A detachable robotic arm for mold manufacturing and its usage method

Abstract

The present application discloses a detachable robotic arm for mold manufacturing and its usage method, belonging to the technical field of robotic arms. It includes a robotic arm main body and an end effector structure installed on the robotic arm main body. The end effector structure includes parallel pneumatic fingers and a micro air pump. Clamping seat assemblies are connected to both jaws of the parallel pneumatic fingers. After the end effector structure grabs the mold embryo, through the mutual superposition of the clamping force of the spherical elastic airbag in the flexible reinforcement unit located in the negative pressure groove and the negative pressure adsorption force in the negative pressure groove, and their common additional action on the surface of the mold embryo, this superposition effect enhances the grasping firmness of the end effector structure on the mold embryo. And during the process of gradually increasing the vacuum degree in the negative pressure groove, the spherical elastic airbag with an increasing volume further increases the clamping force on the mold embryo, thereby further enhancing the grasping firmness of the end effector structure, and thus greatly reducing the risk of the mold embryo falling off during the movement process.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and more specifically, to a detachable robotic arm for mold manufacturing and a usage method thereof. Background Art

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

[0003] The material for manufacturing injection molds is generally chromium steel, which is hard, wear-resistant, corrosion-resistant, and can withstand the repeated high pressure of the injection of rubber materials. The first step in manufacturing an injection mold is to manufacture the mold base. The mold base is the skeleton of the entire mold, and all the components of the mold are processed on the structure of the mold base. The process for manufacturing an injection mold is as follows: First, according to the requirements of the mold design, the chromium steel is processed on a milling machine into dimensions that meet the technical requirements to form the mold base; second, multiple processes such as precision washing, chamfering, precision framing, and precision grinding are performed on the mold base; then, a cavity is machined on the mold base; finally, the produced mold is polished to improve the surface finish of the mold.

[0004] When manufacturing an injection mold, a robotic arm can facilitate the operator 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 a mold base made of chromium steel, which is heavy and has a relatively smooth surface, through the grasping mechanism connected to its end, due to the small sidewall friction of the metal mold base, there is an increased risk of the mold base falling off during the process of the robotic arm grabbing and moving the mold base, posing a certain safety hazard and being unfavorable for the safe production of injection molds.

[0005] In view of this, we propose a detachable robotic arm for mold manufacturing and a usage method thereof. Summary of the Invention

[0006] Technical problems to be solved: The purpose of the present application is to provide a detachable robotic arm for mold manufacturing and a usage method thereof, which solves the technical problems proposed in the above background art.

[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;

[0008] 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;

[0009] 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.

[0010] 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;

[0011] The hollow clamp seat is connected to the corresponding clamping jaws in the parallel pneumatic fingers;

[0012] The negative pressure grooves provided on the hollow clamp seat are arranged in a rectangular array.

[0013] As an optional solution of the technical solution of this application document, the U-shaped frame includes an insulating longitudinal rod;

[0014] 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;

[0015] 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.

[0016] 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;

[0017] The return spring is connected between the end passive seat and the end of the C-shaped carrier frame.

[0018] As an alternative solution of the technical solution of this application document, the insulating cylinder base is located between the C-shaped carrier and the second insulating horizontal rod;

[0019] Two adjusting elastic pieces are respectively connected to the two second insulating horizontal rods, and the free ends of the two adjusting elastic pieces are both closely attached to the surface of the resistance wire wound on the insulating cylinder base.

[0020] As an alternative solution of the technical solution of this application document, the resistance wire wound on the insulating cylinder base and the two adjusting elastic pieces in all the flexible strengthening units are electrically connected to the micro air pump.

[0021] As an alternative solution of the technical solution of this application document, the cooperation part includes a synchronous insulating frame connected to the second insulating horizontal rod in the corresponding U-shaped frame;

[0022] A switch elastic piece is connected to the synchronous insulating frame.

