A production system and method for buffering mechanical hand grabbing and bar powder

Abstract

The application discloses a production system and a production method for buffering a mechanical hand to grab a stick powder, and belongs to the technical field of hard alloy processing, and comprises a regulation plate, an executing mechanism and a buffer plate. An air duct integration is formed in the regulation plate. The executing mechanism is arranged on the regulation plate and is internally formed with a negative pressure air duct in communication with the air duct integration. The buffer plate is slidable relative to the executing mechanism, and an elastic element is arranged between the buffer plate and the executing mechanism. The air duct integration realizes unified negative pressure supply and control of multiple executing mechanisms, reduces the number of external air pipes and improves the compactness of the system. The negative pressure air duct in the executing mechanism is in communication with the air duct integration of the regulation plate, so that the adsorption function and the buffer structure are integrated. The elastic element is arranged between the buffer plate and the executing mechanism, the elastic element is elastically deformed, instantaneous impact load caused by height deviation and attitude error is absorbed, and the peak stress suffered by the compacted blank is significantly reduced.

Description

Technical Field

[0001] This invention belongs to the field of cemented carbide processing technology, specifically a production system and method for a buffer robotic gripper and bar powder. Background Technology

[0002] Hard alloys, ceramics, and other metal powder materials typically require a pressing process to prepare powder compacts. These compacts possess a certain geometric shape before sintering, but their overall strength is low and they are brittle, making them extremely sensitive to external forces and localized stress changes, especially during the early demolding and transport stages. If the compact is subjected to excessive concentrated loads or impacts, it is prone to surface indentations, edge breakage, and even internal microcracks, directly affecting subsequent sintering quality and the yield of the finished product.

[0003] In the large-scale production of powder compacts, to improve production efficiency and reduce manual labor intensity, robotic arms in conjunction with gripper devices are typically used to complete the picking, placing, transferring, and inter-process handling of the compacts. Currently used robotic grippers mostly employ a rigid structure design, with their gripping ends clamping or supporting the compacts through a fixed stroke or position. While these grippers can meet basic picking and placing needs under ideal working conditions, their adaptability to changes in working conditions is relatively weak.

[0004] In actual production, due to factors such as the height tolerance of the pressing mold, the flatness error of the placement platform, the assembly deviation of the workstation, or the positioning error of the robotic arm itself, the gripper inevitably experiences height mismatch or posture deviation when picking up and placing the pressed blank. When the rigid gripper continues to execute the predetermined motion trajectory, it is easy to apply additional downward pressure or lateral extrusion force to the pressed blank before it has completely detached or correctly landed, thereby creating stress concentration in the pressed blank, leading to surface damage, internal cracks, or even overall breakage. Summary of the Invention

[0005] The purpose of this invention is to provide a production system and method for a buffer robotic gripper and rod powder, in order to solve the problems mentioned in the prior art.

[0006] A buffered robotic gripper is provided, comprising: The control panel has an integrated air passage system inside. The actuator is located on the control panel and forms a negative pressure airway inside, and the airway integration is connected to the negative pressure airway. A buffer plate that can slide relative to the actuator is provided with an elastic element between the buffer plate and the actuator.

[0007] As a further aspect of the present invention: the actuator includes a buffer suction rod and a suction nozzle, a first limiting boss is formed between the buffer suction rod and the suction nozzle, a second limiting boss is formed on the sliding mating surface of the buffer plate, and the elastic element is limited between the first limiting boss and the second limiting boss.

[0008] The elastic element is axially confined between two bosses, allowing compression or rebound only within a set direction and range. The limiting bosses structurally position the elastic element, preventing lateral displacement or dislocation, ensuring controllable buffer stroke, and avoiding excessive displacement of the buffer plate that could affect the suction stability of the nozzle.

[0009] As a further aspect of the present invention, the elastic element is a spring or an elastic rubber pad.

