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

Abstract

The present application relates to the field of mechanical hand in -mold conveying mechanical hand and its in -mold conveying control method, including bottom plate, the bottom plate is connected with the support seat of symmetrical arrangement, support seat is equipped with transmission block, transmission block is connected with conveying beam through mounting beam, support seat is provided with drive block, conveying beam is connected with clamp block, clamp block is connected with clamping positioning auxiliary device and pressure detection sensor, bottom plate is equipped with first gear set and second gear set, first gear set is connected with clamping transmission part, second gear set is connected with conveying transmission part, support seat is equipped with drive source, drive source drives first gear set and second gear set rotation, makes conveying beam can carry out clamping conveying or unfolding movement, the linkage of the present application mechanical hand in the movement cycle of mold opening and closing is completed clamping product movement conveying and loosening product movement avoidance, reduces mold opening and closing waiting time, improves the continuity and production efficiency of stamping rhythm.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, specifically to an in-mold transfer robotic arm and its in-mold transfer control method. Background Technology

[0002] Mold robotic arms are key pieces of equipment in modern industrial automated production, widely used in numerous fields including but not limited to machinery manufacturing, automotive parts, electronics, home appliances, plastic products, and stator / rotor plates. In the mold manufacturing and processing process, mold robotic arms undertake the crucial tasks of accurately and efficiently feeding raw materials (such as metal sheets) into the mold cavity and removing the molded product from the mold, thus automating the mold processing process and significantly improving production efficiency, product quality, and production safety.

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

[0004] However, although existing mold robots have played an important role in industrial production, they still have some shortcomings that limit their further application and development. The existing mold loading and unloading robots are generally composed of independent robotic arms or simple loading and unloading mechanisms. The setting of these robotic arms and simple loading and unloading mechanisms requires a long time for the upper and lower molds to open and close before loading, unloading or conveying materials. This results in a long stamping cycle time for the mold, making it difficult to meet the needs of rapid production, thus affecting the continuity of mold stamping and leading to low production efficiency.

[0005] Existing in-mold transfer control methods are not effective for transferring sheet metal. Furthermore, existing in-mold transfer methods generally rely on externally controlled robotic arms. Many control methods using robotic arms for in-mold transfer suffer from difficulties in synchronizing product clamping and conveying with mold opening and closing during loading and unloading. This necessitates multiple mold pauses or station switching. The transfer control methods are also not easily adapted to the stamping clearance of the press, resulting in poor coordination and continuity of the stamping cycle and affecting the efficiency of in-mold transfer control. Consequently, the stamping cycle continuity and production efficiency of the stamping production line are reduced. Summary of the Invention

[0006] The purpose of this invention is to address the above-mentioned deficiencies by providing an in-mold transfer robot and its in-mold transfer control method. This addresses the technical problems in the prior art, such as the difficulty in adapting the loading, unloading, and conveying of existing mold robots to the stamping of punch presses, resulting in poor transfer continuity, which affects the stamping production efficiency and cycle continuity of molds, as well as the poor transfer control efficiency of existing robot transfer control methods.

[0007] The objective of this invention is achieved through the following means:

[0008] An in-mold transfer robot includes a base plate with a support base connected to it. One side of the support base forms a receiving cavity, and the side of the support base has an opening communicating with the receiving cavity. A drive block that can reciprocate towards the opening is disposed in the receiving cavity. A transmission block is paired and connected to the drive block. The drive block and the transmission block are connected by a separable linkage structure with inclined guide. A pressure block for pressing and limiting the drive block and the transmission block is connected to the side of the support base. Vertical guide grooves are opened on the inner sides of the pressure block and the receiving cavity. A guide block that can be raised and lowered is paired and connected to the guide groove. The side of the guide block is paired and connected to the transmission block through a guide groove. A limiting part is provided at the end of the transmission block away from the opening. One end of the transmission block is exposed to the outside through the opening and is connected to a mounting beam. A reciprocating transfer beam is connected to the mounting beam through a sliding member. A clamping block is connected to the transfer beam. The clamping block is equipped with a clamping and positioning auxiliary device for providing suction to the product to be clamped and a pressure detection sensor for detecting the contact pressure of the product.

