In-mold transfer manipulator and in-mold transfer control method thereof

Abstract

The invention relates to an in-mold conveying mechanical arm and an in-mold conveying control method thereof in the field of mechanical arms, and the in-mold conveying mechanical arm comprises a bottom plate, the bottom plate is connected with symmetrically arranged turning supporting seats, transmission blocks are arranged in the turning supporting seats, the transmission blocks are connected with transmission beams through mounting beams, turning driving blocks are arranged in the turning supporting seats, and the transmission beams are connected with material clamping claws. A clamping positioning auxiliary device and a pressure detection sensor are connected to the clamping claw, a first gear set and a second gear set are arranged on the bottom plate, the first gear set is connected with a clamping transmission part, the second gear set is connected with a conveying transmission part, a driving source is arranged between the turning supporting seats, and the driving source drives the first gear set and the second gear set to rotate. According to the mechanical arm, the mechanical arm completes product clamping, moving and conveying and product loosening, moving and avoiding under linkage in the movement period of die opening and die closing of the die, the die opening and closing waiting time is shortened, and the continuity of the stamping takt and the production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and particularly to an in-mold transfer manipulator and an in-mold transfer control method therefor. Background Art

[0002] Die manipulators are key equipment in modern industrial automated production and are widely used in many fields including but not limited to machinery manufacturing, auto parts, electronics, household appliances, plastic products, stator and rotor laminations, etc. In the process of die manufacturing and processing, die manipulators undertake the important tasks of accurately and efficiently feeding raw materials (such as metal sheets, etc.) into the die cavity and taking out the formed products from the die, realizing the automation of the die processing process, and significantly improving production efficiency, product quality, and production safety.

[0003] Currently, in various die processing enterprises, the manipulators used for die loading and unloading are generally robotic arms or rolling devices and swing machines for coil conveying. With the improvement of industrial automation level, in-mold transfer manipulators play a key role in stamping production, and are used to realize the loading and unloading of products on the stamping die production line and the conveying between processes.

[0004] However, although the existing die manipulators play an important role in industrial production, there are still some defects that limit their further application and development. The manipulators used for existing die loading and unloading are generally composed of independent robotic arms or simple loading and unloading mechanisms. The settings of their robotic arms and simple loading and unloading mechanisms need to wait for the long-term opening and closing of the upper and lower dies of the die to perform loading and unloading or conveying, resulting in a long stamping cycle time for the die, making it difficult to meet the rapid production requirements, thus affecting the continuity of die stamping, resulting in low production efficiency, and being unfavorable for the stamping use of the die.

[0005] The existing in-mold transfer control methods have poor transfer effects on sheet materials. And in the existing in-mold transfer, generally, an externally provided and independently controlled manipulator is used. When many control methods for in-mold transfer using manipulators perform loading and unloading, it is difficult to synchronize the clamping and conveying of products and the opening and closing actions of the die. It requires multiple pauses or switching of workstations of the die, and the transfer control method is not easily adapted to the stamping gap of the punching press, resulting in poor coordination and continuity of the stamping cycle actions, and affecting the efficiency of in-mold transfer control, thereby reducing the stamping cycle continuity and production efficiency of the stamping production line. Summary of the Invention

[0006] The object of the present invention is to solve the above defects and provide an in-mold transfer manipulator and an in-mold transfer control method thereof, so as to solve the technical problems in the above-mentioned background art that the loading, unloading and conveying of the existing manipulator for molds are not easily adapted to the stamping of the punching press, resulting in poor continuity of conveying, affecting the stamping production efficiency and beat continuity of the molds, and the poor conveying control efficiency of the existing transfer control method of the manipulator.

[0007] The object of the present invention is achieved in the following way:

[0008] An in-mold transfer manipulator, including a bottom plate, symmetrically arranged direction-changing support seats are connected to the bottom plate. A transmission block is arranged in the direction-changing support seat. One end of the transmission block is exposed outside the direction-changing support seat and is connected with a transmission beam through a mounting beam. A direction-changing drive block capable of driving the transmission block to expand and contract and perform lifting actions is arranged in the direction-changing support seat. The transmission beam is installed on the mounting beam through a sliding member. A clamping jaw is connected to the transmission beam. A clamping and positioning auxiliary device for providing suction to the clamped product is connected to the clamping jaw. And a pressure detection sensor for detecting the contact pressure of the product is arranged on the clamping jaw. A first gear set and a second gear set are arranged on the bottom plate. The output end of the first gear set is connected with a clamping transmission member for driving the direction-changing drive block to drive the transmission block to move. The output end of the second gear set is connected with a conveying transmission member for driving the conveying beam to slide along the sliding member. A drive source is arranged between the direction-changing support seats. The drive source drives the first gear set and the second gear set to rotate, so that the transmission beam can perform clamping and conveying or unfolding and moving;

[0009] Unfolding and moving state: When the drive source descends, the first gear set rotates and drives the direction-changing drive block to contract into the direction-changing support seat through the clamping transmission member, so that the transmission beam drives the clamping jaw to loosen and descend. At the same time, the descent of the drive source can drive the second gear set to rotate, so that the second gear set drives the transmission beam to move to the waiting-for-clamping station through the conveying transmission member;

[0010] Clamping and conveying state: When the drive source ascends, the first gear set rotates and drives the direction-changing drive block to extend out of the direction-changing support seat through the clamping transmission member, so that the transmission beam drives the clamping jaw to approach the product and ascend to clamp. At the same time, the ascent of the drive source can drive the second gear set to rotate, so that the second gear set drives the transmission beam to move for feeding through the conveying transmission member.

[0011] Further in the above description, a receiving cavity is arranged in the direction-changing support seat. An opening communicating with the receiving cavity is arranged on the side surface of the direction-changing support seat. The direction-changing drive block and the transmission block are both installed in the receiving cavity, and the direction-changing drive block and the transmission block can expand and contract and move along the receiving cavity towards the opening. The transmission block is clamped and installed on the direction-changing drive block through an inclined groove. A guide groove is opened on the inner wall of the receiving cavity. A lifting block is buckled and connected to the side surface of the transmission block. The lifting block is paired and connected with the guide groove.