[0010] Springs achieve cushioning through the elastic deformation of metal, offering a large stroke, fast response, and precisely designable stiffness. Elastic rubber pads achieve cushioning through the viscoelasticity of the material itself, possessing good damping characteristics and effectively suppressing vibration and impact rebound.

[0011] As a further aspect of the present invention: the actuator and the control plate are detachably connected, and a slope surface with mating surfaces touching each other and a cavity with mating surfaces separating from each other are formed between the actuator and the control plate, and a sealing element is provided in the cavity.

[0012] The detachable structure facilitates individual maintenance and replacement of the actuator. The interlocking slopes enable automatic guidance and positioning between the actuator and the control plate, while mechanical contact achieves a primary sealing effect. When the slopes detach, a cavity is formed, within which a sealing element is placed, creating a reliable airtight connection after assembly and preventing excessive compression of the sealing element that could reduce its sealing effectiveness.

[0013] As a further aspect of the present invention: the sealing element includes a U-shaped sealing ring and an expansion ring, with the expansion ring disposed inside the U-shaped sealing ring.

[0014] The U-shaped sealing ring forms the basic sealed cavity, with the expansion ring positioned inside. Under negative pressure, the expansion ring pushes outward against the U-shaped sealing ring, causing it to conform to the cavity wall. The special negative pressure environment of the gripper causes the expansion ring to expand, improving the sealing effect and enhancing its adaptability to assembly tolerances and minor deformations. It maintains a stable seal even under negative pressure, preventing air leakage from affecting the adsorption force.

[0015] As a further aspect of the present invention: the air duct integration includes an air outlet duct, a connecting air duct, and an air inlet duct. The air outlet duct and the air inlet duct are connected through the connecting air duct. A first one-way valve is provided between the air outlet duct and the connecting air duct, and a second one-way valve is provided between the air inlet duct and the connecting air duct.

[0016] One-way valves ensure that gas flows only in a predetermined direction, preventing negative pressure backflow or cross-contamination. This guarantees the stability of negative pressure and consistency of response during the adsorption process of each actuator, and prevents interference to other nozzles if one nozzle fails. It facilitates the synchronous and reliable operation of multi-nozzle array grippers.

[0017] As a further embodiment of the present invention: the air outlet is located between each connecting air passage and the corresponding first one-way valve, or the air inlet is located between each connecting air passage and the second one-way valve and is connected to an inspection channel, the inspection channel is connected to the outside of the control plate and the port of the inspection channel is provided with a plug.

[0018] An inspection port is installed between the air outlet or inlet duct and the one-way valve, connecting to the outside of the control plate. By removing the plug, the internal air passage can be inspected, cleaned, or pressure tested. This facilitates maintenance personnel in quickly troubleshooting blockages, leaks, or one-way valve failures. It eliminates the need for complete disassembly of the gripper, improving maintenance efficiency, reducing downtime, and enhancing the reliability of the equipment for long-term use in powder environments.

[0019] In another aspect, the present invention provides a production system for rod powder, including the aforementioned buffer robotic gripper, as well as a press, a material tray, and a robotic arm, wherein the robotic arm is used to drive the robotic gripper to intervene between the press and the material tray.

[0020] A robotic arm drives a gripper with a buffer structure to transfer pressed blanks between the press and the material tray. The buffer gripper provides protection for the pressed blanks at the system level, extending the buffering advantage of the gripper to the entire production line and improving the overall yield rate of the system.

[0021] As a further aspect of the present invention: a plurality of concave dies are formed on the material tray in a matrix arrangement, a punch corresponding to each concave die is provided on the press, and a plurality of actuators are arranged on the control plate in an array that can grasp each concave die.

[0022] The actuators are arranged in an array on the control plate, corresponding one-to-one with the die in the material tray, enabling simultaneous picking up and placing of multiple blanks. This significantly improves the efficiency of a single gripping operation, making it suitable for large-scale, high-cycle production. Combined with a buffer structure, it can evenly absorb errors when multiple points are in contact simultaneously, avoiding localized overload.