[0009] The movement of the drive block toward or away from the opening can drive the transmission block to extend, retract, and rise. When the transmission block moves horizontally toward the opening until the limiting part contacts the guide block to form an extension limit, the continuous movement of the drive block drives the transmission block to decouple from the drive block through the linkage structure with inclined guide, and rises under the limit of the guide block.

[0010] A drive source is provided on one side of the base plate, and a first gear set and a second gear set are configured on the base plate and are connected to the drive source. The first gear set is connected to the drive block through a clamping transmission component, and the second gear set is connected to the conveying beam through a conveying transmission component. The drive source is provided with a first stroke and a second stroke that are respectively paired with the first gear set and the second gear set.

[0011] The drive source rises and drives the first gear set through the first stroke. The first gear set can drive the drive block to move in the opening direction by clamping the transmission component. The transmission block moves synchronously with the drive block through the linkage structure. When the limiting part on the transmission block is stopped by the guide block, the transmission block is driven to rise and separate relative to the drive block through the inclined guide of the linkage structure. At this time, it is in the moving lifting and disengagement state.

[0012] The drive source descends and drives the first gear set through the first stroke. The first gear set can drive the drive block away from the opening and reset by clamping the transmission component. When the transmission block slides down due to gravity and couples with the drive block, the drive block and the transmission block are paired and re-linked through the linkage structure. At this time, it is in the sliding reset state.

[0013] Furthermore, the bottom of the transmission block is provided with a linkage groove, the inner wall of the linkage groove near the opening forms a linkage inclined surface, and the side of the transmission block away from the opening forms a linkage inclined portion. The linkage inclined surface extends upward from the direction near the opening to the direction away from the opening. The bottom of the transmission block is provided with a first support portion and a second support portion. The drive block is provided with a linkage protrusion that matches the linkage groove. The outer side of the linkage protrusion is provided with a drive inclined surface that matches and contacts the linkage inclined surface. The top of the drive block is provided with a first lifting portion and a second lifting portion that can provide support force to the first support portion and the second support portion. When the linkage structure of the transmission block and the drive block is disengaged, the first lifting portion and the second lifting portion contact the first support portion and the second support portion respectively and provide lifting support to the transmission block.

[0014] Through the interaction of the linkage groove, linkage slope, and inclined part at the bottom of the transmission block, and the linkage protrusion and driving slope on the drive block, a separable linkage structure with inclined guide is formed between the drive block and the transmission block. This allows the drive block to drive the transmission block to synchronously extend, retract, and lift as it moves toward the opening. This structure achieves automatic lifting of the transmission block when it extends to the limit and automatic sliding coupling when it resets, enabling the clamping block to quickly complete the clamping and releasing actions, improving the continuity of clamping and unfolding actions and production efficiency.

[0015] When the transmission block moves horizontally toward the opening until it contacts the guide block at the limit position to form an extension limit, the drive block continues to move and, through the guiding action of the linkage inclined plane and the drive inclined plane, the transmission block automatically decouples from the drive block and rises under the limit of the guide block, thereby realizing the lifting and release of the clamping block; when the drive block resets, the transmission block slides down by gravity and recouples with the drive block, restoring the linkage state.

[0016] Furthermore, the clamping transmission component includes a linkage rod, a clamping transmission gear, and a clamping transmission rack. The clamping transmission rack is mounted on the drive block, and the clamping transmission gear is mounted on one end of the linkage rod and meshes with the clamping transmission rack. The other end of the linkage rod passes through the support base and is connected to the output end of the first gear set. A pressure plate for limiting the position is connected to the side of the support base. When the clamping transmission gear rotates, the clamping transmission rack can drive the drive block to extend and retract towards the opening. At the same time, the drive block contacts the linkage inclined surface of the transmission block through the driving inclined surface to drive the transmission block to lift.