[0012] The accommodation cavity provides an installation space for the direction-changing drive block and the transmission block. Combined with the side opening design, it enables precise guiding of the transmission block during the telescopic process. At the same time, when the transmission block expands and contracts, it can drive the clamping claws on the transmission beam to move closer to or away from the product. And after the transmission block moves to a set distance, the direction-changing drive block can drive the transmission block to lift, thereby driving the clamping claws to rise. This avoids the defect that traditional manipulators completely rely on external space for action conversion, improves the coherence and execution efficiency of the clamping action, thus shortening the waiting time for the mold to open and close, and creating conditions for continuous stamping.

[0013] Further in the above description, the clamping transmission member includes a linkage rod, a clamping transmission gear, and a clamping transmission rack. The clamping transmission rack is installed on the direction-changing drive block. The clamping transmission gear is installed at one end of the linkage rod and is meshed with the clamping transmission rack. The other end of the linkage rod passes through the direction-changing support seat and is connected to the output end of the first gear set. A pressing plate for limiting is connected to the side of the direction-changing support seat. When the clamping transmission gear rotates, the clamping transmission rack can drive the direction-changing drive block to perform telescopic movement towards the opening. At the same time, the direction-changing drive block can drive the transmission block to lift through the inclined platform.

[0014] Through the meshing transmission of the clamping transmission gear and the rack, the rotational movement of the first gear set is converted into the linear telescopic movement of the direction-changing drive block. At the same time, when the direction-changing drive block moves to a set distance, the transmission block can be driven by the inclined platform to drive the clamping claws to clamp the product. The high-efficiency transmission characteristics of the gear and rack further reduce power loss, providing a stable guarantee for the high-frequency clamping operation of the manipulator.

[0015] Further in the above description, a moving groove is opened on the bottom plate. A moving block that can slide along the extension direction of the moving groove is connected to the moving groove. A guide rod is connected to the moving block. A connecting seat is arranged on the transmission beam. A guiding groove for mating with the guide rod is opened on the connecting seat. One end of the guide rod extends through the guiding groove.

[0016] The moving groove and the moving block provide limits for the lateral movement of the transmission beam. Cooperating with the clamping of the guide rod and the guiding groove of the connecting seat, the moving block can push the connecting seat to drive the transmission beam to perform reciprocating lateral movement through the guide rod. At the same time, through the opened guiding groove, it provides an avoidance for the lifting of the transmission beam.

[0017] Further in the above description, the conveying transmission member includes a transmission rod, a conveying transmission gear, and a conveying transmission rack. The conveying transmission rack is installed on the moving block. The conveying transmission gear is installed at one end of the transmission rod and is meshed with the conveying transmission rack. The other end of the transmission rod is connected to the output end of the second gear set. When the conveying transmission gear rotates, the conveying transmission rack can drive the moving block to perform reciprocating movement along the moving groove.

[0018] The second gear set drives the conveying drive gear to rotate through a transmission rod, thereby driving the moving block to reciprocate along the moving groove, realizing the moving and conveying of the transmission beam after clamping the material by the clamping jaws. Thus, the clamping clip can clamp the product and move it to the corresponding stamping station, further improving the continuity of stamping and enhancing the overall operation efficiency.

[0019] Further in the above description, the driving source includes a lifting plate, a guiding seat, a first driving member for driving the first gear set, and a second driving member for driving the second gear set. The guiding seat is installed between the steering support seats. A sliding groove for mating with the lifting plate is formed inside the guiding seat. The first driving member is installed inside the guiding seat through a connecting block, and the first driving member is meshed and connected with the input end of the first gear set. The second driving member is installed inside the guiding seat through a limiter. The second driving member can slide along the limiter, and the second driving member is meshed and connected with the input end of the second gear set.

[0020] The driving source triggers the rotation of the first gear set and the second gear set through the vertical movement of the lifting plate, so as to control the telescopic movement and the movement close to the clamping jaws driven by the transmission beam, and control the reciprocating sliding of the clamping jaws driven by the transmission beam along the sliding member, completing the actions of clamping and conveying the product and unfolding and discharging the material. The response speed of the cooperation between the manipulator and the die stamping is improved, and the continuous production efficiency of the die stamping is enhanced.

[0021] Further in the above description, a plurality of clamping jaws are provided, and the plurality of clamping jaws are installed on the transmission beam at intervals. A material receiving portion for carrying the product and a clamping portion for clamping the side of the product are formed on the clamping jaws. One end of the clamping portion is connected to the transmission beam. A protective cushion block is provided on the clamping jaws. The clamping and positioning auxiliary device consists of a vacuum suction nozzle and a vacuum pump for providing vacuum suction to the vacuum suction nozzle. The adsorption portion of the vacuum suction nozzle is exposed on the material receiving portion, and the vacuum suction nozzle is communicated with the vacuum pump through a pipeline.

[0022] Optionally, the plurality of provided clamping jaws can be applicable to a plurality of stamping stations (for example: the first stamping → the second stamping → the third stamping → discharging), so as to improve the continuity and production efficiency of clamping, conveying and discharging the stamping product.

[0023] In-mold transfer control method, the transfer control method includes the following steps:

[0024] Step 1: Install the in-mold transfer manipulator. Install the in-mold transfer manipulator on the side of the mold. There are two groups of in-mold transfer manipulators, and the two groups of in-mold transfer manipulators are symmetrically arranged on both sides of the mold. The in-mold transfer manipulator is installed on the lower template of the mold through a bottom plate, and the top end of the lifting plate is connected to the upper template of the mold, and the clamping end of the clamping jaw extends towards the inside of the mold;

[0025] Step 2: Loading, matching one end of the mold with the external feeder and cutter, cutting the sheet into sheets through the feeder, and placing the cut sheet raw material sheet in the stamping station of the lower template through the loading robot;

[0026] Step 3: When the mold is closed, the upper mold plate descends to the lower mold plate to close the mold. The descent of the upper mold plate causes the lifting plate to drive the first driving member and the second driving member to move, and respectively drive the first gear set and the second gear set to rotate. The first gear set drives the linkage rod to rotate, and the clamping transmission gear on the linkage rod rotates and drives the clamping transmission rack to move. The clamping transmission rack synchronously drives the direction-changing driving block to produce a compound motion and shrink into the accommodating cavity. The clamping claw on the transmission beam is in a contracted and loosened state and evades as the transmission beam descends. The second gear set drives the transmission rod to drive the conveying transmission gear to rotate, and the conveying transmission rack drives the moving block to move along the moving groove. The transmission beam drives the clamping claw to move to the set initial area to be clamped, waiting for the completion of the clamping stamping of the upper and lower mold plates.