[0023] Another aspect of the present invention provides a production method, implemented through the aforementioned production system, comprising the following steps: S1: Pressing the bar powder on the tray into a compact using a press; S2: The robotic arm gripper intervenes between the press and the material tray, and the actuator picks up the pressed blank; S3: The robotic arm gripper moves to the unloading area.

[0024] Introducing a buffer gripper into the entire process of pressing, billet removal, and material feeding provides continuous protection for the pressed billet during the billet removal and transfer stages.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By integrating air channels within the control plate, unified negative pressure supply and control of multiple actuators are achieved, reducing the number of external air pipes and improving system compactness. Negative pressure air channels are installed inside the actuators and integrated with the air channels of the control plate, thus integrating the adsorption function and buffer structure into one unit.

[0026] 2. The buffer plate is slidable relative to the actuator, and an elastic element is set between them. When the gripper comes into contact with the blank or the placement surface, the buffer plate and the control plate are relatively displaced, and the elastic element undergoes elastic deformation, absorbing the instantaneous impact load caused by height deviation and posture error, significantly reducing the peak stress on the blank; improving the gripper's adaptability to mold height tolerance, platform unevenness and robotic arm positioning error, effectively avoiding the generation of surface indentations, edge and corner damage and internal micro-cracks on the blank, and improving the blank qualification rate and consistency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this drawing or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this drawing. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the overall structure of the buffer robotic gripper; Figure 2 This is a schematic diagram of the overall structure of the rod powder production system. Figure 3 A schematic diagram of a partial structure of the gripper of a cushioning robotic arm; Figure 4 for Figure 3 Enlarged view of region A in the middle; Figure 5 This is one of the structural schematic diagrams of the control plate provided by the present invention; Figure 6 This is the second schematic diagram of the control plate provided by the present invention.

[0029] In the diagram: 1. Control panel; 11. Air duct integration; 111. Air outlet; 112. Connecting air duct; 113. Air inlet; 114. First check valve; 115. Second check valve; 116. Inspection port; 117. Plug; 2. Actuator; 21. Negative pressure air duct; 22. Buffer suction rod; 23. Suction nozzle; 24. First limiting boss; 3. Buffer plate; 31. Second limiting boss; 4. Elastic element; 51. Slope; 52. Cavity; 6. Seal; 61. U-shaped sealing ring; 62. Expansion ring; 7. Press; 71. Punch; 8. Material tray; 81. Die; 9. Robotic arm. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0031] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0032] However, there may be instances where unnecessary detailed descriptions are omitted. For example, detailed descriptions of well-known matters or repetitive descriptions of essentially the same structures may be omitted. This is to avoid unnecessarily lengthy descriptions and to facilitate understanding by those skilled in the art. Furthermore, the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand this application and are not intended to limit the subject matter of the claims.

[0033] Please see Figures 1-3 As shown in the figure, in this embodiment of the invention, a buffer manipulator gripper includes a control plate 1, an actuator 2, and a buffer plate 3. An air passage integration 11 is formed inside the control plate 1. The actuator 2 is disposed on the control plate 1 and has a negative pressure air passage 21 formed inside it; the air passage integration 11 communicates with the negative pressure air passage 21. The buffer plate 3 is slidable relative to the actuator 2, and an elastic element 4 is disposed between the buffer plate 3 and the actuator 2.

[0034] The air duct integration 11 inside the control plate 1 is connected to an external negative pressure source. The buffer plate 3 is connected to the robotic arm 9. Under the action of the elastic element 4, the control plate 1 is in a naturally extended position. At this time, the elastic element 4 is not compressed or is only in a slightly pre-tightened state. The system does not bear external force, and the gripper as a whole is in a ready-to-grab state.