[0017] By engaging the transmission gear and rack, the rotational motion of the first gear set is converted into the linear extension and retraction motion of the drive block. Simultaneously, when the drive block moves to a set distance, the transmission block is stopped by a horizontal movement. Through the linkage protrusion, the transmission block can be driven to lift the clamping block, allowing the clamping block to lift and hold the product. This transmission method has a stable structure and precise transmission, ensuring the coordination and response speed of the drive block and transmission block during extension and lifting. This makes the clamping and releasing actions of the clamping block fast and accurate, which helps to improve the continuity and efficiency of production.

[0018] Furthermore, a movable groove is provided on the base plate, and a movable block that can slide along the extension direction of the movable groove is connected to the movable groove. A guide rod is connected to the movable block, and a connecting seat is provided on the conveying beam. A guide groove for matching the guide rod is provided on the connecting seat, and one end of the guide rod extends through the guide groove.

[0019] The lateral movement of the conveyor beam is limited by the moving groove and the moving block. The guide rod and the guide groove of the connecting seat are used for locking. The moving block can push the connecting seat through the guide rod to drive the conveyor beam to move laterally and reciprocate. This ensures that the conveyor beam slides smoothly along the predetermined trajectory during the product conveying process. At the same time, the opening of the guide groove provides avoidance for the lifting and lowering of the conveyor beam.

[0020] Furthermore, the conveying transmission component includes a transmission rod, a conveying transmission gear, and a conveying transmission rack. The conveying transmission rack is mounted on the moving block, the conveying transmission gear is mounted on one end of the transmission rod and meshes with the conveying transmission rack, and 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 reciprocate along the moving groove.

[0021] The rotational motion of the second gear set is converted into the horizontal reciprocating motion of the moving block along the moving groove, which in turn drives the conveyor beam to transport products. This achieves control over the horizontal movement of the conveyor beam, making the product transport process fast and accurate.

[0022] The conveying and clamping transmission components work together to enable the clamping and conveying actions to be carried out continuously, reducing the waiting time after the mold opens and closes, and improving the continuity and overall efficiency of stamping production.

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

[0024] Step 1: Install the in-mold conveying robot. Install the in-mold conveying robot on the side of the mold. There are two sets of in-mold conveying robots, and the two sets of in-mold conveying robots are symmetrically arranged on both sides of the mold. The in-mold conveying robot is installed on the lower template of the mold through the base plate. The top of the lifting plate is connected to the upper template of the mold. The descent and undulation of the upper template can drive the lifting plate to descend and rise synchronously. The clamping end of the clamping block extends into the interior of the mold.

[0025] Step 2: Loading. Connect one end of the mold to the external feeder and cutting machine. The feeder cuts the sheet into sheets, and the loading robot places the cut sheet into the stamping station of the lower template.

[0026] Step 3: Mold closing. When the upper mold plate closes and drives the lifting plate to descend, the lifting plate drives the first and second drive racks to drive the first and second gear sets to rotate respectively. The first gear set drives the linkage rod to rotate. The rotation of the clamping transmission gear on the linkage rod can drive the clamping transmission rack to move. The clamping transmission rack synchronously drives the drive block to move and retract into the receiving cavity. The conveying beam drives the clamping block to a retracted and released state and descends with the conveying beam to avoid it. The second gear set drives the transmission rod to drive the conveying transmission gear to rotate. The conveying transmission rack drives the moving block to move along the moving groove. The conveying beam drives the clamping block to move to the set initial clamping area, waiting for the mold upper and lower mold plates to close and stamp.

[0027] Step 4: Mold opening. When the upper mold plate opens and the lifting plate rises, the first and second drive racks on the lifting plate drive the first and second gear sets to rotate, respectively. The first gear set drives the linkage rod to rotate, and the rotation of the clamping transmission gear on the linkage rod can drive the clamping transmission rack to move. The clamping transmission rack synchronously drives one end of the drive block to move towards the opening. The transmission block is driven by extension and lifting. The clamping block on the conveyor beam extends close to the product and forms a clamping state as the conveyor beam is lifted. The two sets of symmetrically arranged clamping blocks symmetrically clamp both ends of the product, thereby clamping the product and removing it from the stamping station. The second gear set drives the transmission rod to rotate the conveying transmission gear. The conveying transmission rack drives the moving block to move along the moving groove, which can move the clamped product to the next stamping station.