[0027] Step 4: The mold is opened, and the upper template drives the lifting plate to rise when the mold is opened, so that the first driving member and the second driving member on the lifting plate respectively drive the first gear group and the second gear group to rotate, and the first gear group drives the linkage rod to rotate, and the clamping transmission gear on the linkage rod rotates and drives the clamping transmission rack to move, and the clamping transmission rack synchronously drives one end of the reversing driving block to move toward the opening, and the transmission block is subjected to the compound movement of extension and jacking, and the clamping claws on the transmission beam are extended to approach the product and form a clamping state with the jacking of the transmission beam. The two ends of the product are symmetrically clamped by two groups of symmetrically arranged clamping claws, so that the product can be clamped and taken out from the stamping station. At this time, the second gear group drives the transmission rod to drive the conveying transmission gear to rotate, and the conveying transmission rack drives the moving block to move along the moving groove, so that the clamped product can be moved to the next stamping station;

[0028] Step five: unloading. When the mold is opened in step four, the in-mold conveying robot clamps the stamped sheet through the clamping claws on the transmission beam and moves along the extension direction of the sliding part. One end of the sliding part extends toward the unloading station of the mold. The end of the transmission beam can be exposed and extended along the sliding part toward the outer side of the mold, so that the transmission beam clamps the stamped product through the clamping claws close to the unloading station and moves to the unloading station of the mold. At this time, the mold closing action of step three is executed, and multiple clamping claws release their clamping on the product at the same time to complete the unloading action. Steps three and four are repeated to form a cyclic continuous feeding action that is compatible with the stamping rhythm of the mold.

[0029] Further in the above description, in the second step, a plurality of stamping stations are provided inside the mold. The number of material clamping claws is paired with the number of stamping stations, and the interval distribution of the plurality of material clamping claws is paired with the interval distribution of the plurality of stamping stations. The transmission beam can drive the plurality of material clamping claws to move synchronously along the sliding of the sliding member, so that the material clamping claws reciprocate and clamp the products on adjacent stamping stations and move them into the next stamping station. By repeatedly performing the mold closing movement of the upper mold towards the lower mold, the in-mold transfer manipulator can be synchronously driven to perform continuous cyclic feeding.

[0030] Through the structured layout of the loading stamping station, multiple stamping stations and the unloading stamping station, and in cooperation with the synchronous driving of a plurality of material clamping claws paired with the transmission beam, the material clamping claws successively clamp and convey the products at the loading stamping station into the stamping station, and are exported after being stamped at the unloading stamping station. This layout eliminates the drawbacks of traditional independent manipulators that need to wait for the mold to pause or switch stations, enabling the sheet-shaped plate to complete the transfer between multiple stamping stations within a continuous mold closing - mold opening cycle, significantly improving the continuity of the stamping rhythm and the overall efficiency of the production line, and at the same time avoiding production interruptions caused by station switching.

[0031] Further in the above description, in the fourth step, when the material clamping claw moves close to the product, the receiving part is used to support the bottom of the product, and the two in-mold transfer manipulators use the clamping parts of the opposite material clamping claws to clamp the side of the product. Vacuum suction is conveyed to the vacuum suction nozzle through a vacuum pump, and the adsorption part exposed on the receiving part of the vacuum suction nozzle applies vacuum adsorption force to the bottom surface of the product to complete the auxiliary function of clamping the product. The adsorption and clamping force of the product is detected by a pressure detection sensor, and the corresponding clamping force is received by the receiving module of the controller. According to the detection and analysis module set in the controller, it is analyzed and paired with the corresponding product. When the clamping force deviates, the auxiliary clamping suction force applied by the vacuum suction nozzle to the product is adjusted through the suction force control module.

[0032] Through the dual fixation mechanism of mechanical clamping and vacuum adsorption, it not only ensures the accuracy of product side positioning but also enhances the clamping stability through bottom surface adsorption, effectively preventing the product from falling off or shifting during the conveying process.

[0033] The closed-loop feedback system composed of the pressure detection sensor and the controller can monitor and dynamically adjust the adsorption force in real time, making the clamping force always match the product characteristics, avoiding the risk of dropping caused by insufficient clamping force and preventing damage to the product due to excessive clamping, thereby improving the reliability of the conveying process and the yield of finished products.

[0034] The beneficial effects of the present invention:

[0035] 1. When the driving source descends, the driving source drives the first gear set and the second gear set to rotate, causing the clamping claws to be in a contracted and released state and descending with the transmission beam to make way. At this time, the second gear set can drive the transmission beam to drive the clamping claws to move to the set material clamping and conveying area, waiting for the mold to close and stamp.

[0036] When the driving source ascends, the driving source drives the first gear set and the second gear set to rotate, causing the clamping claws to be in an extended and clamping state and ascending with the transmission beam, so that the product can be clamped and taken out from a stamping station. A set adsorption force can be applied to the product through the clamping and positioning auxiliary device to further ensure the stability of clamping and conveying, and the contact pressure of the clamped product is detected in real time through the pressure detection sensor to prevent damage to the product due to excessive clamping force or small displacement. At this time, the second gear set can drive the transmission beam to slide back along the sliding part, so that the transmission beam drives the clamped product to move to the next stamping station through the clamping claws, enabling the product clamping and conveying to be executed synchronously, reducing the waiting time for the mold to open and close, and improving the continuity of the stamping cycle and production efficiency.

