Cold stamping die conveying device

Abstract

The application discloses a cold punch die conveying device and belongs to the field of material taking and conveying. The cold punch die conveying device comprises a vacuum chuck and a material taking mechanical arm, wherein the vacuum chuck is connected with the material taking mechanical arm, and the vacuum chuck is adsorbed with a bottom wall of the cold punch die. The cold punch die conveying device further comprises a mounting frame arranged on the upper portion of the vacuum chuck, wherein the mounting frame is provided with an arc-shaped opening on the peripheral portion of the vacuum chuck; an elastic member is arranged on the mounting frame; and a driving member is used for driving the elastic member to deform outwardly in the arc-shaped opening or to move to abut against the side wall of the cold punch die. A guide member is arranged in the elastic member, and the guide member is used for supporting the part of the elastic member outside the arc-shaped opening. The cold punch die conveying device has the beneficial effects that the bottom wall of the cold punch die is adsorbed by the vacuum chuck, and the side wall of the cold punch die is abutted against by the elastic member, so that the adsorption and the internal bracing of the cold punch die are realized, the stability of the cold punch die in the process of grabbing and transporting and transferring positions is improved, and the risk existing in the transportation process is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of material taking and transporting, and in particular to a cold punching die conveying device. BACKGROUND

[0002] At present, the cold punching die is obtained by cold punching equipment stamping. After the stamping of the cold punching equipment is completed, the cold punching die needs to be taken out by a mechanical hand and transferred to a position, usually a special storage area.

[0003] In the related art, a mechanical arm is combined with a vacuum chuck to adsorb the cold punching die to be taken out by the vacuum chuck, thereby achieving material taking. However, because the shapes of the cold punching dies are different, the surfaces of some cold punching dies are uneven, and thus the stability of the vacuum chuck adsorption is poor, and the cold punching die is prone to falling off, thereby causing risks in the process of transporting and transferring the cold punching die. SUMMARY

[0004] In order to improve the problem that the cold punching die is prone to falling off in the process of transporting and transferring the cold punching die, the present application provides a cold punching die conveying device.

[0005] The cold punching die conveying device provided by the present application adopts the following technical solution:

[0006] A cold punching die conveying device, comprising: a cold punching equipment for stamping a die plate to be punched to obtain a plate of a cold punching die; a vacuum chuck and a material taking mechanical arm, the vacuum chuck being connected with the material taking mechanical arm, and the vacuum chuck being adsorbed with a bottom wall of the cold punching die; the cold punching die conveying device further comprises: a mounting frame arranged on an upper portion of the vacuum chuck, the mounting frame being provided with an arc-shaped opening at a peripheral portion of the vacuum chuck; an elastic member arranged on the mounting frame; a driving member for driving the elastic member to deform outward or move to abut against a side wall of the cold punching die at the arc-shaped opening; wherein a guide member is arranged in the elastic member, and the guide member is used to support a portion of the elastic member outside the arc-shaped opening.

[0007] By adopting the above technical solution, the vacuum chuck is adsorbed on the cold punching die, and at the same time, the elastic member is deformed or moved to abut against the side wall of the cold punching die, thereby realizing the vacuum adsorption of the cold punching die and the outward bracing of the side wall of the cold punching die from the inside, and realizing the transfer of the position of the cold punching die. Therefore, when the shape of the cold punching die is too special and the vacuum chuck alone cannot adsorb the cold punching die, the technical solution of the present application can transfer the position of the cold punching die with a too special shape.

[0008] By adopting the above technical solution, the guide member supports the elastic member, so that the elastic member itself can maintain good elasticity, and when the elastic member abuts against the side wall of the cold punching die, the downward deformation of the elastic member can be avoided, thereby avoiding the instability of the inward bracing of the cold punching die. The stability of the transfer of the position of the cold punching die is improved.

[0009] Preferably, the cold punch conveying device further comprises: a plurality of rigid members, which are circumferentially arranged around a fixed axis and fixed to the elastic member; the fixed axis is parallel to the opening direction of the arc-shaped opening; a transmission member is arranged on the fixed axis and directly or indirectly connected to the plurality of rigid members; the driving member is further used to drive the transmission member to move close to the vacuum chuck, so that the rigid member forms a vacuum chamber between the elastic member and the side wall of the cold punch.

[0010] By using the above technical solution, the rigid member and the transmission member are arranged to form a vacuum chamber in the part of the elastic member abutting against the side wall of the cold punch, so that the elastic member can also adsorb the side wall of the cold punch by the way of the vacuum chamber, and the vacuum chuck and the elastic member cooperate to improve the stability of the cold punch in the transfer position.

