Automatic manipulator clamping mechanism and tool clamp comprising same

Abstract

The invention discloses an automatic manipulator clamping mechanism and a tool clamp comprising the same, relates to the technical field of manipulators, and solves the problem that the efficiency and the precision are low when articles or parts are carried and mounted due to the fact that a mechanical arm is difficult to simulate the movement of each joint of a human arm. The automatic manipulator clamping mechanism comprises a lower base, a vertical rotating assembly, an automatic manipulator system and a mold clamping assembly, wherein the vertical rotating assembly is mounted at the top of the lower base. According to the device, further adjustment can be conducted according to the specific position of the mold or the product, and high-precision mold or product grabbing or mounting operation is achieved. And meanwhile, transmission is carried out in a worm and gear connection mode when the position of a mold or a product is accurately positioned, it is guaranteed that interference and conflict are not generated in operation of a first transmission motor and a second transmission motor, the overall occupied area of the structure is small, and the weight of the clamping end of the mechanical arm is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to an automated manipulator clamping mechanism and a tooling fixture comprising the same. Background Art

[0002] The function of the automated manipulator is to detect the position, stroke, speed, pressure, flow, etc. of the automated manipulator and feed back to the control system. It is widely used in the fields of machinery manufacturing, agricultural product processing, leather machinery industry, and chemical industry. Among them, traditional automated manipulators generally have a clamping function, which can grab and fix objects (molds, etc.) to achieve functions such as transportation and installation.

[0003] The existing Chinese patent application with application publication number CN117086849A discloses a manipulator for mold handling, including a mounting frame, an orientation adjustment frame arranged on the mounting frame, a turnover frame installed on the orientation adjustment frame, and a grabbing mechanism installed on the turnover frame; the mounting frame is provided with a steering assembly and a folding frame installed on the steering assembly, and the orientation adjustment frame is installed on the folding frame; the turnover frame is provided with a swing mechanism and a driving assembly for driving the swing mechanism, the mounting end of the grabbing mechanism is provided with a supporting frame, the supporting frame is installed on the swing mechanism, and the driving assembly drives the supporting frame to reciprocate through the swing mechanism; the invention can sustainably complete the handling and turnover of molds between two production lines, can form a bottleneck-free turnover process between the production lines, and improve the operating efficiency of the overall mold processing process.

[0004] However, the manipulator has the following defects when used:

[0005] 1. After the existing manipulator clamps and fixes an object or part (mold, etc.), it needs to drive the clamped object or part (mold, etc.) to rotate and move, and install it in the next object or part (mold, etc.) production and processing equipment. In the actual operation of the above scheme, it is difficult for the manipulator to simulate the movement of each joint of the human arm, resulting in low efficiency and accuracy when carrying and installing objects or parts (molds, etc.);

[0006] 2. When the existing manipulator grabs and moves the products that have been processed inside the fixed mold, the processed products will stick to the inside of the mold due to the force during processing. At this time, when moving and stacking the products, the products need to be removed from the inside of the mold in advance, affecting the overall production and processing efficiency. Summary of the invention

[0007] The object of the present invention is to provide an automated manipulator clamping mechanism and a fixture including the same, so as to solve the problems raised in the above-mentioned background technology.

[0008] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0009] The present invention provides an automated manipulator clamping mechanism, comprising a lower base, a vertical rotation assembly, an automated manipulator system and a mold clamping assembly, wherein the top of the lower base is equipped with a vertical rotation assembly, and the top of the vertical rotation assembly is equipped with an automated manipulator system through screws.

[0010] A mold clamping assembly is installed at the bottom of the automated manipulator system, and an upper mold base is clamped and fixed at the bottom of the mold clamping assembly.

[0011] Wherein, the automated manipulator system comprises:

[0012] A mechanical arm support assembly, wherein the mechanical arm support assembly is mounted on the top of the vertical rotation assembly by screws, and a mechanical arm steering assembly is mounted on the side of the mechanical arm support assembly;

[0013] A worm gear transmission assembly is installed on the side of the mechanical arm steering assembly, a servo cylinder is installed on the inner side of the worm gear transmission assembly, and a mold clamping assembly is installed on the bottom of the servo cylinder.

[0014] As a preferred solution of the present invention, the vertical rotation assembly includes:

[0015] An upper support seat, the upper support seat is mounted on the top of the lower base, a first motor is mounted at an eccentric position of the bottom of the upper support seat, a first gear is mounted on the top of the output end of the first motor, and the first gear is rotatably connected to the interior of the upper support seat;

[0016] A central gear, the central gear is meshed and connected to the side of the first gear, the central gear is rotatably connected to the center of the upper support seat, an intermediate column is installed on the top of the central gear, and the top of the intermediate column extends to the top of the upper support seat,

[0017] Wherein, a mechanical rotating disk is installed on the top of the middle column, and the mechanical rotating disk is rotatably connected to the top of the upper support seat, and a mechanical arm support assembly is installed on the top of the mechanical rotating disk through screws.