[0023] As an alternative solution of the technical solution of this application document, the sheet-shaped switch terminal is connected to the second insulating horizontal rod in the corresponding U-shaped frame, and the surface of the sheet-shaped switch terminal is flush with the surface of the second insulating horizontal rod;

[0024] The switch elastic piece and the sheet-shaped switch terminal in each flexible strengthening unit are both electrically connected to the warning light in this flexible strengthening unit, and when the switch elastic piece contacts the sheet-shaped switch terminal, the warning light is triggered to turn on.

[0025] As an alternative solution of the technical solution of this application document, one end of the air flow hose far from the hollow clamp seat it is connected to is connected to the input end of the micro air pump;

[0026] An anti-slip pad is connected to the surface of the hollow clamp seat, and through holes are provided at positions corresponding to each negative pressure groove on the hollow clamp seat on the anti-slip pad;

[0027] The micro air pump is connected to the parallel pneumatic fingers;

[0028] The warning light is connected to the surface of the hollow clamp seat on the side far from the negative pressure groove.

[0029] The technical solution of this application provides a usage method of a anti-detachment type robotic arm for mold manufacturing, including the following steps:

[0030] S1. Move the end effector structure to the mold blank to be processed through the robotic arm main body;

[0031] S2. After grasping the mold blank through the clamp assembly in the end effector structure, apply an additional clamping force to the surface of the mold blank through the flexible strengthening unit extending from the negative pressure groove;

[0032] S3. Turn on the micro air pump in the end effector structure, and extract the gas in the negative pressure tank through the micro air pump to create a vacuum state in the negative pressure tank;

[0033] S4. The negative pressure tank with a vacuum state inside exerts a vacuum adsorption force on the mold embryo clamped between the two clamp seat assemblies, so that after the mold embryo is grasped by the two clamp seat assemblies, it can also be adsorbed and fixed on the surface of the clamp seat assembly;

[0034] S5. During the process of the inside of the negative pressure tank being pumped into a vacuum state, the volume of the spherical elastic airbag in the flexible strengthening unit gradually expands, so that the clamping force exerted by the flexible strengthening unit on the surface of the mold embryo also increases accordingly;

[0035] S6. After the end effector structure grasps the mold embryo, the robotic arm body moves the mold embryo to the next processing position.

[0036] Beneficial effects: One or more technical solutions provided in the technical solution of this application have at least the following technical effects or advantages: 1. After the end effector structure grasps the mold embryo, through the superposition of the clamping force of the spherical elastic airbag in the flexible strengthening unit located in the negative pressure tank and the negative pressure adsorption force in the negative pressure tank, and their common additional action on the surface of the mold embryo, this superposition effect enhances the grasping firmness of the end effector structure on the mold embryo. And during the process of the vacuum degree in the negative pressure tank gradually increasing, the spherical elastic airbag with an increased volume further increases the clamping force on the mold embryo, thereby further enhancing the grasping firmness of the end effector structure, thus greatly reducing the risk of the mold embryo falling off during the movement process and improving the safety of the injection mold production and manufacturing.

[0037] 2. After the end effector structure grasps the mold embryo, when the spherical elastic airbag in the flexible strengthening unit exerts an additional clamping force on the side wall of the mold embryo, due to the certain buffering effect of the elastic spherical elastic airbag, it can effectively reduce the direct impact and extrusion on the mold embryo when applying the clamping force, realize the flexible clamping of the mold embryo, and avoid damaging the mold embryo.