[0035] When the robotic arm 9 drives the gripper downwards and approaches the blank, the negative pressure source is activated. The negative pressure is transmitted through the air channel integration 11 in the control plate 1 to the negative pressure air channel 21 inside the actuator 2. The end of the actuator 2 generates an adsorption force, providing suction for subsequent blank extraction. When the gripper continues to descend and contacts the blank, the actuator 2 contacts the blank surface, forming an initial contact interface. If there is a deviation in the blank height, platform position, or positioning of the robotic arm 9, the gripper continues to descend along the predetermined trajectory. At this time, the buffer plate 3 slides relative to the actuator 2. The buffer plate 3 pushes the elastic element 4 to produce elastic compression deformation, converting the rigid displacement input of the robotic arm 9 into the controllable deformation of the elastic element 4.

[0036] During the displacement of the buffer plate 3, the elastic element 4 gradually builds up a reaction force, applying a slowly increasing elastic support force to the buffer plate 3 and the compact. Because the elastic element 4 has a certain degree of flexibility, the contact load borne by the compact will not increase instantaneously. The excess downward stroke of the robotic arm 9 is absorbed by the elastic element 4 instead of being directly transmitted to the compact body, thereby avoiding the concentrated load and impact force applied to the compact by the rigid gripper under height mismatch conditions.

[0037] During the buffering process, the actuator 2 forms a sealed contact with the surface of the pressed blank, and the negative pressure air passage 21 generates a stable adsorption force on the pressed blank. When the robotic arm 9 moves the gripper upward, the elastic element 4 resets under its own elastic restoring force, and the control plate 1 returns to its initial position. The pressed blank is always fixed on the actuator 2 by negative pressure adsorption and is not subjected to additional pulling or impact. When the gripper places the pressed blank in the unloading area, the elastic element 4 is compressed here to absorb the impact during the unloading process. The negative pressure source provides positive pressure to the air passage integration 11, and the pressed blank naturally detaches from the actuator 2.

[0038] This gripper structure converts the rigid displacement input of the robotic arm 9 into elastic and controllable displacement, providing bidirectional buffer protection for the pressed blank during the two key stages of gripping and placing. This improves the gripper's tolerance to height errors, posture errors, and fluctuations in working conditions, and significantly reduces the risk of breakage of the powder pressed blank during automated handling.

[0039] The actuator 2 includes a buffer suction rod 22 and a suction nozzle 23. A first limiting boss 24 is formed between the buffer suction rod 22 and the suction nozzle 23. A second limiting boss 31 is formed on the sliding mating surface of the buffer plate 3. The elastic element 4 is limited between the first limiting boss 24 and the second limiting boss 31.

[0040] The above design structurally limits the force direction and deformation mode of the elastic element 4, ensuring that the elastic element 4 can only be compressed or rebound along the sliding direction of the buffer plate 3 relative to the actuator 2, thus avoiding problems such as lateral displacement, bending instability, or dislocation during repeated buffering. Simultaneously, the distance between the first limiting boss 24 and the second limiting boss 31 mechanically limits the maximum compression of the elastic element 4 and the maximum sliding stroke of the buffer plate 3, keeping the buffering stroke within a preset controllable range. This prevents excessive displacement of the buffer plate 3 from affecting the fit between the suction nozzle 23 and the pressed blank, as well as the stability of the negative pressure adsorption, thereby ensuring the reliability and consistency of the gripping process while achieving buffering energy absorption.

[0041] In one specific embodiment, the elastic element 4 is a spring. The spring achieves buffering through the elastic deformation of the metal material. The compression and rebound process has the characteristics of a large stroke range and fast response speed. Moreover, the spring stiffness can be precisely designed by wire diameter, number of turns and material parameters, so as to facilitate matching for different blank weights and gripping cycles.