[0018] As a preferred embodiment of the present invention, the mold clamping assembly includes:

[0019] An upper mounting plate, the upper mounting plate is connected to the output end of the servo cylinder, a lower mounting plate is mounted on the bottom of the upper mounting plate, a telescopic cylinder is mounted on the edge of the top of the upper mounting plate, and the output end of the telescopic cylinder is arranged through the lower mounting plate;

[0020] The movable plate is connected to the output end of the telescopic cylinder, the movable plate is movably arranged at the bottom of the lower mounting plate, and a plurality of outward-expanding cylinder fixtures are installed at the angle of the bottom of the movable plate.

[0021] Wherein, an upper die seat is clamped and fixed on the outer side of the outward-expanding cylinder clamp.

[0022] As a preferred solution of the present invention, a guide rod is also installed on the top of the movable plate, and the guide rod passes through the upper mounting plate and the lower mounting plate.

[0023] Wherein, the guide rods and the telescopic cylinders are arranged alternately, a stopper is installed on the top of the guide rods, and the stopper is arranged on the top of the upper mounting plate.

[0024] As a preferred embodiment of the present invention, the mechanical arm support assembly includes:

[0025] A side baffle is installed on the top of the mechanical rotating disk by screws, a second motor is installed on one side of the inner wall of the side baffle, and an output end of the second motor is connected to a supporting mechanical arm.

[0026] Wherein, the supporting mechanical arm is rotatably connected to the outer side of the side baffle;

[0027] Bevel gears, two of which are provided, the two bevel gears are meshed and connected, the two bevel gears are rotatably connected to one side of the top of the supporting mechanical arm, one of the bevel gears is connected to the output end of the third motor, and the third motor is installed on the side of the supporting mechanical arm;

[0028] A movable shaft rod, the movable shaft rod is connected to another of the bevel gears, the movable shaft rod is movably arranged on the inner top of the supporting mechanical arm, a movable seat is installed on the outer side of the movable shaft rod, and the movable seat is movably arranged on the inner top of the supporting mechanical arm,

[0029] Wherein, a mechanical arm steering assembly extending to the outside is installed inside the movable seat.

[0030] As a preferred solution of the present invention, the outer side of the movable shaft is movably connected with a bent connecting arm, the bent connecting arm is arranged on the inner side of the movable seat, and the bottom of the bent connecting arm is rotatably connected to the side of the side connecting rod.

[0031] Wherein, the side connecting rod is rotatably connected to the inner wall of the upper support seat, and the side connecting rod is arranged on the side of the first motor.

[0032] As a preferred embodiment of the present invention, the mechanical arm steering assembly includes:

[0033] A servo motor, wherein the servo motor is installed inside the movable seat, an output end of the servo motor is connected to a reinforced mechanical arm, and the reinforced mechanical arm is rotatably connected to a side surface of the movable seat;

[0034] A linear motor is installed on one side of the inner wall of the reinforced mechanical arm, and an output end of the linear motor is connected to a connecting mechanical seat, and the connecting mechanical seat is rotatably connected to the outer side of the reinforced mechanical arm.

[0035] Wherein, a worm gear transmission assembly is installed on the side surface of the connecting mechanical seat through screws.

[0036] As a preferred embodiment of the present invention, the worm gear transmission assembly comprises:

[0037] A mechanical base, the mechanical base is mounted on the side of the connecting mechanical base by screws, a first transmission motor is mounted on one side of the mechanical base, and an output end of the first transmission motor is connected to a first transmission spindle,

[0038] Wherein, the first transmission main shaft is rotatably connected to the inside of the mechanical base;

[0039] a first worm, the first worm is installed on the outside of the first transmission main shaft, the side of the first worm is meshedly connected with a first worm wheel, the first worm wheel is rotatably connected to the side of the mechanical base, and a one-way connecting rod is installed on the side of the first worm wheel,

[0040] Wherein, the one-way connecting rod passes through the second worm gear, the second worm gear is arranged on the side of the first worm gear, the second worm gear is rotatably connected to the bottom of the guide seat, and the guide seat is installed on the inner side of the mechanical base;

[0041] The transfer seat is connected to the side of the second worm gear, a one-way connecting rod is arranged inside the transfer seat, the transfer seat passes through the guide seat, and the top of the transfer seat is rotatably connected to the top of the guide seat.

[0042] As a preferred solution of the present invention, the top of the one-way connecting rod is meshedly connected with a transmission gear, and two transmission gears are provided. The two transmission gears are meshedly connected, and the two transmission gears are rotatably connected to the inner top of the intermediate transfer seat.