[0011] Preferably, the elastic member comprises a fixed frame and an elastic film wrapped outside the fixed frame; the elastic film has an elastic chamber, and the fixed frame is arranged in the elastic chamber; the driving member injects air into the elastic film to deform the elastic film outward to abut against the side wall of the cold punch.

[0012] By using the above technical solution, air is injected into the elastic chamber to make the elastic film expand and deform to abut against the side wall of the cold punch, and the degree of expansion of the elastic film can be more easily controlled by the way of air injection, and the elastic film can be more easily supported and tightened for cold punches of different sizes. The fixed frame is arranged in the elastic chamber, which makes the elastic film easy to shape and avoids the situation that the elastic film is too flexible or elastic to be easily installed.

[0013] Preferably, the guide member comprises: an extension rod and a flexible structure arranged at the end of the extension rod; the flexible structure is fixed to the elastic film, and the flexible structure is distributed around the rigid member; the flexible structure directly or indirectly forms a rigid support portion on the side away from the elastic film; the extension rod is fixed to the support portion.

[0014] By adopting the technical scheme, the telescopic rod is arranged to make the flexible structure away from and close to the vacuum chuck, and to prevent the flexible structure from being downwardly or upwardly deviated. The flexible structure is fixed to the elastic film, so that the flexible structure on the elastic film is abutted against the side wall of the cold punch by the elastic film, and thus the part of the elastic film that is abutted against the side wall of the cold punch is supported by the flexible structure, so that the part is prevented from being deviated downwardly due to the elasticity of the part under the gravity of the cold punch, and thus more parts of the elastic film can be used to support and abut the side wall of the cold punch and to drive the cold punch to move.

[0015] Preferably, a displacement adjusting mechanism is arranged on the material taking mechanical arm, and the vacuum chucks and the mounting frames are connected to the material taking mechanical arm through the displacement adjusting mechanism. The displacement adjusting mechanism is used to move the plurality of vacuum chucks and the plurality of mounting frames to positions close to the side wall of the cold punch.

[0016] By adopting the technical scheme, the displacement adjusting mechanism can make the vacuum chucks better abut the cold punch at positions close to the side wall of the cold punch, and can facilitate the elastic film to be expanded to abut the side wall of the cold punch. Meanwhile, the displacement adjusting mechanism can be adapted to cold punches of various shapes and sizes to move positions.

[0017] Preferably, the displacement adjusting mechanism comprises a first hinged plate, a second hinged plate, a third hinged plate, a fourth hinged plate and a displacement structure. The first hinged plate, the second hinged plate, the third hinged plate and the fourth hinged plate are sequentially and circularly hinged to form a parallelogram frame. The displacement structure is connected to two opposite vertices of the parallelogram frame, and drives the two opposite vertices of the parallelogram frame to move close to or away from each other, so as to narrow or widen the parallelogram frame. The plurality of vacuum chucks and the plurality of mounting frames are arranged on the first hinged plate, the second hinged plate, the third hinged plate and the fourth hinged plate, respectively.

[0018] By adopting the technical scheme, the displacement structure can deform the shape of the parallelogram frame, so that the positions of the plurality of vacuum chucks are changed to the shape of a parallelogram. The displacement structure can better adapt to the cold punch of a long strip shape.

[0019] Preferably, the vacuum chucks and the material taking mechanical arm are connected through a connecting piece, which can be directly or indirectly hinged or ball-jointed.

[0020] By adopting the technical scheme, the hinge or ball joint of the vacuum chuck can rotate, and when the vacuum chuck contacts the cold punch die, if the bottom wall of the cold punch die is non-planar or the normal direction is not perpendicular to the vacuum chuck, the vacuum chuck can automatically conform to the shape of the cold punch die and be perpendicular to the normal of the bottom wall of the cold punch die when the vacuum chuck contacts the cold punch die, so that the vacuum chuck better adsorbs the cold punch die.

[0021] Preferably, the connecting piece comprises a connecting frame, a first flexible body and a second flexible body; the first flexible body and the second flexible body are connected with the connecting frame; the first flexible body has a first deformable cavity; the second flexible body has a second deformable cavity; a protruding body is arranged on the vacuum chuck; the first flexible body and the second flexible body are directly or indirectly connected to make the first deformable cavity and the second deformable cavity connected; the protruding body is arranged in the first deformable cavity and the second deformable cavity, and the protruding body is in contact with the inner wall of the first deformable cavity and the second deformable cavity.