[0037] 2. Through the connection between the lifting plate on the in-mold manipulator and the upper template, the lifting of the upper template controls the transmission of the manipulator. During the gap of mold closing, the upper template drives the clamping claws on the manipulator to move synchronously into the clamping waiting state. During the gap of mold opening, the upper template drives the clamping claws on the manipulator to achieve the switching of the clamping state through mechanical transmission, making the clamping response speed match the mold opening action. Through the cyclic design of steps three to five, the processes of moving and waiting for material clamping while closing and stamping and clamping and conveying during mold opening are completed within a single opening and closing cycle of the stamping mold. Compared with the traditional transmission control method that requires multiple pauses, the transmission control of the in-mold transfer manipulator further reduces the ineffective waiting time for mold opening, making the theoretical beat efficiency of the stamping production line reach the mechanical limit value of the mold and improving the continuity of the stamping cycle and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure from the top view angle of this embodiment;

[0039] Figure 2 It is a schematic diagram of the overall structure from the bottom view angle of this embodiment;

[0040] Figure 3 It is an exploded structure schematic diagram of this embodiment;

[0041] Figure 4 It is a schematic diagram of the connection structure of the clamping transmission parts in this embodiment;

[0042] Figure 5 It is a schematic diagram of the connection structure of the conveying transmission parts in this embodiment;

[0043] Figure 6Schematic diagram of the installation and connection structure between the material clamping jaw and the transmission beam in this embodiment;

[0044] Figure 7 Schematic diagram of the connection between the in-mold transfer manipulator and the upper template and the lower template in this embodiment;

[0045] Figure 8 Schematic diagram of the open mold use state of the upper template and the lower template in this embodiment;

[0046] Figure 9 Side view of the open mold of the upper template and the lower template in this embodiment;

[0047] Figure 10 Schematic diagram of the use and pairing of the material clamping jaw and the stamping station in this embodiment;

[0048] The reference numerals in the figure are respectively: 1 - bottom plate, 2 - direction-changing support seat, 3 - transmission block, 4 - installation beam, 5 - transmission beam, 6 - direction-changing drive block, 7 - sliding part, 8 - material clamping jaw, 81 - material receiving part, 82 - clamping part, 9 - first gear set, 10 - second gear set, 11 - clamping transmission part, 111 - linkage rod, 112 - clamping transmission gear, 113 - clamping transmission rack, 12 - conveying transmission part, 121 - transmission rod, 122 - conveying transmission gear, 123 - conveying transmission rack, 13 - drive source, 131 - lifting plate, 132 - guiding seat, 133 - first driving part, 134 - second driving part, 135 - chute, 136 - connecting block, 137 - limiter, 14 - opening, 15 - inclined chute, 16 - guiding chute, 17 - lifting block, 18 - pressing plate, 19 - inclined table, 20 - moving groove, 21 - moving block, 22 - guiding rod, 23 - connecting seat, 24 - guiding groove, 25 - upper template, 26 - lower template, 27 - protective cushion block, 28 - pressure detection sensor, 29 - vacuum suction nozzle. Detailed implementation manners

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and the specific implementation manners.

[0050] In this embodiment, refer to Figures 1-10, the in-mold transfer manipulator for its specific implementation includes a bottom plate 1. Symmetrically arranged direction-changing support seats 2 are connected to the bottom plate 1. A transmission block 3 is arranged inside the direction-changing support seat 2. One end of the transmission block 3 is exposed outside the direction-changing support seat 2 and is connected to a transmission beam 5 through a mounting beam 4. A direction-changing drive block 6 capable of driving the transmission block 3 to expand and contract and perform lifting actions is arranged inside the direction-changing support seat 2. The transmission beam 5 is installed on the mounting beam 4 through a sliding member 7. A clamping jaw 8 is connected to the transmission beam 5. A clamping and positioning auxiliary device for providing suction to the clamped product is connected to the clamping jaw 8. And a pressure detection sensor 28 for detecting the contact pressure of the product is arranged on the clamping jaw 8. A first gear set 9 and a second gear set 10 are arranged on the bottom plate 1. The output end of the first gear set 9 is connected to a clamping transmission member 11 for driving the direction-changing drive block 6 to drive the transmission block 3 to move. The output end of the second gear set 10 is connected to a conveying transmission member 12 for driving the conveying beam to slide along the sliding member 7. A drive source 13 is arranged between the direction-changing support seats 2. The drive source 13 rotates by driving the first gear set 9 and the second gear set 10, so that the transmission beam 5 can perform clamping and conveying or unfolding and moving;

[0051] Unfolding and moving state: When the drive source 13 descends, the first gear set 9 rotates and drives the direction-changing drive block 6 to contract into the direction-changing support seat 2 through the clamping transmission member 11, so that the transmission beam 5 drives the clamping jaw 8 to loosen and descend. At the same time, the descent of the drive source 13 can drive the second gear set 10 to rotate, so that the second gear set 10 drives the transmission beam 5 to move to the waiting clamping position through the conveying transmission member 12;

[0052] Clamping and conveying state: When the drive source 13 ascends, the first gear set 9 rotates and drives the direction-changing drive block 6 to extend out of the direction-changing support seat 2 through the clamping transmission member 11, so that the transmission beam 5 drives the clamping jaw 8 to approach the product and ascend to clamp it. At the same time, the ascent of the drive source 13 can drive the second gear set 10 to rotate, so that the second gear set 10 drives the transmission beam 5 to move for feeding through the conveying transmission member 12.

[0053] Refer to Figure 2 , the drive source 13 includes a lifting plate 131, a guide seat 132, a first driving member 133 for driving the first gear set 9, and a second driving member 134 for driving the second gear set 10. The guide seat 132 is installed between the direction-changing support seats 2. A chute 135 for mating with the lifting plate 131 is opened inside the guide seat 132. The first driving member 133 is installed inside the guide seat 132 through a connecting block 136, and the first driving member 133 is meshed and connected to the input end of the first gear set 9. The second driving member 134 is installed inside the guide seat 132 through a limiter 137. The second driving member 134 can slide along the limiter 137, and the second driving member 134 is meshed and connected to the input end of the second gear set 10.