[0042] In one specific embodiment, the elastic element 4 is an elastic rubber pad. Relying on the viscoelasticity of the material itself, it deforms and loses internal energy during the compression process, which can provide a large damping effect while buffering, effectively suppressing the vibration and impact rebound generated during the grasping and placement process.

[0043] By selectively configuring the two elastic elements 4 mentioned above, the buffer structure can meet the requirements of rapid response and stroke, and can also enhance the vibration reduction and energy absorption effect when needed, thereby improving the adaptability and stability of the gripper under different production conditions.

[0044] The actuator 2 and the control plate 1 are detachably connected. By setting the actuator 2 and the control plate 1 to a detachable connection structure, the actuator 2 can be disassembled and assembled independently without affecting the control plate 1 and other components, thereby facilitating maintenance, replacement and functional expansion.

[0045] In addition, please see Figure 1 , Figure 3 and Figure 4 As shown, a slope 51 structure is provided on the relative mating surfaces of the actuator 2 and the control plate 1, that is, the relative mating surfaces of the actuator 2 and the control plate 1 are inclined relative to the adjacent surfaces, so that the actuator 2 can automatically complete the guidance and positioning under axial push during the assembly process, reduce assembly errors, and form a primary sealing effect in the early stage of assembly through the mechanical contact of the slope 51.

[0046] When the slope 51 is fully fitted, a cavity 52 is formed on the opposite side to accommodate the seal 6. The seal 6 fits against the corresponding wall in the cavity 52 to achieve a reliable airtight connection. The limiting effect of the slope 51 structure on the assembly position prevents the seal 6 from being over-pressed during the assembly process, thereby preventing the sealing performance from decaying or the lifespan from being reduced, and ensuring a long-term stable sealing effect between the actuator 2 and the control plate 1.

[0047] In one specific embodiment, the actuator 2 and the control plate 1 are connected by a thread, which facilitates loading and unloading while providing a good sealing effect.

[0048] Further, please refer to Figure 1 , Figure 3 and Figure 4 As shown, the sealing element 6 includes a U-shaped sealing ring 61 and an expansion ring 62, with the expansion ring 62 disposed within the U-shaped sealing ring 61. The composite sealing structure formed by the U-shaped sealing ring 61 and the expansion ring 62 enables them to form a synergistic sealing effect under negative pressure conditions. Specifically, the U-shaped sealing ring 61 forms a basic sealing cavity, initially fitting against the wall of the cavity 52 in the assembled state; the expansion ring 62 is disposed inside the U-shaped sealing ring 61. When the actuator 2 generates negative pressure and the sealing effect of the slope 51 is insufficient, the negative pressure acts on the expansion ring 62, causing the expansion ring 62 to expand radially outward, thereby pressing the U-shaped sealing ring 61 further and causing the U-shaped sealing ring 61 to be further compressed and fitted against the wall of the cavity 52.

[0049] Furthermore, by utilizing the unique negative pressure working environment inside the gripper, the sealing element 6 automatically enhances the sealing force during operation. This not only improves the sealing effect but also enhances the adaptive ability of the sealing structure to assembly tolerances and minor deformations of components. This allows the sealing element 6 to maintain stable and reliable airtightness under long-term negative pressure conditions, preventing a decrease in negative pressure adsorption force due to air leakage, thereby ensuring the stability of the gripper's adsorption performance.

[0050] Please see Figure 1 , Figure 5 and Figure 6 As shown, the actuator 2 has multiple points on the control plate 1 to form a multi-point adsorption point. The airway integration 11 includes an outlet airway 111, a connecting airway 112, and an inlet airway 113. The outlet airway 111 and the inlet airway 113 are connected through the connecting airway 112. Each actuator 2 is connected to its corresponding connecting airway 112 through a negative pressure airway 21. The outlet airway 111 is connected to a negative pressure source, and the inlet airway 113 is connected to a positive pressure source. A first one-way valve 114 is provided between the outlet airway 111 and the connecting airway 112, and the first one-way valve 114 only allows gas to exit the connecting airway 112. A second one-way valve 115 is provided between the inlet airway 113 and the connecting airway 112, and the second one-way valve 115 only allows gas to enter the connecting airway 112.