[0022] By adopting the technical scheme, the first flexible body and the second flexible body are arranged in cooperation with the protruding body, so that the vacuum chuck can move or rotate greatly relative to the first deformable cavity and the second deformable cavity, and the vacuum chuck can better abut and adsorb the wall of the cold punch die with different positions and shapes.

[0023] Preferably, the first flexible body and the second flexible body both have elasticity.

[0024] Preferably, the driving piece comprises an air pump, a gas injection pipe and an exhaust structure; the gas injection pipe is in communication with the elastic chamber; the air pump injects air into the elastic chamber through the gas injection pipe; and the air pump also discharges air downward from the periphery of the vacuum chuck through the exhaust structure.

[0025] By adopting the technical scheme, the exhaust structure can clean the position to be adsorbed by the vacuum chuck, so as to better ensure the stability of the abutment and adsorption of the vacuum chuck and the cold punch die.

[0026] In summary, the present application has at least one of the following beneficial technical effects:

[0027] 1. The vacuum chuck adsorbs the bottom wall of the cold punch die, and the elastic piece abuts against the side wall of the cold punch die, so as to realize adsorption and internal support of the cold punch die, better improve the stability of the cold punch die during grabbing, transporting and transferring, and greatly reduce the risk during transportation.

[0028] 2. When the elastic member contacts the side wall of the cold punch die, a vacuum chamber is formed between the elastic member and the cold punch die, so that the elastic member is both tightly supported and adsorbed by the cold punch die, thereby greatly improving the stability of the elastic member in taking materials from the cold punch die. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the embodiment of the present application from another perspective; Figure 1

[0031] Figure 3 is a schematic diagram of the cold punching device and the material taking mechanical arm;

[0032] Figure 4 is a schematic diagram of the material taking mechanical arm and part of the surrounding parts;

[0033] Figure 5 is a schematic diagram of the displacement adjusting mechanism;

[0034] Figure 6 is a partial schematic diagram of the embodiment of the present application; Figure 5

[0035] Figure 7 is a schematic diagram of the gas injection pipe and part of the surrounding parts;

[0036] Figure 8 is a schematic diagram of the connecting frame and part of the surrounding parts;

[0037] Figure 9 is a schematic diagram of the first flexible body, the second flexible body, and the protruding body;

[0038] Figure 10 is a schematic diagram of a cross section of an embodiment of the elastic film;

[0039] Figure 11 is a partial schematic diagram of the embodiment of the present application; Figure 10

[0040] Figure 12 is a schematic diagram of a cross section of the elastic film and the fixing frame;

[0041] Figure 13 is a schematic diagram of a cross section of the fixing frame and the telescopic rod;

[0042] Figure 14 is a schematic diagram of the elastic film forming a vacuum chamber;

[0043] Figure 15 is a schematic diagram of the flexible pipe and part of the surrounding parts;

[0044] Figure 16 is a schematic diagram of the cold punch die.​​​

[0045] Reference signs:

[0046] 1. cold punching equipment; 11, cold punching die;

[0047] 2. vacuum chuck; 21, disc body; 22, rod body; 221, convex body; 23, material taking mechanical arm; 24, mounting frame; 241, arc-shaped opening;

[0048] 3. elastic member; 31, fixing frame; 32, elastic film; 321, elastic chamber; 322, vacuum chamber;

[0049] 4. driving member; 41, air pump; 42, air injection pipe; 43, exhaust structure; 431, exhaust pipe; 432, exhaust ring;

[0050] 5. guide member; 51, telescopic rod; 52, flexible structure; 521, annular plate; 522, flexible rubber;

[0051] 6. rigid member;

[0052] 7. transmission member;

[0053] 8. displacement adjusting mechanism; 81, first hinged plate; 811, flexible pipe; 812, connecting plate; 813, pressure applying member; 814, rigid pipe; 82, second hinged plate; 83, third hinged plate; 84, fourth hinged plate; 85, displacement structure; 851, moving frame; 852, guide rail; 853, sliding block; 854, displacement air cylinder;

[0054] 9. connecting frame; 91, first flexible body; 92, second flexible body. DETAILED DESCRIPTION

[0055] The following will be described in detail with reference to the accompanying drawings. Figures 1-16 The present application will be described in further detail.

[0056] The present application discloses a cold punching die conveying device.

[0057] Reference will be made to Figures 1-5 A cold punching die 11 conveying device comprises a cold punching equipment 1, a vacuum chuck 2, a material taking mechanical arm 23, a mounting frame 24, an elastic member 3, a driving member 4 and a guide member 5.