[0043] Among them, a transmission shaft is installed inside the other transmission gear, and the transmission shaft is rotatably connected to the inside of the transfer seat. The left and right sides of the transmission shaft are connected to assembly mechanical arms, and the assembly mechanical arms are rotatably connected to the outside of the transfer seat. A servo cylinder is installed inside the assembly mechanical arm.

[0044] The side surface of the second worm wheel is meshedly connected with a second worm, and the second worm is installed on the outside of the second transmission main shaft, and the second transmission main shaft is rotatably connected to the inside of the mechanical base.

[0045] Wherein, the second transmission main shaft is arranged on the side of the guide seat, and the second transmission main shaft is connected to the output end of the second transmission motor.

[0046] The present invention also provides a tooling fixture comprising the above-mentioned automatic manipulator clamping mechanism.

[0047] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0048] 1. In the automated manipulator clamping mechanism and the fixture including it, when grasping and subsequently installing the mold or product according to the processing position, the upper mold base can be driven to rotate (in the longitudinal and horizontal directions) by starting the first transmission motor and the second transmission motor to operate, and further adjustment can be made according to the specific position of the mold or product to achieve high-precision mold or product grasping or installation operations. At the same time, when accurately positioning the mold or product, the above-mentioned schemes for driving the mold base to rotate are all driven by a worm gear connection. By setting the worm gear transmission relationship (the worm gear can only be driven to rotate by the worm gear), it is ensured that the operation of the first transmission motor and the second transmission motor will not cause interference and conflict, and the overall structure occupies a small area, effectively reducing the weight of the manipulator clamping end;

[0049] 2. In the automated manipulator clamping mechanism and the fixture including it, when clamping and fixing the upper mold base and driving the clamped and fixed upper mold base to move, there are two main working procedures. The first is the preliminary positioning of the upper mold base, which is mainly achieved by the separate or synchronous operation of the first motor, the second motor and the third motor; the second is the precise positioning of the upper mold base, which is mainly achieved by the separate or synchronous operation of the servo motor, the linear motor, the transmission motor and the servo cylinder. At this time, through the operation of the two systems, on the one hand, it is ensured that the mechanical claw of the present invention can adapt to diversified needs and is suitable for different scenarios; on the other hand, it effectively improves the production efficiency and accuracy of the mechanical claw to ensure the consistency of each grabbing of the upper mold base;

[0050] 3. In the automatic manipulator clamping mechanism and the fixture including it, the telescopic cylinder used to clamp and grab the upper mold base can, on the one hand, drive the clamped upper mold base to move up and down a certain distance, and can more accurately adjust the position of the upper mold base installation to improve the accuracy of the upper mold base installation. On the other hand, the protruding rod can be moved to the inner bottom of the upper mold base through the lifting and moving of the movable plate, and the product adhered to the inner bottom of the upper mold base can be automatically demoulded, that is, the demoulding operation of the product can be realized when the upper mold base is transported, further improving the efficiency of product production and processing, and reducing costs;

[0051] 4. In the automatic manipulator clamping mechanism and the fixture including the same, when the position of the upper die seat is initially positioned by the first motor and the second motor, the bent connecting arm and the side connecting rod (the bent connecting arm and the side connecting rod are rotatably connected) connected to the outer side of the output end of the first motor and the outer side of the movable shaft connected to the output end of the second motor can support the two in the active state, reducing the probability of damage to the output ends of the first motor and the second motor, and having high safety. At the same time, the support manipulator arm in different postures can be supported, the strength of the shaft end of the support manipulator arm can be improved, and the risk of damage or even breakage of the support manipulator arm when clamping and fixing heavier objects can be reduced, and the safety is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0053] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0054] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0055] Figure 2 It is a schematic structural diagram of the overall main view of the present invention;

[0056] Figure 3 It is a schematic structural diagram of the overall BB surface of the present invention;

[0057] Figure 4 It is a structural schematic diagram of the overall CC surface of the present invention;

[0058] Figure 5It is a structural schematic diagram of the cross-section of the connection between the lower base and the vertical rotating assembly of the present invention;

[0059] Figure 6 It is a schematic structural diagram of a cross-section of a mold clamping assembly of the present invention;

[0060] Figure 7 It is a structural schematic diagram of the cross-section of the connection between the mold clamping assembly and the intermediate truncated table of the present invention;

[0061] Figure 8 It is a structural schematic diagram of the automated manipulator system of the present invention;

[0062] Fig. 9 It is a structural schematic diagram of the mechanical arm support assembly of the present invention;

[0063] Fig.10 It is a structural schematic diagram of the connection between the movable seat and the mechanical arm steering assembly of the present invention;

[0064] Fig.11 It is a schematic structural diagram of the connection between the worm gear transmission assembly and the servo cylinder of the present invention;

[0065] Fig.12 It is a structural schematic diagram of the worm gear transmission assembly of the present invention;

[0066] In the figure:

[0067] 10. Lower base;

[0068] 20. vertical rotation assembly; 201. upper support seat; 202. first motor; 203. first gear; 204. central gear; 205. middle column; 206. mechanical rotating disk;

[0069] 30. Automated manipulator system;

[0070] 40. Mold clamping assembly; 400. Upper mold base; 401. Upper mounting plate; 402. Lower mounting plate; 403. Telescopic cylinder; 404. Movable plate; 4041. Guide rod; 4042. Stopper; 405. Outward expansion cylinder fixture; 406. Middle round table; 407. Protruding rod; 408. Return spring;

[0071] 50, mechanical arm support assembly; 501, side baffle; 502, second motor; 503, support mechanical arm; 504, bevel gear; 505, third motor; 506, movable shaft; 5061, bending connecting arm; 5062, side connecting rod; 507, movable seat;

[0072] 60. Mechanical arm steering assembly; 601. Servo motor; 602. Strengthening mechanical arm; 603. Linear motor; 604. Connecting mechanical seat;

[0073] 70. Worm gear transmission assembly; 700. servo cylinder; 701. mechanical base; 702. first transmission motor; 703. first transmission spindle; 704. first worm; 705. first worm wheel; 706. one-way connecting rod; 7061. transmission gear; 7062. transmission shaft; 7063. assembly robot arm; 707. second worm wheel; 7071. second worm; 7072. second transmission spindle; 7073. second transmission motor; 708. guide seat; 709. transfer seat. DETAILED DESCRIPTION

[0074] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0075] See also Figure 1-Figure 12 The automated robot clamping mechanism includes a lower base 10, a vertical rotation component 20, an automated robot system 30 and a mold clamping component 40. The vertical rotation component 20 is installed on the top of the lower base 10. The automated robot system 30 is installed on the top of the vertical rotation component 20 by screws. The mold clamping component 40 is installed on the bottom of the automated robot system 30. The bottom of the mold clamping component 40 is clamped and fixed with an upper mold base 400. The automated robot system 30 includes a robot arm support component 50. The robot arm support component 50 is installed on the top of the vertical rotation component 20 by screws. The side of the robot arm support component 50 is installed with a robot arm steering component 60; a worm gear transmission component 70. The worm gear transmission component 70 is installed on the side of the robot arm steering component 60. The servo cylinder 700 is installed on the inner side of the worm gear transmission component 70. The mold clamping component 40 is installed at the bottom of the servo cylinder 700.

[0076] The above working principle: when the product is being produced and processed, it is necessary to operate the upper mold base 400 (and the product inside it) that has completed part of the production and processing operations. At this time, through the separate or synchronous operation of the vertical rotation component 20, the mechanical arm support component 50, the mechanical arm steering component 60 and the worm gear transmission component 70, the activities of the joints of the human arm can be simulated in real time, and the clamping, rotation, transportation and positioning installation of the upper mold base 400 (and the product inside it) with high accuracy and efficiency can be achieved, effectively improving the efficiency of the production and processing of the product. At the same time, the worm gear transmission component 70 has two torque outputs in different directions, which can drive the mold clamping component 40 to rotate at multiple angles, while reducing the space occupied by the device, increasing the range and space of the upper mold base 400, and realizing efficient mechanical clamping and transportation operations.

[0077] In the present invention, the mold clamping assembly 40 can automatically clamp and fix multiple positions of the upper mold base 400, thereby ensuring stability during the clamping and fixing of the upper mold base 400 and the subsequent transportation and installation.

[0078] Specific reference Figure 5 The vertical rotation assembly 20 includes an upper support seat 201, which is installed on the top of the lower base 10. A first motor 202 is installed at the eccentric position of the bottom of the upper support seat 201. A first gear 203 is installed on the top of the output end of the first motor 202, and the first gear 203 is rotatably connected to the inside of the upper support seat 201; a center gear 204, which is meshed and connected to the side of the first gear 203, and the center gear 204 is rotatably connected to the center of the upper support seat 201. An intermediate column 205 is installed on the top of the center gear 204, and the top of the intermediate column 205 extends to the top of the upper support seat 201, wherein a mechanical rotating disk 206 is installed on the top of the intermediate column 205, and the mechanical rotating disk 206 is rotatably connected to the top of the upper support seat 201, and a mechanical arm support assembly 50 is installed on the top of the mechanical rotating disk 206 by screws.

[0079] In the automatic manipulator clamping mechanism of the present invention, when the upper mold base 400 is driven to move, the first motor 202 is started to operate, driving the first gear 203 connected to the output end of the first motor 202 to rotate. When the first gear 203 rotates, the central gear 204 meshed with the side surface thereof rotates, so that the middle column 205 and the mechanical rotating disk 206 connected to the top of the central gear 204 can rotate in the vertical direction.