[0038] 3. During the process of forming a vacuum environment in the negative pressure groove and causing the volume of the spherical elastic airbag to increase, as the volume-expanded spherical elastic airbag contacts the two continuously driving power driving components, it drives the two U-shaped frames to move away from each other. The two U-shaped frames moving away from each other cause the switch elastic piece to contact the sheet-shaped switch terminal and trigger the warning light in the flexible enhancement unit to turn on. After the operator observes the lit warning light, it can be quickly judged that the environment inside the negative pressure groove in the clamping seat assembly has been formed. Thus, the flexible enhancement unit can further monitor whether a vacuum environment has been formed in the negative pressure groove. After the warning light in the flexible enhancement unit lights up, the operator can lift the end effector structure grasping the mold blank through the robotic arm main body, ensuring the firm grasping of the mold blank by the end effector structure, and at the same time, preventing the operator from moving the mold blank before a stable vacuum environment is formed inside the negative pressure groove, thus preventing the occurrence of accidental risks.

[0039] 4. After the warning light in the flexible enhancement unit lights up before grasping, when the operator moves the mold blank through this device, if there is a leakage point in the vacuum system in the end effector structure, resulting in a gradual weakening of the vacuum environment in the negative pressure groove and a gradual reduction in the volume of the spherical elastic airbag, causing the two U-shaped frames to move towards each other. When the switch elastic piece separates from the sheet-shaped switch terminal, the originally lit warning light in the flexible enhancement unit turns off again. When the operator observes the above situation, it can be quickly judged that there is a leakage in the vacuum system of the end effector structure at this time, and the lifted mold blank needs to be slowly lowered to the ground or the carrier table immediately. This is convenient for the operator to troubleshoot the problem and can effectively ensure the safety during the production and manufacturing process of the injection mold.

[0040] 5. While the volume of the gradually expanding spherical elastic airbag drives the two U-shaped frames to move away from each other, the distance between the two adjusting elastic pieces also continuously increases. More coils in the insulating cylinder base are received between the two adjusting elastic pieces, and the resistance value becomes larger, causing the output power of the micro air pump to also decrease. Thus, after the flexible enhancement unit monitors the formation of a vacuum environment in the negative pressure cavity, it synchronously reduces the power of the micro air pump in the end effector structure. In this way, on the premise of meeting the requirement for the firm grasping of the mold blank, unnecessary energy consumption can be reduced. Description of the Drawings

[0041] Figure 1 It is a schematic diagram of the overall structure of this application.

[0042] Figure 2 It is a schematic diagram of the structure of the end effector structure of this application.

[0043] Figure 3 It is a partially enlarged schematic diagram of the end effector structure of this application.

[0044] Figure 4 For this applicationFigure 3 Partial enlarged schematic view of part A.

[0045] Figure 5 This application Figure 4 Partial enlarged schematic view of part B.

[0046] Figure 6 This application Figure 4 Partial enlarged schematic view of part C.

[0047] Figure 7 Partial sectional schematic view of the clamping seat assembly in this application.

[0048] Figure 8 This application Figure 6 Partial enlarged schematic view of part D.

[0049] Figure 9 This application Figure 8 Partial enlarged schematic view of part E.

[0050] Figure 10 This application Figure 9 Partial enlarged schematic view of part F.

[0051] Figure 11 This application Figure 9 Partial enlarged schematic view of part G.

[0052] Explanation of reference numerals in the figure:

[0053] 101, robotic arm main body;

[0054] 201, parallel pneumatic fingers; 202, hollow clamping seat; 203, anti-slip pad; 204, micro air pump; 206, air flow hose; 208, warning light; 209, spherical elastic airbag; 210, C-shaped carrier; 211, end passive seat; 213, airbag base; 214, insulating vertical rod; 215, synchronous insulating frame; 216, insulating cylinder seat; 217, return spring; 218, first insulating horizontal rod; 219, sheet switch terminal; 220, switch spring piece; 221, adjusting spring piece; 223, second insulating horizontal rod. Specific embodiments

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0056] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation to the present application.

[0057] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0058] Referring to Figures 1 to 4 and Figures 7 to 9 , an embodiment of the present application provides a non - detachable robotic arm for mold manufacturing, including a robotic arm main body 101 and an end - effector structure mounted on the robotic arm main body 101. The end - effector structure includes parallel pneumatic fingers 201 and a micro air pump 204. The two jaws in the parallel pneumatic fingers 201 move horizontally towards each other or away from each other.