[0058] Reference will be made to Figures 1-3 The cold punching equipment 1 is used for punching a plate member of a cold punching die 11 from a to-be-punched die plate member. The cold punching equipment 1 adopts the prior art and will not be described in detail. The vacuum chuck 2 is connected with the material taking mechanical arm 23, and the vacuum chuck 2 is adsorbed with a bottom wall of the cold punching die 11. The material taking mechanical arm 23 drives the cold punching die 11 to shift positions through the vacuum chuck 2.

[0059] ReferenceFigures 8-9 The vacuum chuck 2 comprises a disc body 21 and a rod body 22, and a mounting frame 24 is arranged on the upper portion of the disc body 21 of the vacuum chuck 2, and the mounting frame 24 is provided with an arc-shaped opening 241 on the peripheral portion of the vacuum chuck 2. The mounting frame 24 is a circular frame body, and the arc-shaped opening 241 is a gap on the side wall of the circular frame body. The elastic member 3 is arranged on the mounting frame 24. The driving member 4 is used to drive the elastic member 3 to deform outwardly or move to the side wall of the cold punch die 11 through the arc-shaped opening 241.

[0060] In one possible implementation, when the elastic member 3 moves outwardly through the arc-shaped opening 241 to abut against the side wall of the cold punch die 11, the elastic member 3 is a solid body with elasticity, and the driving member 4 is one of a pneumatic cylinder, a hydraulic cylinder and an electric push rod. After the elastic member 3 abuts against the side wall of the cold punch die 11, the friction between the elastic member 3 and the side wall of the cold punch die 11 can make the elastic member 3 move synchronously with the cold punch die 11. Thus, the cold punch die 11 can be simultaneously subjected to the suction of the vacuum chuck 2 and the clamping of the side wall in the cold punch die 11 to be tightly supported, and the cold punch die 11 can be simultaneously taken and transferred by suction and clamping.

[0061] At this time, the guide member 5 can be an output rod of the driving member 4, and the guide member 5 penetrates through the entire elastic member 3. Thus, the guide member 5 abuts against the side wall of the cold punch die 11, and at the same time, the part of the elastic member 3 connected with the guide member 5 abuts against the side wall of the cold punch die 11, thereby increasing the contact area of the side wall of the cold punch die 11.

[0062] In another possible implementation, when the elastic member 3 expands outwardly through the arc-shaped opening 241 to abut against the side wall of the cold punch die 11, the elastic member 3 is a membrane body with elasticity, and the edges of the elastic member 3 are connected to form a cavity. The driving member 4 is a gas pump 41 or a liquid pump, which is used to inject gas or water into the cavity to realize the expansion of the elastic member 3.

[0063] Reference Figures 10-12, preferably, the elastic member 3 comprises a fixed frame 31 and an elastic film 32 wrapped around the fixed frame 31. The elastic film 32 has an elastic cavity 321, and the fixed frame 31 is arranged in the elastic cavity 321. The fixed frame 31 is arranged in the elastic cavity 321, and the arrangement of the fixed frame 31 makes the elastic film 32 easy to shape, avoiding the situation that the elastic film 32 itself is too flexible or elastic and is not easy to install. The elastic film 32 is fixed to the mounting frame 24, and more accurately, the fixed frame 31 is fixed to the mounting frame 24, and the elastic film 32 is wrapped around the fixed frame 31, so the elastic film 32 is fixed to the mounting frame 24. The driving member 4 injects air into the elastic film 32 to make the elastic film 32 deform outwardly to abut against the side wall of the cold punch 11 at the arc-shaped opening 241. The air injection into the elastic cavity 321 makes the elastic film 32 expand and deform to abut against the side wall of the cold punch 11, and the air injection can make the expansion degree of the elastic film 32 more easily controlled and more easily support the cold punch 11 of different sizes.

[0064] In this scheme, the guide member 5 can be a telescopic rod 51, one end of which is connected to the inner wall of the elastic cavity 321 and the other end of which is connected to the mounting frame 24. The telescopic rod 51 can play a role in guiding the expansion of the elastic film 32 and supporting and stabilizing the cold punch 11.

