Material pushing and discharging gripper used for enabling extruded and formed workpiece to be left on lower die

Abstract

The invention discloses a material pushing and discharging gripper for leaving a workpiece in a lower die after extrusion forming, and particularly relates to a robot gripper for leaving the workpiece in the lower die after extrusion forming (hot extrusion or cold extrusion or hot forging or cold punching). The gripper adopts a rear-mounted air cylinder and can be used in a high-temperature field; the middle parts are connected by a round pipe, the length is changed, and the front end of the gripper adopts a gear split type, so that the gripper can be used for gripping larger workpieces; a material pushing device is arranged above the fingers, a spring is arranged in the material pushing device, the situation that a workpiece or a die is damaged due to hard pushing is prevented, and a sensor is adopted for judging whether material pushing succeeds or not. The whole gripper is simple and light in structure, can be adjusted into different specifications and types, and can be suitable for common rectangular coordinate manipulators or various industrial robots.

Description

Technical Field

[0001] The invention relates to an extrusion molding material taking and placing manipulator or robot equipment component, and in particular to a situation where after a round bar is extruded and molded at a single station, a workpiece remains in a lower mold and needs to be ejected for production. Background Art

[0002] Single-station extrusion is a relatively common process in metal forming. Generally, the bar material is placed in the mold and stamped and formed by a punch or press. In many cases, after forming, the workpiece stays in the lower mold, but the workpiece has been lifted to a higher position. Manual pushing is generally adopted. When pushing out manually, the hands have pushing and lifting movements, so the workpiece is pushed out smoothly. In automated production, a generally reliable solution is to use another set of manipulators or robot grippers to remove the workpiece, but this one-release-one-clamp mode has a slow production cycle. The structure with a push plate on the gripper can push the workpiece out, but in automated production, it is difficult for the manipulator or robot to do such an action as lifting immediately after manual pushing, so hard pushing of the workpiece often causes the workpiece to be stuck between the mold and the push plate, and its stability is not enough to support normal production. Therefore, after a large number of tests, we designed this more stable push-release gripper structure. Summary of the invention

[0003] The purpose of the invention is to develop a material pushing and unpushing manipulator gripper for a workpiece which remains in a lower die after extrusion molding and needs to be pushed out.

[0004] The present invention is achieved through the following technical solutions:

[0005] The utility model relates to a material pushing and releasing gripper used for leaving a workpiece in a lower die after extrusion molding, comprising an intermediate round tube for connection and support, a rear cylinder, a clamping mechanism and fingers, an elastic material pushing mechanism and a detection device.

[0006] The round tube mainly serves to connect the cylinder and the gripper at both ends, and also serves to connect with the manipulator or robot. The rear cylinder is connected to the round tube through a connecting plate and a support seat. The rear cylinder can avoid the high temperature transmitted during hot extrusion, which affects the life of the cylinder, and also reduces the weight of the front gripper. The clamping mechanism and fingers mainly play the role of clamping the workpiece. Its power source is the cylinder. The cylinder transmits the force at the rear end to the front end through the screw rod passing through the round tube. Under the action of the cylinder, the fingers play the role of clamping. The elastic push mechanism is a round rod mechanism with a spring sleeve, and a push plate is set at the front end of the round rod. When the push plate encounters resistance, due to the existence of the spring, the round rod will move the push plate backward, so that the workpiece and the mold will not be damaged. At the same time, the elastic push rod has some flexibility, so the workpiece is easy to push out and will not get stuck. The detection mechanism has a support rod at the end of the push rod, which cooperates with the sensor to detect whether the material can be pushed out.

[0007] As a preferred implementation of the above technical solution, the connection between the round tube and the manipulator or robot is preferably achieved by using an optical axis vertical support seat to connect the tube and the plate, the plate is connected to the end flange of the robot, or is connected to the connecting plate on the module of the manipulator.

[0008] As a preferred implementation of the above technical solution, the round tube is connected to the cylinder, and a transition connecting plate can be used to fix the cylinder. The connecting plate is then connected to a diamond support or a flange support, and the support is connected to the round tube.

[0009] As a preferred embodiment of the above technical solution, the clamping mechanism can adopt double-sided rack push-pull, toothed connecting rods on both sides for tensioning, or a hinge mechanism to achieve clamping. The end of the connecting rod can be equipped with a V-shaped finger, mainly for round bar parts.

[0010] As a preferred implementation of the above technical solution, the elastic pushing mechanism adopts a hollow tube installed on the fixed plate, a round rod is passed through the tube, a spring is passed through the part of the round rod extending outside the round tube, and a pushing plate is fixed to the end of the round rod.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] 1. The present invention provides a material pushing and releasing gripper for keeping the workpiece in the lower die after extrusion molding. The gripper has a simple structure and light weight. The design can be easily changed or adjusted according to the load. The gripper has wide versatility and is suitable for the production process of keeping various workpieces in the lower die after molding. The gripper can be used for robots and various manipulators.