[0051] In one embodiment, during the adsorption phase, the negative pressure source draws air into the outlet duct 111, and the air in each connecting duct 112 is drawn away by the first one-way valve 114, maintaining a negative pressure environment in each negative pressure duct 21. At this time, the positive pressure source is in the closed state. After the remaining air in the inlet duct 113 is drawn away, the second one-way valve 115 returns to the closed state under its own elastic restoring force. When the negative pressure in the negative pressure duct 21 stabilizes, the first one-way valve 114 returns to the closed state under its own elastic restoring force. From then on, each negative pressure duct 21 maintains a stable and independent negative pressure space.

[0052] During the disengagement phase, the positive pressure source discharges air into the intake duct 113. The air overcomes the second one-way valves 115 and enters the corresponding connecting duct 112 and the negative pressure duct 21, balancing the pressure difference inside and outside the negative pressure duct 21, causing the pressed blank to disengage from the actuator 2. At this time, the negative pressure source is in the closed state, and air overcomes the first one-way valves 114 and enters the outlet duct 111, filling the outlet duct 111 with air and restoring the air pressure. The first one-way valves 115 return to the closed state under their own elastic restoring force. When the air pressure in the negative pressure duct 21 remains stable, the second one-way valves 115 return to the closed state under their own elastic restoring force.

[0053] In one embodiment, during the adsorption stage, if a leak occurs at the mating surface between a negative pressure airway 21 and the connecting airway 112, or at the mating surface between the negative pressure airway 21 and the pressed blank, the connecting airway 112 will continuously allow outside air to enter, causing adsorption failure.

[0054] In response, under the action of pressure difference and negative pressure source, the air continuously overcomes the negative pressure source that draws away the corresponding first one-way valve 114. However, since the first one-way valve 114 does not allow the air to flow in the direction of entering the connecting air passage 112, and the second one-way valve 115 does not allow the air to flow in the direction of exiting the connecting air passage 112, the air will not leak into the inlet air passage 113, and the air that leaks into the inlet and outlet air passages 111 cannot enter other connecting air passages 112, thereby maintaining the negative pressure environment of other negative pressure passages 21, avoiding cross-contamination, and ensuring that the other actuators 2 will not fail.

[0055] Through the above-described process, each actuator 2 can independently and stably establish negative pressure during adsorption, ensuring the stability and consistency of negative pressure and response when multiple actuators 2 are working simultaneously, and preventing malfunctions of a single actuator 2 from interfering with the overall grasping effect. Meanwhile, both the first one-way valve 114 and the second one-way valve 115 operate automatically according to the airflow conditions, eliminating the need for an additional control system and ensuring stable operation of the negative pressure system.

[0056] In one specific embodiment, a pressure gauge is installed on the negative pressure source pipeline. During the adsorption stage, the pressure gauge is observed to determine whether there is a leak in a certain actuator 2.

[0057] However, based on the above structure, when a certain actuator 2 leaks or even fails, it is difficult to accurately determine the location of the leak.

[0058] Therefore, the air outlet 111 is located between each connecting air passage 112 and the corresponding first one-way valve 114, or the air inlet 113 is located between each connecting air passage 112 and the second one-way valve 115 and is connected to an inspection channel 116. The inspection channel 116 is connected to the outside of the control plate 1 and the port of the inspection channel 116 is provided with a plug 117.

[0059] Under normal operating conditions, the plug 117 is installed and sealed, and the inspection port 116 is completely closed and does not participate in normal gas flow. The location of the inspection port 116 only forms a bypass interface with the main gas channel, and does not affect the establishment and maintenance of negative or positive pressure.