[0065] Referring to Figures 10-12 In some embodiments, the cold punch 11 conveying device further comprises a plurality of rigid members 6, which are circumferentially arranged around a fixed axis and are fixed to the elastic member 3. The fixed axis is the same as the direction in which the arc-shaped opening 241 is formed. A transmission member 7 is arranged on the fixed axis, and the transmission member 7 is directly or indirectly hinged to the plurality of rigid members 6. The driving member 4 is further used to move the transmission member 7 close to the vacuum chuck 2 to form a vacuum cavity 322 between the elastic member 3 and the side wall of the cold punch 11. The arrangement of the rigid members 6 and the transmission member 7 forms a vacuum cavity 322 in the part where the elastic member 3 abuts against the side wall of the cold punch 11, and the vacuum cavity 322 is used to Figure 14 Thus, the elastic member 3 and the cold punch 11 are not only supported and clamped from the inside by the cold punch 11, but also the elastic member 3 can also adsorb the side wall of the cold punch 11 by the vacuum cavity 322, so that the stability of the cold punch 11 in the transfer position is improved by the cooperation of the vacuum chuck 2 and the elastic member 3.

[0066] In one possible implementation, the rigid members 6 are plates, and the elastic film 32 is filled in the gap between any two rigid members 6. The elastic film 32 wraps around five surfaces of the rigid members 6, leaving only one outer surface of the rigid members 6 outside the elastic film 32. The outer surface is used to contact the side wall of the cold punch 11. The transmission member 7 includes a hinged block and a connecting rope. The driving member 4 further includes a driving motor, which provides a pulling force to the connecting rope by winding the connecting rope. The hinged block is hinged to the plurality of rigid members 6. Thus, the hinged block can be pulled away from the side wall of the cold punch 11 by the driving motor, so that the plurality of rigid members 6 moves, and the elastic film 32 forms the vacuum chamber 322 on the side wall of the cold punch 11.

[0067] In another possible implementation, the connecting rope can be replaced by a connecting rod, and the driving member 4 includes an electric push rod, which drives the connecting rod to move away from the side wall of the cold punch 11, so that the elastic film 32 forms the vacuum chamber 322 on the side wall of the cold punch 11. Alternatively, the transmission member 7 directly adopts the electric push rod, and the transmission member 7 is fixedly connected to the fixed frame 31.

[0068] Referring to Figures 10-14 In some embodiments, the guide member 5 includes a telescopic rod 51 and a flexible structure 52 arranged at an end of the telescopic rod 51. The flexible structure 52 is fixed to the elastic film 32, and the flexible structure 52 is distributed around the rigid members 6. The flexible structure 52 directly or indirectly forms a rigid support on the side away from the elastic film 32, and the telescopic rod 51 is fixed to the support. The telescopic rod 51 is arranged to enable the flexible structure 52 to move away from and close to the vacuum chuck 2, and to prevent the flexible structure 52 from being downwardly or upwardly deviated. The flexible structure 52 is fixed to the elastic film 32, so that when the elastic film 32 is inflated, the flexible structure 52 on the elastic film 32 is tightly pressed against the side wall of the cold punch 11 through the elastic film 32, so that the part of the elastic film 32 that is tightly pressed against the side wall of the cold punch 11 after inflation is supported by the flexible structure 52, and thus the part will not be downwardly deviated due to its elasticity under the gravity of the cold punch 11. Therefore, more parts of the elastic film 32 can be used to tightly press the side wall of the cold punch 11 and to drive the cold punch 11 to move.

[0069] The flexible structure 52 includes an annular plate 521 and a flexible rubber 522 arranged on the annular plate 521. The plurality of telescopic rods 51 are arranged, and the annular plate 521 is a support portion. The plurality of telescopic rods 51 are connected with the annular plate 521. The flexible rubber 522 is connected with the annular plate 521, and the flexible rubber 522 is also connected with the elastic film 32. A plurality of rigid members 6 are located at the inner ring position of the annular plate 521. The flexible structure 52 assists the elastic film 32 to abut against the side wall of the cold punch die 11, and also makes the sealing effect between the edge of the vacuum chamber 322 and the cold punch die 11 better due to the assistance of the flexible structure 52.

[0070] With reference to Figures 4-5 In some embodiments, a displacement adjusting mechanism 8 is arranged on the material taking robot arm 23. The vacuum chuck 2 and the mounting frame 24 are connected with the material taking robot arm 23 through the displacement adjusting mechanism 8. The displacement adjusting mechanism 8 is used to move a plurality of vacuum chucks 2 and a plurality of mounting frames 24 to a position close to the side wall of the cold punch die 11. Through the displacement adjusting structure, the vacuum chuck 2 can be better adsorbed to the cold punch die 11 at a position close to the side wall of the cold punch die 11, and the elastic film 32 can be more conveniently expanded to abut against the side wall of the cold punch die 11. At the same time, it can also be adapted to cold punch dies 11 of various shapes and sizes for transfer position.