[0080] Specific reference Figure 6 and Figure 7The mold clamping assembly 40 includes an upper mounting plate 401, which is connected to the output end of the servo cylinder 700, a lower mounting plate 402 is installed at the bottom of the upper mounting plate 401, a telescopic cylinder 403 is installed at the edge of the top of the upper mounting plate 401, and the output end of the telescopic cylinder 403 passes through the lower mounting plate 402; a movable plate 404, which is connected to the output end of the telescopic cylinder 403, and the movable plate 404 is movably arranged at the bottom of the lower mounting plate 402, and a plurality of outward-expanding cylinder clamps 405 are installed at the angle of the bottom of the movable plate 404, wherein the outer side of the outward-expanding cylinder clamp 405 is clamped and fixed with the upper mold base 400.

[0081] In this embodiment, a guide rod 4041 is also installed on the top of the movable plate 404, and the guide rod 4041 passes through the upper mounting plate 401 and the lower mounting plate 402, wherein the guide rod 4041 and the telescopic cylinder 403 are arranged alternately, and a stop block 4042 is installed on the top of the guide rod 4041, and the stop block 4042 is arranged on the top of the upper mounting plate 401.

[0082] In the above embodiment, the design of the guide rod 4041 can guide the lifting and lowering movement of the movable plate 404, thereby ensuring the stability of the movable plate 404 during the lifting and lowering movement.

[0083] In the automated manipulator clamping mechanism of the present invention, when the upper mold base 400 (and the product inside it) needs to be accurately grasped and installed, the telescopic cylinder 403 can be started to operate, driving the movable plate 404 connected to the output end of the telescopic cylinder 403 to move up and down, and causing the outward-expanding cylinder clamp 405 (or the upper mold base 400) installed at the bottom of the movable plate 404 to move up and down.

[0084] Specific reference Figure 8 and Fig. 9The mechanical arm support assembly 50 includes a side baffle 501, which is installed on the top of the mechanical rotating disk 206 by screws, and a second motor 502 is installed on one side of the inner wall of the side baffle 501, and the output end of the second motor 502 is connected to the supporting mechanical arm 503, wherein the supporting mechanical arm 503 is rotatably connected to the outer side of the side baffle 501; a bevel gear 504, wherein the bevel gear 504 is provided with two, and the two bevel gears 504 are meshed and connected, and the two bevel gears 504 are both rotatably connected to one of the tops of the supporting mechanical arm 503 On the side, a bevel gear 504 is connected to the output end of the third motor 505, and the third motor 505 is installed on the side of the supporting robot arm 503; a movable shaft rod 506, the movable shaft rod 506 is connected to another bevel gear 504, the movable shaft rod 506 is movably set on the inner top of the supporting robot arm 503, and a movable seat 507 is installed on the outer side of the movable shaft rod 506, and the movable seat 507 is movably set on the inner top of the supporting robot arm 503, wherein the interior of the movable seat 507 is installed with a robot arm steering assembly 60 extending to the outside.

[0085] In this embodiment, the outer side of the movable shaft 506 is movably connected with a bending connecting arm 5061, and the bending connecting arm 5061 is arranged on the inner side of the movable seat 507. The bottom of the bending connecting arm 5061 is rotatably connected to the side of the side connecting rod 5062, wherein the side connecting rod 5062 is rotatably connected to the inner wall of the upper support seat 201, and the side connecting rod 5062 is arranged on the side of the first motor 202.

[0086] In the above embodiment, the support robotic arm 503 in different postures can be supported and stretched by rotating the connected bending connecting arm 5061 and the side connecting rod 5062, thereby ensuring the stability of the support robotic arm 503 in different postures. It is not easy to break when carrying heavier objects or parts, and has high safety.

[0087] In the automatic manipulator clamping mechanism of the present invention, when it is necessary to drive the upper mold base 400 to move, the second motor 502 can be started to operate, driving the supporting mechanical arm 503 connected to the output end of the second motor 502 to rotate, and adjusting the angle of the upper mold base 400. At the same time, the third motor 505 can also be started to operate, driving the bevel gear 504 connected to the output end of the third motor 505 to rotate, and causing another bevel gear 504 and the movable shaft 506 that are meshed and connected on the side of the bevel gear 504 to rotate. At this time, when the movable shaft 506 rotates, the movable seat 507 installed on the outer side thereof can rotate to adjust the angle of the upper mold base 400. At the same time, the two can cooperate to operate to adjust the installation height of the upper mold base 400.

[0088] Specific reference Fig.10The robot arm steering assembly 60 includes a servo motor 601, which is installed inside the movable seat 507. The output end of the servo motor 601 is connected to the reinforced robot arm 602, and the reinforced robot arm 602 is rotatably connected to the side of the movable seat 507; a linear motor 603, which is installed on one side of the inner wall of the reinforced robot arm 602. The output end of the linear motor 603 is connected to a connecting mechanical seat 604, and the connecting mechanical seat 604 is rotatably connected to the outside of the reinforced robot arm 602, wherein a worm gear transmission assembly 70 is installed on the side of the connecting mechanical seat 604 by screws.