[0060] In one specific embodiment, when a leak occurs in an actuator 2, each operation opens a single plug 117, shuts off the negative pressure source and positive pressure source pipelines, seals the suction port of the corresponding actuator 2, and performs a suction operation on the corresponding connecting air passage 112 through the inspection channel 116 located between the connecting air passage 112 and the first one-way valve 114. Under the action of the first one-way valve 114 and the second one-way valve 115, the connecting air passage 112 in this area is a closed environment. If pressure fluctuations continue to occur at the suction end, the actuator 2 is determined to be a leak point.

[0061] In one specific embodiment, when a leak occurs in an actuator 2, each operation opens a single plug 117, shuts off the negative pressure source and positive pressure source pipelines, seals the suction port of the corresponding actuator 2, and inflates the corresponding connecting air passage 112 through the inspection channel 116 located between the connecting air passage 112 and the second one-way valve 114. Under the action of the second one-way valve 115 and the first one-way valve 114, the connecting air passage 112 in this area is a closed environment. If continuous pressure fluctuations occur at the inflation end, the actuator 2 is determined to be a leak point. During this process, a rapid inspection of key air passage nodes can be completed without disassembling the control plate 1 or the actuator 2.

[0062] Please see Figure 1 and Figure 2As shown, the present invention also provides a production system for rod powder, including a robotic gripper, a press 7, a material tray 8, and a robotic arm 9. The press 7 is used to complete the pressing and forming of the rod powder, the material tray 8 is used to carry the powder and position the pressed blank, and the robotic arm 9 serves as a motion execution unit, driving the robotic gripper to intervene between the press 7 and the material tray 8.

[0063] By integrating a buffer-functional robotic gripper into a bar powder pressing production system consisting of a press 7, a material tray 8, and a robotic arm 9, the robotic arm 9 can provide continuous elastic buffering and stable adsorption for the pressed blanks during the gripping, transfer, and placement stages when transferring the pressed blanks between the press 7 and the material tray 8. This effectively eliminates the impact loads caused by equipment errors and motion inertia, and improves the stability and yield of the automated bar powder pressing production process.

[0064] Furthermore, multiple concave dies 81 are formed on the material tray 8 in a matrix arrangement, and punches 71 corresponding to each concave die 81 are provided on the press 7. Multiple actuators 2 are arranged in an array on the control plate 1 to grasp each concave die 81. By arranging multiple actuators 2 in an array on the control plate 1, and making the array correspond one-to-one with the matrix-distributed concave dies 81 on the material tray 8, the robotic gripper can simultaneously pick up and place multiple blanks in a single action, thus structurally realizing the synchronous transfer of multiple blanks.

[0065] More specifically, when the robotic arm 9 drives the gripper to align itself with the material tray 8, each actuator 2 simultaneously enters the working area of ​​the corresponding die 81 and establishes negative pressure adsorption. This avoids the repetitive positioning and reciprocating motion required for individual gripping, significantly improving the efficiency of a single operation and making it suitable for large-scale, high-cycle automated production. Simultaneously, since each actuator 2 is equipped with a buffer structure, when multiple points simultaneously contact the blank or bearing surface, the buffer plate 3 and elastic element 4 can absorb and compensate for the height deviation and posture error generated at each adsorption point, making the force on each blank more balanced. This prevents concentrated loads or overloads caused by premature local contact or positional errors, thus ensuring the stability and safety of the blank picking and placing process while achieving highly efficient synchronous operation.

[0066] The present invention also provides a production method, implemented through the above-described production system, comprising the following steps: Step 1: Press the bar powder on the material tray 8 into a blank using the press 7.

[0067] Step 2: The robotic arm gripper intervenes between the press 7 and the material tray 8, and the actuator 2 picks up the pressed blank; Step 3: The robotic gripper moves to the unloading area.