[0059] The micro air pump 204 is connected to the parallel pneumatic fingers 201, and the parallel pneumatic fingers 201 in the end - effector structure are connected to the free end of the robotic arm main body 101.

[0060] Clamping seat assemblies are connected to both jaws of the parallel pneumatic fingers 201. The clamping seat assembly includes a hollow clamping seat 202, and the hollow clamping seat 202 is connected to the corresponding jaw in the parallel pneumatic fingers 201.

[0061] A plurality of negative - pressure grooves communicating with the inner cavity of the hollow clamping seat 202 are uniformly formed on the side wall of the hollow clamping seat 202, and the negative - pressure grooves formed on the hollow clamping seat 202 are preferably arranged in a rectangular array.

[0062] A flexible reinforcement unit is provided in each negative - pressure groove.

[0063] An air flow hose 206 communicating with its inner cavity is connected to the hollow clamping seat 202.

[0064] One end of the air flow hose 206 away from the hollow chuck 202 it is connected to is connected to the input end of the micro air extraction pump 204. The air flow hose 206 connected between the hollow chuck 202 and the micro air extraction pump 204 can be fixed to the main body 101 of the robotic arm through structures such as cable ties or clamps, so as to prevent the air flow hose 206 from affecting the end effector structure's grasping of the mold embryo and facilitate the end effector structure's grasping of the mold embryo;

[0065] The flexible reinforcement unit includes a warning light 208 and a C-shaped carrier 210 connected to the negative pressure groove through a bracket. The warning light 208 is connected to the surface of the hollow chuck 202 on the side away from the negative pressure groove;

[0066] A bladder base 213 and an insulating cylinder base 216 with a resistive wire wound around its outer periphery in a spiral arrangement are respectively connected to the C-shaped carrier 210. A spherical elastic airbag 209 that extends from the negative pressure groove and has elasticity is connected to the bladder base 213;

[0067] Two groups of U-shaped frames slide horizontally symmetrically on the C-shaped carrier 210. A sheet switch terminal 219 is provided on one of the U-shaped frames, and a cooperating member that cooperates with the sheet switch terminal 219 is provided on the other U-shaped frame;

[0068] Adjusting spring pieces 221 that cooperate with the resistive wire wound on the insulating cylinder base 216 are connected to both U-shaped frames. Power driving members are provided on both U-shaped frames, and the spherical elastic airbag 209 is located between the two power driving members;

[0069] The resistive wire wound on the insulating cylinder base 216 and the two adjusting spring pieces 221 in all flexible reinforcement units are electrically connected to the micro air extraction pump 204.

[0070] After the end effector structure grasps the mold embryo, through the superposition of the clamping force of the spherical elastic airbag 209 in the flexible reinforcement unit located in the negative pressure groove and the negative pressure adsorption force in the negative pressure groove, and their combined additional action on the surface of the mold embryo, this superposition effect enhances the grasping firmness of the end effector structure on the mold embryo. And during the process of the vacuum degree in the negative pressure groove gradually increasing, the volume-increasing spherical elastic airbag 209 further increases the clamping force on the mold embryo, thereby further enhancing the grasping firmness of the end effector structure, greatly reducing the risk of the mold embryo falling off during movement, and improving the safety of injection mold production and manufacturing.

[0071] After the end effector structure grasps the mold embryo, when the spherical elastic airbag 209 in the flexible reinforcement unit applies an additional clamping force to the side wall of the mold embryo, due to the elastic spherical elastic airbag 209 having a certain buffering effect, it can effectively reduce the direct impact and extrusion on the mold embryo when applying the clamping force, realize the flexible clamping of the mold embryo, and avoid damaging the mold embryo.