[0089] In the automatic manipulator clamping mechanism of the present invention, when the upper mold base 400 needs to be moved, the servo motor 601 can be started to rotate, driving the reinforced mechanical arm 602 connected to the output end of the servo motor 601 to rotate, and adjusting the installation and clamping angle of the upper mold base 400. The linear motor 603 can be started to operate, driving the reinforced mechanical arm 602 connected to the output end of the linear motor 603 to rotate, and adjusting the angle of the upper mold base 400.

[0090] Specific reference Fig.11 and Fig.12 The worm gear transmission assembly 70 includes a mechanical base 701, which is installed on the side connected to the mechanical base 604 by screws, a first transmission motor 702 is installed on one side of the mechanical base 701, and the output end of the first transmission motor 702 is connected to the first transmission main shaft 703, wherein the first transmission main shaft 703 is rotatably connected to the inside of the mechanical base 701; a first worm 704, which is installed on the outside of the first transmission main shaft 703, and the side of the first worm 704 is meshedly connected with a first worm wheel 705, and the first worm wheel 705 is rotatably connected to the mechanical base 701. On the side, a one-way connecting rod 706 is installed on the side of the first worm gear 705, wherein the one-way connecting rod 706 passes through the second worm gear 707, the second worm gear 707 is arranged on the side of the first worm gear 705, the second worm gear 707 is rotatably connected to the bottom of the guide seat 708, and the guide seat 708 is installed on the inner side of the mechanical base 701; the transfer seat 709, the transfer seat 709 is connected to the side of the second worm gear 707, the one-way connecting rod 706 is passed through the interior of the transfer seat 709, the transfer seat 709 passes through the guide seat 708, and the top of the transfer seat 709 is rotatably connected to the top of the guide seat 708.

[0091] In this embodiment, the top of the one-way connecting rod 706 is meshedly connected with a transmission gear 7061, and two transmission gears 7061 are provided. The two transmission gears 7061 are meshedly connected, and the two transmission gears 7061 are both rotatably connected to the inner top of the transfer seat 709, wherein a transmission shaft 7062 is installed inside the other transmission gear 7061, and the transmission shaft 7062 is rotatably connected to the inside of the transfer seat 709, and the left and right sides of the transmission shaft 7062 are connected to assembly robotic arms 7063, and the assembly robotic arms 7063 are rotatably connected to the outside of the transfer seat 709, and a servo cylinder 700 is installed inside the assembly robotic arms 7063.

[0092] In the above embodiment, when the one-way connecting rod 706 rotates, the transmission gear 7061 connected to the side thereof will rotate, and the other transmission gear 7061 meshed with the side of the transmission gear 7061 can rotate. When the other transmission gear 7061 rotates, the transmission shaft 7062 installed inside it can drive the assembly robot arm 7063 to rotate, so as to adjust the angle of the upper mold base 400.

[0093] In this embodiment, the side of the second worm wheel 707 is meshingly connected with the second worm 7071, and the second worm 7071 is installed on the outside of the second transmission main shaft 7072, and the second transmission main shaft 7072 is rotatably connected to the inside of the mechanical base 701, wherein the second transmission main shaft 7072 is arranged on the side of the guide seat 708, and the second transmission main shaft 7072 is connected to the output end of the second transmission motor 7073.

[0094] In the above embodiment, when the upper die holder 400 needs to be driven to rotate, the second transmission motor 7073 can be started to operate, driving the second transmission main shaft 7072 connected to the output end of the second transmission motor 7073 to rotate. When the second transmission main shaft 7072 rotates, the second worm 7071 installed on the outer side thereof can rotate, and the second worm wheel 707 and the intermediate transfer seat 709 meshed with the side of the second worm 7071 can rotate, so as to adjust the angle of the upper die holder 400.

[0095] In the automatic manipulator clamping mechanism of the present invention, when it is necessary to drive the clamped upper die seat 400 to operate, the first transmission motor 702 can be started to operate, driving the first worm 704 connected to the output end of the first transmission motor 702 to rotate. When the first worm 704 rotates, the first worm wheel 705 meshingly connected to its side can rotate, so that the one-way connecting rod 706 installed on the side of the first worm wheel 705 can rotate. At this time, when the one-way connecting rod 706 rotates, it is inside the transfer seat 709 and will not drive the transfer seat 709 to rotate.

[0096] In the above solution, the design of the worm gear structure ensures that the first worm wheel 705 and the second worm 7071 can be driven to rotate only when the first worm 704 and the second worm 7071 rotate. When the first worm wheel 705 and the second worm 7071 rotate, the first worm 704 and the second worm 7071 do not rotate.