[0028] Step 5: Unloading. When the mold opens in Step 4, the in-mold conveying robot clamps the stamped sheet metal through the clamping blocks on the conveying beam and moves along the extension direction of the sliding part. One end of the sliding part extends towards the unloading station of the mold, and the end of the conveying beam can extend outward along the sliding part towards the outer side of the mold. The conveying beam clamps the stamped finished product and moves it towards the unloading station of the mold through the clamping blocks near the unloading station. At this time, the mold closing action of Step 3 is executed. Multiple clamping blocks simultaneously release their clamping on the product, completing the unloading action. Steps 3 and 4 are repeated to form a cyclical continuous feeding action that matches the stamping rhythm of the mold.

[0029] Furthermore, in step two, the mold is equipped with multiple stamping stations. The number of clamping blocks is matched with the number of stamping stations, and the spacing of the multiple clamping blocks is matched with the spacing of the multiple stamping stations. The sliding of the conveyor beam along the sliding member can drive the multiple clamping blocks to move synchronously. The clamping blocks clamp the products on the adjacent stamping stations and move them into the next stamping station. By repeatedly executing the opening and closing motion of the upper and lower mold plates, the in-mold conveying robot can be synchronously driven to continuously feed materials in a cycle.

[0030] By setting up multiple clamping blocks that match the number and spacing of the stamping stations, and having them move synchronously driven by the same transfer beam, this control method enables the simultaneous clamping and synchronous transfer of products from multiple stations within the same mold's opening and closing cycle. This allows products to be transferred continuously and sequentially between stamping stations, eliminating the need to wait for independent transfer actions after stamping at a single station, and eliminating the need for additional mold stops or switching for transfer. This layout eliminates the drawbacks of traditional independent robotic arms that require waiting for mold stops or station switching.

[0031] This method enables the transfer control process to be closely matched with the stamping cycle of the mold, effectively reducing the mold waiting time caused by product transfer between workstations, significantly improving the coordination of stamping actions and the continuity of stamping cycle, thereby improving overall production efficiency.

[0032] Furthermore, in step four, when the clamping block moves close to the product, the receiving part is used to support the bottom of the product, and the two sets of in-mold conveying robots use the clamping parts of the opposing clamping blocks to hold the sides of the product. A vacuum pump delivers vacuum suction to the vacuum nozzle, and the adsorption part of the vacuum nozzle exposed on the receiving part applies vacuum adsorption force to the bottom surface of the product, thus completing the auxiliary clamping of the product. The adsorption and clamping force on the product is detected by a pressure detection sensor, and the corresponding clamping force is received by the receiving module of the controller. The controller is then analyzed and matched 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 to the product by the vacuum nozzle is adjusted by the suction control module.

[0033] This step utilizes the combined effects of the receiving part bearing, the clamping part holding, and the vacuum nozzle adsorption, along with real-time feedback from the pressure detection sensor and intelligent adjustment from the controller, to provide multi-directional, adjustable, and stable clamping for sheet products. The vacuum adsorption force effectively overcomes the problems of sheet materials being easily deformed and displaced, enhancing the reliability of clamping.

[0034] Pressure detection and closed-loop control ensure that the clamping force is always within an appropriate range, preventing product slippage or detachment due to insufficient clamping force, and avoiding product damage that may be caused by excessive clamping force. This provides a reliable guarantee for continuous cyclic feeding methods, ensuring that under high-speed, continuous conveying cycles, each clamping action can safely and accurately remove the product from the previous station and smoothly deliver it to the next station, thus jointly supporting and realizing high-efficiency, high-reliability in-mold continuous production.

[0035] The beneficial effects of this invention are:

[0036] 1. The drive block and the transmission block are connected by a separable linkage structure with inclined guide, and the guide block limits and guides the transmission block to realize the "moving, lifting and disengaging" and "sliding and resetting" of the transmission block to drive the clamping, conveying and unfolding resetting of the transmission beam.