[0054] The driving source 13 triggers the rotation of the first gear set 9 and the second gear set 10 through the vertical movement of the lifting plate 131, thereby controlling the transmission beam 5 to drive the clamping claw 8 to extend and move closer, and controlling the transmission beam 5 to drive the clamping claw 8 to slide back and forth along the sliding member 7, thereby completing the actions of clamping and conveying the product and unfolding and unloading the material. The response speed of the cooperation between the manipulator and the mold stamping is improved, and the continuous production efficiency of the mold stamping is enhanced.

[0055] Reference Figure 3 and Figure 4 The changing direction support seat 2 is provided with an accommodating cavity, and the side of the changing direction support seat 2 is provided with an opening 14 connected to the accommodating cavity. The changing direction drive block 6 and the transmission block 3 are both installed in the accommodating cavity, and the changing direction drive block 6 and the transmission block 3 can be telescopically moved along the accommodating cavity toward the opening 14. The transmission block 3 is mounted on the changing direction drive block 6 by means of an inclined groove 15. A guide groove 16 is provided on the inner wall of the accommodating cavity. A lifting block 17 is connected to the side of the transmission block 3 by a buckle, and the lifting block 17 is matched with the guide groove 16.

[0056] The accommodating cavity provides installation space for the reversing drive block 6 and the transmission block 3, and the side opening 14 design enables the transmission block 3 to achieve precise guidance during the telescopic process. At the same time, the transmission block 3 can drive the clamping claw 8 on the transmission beam 5 to move closer to or away from the product during telescopic operation, and after the transmission block 3 moves to a set distance, the reversing drive block 6 can drive the transmission block 3 to lift, thereby driving the clamping claw 8 to rise. This avoids the defect that traditional manipulators need to completely rely on external space for action conversion, improves the continuity and execution efficiency of the clamping action, thereby shortening the waiting time for mold opening and closing, and creating conditions for continuous stamping.

[0057] Reference Figure 4 The clamping transmission member 11 includes a linkage rod 111, a clamping transmission gear 112 and a clamping transmission rack 113. The clamping transmission rack 113 is installed on the direction-changing drive block 6. The clamping transmission gear 112 is installed on one end of the linkage rod 111 and meshed with the clamping transmission rack 113. The other end of the linkage rod 111 passes through the direction-changing support seat 2 and is connected to the output end of the first gear group 9. The side of the direction-changing support seat 2 is connected with a pressure plate 18 for limiting. When the clamping transmission gear 112 rotates, the clamping transmission rack 113 can drive the direction-changing drive block 6 to telescope toward the opening 14. At the same time, the direction-changing drive block 6 can drive the transmission block 3 to be lifted through the inclined platform 19.

[0058] In this embodiment, a clamping groove opposite to the guide groove 16 is provided on the inner side of the pressure plate 18 , two lifting blocks 17 are provided, and the two lifting blocks 17 are distributed on both sides of the transmission block 3 and are matched with the guide groove 16 and the clamping groove respectively.

[0059] Through the meshing drive of the clamping transmission gear 112 and the rack, the rotational motion of the first gear set 9 is converted into the linear telescopic motion of the direction-changing drive block 6. At the same time, when the direction-changing drive block 6 moves to a set distance, the inclined table 19 can drive the transmission block 3 to drive the material clamping jaw 8 to clamp the product. The high-efficiency transmission characteristics of the gear and rack further reduce power loss, providing a stable guarantee for the high-frequency clamping operation of the manipulator.

[0060] Referring to Figure 2 and Figure 5 , a moving groove 20 is formed on the bottom plate 1, a moving block 21 that can slide along the extending direction of the moving groove 20 is connected to the moving groove 20, a guide rod 22 is connected to the moving block 21, a connecting seat 23 is arranged on the transmission beam 5, a guiding groove 24 for mating with the guide rod 22 is formed on the connecting seat 23, and one end of the guide rod 22 extends through the guiding groove 24.

[0061] The moving groove 20 and the moving block 21 provide limits for the lateral movement of the transmission beam 5. The guide rod 22 is engaged with the guiding groove 24 of the connecting seat 23, so that the moving block 21 can push the connecting seat 23 through the guide rod 22 to drive the transmission beam 5 to perform lateral reciprocating movement. At the same time, through the formed guiding groove 24, an avoidance is provided for the lifting of the transmission beam 5.

[0062] Referring to Figure 5 , the conveying transmission member 12 includes a transmission rod 121, a conveying transmission gear 122 and a conveying transmission rack 123. The conveying transmission rack 123 is installed on the moving block 21, the conveying transmission gear 122 is installed at one end of the transmission rod 121 and is meshed and connected with the conveying transmission rack 123, and the other end of the transmission rod 121 is connected to the output end of the second gear set 10. When the conveying transmission gear 122 rotates, the conveying transmission rack 123 can drive the moving block 21 to perform reciprocating movement along the moving groove 20.

[0063] The second gear set 10 drives the conveying transmission gear 122 to rotate through the transmission rod 121, and then drives the moving block 21 to reciprocate along the moving groove 20, realizing the moving and conveying of the transmission beam 5 after clamping the material by the material clamping jaw 8. Thus, the material clamping jaw can clamp the product and move it to the corresponding stamping station, further improving the continuity of stamping and enhancing the overall operation efficiency.

[0064] Specifically, the first driving member 133 and the second driving member 134 in this embodiment are both composed of racks, and the lifting plate 131 is vertically distributed with respect to the horizontal plane of the bottom plate 1.

[0065] Specifically, in this embodiment, a limiting groove for mating and installing the second driving member 134 is formed on the side surface of the stopper 137. Limiting portions are formed at both ends of the limiting groove. Due to the meshing connection between the second driving member 134 and the input gear of the second gear set 10, the rack synchronously moves up and down under the up and down movement of the lifting plate 131. At this time, when one end of the rack abuts against the limiting portion at one end of the limiting groove, the input gear of the second gear set 10 generates a rotational movement, and the output gear of the second gear set 10 can drive the transmission rod 121 to rotate, that is, the conveying transmission gear 122 on the transmission rod 121 can drive the conveying transmission rack 123 to drive the moving block 21 to move, so that the transmission beam 5 moves horizontally back and forth.