[0097] As another embodiment of the present invention, specific reference is made to Figure 6 and Figure 7 On the basis of the above scheme, an intermediate frustum 406 can be installed at the inner center of the upper mounting plate 401 and the lower mounting plate 402. The intermediate frustum 406 passes through the movable plate 404. Protruding rods 407 are installed on both sides of the bottom of the intermediate frustum 406. A return spring 408 installed at the bottom of the movable plate 404 and the top of the upper mold base 400 is provided on the outer side of the protruding rod 407. The protruding rod 407 extends to the interior of the upper mold base 400.

[0098] In the above embodiment, the movable plate 404 can be driven to telescopically move by starting the telescopic cylinder 403. When the movable plate 404 moves, the upper die base 400 installed at the bottom thereof will also move up and down, and the protruding rod 407 located inside the upper die base 400 will be moved to the inner bottom of the upper die base 400, so as to demould the product adhered to the inside of the upper die base 400, thereby achieving more efficient product or component production and processing operations.

[0099] See also Figure 1-Figure 12 The present application also provides a tooling fixture including an automated manipulator clamping mechanism.

[0100] The present invention is not limited to this. Any equivalent replacement or change based on the technical solution and inventive concept of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated manipulator clamping mechanism, comprising a lower base (10), a vertical rotation assembly (20), an automated manipulator system (30) and a mold clamping assembly (40), characterized in that: A vertical rotation assembly (20) is installed on the top of the lower base (10), and an automated manipulator system (30) is installed on the top of the vertical rotation assembly (20) via screws. A mold clamping assembly (40) is installed at the bottom of the automated manipulator system (30), and an upper mold base (400) is clamped and fixed at the bottom of the mold clamping assembly (40). Wherein, the automated manipulator system (30) comprises: A mechanical arm support assembly (50), the mechanical arm support assembly (50) being mounted on the top of the vertical rotation assembly (20) by means of screws, and a mechanical arm steering assembly (60) being mounted on the side of the mechanical arm support assembly (50); A worm gear transmission assembly (70) is installed on the side of the mechanical arm steering assembly (60), a servo cylinder (700) is installed on the inner side of the worm gear transmission assembly (70), and a mold clamping assembly (40) is installed on the bottom of the servo cylinder (700).

2. The automatic manipulator clamping mechanism according to claim 1, characterized in that: The vertical rotation assembly (20) comprises: An upper support seat (201), the upper support seat (201) being mounted on the top of the lower base (10), a first motor (202) being mounted at an eccentric position on the bottom of the upper support seat (201), a first gear (203) being mounted on the top of the output end of the first motor (202), and the first gear (203) being rotatably connected to the interior of the upper support seat (201); a central gear (204), the central gear (204) being meshedly connected to a side surface of the first gear (203), the central gear (204) being rotatably connected to the center of the upper support seat (201), an intermediate column (205) being installed on the top of the central gear (204), the top of the intermediate column (205) extending to the top of the upper support seat (201), A mechanical rotating disk (206) is installed on the top of the middle column (205), and the mechanical rotating disk (206) is rotatably connected to the top of the upper support seat (201), and a mechanical arm support assembly (50) is installed on the top of the mechanical rotating disk (206) via screws.

3. The automatic manipulator clamping mechanism according to claim 1, characterized in that: The mold clamping assembly (40) comprises: an upper mounting plate (401), the upper mounting plate (401) being connected to an output end of the servo cylinder (700), a lower mounting plate (402) being mounted at the bottom of the upper mounting plate (401), a telescopic cylinder (403) being mounted at the edge of the top of the upper mounting plate (401), and an output end of the telescopic cylinder (403) being arranged to penetrate the lower mounting plate (402); A movable plate (404), the movable plate (404) being connected to the output end of the telescopic cylinder (403), the movable plate (404) being movably arranged at the bottom of the lower mounting plate (402), and a plurality of outward-expanding cylinder fixtures (405) being installed at the angle of the bottom of the movable plate (404), Wherein, an upper die seat (400) is clamped and fixed on the outer side of the outward-expanding cylinder clamp (405).

4. The automatic manipulator clamping mechanism according to claim 3 is characterized in that: A guide rod (4041) is also installed on the top of the movable plate (404), and the guide rod (4041) passes through the upper mounting plate (401) and the lower mounting plate (402). The guide rods (4041) and the telescopic cylinders (403) are arranged alternately, a stopper (4042) is installed on the top of the guide rods (4041), and the stopper (4042) is arranged on the top of the upper mounting plate (401).