[0068] In this method, after the compact is pressed and formed, a robotic arm with a buffer function intervenes to remove it. The buffer plate 3 and the elastic element 4 absorb the impact load caused by mold height errors, robotic arm 9 positioning errors, and motion inertia upon contact, preventing the compact from bearing concentrated stress during demolding. During subsequent transfer, the buffer structure continuously isolates vibrations caused by the acceleration, deceleration, and posture changes of the robotic arm 9, keeping the compact in a stable and compliant stress state. During the unloading stage, the buffer gripper again buffers and controls the compact's placement, preventing impact during descent. By introducing the buffer gripper into the complete process of pressing, removing, and unloading, continuous protection of the compact is achieved during critical and vulnerable stages, reducing the risk of breakage and improving the stability of the production process and the yield of finished products.

[0069] It should be noted that this application is not limited to the above-described embodiments. The above embodiments are merely examples, and any embodiments with the same structure and effect as the technical concept within the scope of this application are included in the technical scope of this application. Furthermore, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways of constructing by combining some of the constituent elements of the embodiments, without departing from the spirit of this application, are also included in the scope of this application.

Claims

1. A buffered robotic gripper, characterized in that, include: The control plate (1) has an airway integration (11) inside. The actuator (2) is mounted on the control plate (1) and forms a negative pressure airway (21) inside. The airway integration (11) is connected to the negative pressure airway (21). A buffer plate (3) is slidable relative to the actuator (2), and an elastic element (4) is provided between the buffer plate (3) and the actuator (2). The actuator (2) includes a buffer suction rod (22) and a suction nozzle (23). A first limiting boss (24) is formed between the buffer suction rod (22) and the suction nozzle (23). A second limiting boss (31) is formed on the sliding mating surface of the buffer plate (3). The elastic element (4) is limited between the first limiting boss (24) and the second limiting boss (31). The actuator (2) and the control plate (1) are detachably connected. A slope (51) with mating surfaces touching each other and a cavity (52) with mating surfaces separating from each other are formed between the actuator (2) and the control plate (1). A sealing element (6) is provided in the cavity (52). The sealing element (6) includes a U-shaped sealing ring (61) and an expansion ring (62). The expansion ring (62) is located inside the U-shaped sealing ring (61). The airway integration (11) includes an air outlet (111), a connecting airway (112), and an air inlet (113). The air outlet (111) and the air inlet (113) are connected through the connecting airway (112). A first one-way valve (114) is provided between the air outlet (111) and the connecting airway (112), and a second one-way valve (115) is provided between the air inlet (113) and the connecting airway (112).

2. The buffered robotic gripper according to claim 1, characterized in that, The elastic element (4) is a spring or an elastic rubber pad.

3. The buffered robotic gripper according to claim 1, characterized in that, The air outlet (111) is located between each connecting air passage (112) and the corresponding first check valve (114), or the air inlet (113) is located between each connecting air passage (112) and the second check valve (115) and is connected to an inspection channel (116). The inspection channel (116) is connected to the outside of the control plate (1) and the port of the inspection channel (116) is provided with a plug (117).

4. A system for producing rod powder, comprising a robotic gripper as described in any one of claims 1-3, characterized in that, It also includes a press (7), a tray (8) and a robotic arm (9), the robotic arm (9) being used to drive the robotic gripper to intervene between the press (7) and the tray (8).

5. The rod powder production system according to claim 4, characterized in that, Multiple concave dies (81) are formed on the material tray (8) in a matrix arrangement. The press (7) is equipped with punches (71) corresponding to each concave die (81). Multiple actuators (2) are arranged on the control plate (1) in an array that can grasp each concave die (81).

6. A production method, implemented by the production system as described in claim 4, characterized in that, Includes the following steps: S1: The rod powder blank on the material tray (8) is pressed into shape by a press (7); S2: The robotic arm gripper intervenes between the press (7) and the material tray (8) and picks up the blank through the actuator (2); S3: The robotic arm gripper moves to the unloading area.

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