[0066] In some embodiments, a plurality of clamping jaws 8 are provided, and the plurality of clamping jaws 8 are spaced apart and installed on the transmission beam 5. A material receiving portion 81 for carrying the product and a clamping portion 82 for clamping the side of the product are formed on the clamping jaw 8. One end of the clamping portion 82 is connected to the transmission beam 5. A protective cushion block 27 is provided on the clamping jaw 8. The clamping and positioning auxiliary device consists of a vacuum suction nozzle 29 and a vacuum pump (not shown) for providing vacuum suction to the vacuum suction nozzle 29. The adsorption portion of the vacuum suction nozzle 29 is exposed on the material receiving portion 81, and the vacuum suction nozzle 29 is communicated with the vacuum pump through a pipeline. Specifically, the clamping jaw in this embodiment is in a "Z" shape.

[0067] Optionally, the plurality of provided clamping jaws 8 can be applicable to multiple stamping stations (for example: the first stamping → the second stamping → the third stamping → blanking), so as to improve the continuity and production efficiency of clamping, conveying and blanking of the stamping products.

[0068] In-mold transfer control method, the transfer control method includes the following steps:

[0069] Step 1: Install the in-mold transfer manipulator. Install the in-mold transfer manipulator on the side of the mold. There are two groups of in-mold transfer manipulators, and the two groups of in-mold transfer manipulators are symmetrically arranged on both sides of the mold. The in-mold transfer manipulator is installed on the lower template 26 of the mold through the bottom plate 1, and the top end of the lifting plate 131 is connected to the upper template 25 of the mold, and the clamping end of the clamping jaw 8 extends into the mold.

[0070] Step 2: Feeding. Adapt one end of the mold to an external feeder and cutting machine, so that the sheet material is cut into sheets through the feeder, and the raw sheet material cut into sheets is placed in the stamping station of the lower template 26 by the feeding manipulator.

[0071] Step 3: Mold clamping, refer to Figure 7When the upper template 25 descends to the lower template 26 for mold closing, the descent of the upper template 25 causes the lifting plate 131 to drive the first driving member 133 and the second driving member 134 to move, and respectively drive the first gear set 9 and the second gear set 10 to rotate, and the output gear of the first gear set 9 drives the linkage rod 111 to rotate, so that the clamping transmission gear 112 on the linkage rod 111 rotates and drives the clamping transmission rack 113 to move, and the clamping transmission rack 113 synchronously drives the change-direction driving block 6 to produce a compound motion and shrink into the accommodating cavity, so that the clamping claw 8 on the transmission beam 5 is in a contracted and loosened state and evades as the transmission beam 5 descends, and the output gear of the second gear set 10 drives the transmission rod 121 to drive the conveying transmission gear 122 to rotate, so that the conveying transmission rack 123 drives the moving block 21 to move along the moving groove 20, and the transmission beam 5 drives the clamping claw 8 to move to the set initial area to be clamped, waiting for the completion of the mold closing stamping of the upper template 25 and the lower template 26 of the mold;

[0072] Step 4: Mold opening, refer to Figures 8-10 , the upper template 25 drives the lifting plate 131 to rise when the mold is opened, so that the first driving member 133 and the second driving member 134 on the lifting plate 131 respectively drive the first gear group 9 and the second gear group 10 to rotate, and the output gear of the first gear group 9 drives the linkage rod 111 to rotate, so that the clamping transmission gear 112 on the linkage rod 111 rotates and drives the clamping transmission rack 113 to move, and the clamping transmission rack 113 synchronously drives one end of the reversing driving block 6 to move toward the opening 14, and the transmission block 3 is subjected to the compound movement of extension and jacking, so that the clamping claw 8 on the transmission beam 5 is extended to approach the product and forms a clamping state with the lifting of the transmission beam 5, and the two ends of the product are symmetrically clamped by two groups of symmetrically arranged clamping claws 8, so that the product can be clamped and taken out from the stamping station, at this time, the output gear of the second gear group 10 drives the transmission rod 121 to drive the conveying transmission gear 122 to rotate, so that the conveying transmission rack 123 drives the moving block 21 to move along the moving groove 20, and the clamped product can be moved to the next stamping station;

[0073] Step five: unloading. When the mold is opened in step four, the in-mold conveying robot clamps the stamped sheet through the clamping claws 8 on the transmission beam 5 and moves along the extension direction of the sliding member 7. One end of the sliding member 7 extends toward the unloading station of the mold. The end of the transmission beam 5 can be exposed and extended along the sliding member 7 toward the outer side of the mold. The transmission beam 5 clamps the stamped product through the clamping claws 8 close to the unloading station and moves to the unloading station of the mold. At this time, the mold closing action of step three is executed, and multiple clamping claws 8 simultaneously release their clamping of the product to complete the unloading action. Steps three and four are repeated to form a cyclic continuous feeding action that is compatible with the stamping rhythm of the mold.

[0074] In this embodiment, in step two, four stamping stations are provided inside the mold. The four stamping stations are composed of a loading stamping station, a second stamping station, a third stamping station, and an unloading stamping station. The clamping claws 8 are paired with the number of stamping stations, and the interval distribution of the four clamping claws 8 is paired with the interval distribution of the four stamping stations. The transmission beam 5 can drive the four clamping claws 8 to move synchronously along the sliding of the sliding member 7, so that the clamping claws 8 clamp the products on the stamping stations and move them into the next stamping station. By repeatedly executing the mold closing movement of the upper template 25 towards the lower template 26, the in-mold transfer manipulator can be synchronously driven to perform continuous cyclic feeding.

[0075] Through the structured layout of the loading stamping station, multiple stamping stations, and the unloading stamping station, and in cooperation with the synchronous driving of the transmission beam 5 for multiple clamping claws 8 paired with it, the clamping and conveying of the clamping claws 8 sequentially move the products at the loading stamping station into the stamping stations, and are exported after being stamped at the unloading stamping station. This layout eliminates the disadvantages of traditional independent manipulators that need to wait for the mold to pause or switch stations, enabling the sheet-shaped plate to complete the transfer between multiple stamping stations within a continuous mold closing - mold opening cycle, significantly improving the continuity of the stamping rhythm and the overall efficiency of the production line, and at the same time avoiding production interruptions caused by station switching.