5. The automatic manipulator clamping mechanism according to claim 2, characterized in that: The mechanical arm support assembly (50) comprises: a side baffle (501), the side baffle (501) being mounted on the top of the mechanical rotating disk (206) by means of screws, a second motor (502) being mounted on one side of the inner wall of the side baffle (501), an output end of the second motor (502) being connected to a supporting mechanical arm (503), Wherein, the supporting mechanical arm (503) is rotatably connected to the outer side of the side baffle (501); A bevel gear (504), wherein two bevel gears (504) are provided, the two bevel gears (504) are meshed and connected, the two bevel gears (504) are both rotatably connected to one side of the top of the supporting mechanical arm (503), one of the bevel gears (504) is connected to the output end of the third motor (505), and the third motor (505) is installed on the side of the supporting mechanical arm (503); A movable shaft (506), the movable shaft (506) being connected to another of the bevel gears (504), the movable shaft (506) being movably disposed on the inner top of the supporting mechanical arm (503), a movable seat (507) being mounted on the outer side of the movable shaft (506), the movable seat (507) being movably disposed on the inner top of the supporting mechanical arm (503), Wherein, a mechanical arm steering assembly (60) extending to the outside is installed inside the movable seat (507).

6. The automatic manipulator clamping mechanism according to claim 5, characterized in that: The outer side of the movable shaft rod (506) is movably connected to a bent connecting arm (5061), the bent connecting arm (5061) is arranged on the inner side of the movable seat (507), and the bottom of the bent connecting arm (5061) is rotatably connected to the side of the side connecting rod (5062). Wherein, the side connecting rod (5062) is rotatably connected to the inner wall of the upper support seat (201), and the side connecting rod (5062) is arranged on the side of the first motor (202).

7. The automatic manipulator clamping mechanism according to claim 5, characterized in that: The mechanical arm steering assembly (60) comprises: A servo motor (601), the servo motor (601) being installed inside the movable seat (507), the output end of the servo motor (601) being connected to a reinforced mechanical arm (602), and the reinforced mechanical arm (602) being rotatably connected to a side surface of the movable seat (507); A linear motor (603), the linear motor (603) being mounted on one side of the inner wall of the reinforced mechanical arm (602), the output end of the linear motor (603) being connected to a connecting mechanical seat (604), the connecting mechanical seat (604) being rotatably connected to the outer side of the reinforced mechanical arm (602), Wherein, a worm gear transmission assembly (70) is mounted on the side surface of the connecting mechanical seat (604) via screws.

8. The automatic manipulator clamping mechanism according to claim 7, characterized in that: The worm gear transmission assembly (70) comprises: A mechanical base (701), the mechanical base (701) being mounted on a side of the connecting mechanical base (604) by means of screws, a first transmission motor (702) being mounted on one side of the mechanical base (701), an output end of the first transmission motor (702) being connected to a first transmission main shaft (703), Wherein, the first transmission main shaft (703) is rotatably connected to the inside of the mechanical base (701); a first worm (704), the first worm (704) being mounted on the outside of the first transmission main shaft (703), the side of the first worm (704) being meshingly connected to a first worm wheel (705), the first worm wheel (705) being rotatably connected to a side of the mechanical base (701), and a one-way connecting rod (706) being mounted on the side of the first worm wheel (705), The one-way connecting rod (706) is arranged to pass through the second worm gear (707), the second worm gear (707) is arranged on the side of the first worm gear (705), the second worm gear (707) is rotatably connected to the bottom of the guide seat (708), and the guide seat (708) is installed on the inner side of the mechanical base (701); The transfer seat (709) is connected to the side of the second worm gear (707), a one-way connecting rod (706) is arranged inside the transfer seat (709), the transfer seat (709) passes through the guide seat (708), and the top of the transfer seat (709) is rotatably connected to the top of the guide seat (708).

9. The automatic manipulator clamping mechanism according to claim 8, characterized in that: The top of the one-way connecting rod (706) is meshedly connected with a transmission gear (7061), and two transmission gears (7061) are provided. The two transmission gears (7061) are meshedly connected, and the two transmission gears (7061) are rotatably connected to the inner top of the middle transfer seat (709). A transmission shaft (7062) is installed inside the other transmission gear (7061), and the transmission shaft (7062) is rotatably connected to the inside of the transfer seat (709). Assembly mechanical arms (7063) are connected to the left and right sides of the transmission shaft (7062), and the assembly mechanical arms (7063) are rotatably connected to the outside of the transfer seat (709). A servo cylinder (700) is installed inside the assembly mechanical arm (7063). The side surface of the second worm wheel (707) is meshingly connected with a second worm (7071), the second worm (7071) is installed on the outside of a second transmission main shaft (7072), and the second transmission main shaft (7072) is rotatably connected to the inside of the mechanical base (701). Wherein, the second transmission main shaft (7072) is arranged on the side of the guide seat (708), and the second transmission main shaft (7072) is connected to the output end of the second transmission motor (7073).

10. A fixture, characterized in that: It comprises an automated manipulator clamping mechanism according to any one of claims 1-9.

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