[0072] Reference Figures 4 to 6 and Figures 8 to 10 , an embodiment of the present application provides a detachable robotic arm for mold manufacturing. The U-shaped frame includes an insulating vertical rod 214;

[0073] One end of the insulating vertical 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 base 216 is located between the C-shaped carrier 210 and the second insulating horizontal rod 223;

[0074] Two adjusting elastic pieces 221 are respectively connected to the two second insulating horizontal rods 223, and the free ends of the two adjusting elastic pieces 221 are both closely attached to the surface of the resistance wire wound on the insulating cylinder base 216;

[0075] The first insulating horizontal rod 218 in the U-shaped frame is horizontally slidably inserted into the end of the C-shaped carrier 210, and the first insulating horizontal rod 218 passes through the end of the C-shaped carrier 210 and is connected to the insulating vertical rod 214.

[0076] Reference Figure 4 , Figure 5 and Figure 8 , an embodiment of the present application provides a detachable robotic arm for mold manufacturing. The power driving 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 vertical rod 214;

[0077] The return spring 217 is connected between the end passive seat 211 and the end of the C-shaped carrier 210.

[0078] Reference Figure 4 , Figure 6 , Figure 8 , Figure 9 , Figure 11 , an embodiment of the present application provides a detachable robotic arm for mold manufacturing. The cooperation member includes a synchronous insulating frame 215 connected to the second insulating horizontal rod 223 in the corresponding U-shaped frame;

[0079] A switch elastic piece 220 is connected to the synchronous insulating frame 215;

[0080] 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;

[0081] The switch elastic piece 220 and the sheet-shaped switch terminal 219 in each flexible reinforcement unit are both electrically connected to the warning light 208 in the flexible reinforcement unit, and when the switch elastic piece 220 contacts the sheet-shaped switch terminal 219, the warning light 208 is triggered to turn on.

[0082] During the process of forming a vacuum environment in the negative pressure groove and causing the volume of the spherical elastic airbag 209 to increase, as the volume of the spherical elastic airbag 209 expands, it contacts two power driving parts that continuously drive the two power driving parts, and then drives the two U-shaped frames to move away from each other. The two U-shaped frames moving away from each other cause the switch elastic piece 220 to contact the sheet switch terminal 219 and trigger the warning light 208 in the flexible enhancement unit to turn on. After the operator observes the lit warning light 208, it can be quickly judged that the environment inside the negative pressure groove in the clamping seat assembly has been formed. Thus, the flexible enhancement unit can further monitor whether a vacuum environment has been formed in the negative pressure groove. After the warning light 208 in the flexible enhancement unit lights up, the operator can lift the end effector structure grasping the mold blank through the robotic arm main body 101. While ensuring the firm grasping of the mold blank by the end effector structure, it can also prevent the operator from moving the mold blank before a stable vacuum environment is formed inside the negative pressure groove, preventing the occurrence of accidental risks.

[0083] After the warning light 208 in the flexible enhancement unit lights up before grasping, when the operator moves the mold blank through this device, if there is a leakage point in the vacuum system in the end effector structure, resulting in a gradual weakening of the vacuum environment in the negative pressure groove and a gradual reduction in the volume of the spherical elastic airbag 209, causing the two U-shaped frames to move towards each other. When the switch elastic piece 220 separates from the sheet switch terminal 219, the originally lit warning light 208 in the flexible enhancement unit turns off again. When the operator observes the above situation, it can be quickly judged that there is a leakage in the vacuum system in the end effector structure at this time, and the lifted mold blank needs to be slowly lowered to the ground or the carrier table immediately. This is convenient for the operator to troubleshoot the problem and can also effectively ensure the safety during the production and manufacturing process of the injection mold.