[0076] In this embodiment, in step four, when the clamping claws 8 move close to the product, the receiving part 81 is used to support the bottom of the product. The two in-mold transfer manipulators use the clamping parts 82 of the opposite clamping claws 8 to clamp the sides of the product. Vacuum suction is conveyed to the vacuum suction nozzle 29 through a vacuum pump, so that the adsorption part of the vacuum suction nozzle 29 exposed on the receiving part 81 applies a vacuum adsorption force to the bottom surface of the product, completing the auxiliary function of clamping the product. The adsorption and clamping force of the product is detected by the pressure detection sensor 28. The corresponding clamping force is received by the receiving module of the controller, and is analyzed and paired with the corresponding product according to the detection and analysis module set in the controller. When the clamping force deviates, the auxiliary clamping suction force applied by the vacuum suction nozzle 29 to the product is adjusted through the suction control module.

[0077] Through the dual fixing mechanism of mechanical clamping and vacuum adsorption, it not only ensures the accuracy of the product side positioning, but also enhances the clamping stability through bottom surface adsorption, effectively preventing the product from falling off or displacing during the conveying process.

[0078] The closed-loop feedback system composed of the pressure detection sensor 28 and the controller can monitor and dynamically adjust the adsorption force in real time, so that the clamping force always matches the product characteristics, avoiding both the risk of dropping caused by insufficient clamping force and the damage to the product caused by excessive clamping, thereby improving the reliability of the conveying process and the finished product yield.

[0079] In summary, the present invention solves the problem that the loading and unloading manipulator of the existing stamping die is difficult to adjust and control. The present invention realizes the synchronous linkage between the clamping and conveying of the in-mold transfer manipulator and the stamping action, that is, within the motion cycle of the opening and closing of the die, it can complete the clamping of the product, moving and conveying it to the next process, and releasing the product to move and avoid the die stamping, reducing the waiting time for the die to open and close, improving the continuity of the stamping cycle and the production efficiency. And it provides a solution with reliability, continuity and high efficiency for the automated stamping production line of sheet materials.

[0080] The above is only a preferred embodiment of the present invention, and it is not intended to limit the present invention in any form. Although the present invention is disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, when making some changes or modifications using the above-disclosed technical content into equivalent embodiments of equivalent changes, but as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical solution of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. In-mold transfer robot, including a bottom plate, characterized in that: The base plate is connected to a symmetrically arranged direction-changing support seat, a transmission block is provided in the direction-changing support seat, one end of the transmission block is exposed outside the direction-changing support seat and is connected to the transmission beam through the mounting beam, a direction-changing driving block that can drive the transmission block to extend and retract and perform lifting actions is provided in the direction-changing support seat, the transmission beam is installed on the mounting beam through a sliding member, the transmission beam is connected to a clamping claw, the clamping claw is connected to a clamping positioning auxiliary device for providing suction to the clamped product, and a pressure detection sensor for detecting the contact pressure of the product is provided on the clamping claw, a first gear set and a second gear set are provided on the base plate, an output end of the first gear set is connected to a clamping transmission member for driving the direction-changing driving block to drive the transmission block to move, and an output end of the second gear set is connected to a conveying transmission member for driving the conveying beam to slide along the sliding member, a driving source is provided between the direction-changing support seats, and the driving source drives the first gear set and the second gear set to rotate so that the transmission beam can clamp, convey or unfold and move; Expanded moving state: when the driving source descends, the first gear set rotates and drives the direction-changing driving block to retract into the direction-changing support seat through the clamping transmission member, so that the transmission beam drives the clamping claw to loosen and descend. At the same time, the descent of the driving source can drive the second gear set to rotate, so that the second gear set drives the transmission beam to move to the position to be clamped through the conveying transmission member; Clamping and conveying state: when the driving source rises, the first gear group rotates and drives the changing direction driving block to extend out of the changing direction support seat through the clamping transmission member, so that the transmission beam drives the clamping claws to approach the product and rise to clamp. At the same time, the rise of the driving source can drive the second gear group to rotate, so that the second gear group drives the transmission beam to move and feed the material through the conveying transmission member.

2. The in-mold transfer robot according to claim 1, characterized in that: A accommodating cavity is provided in the changing direction support seat, and an opening communicating with the accommodating cavity is provided on the side of the changing direction support seat. The changing direction drive block and the transmission block are both installed in the accommodating cavity, and the changing direction drive block and the transmission block can be telescopically moved along the accommodating cavity toward the opening. The transmission block is installed on the changing direction drive block by means of an inclined groove. A guide groove is provided on the inner wall of the accommodating cavity, and a lifting block is connected by a buckle on the side of the transmission block, and the lifting block is matched with the guide groove.

3. The in-mold transfer robot according to claim 2, characterized in that: The clamping transmission member includes a linkage rod, a clamping transmission gear and a clamping transmission rack. The clamping transmission rack is installed on the changing direction drive block. The clamping transmission gear is installed at one end of the linkage rod and meshed with the clamping transmission rack. The other end of the linkage rod passes through the changing direction support seat and is connected to the output end of the first gear group. A pressure plate for limiting is connected to the side of the changing direction support seat. When the clamping transmission gear rotates, the clamping transmission rack can drive the changing direction drive block to telescope toward the opening. At the same time, the changing direction drive block can drive the transmission block to be lifted through the inclined platform.

4. The in-mold transfer robot according to claim 1, characterized in that: The bottom plate is provided with a movable groove, the movable groove is connected with a movable block which can slide along the extension direction of the movable groove, the movable block is connected with a guide rod, a connecting seat is provided on the transmission beam, the connecting seat is provided with a guide groove for matching the guide rod, and one end of the guide rod extends into the guide groove.