[0013] 1. The present invention provides a material pushing and releasing gripper for keeping the workpiece in the lower die after extrusion molding. The gripper has a simple structure and light weight. The design can be easily changed or adjusted according to the load. The gripper has wide versatility and is suitable for the production process of keeping various workpieces in the lower die after molding. The gripper can be used for robots and various manipulators.

[0014] 2. The present invention provides a material pushing and releasing gripper for leaving a workpiece in a lower die after extrusion molding. After pushing the workpiece, the next workpiece is placed immediately, and the working efficiency is high.

[0015] 3. The present invention provides a material pushing and releasing gripper for leaving the workpiece in the lower die after extrusion molding. The gripper adopts an elastic material pushing mechanism and does not damage the die or the workpiece. The flexible material pushing principle can ensure that most of the workpieces can be pushed away, thus ensuring the continuity of automated production.

[0016] 4. The present invention provides a material pushing and releasing gripper for leaving the workpiece in the lower die after extrusion molding. The gripper adopts a detection and protection device. If the workpiece cannot be pushed off, an alarm will be sounded to stop the machine, so as to avoid a dangerous production situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention. Figure 2 yes Figure 1 A partial enlarged view of the front end of the middle grip.

[0018] Numbers in the figure: 1 cylinder, 2 cylinder connecting plate, 3 diamond support, 4 round tube, 5 sensor, 6 diamond support, 7 sensor bracket, 8 gripper fixing plate, 9 toothed connecting rod, 10 finger, 11 blank bar, 12 push rod, 13 push rod fixing plate, 14 spring, 15 push plate, 16 double-sided rack, 17 connecting screw. Implementation

[0019] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0020] See also Figure 1 A material pushing and unloading gripper for leaving the workpiece in the lower die after extrusion molding, comprising a cylinder 1, a cylinder connecting plate 2, a diamond support 3, a round tube 4, a sensor 5, a diamond support 6, a sensor bracket 7, a hand claw fixing plate 8, a toothed connecting rod 9, a finger 10, a blank bar 11, a push rod 12, a push rod fixing plate 13, a spring 14, a push plate 15, a double-sided rack 16, and a connecting screw 17.

[0021] The present embodiment discloses a material pushing and unloading gripper for retaining a workpiece in a lower die after extrusion molding as follows: The whole set of grippers can be connected to the robot or manipulator using two vertical optical axis support frames. When the gripper clamps the workpiece, the cylinder 1 drives the connecting screw 17 to pull back, and the connecting screw 17 drives the double-sided rack 16 to pull back. The rack 16 is linked with the toothed connecting rod 9 to form a clamping state. The finger 10 first clamps a bar. In the process of sending it to the mold, the push plate 15 first hits the previous formed workpiece that originally stayed on the mold. If the spring 14 is selected to be a little harder, the previous workpiece will be pushed away during the pushing process. Under normal circumstances, there will be a little resistance, and the spring 14 will be a little compressed, so the pushing speed can be controlled. In this way, before the workpiece is pushed out, the end of the push rod 12 will not approach the sensor 5, so that production will continue, and the gripper continues to move forward to put the blank bar 11 into the mold. After the gripper is withdrawn, the machine tool operation is started. If a great resistance is encountered in pushing a piece, the compression amount of the spring 14 increases, causing the end of the push rod 12 to approach the sensor 5. At this time, after the sensor 5 senses the signal, it will notify the system to sound an alarm, and the pushing and unloading work will stop.

[0022] The above is only an embodiment of the present invention for one of the relatively hard springs. The present invention can be applied to the case of a softer spring, that is, it can detect each time whether the material is pushed. Therefore, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material pushing and releasing gripper for leaving a workpiece in a lower die after extrusion molding, the structure of which is a rear-mounted cylinder (1), a round tube as a bracket (4), an elastic push plate (15) mounted on the gripper, and having a material pushing detection capability (5).

2. A material pushing and releasing gripper for leaving a workpiece in a lower die after extrusion molding as claimed in claim 1, characterized in that: A material pushing device (12, 13, 14, 15) is arranged above the hand claw, so that new blanks can be put into the mold immediately after the material is pushed.

3. A material pushing and releasing gripper for leaving a workpiece in a lower die after extrusion molding as claimed in claim 1, characterized in that: The push device is equipped with a spring (14), and the spring specification can be replaced according to the push requirements. The elastic push can prevent the material from being stuck in the mold when the material is pushed hard, thereby damaging the product or the mold.

4. A material pushing and releasing gripper for leaving a workpiece in a lower die after extrusion molding as claimed in claim 1, characterized in that: A sensor (5) is placed behind the connecting rod mechanism (12) connected to the push plate on the gripper, which can be used to determine whether the workpiece has been pushed off. If it has not been pushed off, it can be linked to the robot system to alarm.

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