[0071] With reference to Figure 5 Specifically, the displacement adjusting mechanism 8 includes a first hinged plate 81, a second hinged plate 82, a third hinged plate 83, a fourth hinged plate 84, and a displacement structure 85. The first hinged plate 81, the second hinged plate 82, the third hinged plate 83, and the fourth hinged plate 84 are sequentially and circularly hinged to form a parallelogram frame. The displacement structure 85 is connected with two opposite vertices of the parallelogram frame, and drives the two opposite vertices of the parallelogram frame to move close to each other and move away from each other, so as to narrow or widen the parallelogram frame. A plurality of vacuum chucks 2 and a plurality of mounting frames 24 are arranged on the first hinged plate 81, the second hinged plate 82, the third hinged plate 83, and the fourth hinged plate 84, respectively. Through the arrangement of the displacement structure 85, the shape of the parallelogram frame can be deformed, so that the positions of the plurality of vacuum chucks 2 are changed to a parallelogram shape. It is better adapted to the long strip-shaped cold punch die 11. The shape of the cold punch die 11 is shown in the accompanying drawings Figure 16 .

[0072] With reference to Figure 6In a possible implementation, the shifting structure 85 includes a moving frame 851, a guide rail 852, a sliding block 853, and a shifting cylinder 854. The guide rail 852 is fixed on the moving frame 851, and the sliding block 853 is in sliding connection with the guide rail 852. The first, second, third, and fourth hinged plates 81, 82, 83, and 84 are all hinged by hinges, and two opposite hinges are connected with the sliding block 853, and two sliding blocks 853 are provided. The shifting cylinder 854 is used to drive the two opposite hinges to move close to or away from each other, and the guide rail 852 and the sliding block 853 guide the hinges. In addition, the first, second, third, and fourth hinged plates 81, 82, 83, and 84 have the same length, so that the shifting structure 85 can deform the parallelogram frame to adapt to different cold stamping dies 11.

[0073] With reference to Figure 15 In another possible implementation, the first hinged plate 81 includes a flexible pipe 811 and a plurality of connecting plates 812 provided on the flexible pipe 811. The vacuum chuck 2 and the mounting frame 24 are both connected with the connecting plates 812. A control component is provided in the flexible pipe 811, and the control component is used to switch the flexible pipe 811 between a free deformation state and a non-deformation state. The hinges are connected with the end portions of the flexible pipe 811. The second, third, and fourth hinged plates 82, 83, and 84 have the same structure as the first hinged plate 81. In use, the flexible pipe 811 can be first set in the non-deformation state, and then the material taking robot arm 23 drives the first hinged plate 81 to move to the position of the cold stamping die 11, and the parallelogram frame is embedded into the cold stamping die 11. The flexible pipe 811 is switched to the free deformation state, the driving member 4 drives the two opposite points of the parallelogram frame to move away from each other, the mounting frame 24 or the vacuum chuck 2 on the flexible pipe 811 of the parallelogram frame can be in contact with the side wall of the cold stamping die 11, and the flexible pipe 811 is deformed, so that more distribution positions of the vacuum chucks 2 on the flexible pipe 811 can be matched with more positions of the side wall of the cold stamping die 11. Then, after the vacuum chucks 2 are adsorbed to the bottom wall of the cold stamping die 11, the elastic film 32 can more easily deform by expansion and abut against the side wall of the cold stamping die 11. Therefore, the positions of the plurality of vacuum chucks 2 can be quickly changed for different cold stamping dies 11, and the cold stamping die 11 can be quickly adapted to the transfer position of different shapes.

[0074] In some cases, the flexible pipe 811 can also be deformed manually by workers, and the shape of the flexible pipe 811 can be matched with the side wall of the cold stamping die 11. In some other cases, a flexible push plate can be provided on the sliding block 853 of the driving member 4, and the flexible push plate can push the shape of the flexible pipe 811 near the hinge to match the side wall of the cold stamping die 11.

[0075] The control component comprises an electromagnet. The flexible tube 811 is filled with electro-rheological fluid. When the electromagnet is off, the electro-rheological fluid is in liquid state, and the flexible tube 811 is in free deformation state; when the electromagnet is on, the magnetic field generated by the electromagnet makes the electro-rheological fluid change into solid state, so that the flexible tube 811 is in non-deformation state.