[0037] When the drive source descends, the drive source drives the first gear set and the second gear set to rotate, causing the clamping block to be in a contracted and released state and to descend with the conveyor beam to avoid it. At this time, the second gear set can drive the conveyor beam to move the clamping block to the set material conveying area to wait for the mold to close and press.

[0038] When the drive source rises, it drives the first and second gear sets to rotate, causing the clamping block to extend into a clamping state and rise with the conveyor beam. This allows the product to be clamped and removed from a stamping station. The clamping and positioning auxiliary device can apply a set suction force to the product to further ensure the stability of clamping and conveying. The pressure detection sensor can detect the contact pressure of the clamped product in real time to prevent damage from excessive clamping force or displacement from insufficient clamping force. At this time, the second gear set can drive the conveyor beam to slide along the sliding member to reset, so that the conveyor beam can move the clamped product to the next stamping station through the clamping block. This allows product clamping and conveying to be performed synchronously, reducing the waiting time for mold opening and closing, and improving the continuity of stamping cycle and production efficiency.

[0039] 2. By connecting the lifting plate on the in-mold robotic arm to the upper template, the lifting control of the upper template is controlled by the robotic arm's transmission control. During the mold closing gap, the upper template drives the clamping block on the robotic arm to move synchronously into the clamping position. During the mold opening gap, the upper template drives the clamping block on the robotic arm to switch the clamping state through mechanical transmission, matching the clamping response speed with the mold opening action. Through the cyclical design of steps three to five, the processes of moving and waiting for clamping during mold closing and clamping and transmitting material 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 stops, the transmission control of the in-mold robotic arm further reduces the ineffective waiting time during mold opening, allowing the product picking and conveying actions to be carried out synchronously during the mold opening or within a very short time, without waiting for the mold to fully open and stop. This significantly reduces the interval time for forming a single product, achieves the continuity of mold stamping, and improves production efficiency. Attached Figure Description

[0040] Figure 1 This is a top-view schematic diagram of the overall structure of this embodiment;

[0041] Figure 2 This is a schematic diagram of the overall structure from a bottom-view perspective in this embodiment;

[0042] Figure 3 This is a schematic diagram of the exploded structure of this embodiment;

[0043] Figure 4 This is a schematic diagram of the connection structure of the conveyor transmission component in this embodiment;

[0044] Figure 5 This is a schematic diagram of the installation and connection structure between the clamping block and the conveying beam in this embodiment;

[0045] Figure 6 This is a schematic diagram of the connection structure between the second gear set, the transmission component, and the drive source in this embodiment;

[0046] Figure 7 This is a side view of the connection between the transmission block and the mounting beam and support base in this embodiment;

[0047] Figure 8 This is a schematic diagram showing the connection between the drive source, the first gear set, and the two support seats in this embodiment;

[0048] Figure 9 This is a schematic diagram of the connection structure between the driver source and the driver block in this embodiment;

[0049] Figure 10 This is a partial structural diagram of this embodiment;

[0050] Figure 11 This is a schematic diagram illustrating the connection and use of the transmission block and the drive block in this embodiment;

[0051] Figure 12 This is a schematic diagram of the sliding and resetting state of the transmission block in this embodiment;

[0052] Figure 13 This is a schematic diagram of the moving, lifting, and disengaging state of the transmission block in this embodiment;

[0053] Figure 14 This is a schematic diagram showing the connection between the in-mold transfer robot and the upper and lower templates in this embodiment;

[0054] Figure 15 This is a schematic diagram showing the mold opening and usage status of the upper and lower templates in this embodiment;

[0055] Figure 16 This is a side view of the upper and lower templates during mold opening in this embodiment;

[0056] Figure 17 This is a schematic diagram showing the pairing of the clamping block and the stamping station in this embodiment;

[0057] The reference numerals in the figure are as follows:

[0058] 1-Base plate, 2-Support seat, 201-Receiving cavity, 202-Opening, 203-Guide groove, 4-Mounting beam, 5-Transfer beam, 7-Sliding component, 9-First gear set, 10-Second gear set;

[0059] 3-Transmission block, 301-Limiting part, 302-Linkage groove, 303-Linkage inclined surface, 304-Linkage inclined part, 305-First support part, 306-Second support part, 307-Guide protrusion, 308-Reset inclined surface;