[0084] While the spherical elastic airbag 209 with a gradually expanding volume drives the two U-shaped frames to move away from each other, the distance between the two adjusting elastic pieces 221 also continuously increases. More coils in the insulating cylinder seat 216 are received between the two adjusting elastic pieces 221, and the resistance value becomes larger, causing the output power of the micro air pump 204 to also decrease. Thus, after the flexible enhancement unit monitors that a vacuum environment has been formed in the negative pressure cavity, it synchronously reduces the power of the micro air pump 204 in the end effector structure. In this way, on the premise of meeting the requirement for the firm grasping of the mold blank, unnecessary energy consumption can be reduced.

[0085] Refer to Figure 2 As shown in [reference], the embodiment of the present application provides an anti-detachment robotic arm for mold manufacturing. An anti-slip pad 203 is connected to the surface of the hollow clamping seat 202, and through holes are provided at positions on the anti-slip pad 203 corresponding to each negative pressure groove on the hollow clamping seat 202. The anti-slip pad 203 connected to the hollow clamping seat 202 is used to increase the friction with the mold blank.

[0086] An embodiment of the present application provides a method for using a non - detachable robotic arm for mold manufacturing, including the following steps:

[0087] S1. Move the end - effector structure to the mold blank to be processed through the robotic arm main body 101;

[0088] S2. After grasping the mold blank through the clamping seat assembly in the end - effector structure, apply an additional clamping force to the surface of the mold blank through the flexible reinforcement unit extending from the negative pressure groove;

[0089] S3. Turn on the micro - air pump 204 in the end - effector structure, and pump out the gas in the negative pressure groove through the micro - air pump 204 to make the negative pressure groove in a vacuum state;

[0090] S4. The negative pressure groove in a vacuum state applies a vacuum adsorption force to the mold blank clamped between the two clamping seat assemblies, so that after the mold blank is grasped by the two clamping seat assemblies, it can also be adsorbed and fixed on the surface of the clamping seat assembly;

[0091] S5. During the process of pumping the inside of the negative pressure groove into a vacuum state, the volume of the spherical elastic airbag 209 in the flexible reinforcement unit gradually expands, so that the clamping force of the flexible reinforcement unit acting on the surface of the mold blank also increases accordingly;

[0092] S6. After the end - effector structure grasps the mold blank, the robotic arm main body 101 moves the mold blank to the next processing position.

[0093] 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 them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A detachable robotic arm for mold manufacturing, characterized in that: It includes a robotic arm main body (101) and an end effector structure mounted on the robotic arm main body (101). The end effector structure includes parallel pneumatic fingers (201) and a micro air pump (204). Clamping seat assemblies are connected to both jaws of the parallel pneumatic fingers (201). The clamping seat assembly includes a hollow clamping seat (202). A plurality of negative pressure grooves communicating with the inner cavity of the hollow clamping seat (202) are evenly formed on the side wall of the hollow clamping seat (202). A flexible strengthening unit is arranged in each negative pressure groove. An air flow hose (206) communicating with its inner cavity is connected to the hollow clamping seat (202); The flexible strengthening unit includes a warning lamp (208) and a C-shaped carrier frame (210) connected to the negative pressure groove through a bracket. A bladder base (213) and an insulating cylinder base (216) with a resistive wire wound around its outer periphery in a spiral arrangement are respectively connected to the C-shaped carrier frame (210). A spherical elastic air bladder (209) extending out of the negative pressure groove is connected to the bladder base (213). Two groups of U-shaped frames slide horizontally and symmetrically on the C-shaped carrier frame (210). A sheet-shaped switch terminal (219) is arranged on one of the U-shaped frames, and a cooperative member cooperating with the sheet-shaped switch terminal (219) is arranged on the other U-shaped frame; Adjusting elastic pieces (221) cooperating with the resistive wire wound on the insulating cylinder base (216) are connected to both U-shaped frames. Power driving members are arranged on both U-shaped frames, and the spherical elastic air bladder (209) is located between the two power driving members; The U-shaped frame includes an insulating vertical rod (214); A first insulating horizontal rod (218) is connected to one end of the insulating vertical rod (214), and a second insulating horizontal rod (223) is connected to the other end; The first insulating horizontal rod (218) in the U-shaped frame is horizontally slidably inserted into the end of the C-shaped carrier frame (210), and the first insulating horizontal rod (218) passes through the end of the C-shaped carrier frame (210) and is connected to the insulating vertical rod (214); The cooperative member includes a synchronous insulating frame (215) connected to the second insulating horizontal rod (223) in the corresponding U-shaped frame; A switch elastic piece (220) is connected to the synchronous insulating frame (215); 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 elastic piece (220) and the sheet-shaped switch terminal (219) in each flexible strengthening unit are electrically connected to the warning lamp (208) in the flexible strengthening unit, and when the switch elastic piece (220) contacts the sheet-shaped switch terminal (219), the warning lamp (208) is triggered to turn on.