[0076] With reference to Figure 15 Alternatively, the control component comprises a pressure applying member 813, which can be a pneumatic cylinder or a hydraulic cylinder. A rigid tube 814 is arranged on the flexible tube 811 and communicates with the flexible tube 811. The rigid tube 814 is preferably arranged at the middle section of the flexible tube 811. The pressure applying structure is used to apply pressure to the rigid tube 814. The flexible tube 811 and the rigid tube 814 are filled with solid particles, such as gravel or plastic particles. When the pressure applying structure does not apply pressure to the rigid tube 814, gaps exist between the solid particles, so that the flexible tube 811 can deform freely. When the pressure applying structure applies pressure to the rigid tube 814, the gaps between the solid particles are squeezed, so that the solid particles contact each other, and at this time the flexible tube 811 cannot deform. The pressure applying structure can apply pressure to the rigid tube 814 by moving a sealing plate in the rigid tube 814.

[0077] In some embodiments, the vacuum chuck 2 and the material taking robot arm 23 can be directly or indirectly hinged or ball-jointed through a connecting member. Since the bottom of the cold punch die 11 is not a plane, it can be a curved surface or an inclined curved surface, i.e., the normal direction is not perpendicular to the ground. It can also be a plurality of inclined curved surfaces connected, i.e., the normal directions of a plurality of positions are not parallel. In order to better adsorb the bottom surface of the cold punch die 11, the hinge or ball joint of the vacuum chuck 2 is arranged to enable the vacuum chuck 2 to rotate. When the vacuum chuck 2 contacts the cold punch die 11, if the upper bottom wall of the cold punch die 11 is not a plane or the normal direction is not perpendicular to the vacuum chuck 2, the hinge or ball joint is arranged to enable the vacuum chuck 2 to automatically conform to the shape of the cold punch die 11 when the vacuum chuck 2 contacts the cold punch die 11, and the normal direction of the vacuum chuck 2 is perpendicular to the bottom wall of the cold punch die 11, so that the vacuum chuck 2 better adsorbs the cold punch die 11.

[0078] With reference to Figures 8-9In some possible implementation solutions of the connecting piece, the connecting piece comprises a connecting frame 9, a first flexible body 91 and a second flexible body 92. The first flexible body 91 and the second flexible body 92 are both connected with the connecting frame 9. The first flexible body 91 has a first deformable cavity, and the second flexible body 92 has a second deformable cavity. The vacuum chuck 2 is provided with a convex body 221. The first flexible body 91 and the second flexible body 92 are directly or indirectly butted to butt the first deformable cavity and the second deformable cavity. The convex body 221 is arranged in the first deformable cavity and the second deformable cavity, and the convex body 221 is in contact with the inner walls of the first deformable cavity and the second deformable cavity. The convex body 221 can be a sphere. The convex body 221 is arranged on the rod body 22 of the vacuum chuck 2. The butt joint of the first flexible body 91 and the second flexible body 92 allows the first deformable cavity and the second deformable cavity to provide a space for rotation of the convex body 221, which is equivalent to realizing the spherical joint connection of the convex body 221. However, since the first flexible body 91 and the second flexible body 92 are flexible, the convex body 221 is not only connected in a spherical joint manner, but also can be slightly moved on the basis of the spherical joint connection through the first flexible body 91 and the second flexible body 92.

[0079] Through the above solution, the range of rotation or movement of the vacuum chuck 2 is increased, so that the disc body 21 of the vacuum chuck 2 can have more position states, and thus the vacuum chuck 2 can better abut and adsorb the bottom wall of the cold punching die 11 with different positions and shapes.

[0080] The first flexible body 91 and the second flexible body 92 in the above solution can both be flexible membranes.

[0081] In one possible implementation solution of the first flexible body 91 and the second flexible body 92, the first flexible body 91 and the second flexible body 92 can both be flexible membranes with elasticity.

[0082] Reference Figures 7-9In some embodiments, the driving member 4 comprises an air pump 41, an air injection pipe 42, and an air exhaust structure 43. The air injection pipe 42 is in communication with the elastic chamber 321, and the air pump 41 injects air into the elastic chamber 321 through the air injection pipe 42. The air pump 41 also exhausts air downward at the periphery of the vacuum chuck 2 through the air exhaust structure 43. The air pump 41 injects air into the elastic chamber 321 through the air injection pipe 42, which causes the elastic film 32 to expand and abut against the side wall of the cold punch 11. The air pump 41 is arranged on the moving frame 851. The air exhaust structure 43 comprises an air exhaust pipe 431 and an air exhaust ring 432, the air exhaust ring 432 has an air exhaust cavity, the air exhaust ring 432 is sleeved on the periphery of the disc body 21 of the vacuum chuck 2, and the air exhaust ring 432 is connected with the mounting frame 24. The outlet of the air exhaust cavity is downward, and the air exhaust pipe 431 and the air injection pipe 42 can be connected through a control valve. Therefore, the air pump 41 can also exhaust air downward to blow away the dust on the bottom wall of the cold punch 11 near the vacuum chuck 2, thereby improving the effect of the vacuum chuck 2 on the bottom wall of the cold punch 11.

