeve plate 24 to move. The sleeve plate 24 slides on the surface of the slide rod 22, thereby finally driving the workpiece to move, thereby realizing the transportation of the workpiece.

[0051] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A manipulator device for stamping and handling parts, characterized in that: include: A base (1), wherein the bottom of the base (1) is slidably connected to a translation mechanism (2), a rotating seat (3) is provided on a side of the base (1) away from the translation mechanism (2), an inner side surface of the base (1) is rotatably connected to a surface of the rotating seat (3), a first connecting arm (4) is provided on a side of the rotating seat (3) away from the base (1), a surface of the first connecting arm (4) is rotatably connected to an inner side surface of the rotating seat (3) via a rotating rod, a second connecting arm (5) is provided on a side of the first connecting arm (4) away from the rotating seat (3), an inner side surface of the second connecting arm (5) is rotatably connected to a side surface of the first connecting arm (4) via a rotating rod; A transport mechanism (6), the transport mechanism (6) having a clamping structure and used for transporting parts during stamping, wherein an end of the transport mechanism (6) is rotatably connected to an end of the second connecting arm (5) away from the first connecting arm (4) via a rotating rod; Wherein, the transport mechanism (6) comprises: A connecting block (61), the connecting block (61) being arranged at an end of the second connecting arm (5) away from the first connecting arm (4), a limiting assembly (62) being arranged at a distance between the connecting block (61) and the second connecting arm (5), the limiting assembly (62) being respectively fixedly connected to a side of the connecting block (61) and the second connecting arm (5) close to each other; A clamping assembly (65), the clamping assembly (65) having a buffer structure and used for fixing parts during transportation, a clamping block (63) is provided at the interval between the clamping assembly (65) and the connecting block (61), a side of the clamping block (63) away from the clamping assembly (65) is rotatably connected to the inner side surface of the connecting block (61) via a rotating rod, a side of the clamping block (63) away from the connecting block (61) is slidably connected to the inner side surface of the clamping assembly (65), and a plurality of clamping assemblies (65) are provided along the circumference of the clamping block (63); The clamping assembly (65) comprises a column (651), wherein the column (651) is fixedly connected to the inner side surface of the clamping block (63), a clamping arm (652) is slidably connected to the surface of the column (651), and the surface of the clamping arm (652) is slidably connected to the inner side surface of the clamping block (63), a clamping plate (654) is provided on one side of the clamping arm (652) close to the axis of the clamping block (63), a plate body (653) is fixedly connected to the side of the clamping plate (654) close to the clamping arm (652), an end of the plate body (653) away from the clamping plate (654) passes through the clamping arm (652), and the surface of the clamping plate (654) is slidably connected to the inner side surface of the clamping arm (652). A side of the clamping arm (652) away from the clamping plate (654) is fixedly connected to a buffer spring (657), a side of the buffer spring (657) away from the clamping arm (652) is fixedly connected to a square plate (655), a side of the square plate (655) close to the buffer spring (657) is fixedly connected to a side of the plate body (653) away from the clamping plate (654), and the buffer spring (657) is sleeved outside the plate body (653); An auxiliary component (656) is provided at one end of the clamping arm (652) away from the column (651); The auxiliary component (656) comprises a touch plate (6561), the touch plate (6561) being slidably connected to an end of the clamping arm (652) away from the column (651), a side of the touch plate (6561) close to the clamping plate (654) being fixedly connected to a side of the clamping plate (654) away from the column (651), and the touch plate (6561) being inclinedly arranged on a side of the clamping arm (652) away from the square plate (655); A groove plate (6563) is fixedly connected to a side of the clamping arm (652) away from the square plate (655); the side of the groove plate (6563) away from the square plate (655) penetrates the inclined side surface of the touch plate (6561); the surface of the groove plate (6563) is slidably connected to the inner side surface of the touch plate (6561); tactile sensors (6562) are evenly distributed within the groove range of the groove plate (6563); and the tactile sensors (6562) are fixedly connected to a side of the touch plate (6561) away from the clamping arm (652); The side of the touch plate (6561) close to the clamping arm (652) is fixedly connected to a limit block (6564), and the surface of the limit block (6564) is slidably connected to the inner side surface of the clamping arm (652), the inner side surface of the limit block (6564) is slidably connected to a termination plate (6566), the side of the termination plate (6566) away from the touch plate (6561) is fixedly connected to the inner side surface of the clamping arm (652), the side of the termination plate (6566) away from the clamping arm (652) is fixedly connected to a connecting plate (6565), the connecting plate (6565 passes through the touch plate (6561), and the connecting plate (6565) is fixedly connected to the groove plate (6563).

2. A manipulator device for stamping and handling parts according to claim 1, characterized in that: The clamping plate (654) is configured to be corrugated, the clamping plate (654) is made of an elastic material, and the clamping plate (654) is configured to be hollow. A rubber plate (659) is provided inside the clamping plate (654), and the surface of the rubber plate (659) is fixedly connected to the inner side surface of the clamping plate (654).

3. A manipulator device for stamping and handling parts according to claim 2, characterized in that: Limiting plates (658) are symmetrically arranged on both sides of the plate body (653); the limiting plates (658) are arranged in a trapezoidal shape, and the sides of the two limiting plates (658) close to each other are fixedly connected to the surface of the plate body (653); the limiting plates (658) are arranged in the loop of the buffer spring (657), and the surface of the limiting plates (658) is slidably connected to the inner side surface of the clamping arm (652).

4. A manipulator device for stamping and handling parts according to claim 3, characterized in that: The limiting assembly (62) comprises an annular groove plate (621), the annular groove plate (621) being fixedly connected to a side of the second connecting arm (5) close to the connecting block (61), the inner side surface of the annular groove plate (621) being slidably connected to a ring plate (622), the side of the ring plate (622) away from the second connecting arm (5) being fixedly connected to a connecting seat (623), and the side of the connecting seat (623) away from the ring plate (622) being fixedly connected to a side of the connecting block (61) close to the second connecting arm (5).

5. A manipulator device for stamping and handling parts according to claim 4, characterized in that: The translation mechanism (2) comprises a slide cylinder (21), the top of the slide cylinder (21) is fixedly connected to the bottom of the base (1), and the side of the base (1) away from the rotating seat (3) is fixedly connected to the output end of the slide cylinder (21), sleeve plates (24) are symmetrically arranged on both sides of the base (1), and the sides of the two sleeve plates (24) close to each other are fixedly connected to the surface of the base (1), and the side of the sleeve plate (24) away from the base (1) is provided with a sliding rod (22), and the inner side surface of the sleeve plate (24) is slidably connected to the surface of the sliding rod (22), and the sliding rod (22) is fixedly connected to the surface of the slide cylinder (21), and the two sides of the sleeve plate (24) are fixedly connected to the shock absorbing spring (23), the shock absorbing spring (23) is sleeved on the outside of the sliding rod (22), and the ends of the two shock absorbing springs (23) away from each other are fixedly connected to the surface of the sliding rod (22).

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