2. The anti-detachment robotic 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 robotic arm main body (101); The hollow clamping seat (202) is connected to the corresponding jaw of the parallel pneumatic fingers (201); The negative pressure grooves formed on the hollow clamping seat (202) are arranged in a rectangular array.

3. The anti - detachment robotic arm for mold manufacturing according to claim 1, characterized in that: The power driving member includes a return spring (217) and an end passive seat (211) connected to one end of the first insulating horizontal rod (218) in the U-shaped frame away from the insulating vertical rod (214); The return spring (217) is connected between the end passive seat (211) and the end of the C-shaped carrier (210).

4. The anti-detachment robotic arm for mold manufacturing according to claim 1, characterized in that: The insulating cylinder seat (216) is located between the C-shaped carrier (210) and the second insulating horizontal rod (223); The two adjusting shrapnel (221) are respectively connected to the two second insulating horizontal rods (223), and the free ends of the two adjusting shrapnel (221) are closely attached to the surface of the resistance wire wound on the insulating cylinder seat (216).

5. The anti - detachment robotic arm for mold manufacturing according to claim 1, characterized in that: The resistance wire wound on the insulating cylinder seat (216) and the two adjusting shrapnel (221) in all the flexible strengthening units are electrically connected to the micro air pump (204).

6. The anti-detachment robotic arm for mold manufacturing according to claim 1, characterized in that: One end of the air flow hose (206) far from the hollow clamp seat (202) it is connected to is connected to the input end of the micro air pump (204); The surface of the hollow clamp seat (202) is connected with an anti-slip pad (203), and through holes are opened at positions corresponding to each negative pressure groove on the hollow clamp seat (202) on the anti-slip pad (203); The micro air pump (204) is connected to the parallel pneumatic finger (201); The warning lamp (208) is connected to the surface of the hollow clamp seat (202) on the side far from the negative pressure groove.

7. The usage method of the anti-detachment robotic arm for mold manufacturing according to any one of claims 1-6, characterized in that, Including the following steps: S1. Move the end effector structure to the mold blank to be processed through the robotic arm main body (101); S2. After grasping the mold blank through the clamp assembly in the end effector structure, apply an additional clamping force to the surface of the mold blank through the flexible strengthening unit extending out of the negative pressure groove; S3. Turn on the micro air pump (204) in the end effector structure, and pump out the gas in the negative pressure groove through the micro air pump (204) to make the inside of the negative pressure groove in a vacuum state; S4. The negative pressure groove with a vacuum inside applies a vacuum adsorption force to the mold blank clamped between the two clamp assemblies, so that after the mold blank is grasped by the two clamp assemblies, it can also be adsorbed and fixed on the surface of the clamp assembly; S5. During the process of the inside of the negative pressure groove being pumped into a vacuum state, the volume of the spherical elastic airbag (209) in the flexible strengthening unit gradually expands, so that the clamping force of the flexible strengthening unit acting on the surface of the mold blank also increases accordingly; S6. After the end effector structure grasps the mold blank, then move the mold blank to the next processing position through the robotic arm main body (101).

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