[0083] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application. Any equivalent changes made on the basis of the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A cold stamping die conveying device, comprising: Cold stamping equipment is used to stamp blanks to obtain cold stamping die plates; A vacuum suction cup and a material handling robotic arm, wherein the vacuum suction cup is connected to the material handling robotic arm and the vacuum suction cup is adsorbed onto the bottom wall of the cold stamping die; The cold stamping die conveying device is characterized by further comprising: A mounting bracket is provided on the upper part of the vacuum suction cup, and the mounting bracket has an arc-shaped opening around the periphery of the vacuum suction cup. An elastic element is provided on the mounting bracket; A driving component is used to drive the elastic component to deform or move outward through the arc-shaped opening until it abuts against the side wall of the cold stamping die; The elastic member is provided with a guide member, which is used to support the part of the elastic member outside the arc-shaped opening; The cold stamping die conveying device also includes: Multiple rigid components are provided and arranged in a circular array around a fixed axis, and all of them are fixed to the elastic component; the fixed axis is in the same direction as the opening of the arc-shaped opening; A transmission component is disposed on the fixed axis and is directly or indirectly hinged to the plurality of rigid components; The driving component is also used to drive the transmission component to move closer to the vacuum suction cup, so that the rigid component forms a vacuum chamber between the elastic component and the cold stamping die sidewall; The elastic element includes a fixing frame and an elastic membrane wrapped around the fixing frame; the elastic membrane has an elastic chamber, and the fixing frame is disposed in the elastic chamber; The drive unit injects air into the elastic membrane, causing the elastic membrane to change shape at the arc-shaped opening until it abuts against the side wall of the cold stamping die; The material handling robotic arm is equipped with a displacement adjustment mechanism, and the vacuum suction cup and the mounting frame are both connected to the material handling robotic arm through the displacement adjustment mechanism; The displacement adjustment mechanism is used to move the plurality of vacuum suction cups and the plurality of mounting brackets to a position close to the side wall of the cold stamping die; The displacement adjustment mechanism includes: a first hinge plate, a second hinge plate, a third hinge plate, a fourth hinge plate, and a displacement structure; The first hinge plate, the second hinge plate, the third hinge plate, and the fourth hinge plate are sequentially hinged end to end to form a parallelogram rod frame; The displacement structure is connected to two opposite vertices of the parallelogram frame, and causes the two opposite vertices of the parallelogram frame to move closer to each other and further away from each other, so that the parallelogram frame narrows or widens. The plurality of vacuum suction cups and the plurality of mounting brackets are respectively disposed on the first hinge plate, the second hinge plate, the third hinge plate and the fourth hinge plate.

2. The cold stamping die conveying device according to any one of claims 1, characterized in that: The guide includes: a telescopic rod and a flexible structure disposed at the end of the telescopic rod; The flexible structure is fixed to the elastic membrane, and the flexible structure is distributed around the periphery of the rigid member; The flexible structure forms a rigid support portion directly or indirectly on the side opposite to the elastic membrane; The telescopic rod is fixed to the support.

3. The cold stamping die conveying device according to claim 1, characterized in that: The vacuum suction cup and the material handling robot arm can be directly or indirectly hinged or ball-jointed via a connector.

4. The cold stamping die conveying device according to claim 3, characterized in that: The connector includes: a connecting frame, a first flexible body, and a second flexible body; both the first flexible body and the second flexible body are connected to the connecting frame. The first flexible body has a first deformable cavity; the second flexible body has a second deformable cavity; The vacuum suction cup is provided with a protrusion; The first flexible body and the second flexible body are directly or indirectly connected to connect the first deformable cavity and the second deformable cavity. The protrusion is disposed in the first deformable chamber and the second deformable chamber, and the protrusion is in contact with the inner wall of the first deformable chamber and the second deformable chamber.

5. The cold stamping die conveying device according to claim 4, characterized in that: Both the first flexible body and the second flexible body are elastic.

6. The cold stamping die conveying device according to claim 1, characterized in that: The driving component includes an air pump, an air injection pipe, and an exhaust structure; the air injection pipe is connected to the elastic chamber. The air pump injects air into the elastic chamber through the air injection pipe; The air pump also discharges air downwards around the periphery of the vacuum suction cup through the exhaust structure.

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