5. The in-mold transfer robot according to claim 4, characterized in that: The conveying transmission member includes a transmission rod, a conveying transmission gear and a conveying transmission rack. The conveying transmission rack is installed on the moving block. The conveying transmission gear is installed on one end of the transmission rod and meshed with the conveying transmission rack. The other end of the transmission rod is connected to the output end of the second gear group. When the conveying transmission gear rotates, the conveying transmission rack can drive the moving block to reciprocate along the moving groove.

6. The in-mold transfer robot according to any one of claims 1 to 5, characterized in that: The driving source includes a lifting plate, a guide seat, a first driving member for driving the first gear set and a second driving member for driving the second gear set. The guide seat is installed between the direction-changing support seats. A sliding groove for matching the lifting plate is provided on the inner side of the guide seat. The top of the lifting plate is used to connect the upper mold of the mold. The first driving member is installed on the inner side of the guide seat through a connecting block, and the first driving member is meshed with the input end of the first gear set. The second driving member is installed on the inner side of the guide seat through a limiter. The second driving member can slide along the limiter, and the second driving member is meshed with the input end of the second gear set.

7. The in-mold transfer robot according to any one of claims 1 to 5, characterized in that: There are multiple clamping claws, and the multiple clamping claws are installed on the transmission beam at intervals. Protective pads are provided on the clamping claws. A material receiving part for carrying the product and a clamping part for clamping the side of the product are formed on the clamping claws. One end of the clamping part is connected to the transmission beam. The clamping positioning auxiliary device consists of a vacuum suction nozzle and a vacuum pump for providing vacuum suction to the vacuum suction nozzle. The adsorption part of the vacuum suction nozzle is exposed on the material receiving part, and the vacuum suction nozzle is connected to the vacuum pump through a pipeline.

8. The in-mold transfer control method is characterized in that: The transmission control method comprises the following steps: Step 1: Install the in-mold transfer robot. Install the in-mold transfer robot described in any one of claims 1 to 7 on the side of the mold. Two groups of in-mold transfer robots are provided, and the two groups of in-mold transfer robots are symmetrically arranged on both sides of the mold. The in-mold transfer robot is installed on the lower mold plate of the mold through the bottom plate, and the top of the lifting plate is connected to the upper mold plate of the mold, and the clamping end of the clamping claw extends toward the inside of the mold; Step 2: Loading, matching one end of the mold with the external feeder and cutter, cutting the sheet into sheets through the feeder, and placing the cut sheet raw material sheet in the stamping station of the lower template through the loading robot; Step 3: When the mold is closed, the upper mold plate descends to the lower mold plate to close the mold. The descent of the upper mold plate causes the lifting plate to drive the first driving member and the second driving member to move, and respectively drive the first gear set and the second gear set to rotate. The first gear set drives the linkage rod to rotate, and the clamping transmission gear on the linkage rod rotates and drives the clamping transmission rack to move. The clamping transmission rack synchronously drives the direction-changing driving block to produce a compound motion and shrink into the accommodating cavity. The clamping claw on the transmission beam is in a contracted and loosened state and evades as the transmission beam descends. The second gear set drives the transmission rod to drive the conveying transmission gear to rotate, and the conveying transmission rack drives the moving block to move along the moving groove. The transmission beam drives the clamping claw to move to the set initial area to be clamped, waiting for the completion of the clamping stamping of the upper and lower mold plates. Step 4: The mold is opened, and the upper template drives the lifting plate to rise when the upper template is opened, so that the first driving member and the second driving member on the lifting plate respectively drive the first gear group and the second gear group to rotate, and the first gear group drives the linkage rod to rotate, and the clamping transmission gear on the linkage rod rotates and drives the clamping transmission rack to move, and the clamping transmission rack synchronously drives one end of the reversing driving block to move toward the opening, and the transmission block is subjected to the compound movement of extension and jacking, and the clamping claws on the transmission beam are extended to approach the product and form a clamping state with the jacking of the transmission beam. The two ends of the product are symmetrically clamped by two groups of symmetrically arranged clamping claws, so that the product can be clamped and taken out from the stamping station, and the second gear group drives the transmission rod to drive the conveying transmission gear to rotate, and the conveying transmission rack drives the moving block to move along the moving groove, so that the clamped product can be moved to the next stamping station; Step five: unloading. When the mold is opened in step four, the in-mold conveying robot clamps the stamped sheet through the clamping claws on the transmission beam and moves along the extension direction of the sliding part. One end of the sliding part extends toward the unloading station of the mold, and the end of the transmission beam can be exposed and extended along the sliding part toward the outer side of the mold. The transmission beam clamps the stamped product through the clamping claws close to the unloading station and moves it to the unloading station of the mold. At this time, the mold closing action of step three is executed, and multiple clamping claws release their clamping of the product at the same time to complete the unloading action. Steps three and four are repeated to form a cyclic continuous feeding action that matches the stamping rhythm of the mold.

9. The in-mold transfer control method according to claim 8, characterized in that: In the step 2, a plurality of stamping stations are arranged inside the mold, the clamping claws are matched with the number of stamping stations, and the spacing distribution of the plurality of clamping claws is matched with the spacing distribution of the plurality of stamping stations. The sliding of the transmission beam along the sliding member can drive the plurality of clamping claws to move synchronously, and the clamping claws clamp the product on the adjacent stamping station and move it to the next stamping station. By repeatedly executing the closing movement of the upper mold plate to the lower mold plate, the in-mold transfer robot can be synchronously driven to perform continuous cycle feeding.

10. The in-mold transfer control method according to claim 8, characterized in that: In the step four, when the clamping claw moves close to the product, the material receiving part is used to support the bottom of the product, and the two groups of in-mold transfer robots are used to clamp the sides of the product through the clamping parts of the relative clamping claws, and the vacuum pump transmits vacuum suction to the vacuum nozzle, and the adsorption part of the vacuum nozzle exposed on the material receiving part applies vacuum adsorption force to the bottom surface of the product to complete the auxiliary function of product clamping, and the adsorption and clamping force on the product is detected by the pressure detection sensor, and the corresponding clamping force is received by the receiving module of the controller, and the detection and analysis module set in the controller is used to analyze and match with the corresponding product. When the clamping force deviates, the auxiliary clamping suction applied by the vacuum nozzle to the product is adjusted by the suction control module.

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