[0060] 6-Drive block, 601-Linkage protrusion, 602-Drive inclined surface, 603-First lifting part, 604-Second lifting part, 605-Inclined groove, 606-Positioning groove;

[0061] 8-Clamping block, 81-Receiving part, 82-Clamping part;

[0062] 11-Clamping transmission component, 111-Linkage rod, 112-Clamping transmission gear, 113-Clamping transmission rack;

[0063] 12-Conveyor transmission component, 121-Transmission rod, 122-Conveyor transmission gear, 123-Conveyor transmission rack;

[0064] 13-Drive source, 131-Lifting plate, 132-Guide seat, 133-First drive rack, 134-Second drive rack, 135-Slide groove, 136-Connecting block, 137-Limiter;

[0065] 14-Reset guide post; 15-Positioning bead;

[0066] 17-Lifting block, 171-Stop surface, 172-Guide groove, 18-Pressure plate, 20-Moving groove, 21-Moving block, 22-Guide rod, 23-Connecting seat, 24-Guide groove, 25-Upper template, 26-Lower template, 27-Protective pad, 28-Pressure detection sensor, 29-Vacuum nozzle. Detailed Implementation

[0067] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0068] In this embodiment, refer to Figures 1-17 The in-mold transfer robot specifically implemented here includes a base plate 1. Two symmetrically arranged support seats 2 are connected to the base plate 1. One side of each support seat 2 forms a receiving cavity 201, and the side of the support seat 2 has an opening 202 communicating with the receiving cavity 201. A drive block 6, capable of reciprocating towards the opening 202, is disposed within the receiving cavity 201. A transmission block 3 is paired and connected to the drive block 6. The drive block 6 and the transmission block 3 are connected by a separable linkage structure with a beveled guide. A pressure block for pressing and limiting the drive block 6 and the transmission block 3 is connected to the side of the support seat 2. Vertical guide grooves 203 are formed on the inner sides of the pressure block and the adjacent receiving cavity 201. 03 is paired with a guide block that can be raised and lowered and slid. The side of the guide block is paired with the transmission block 3 through the guide groove 172. The side of the guide block away from the opening 202 is provided with a stop surface 171 for the stop limiting part 301. The end of the transmission block 3 away from the opening 202 is provided with a limiting part 301. One end of the transmission block 3 passes through the opening 202 and is exposed to the outside, and is connected to the mounting beam 4. The mounting beam 4 is connected to the reciprocating conveying beam 5 through the sliding member 7. The conveying beam 5 is connected to the clamping block 8. The clamping block 8 is equipped with a clamping positioning auxiliary device for providing suction to the product to be clamped and a pressure detection sensor 28 for detecting the contact pressure of the product.

[0069] The movement of the drive block 6 toward or away from the opening 202 can drive the transmission block 3 to extend, retract, and rise. When the transmission block 3 moves horizontally toward the opening 202 until the limiting part 301 contacts the guide block to form an extension limit, the continuous movement of the drive block 6 drives the transmission block 3 to decouple from the drive block 6 through the linkage structure with inclined guide, and rises under the limit of the guide block.

[0070] A drive source 13 is provided on one side of the base plate 1, and a first gear set 9 and a second gear set 10 are configured on the base plate 1 and are connected to the drive source 13. The first gear set 9 is connected to the drive block 6 through a clamping transmission member 11, and the second gear set 10 is connected to the conveying beam 5 through a conveying transmission member 12. The drive source 13 is provided with a first stroke and a second stroke that are respectively paired with the first gear set 9 and the second gear set 10.

[0071] Reference Figure 13 The drive source 13 rises and drives the first gear set 9 through the first stroke. The first gear set 9 can drive the drive block 6 to move towards the opening 202 through the clamping transmission component 11. The transmission block 3 moves synchronously with the drive block 6 through the linkage structure. When the limiting part 301 on the transmission block 3 is stopped by the guide block, the transmission block 3 is driven to rise and separate from the drive block 6 through the inclined guide of the linkage structure. At this time, it is in the moving lifting and disengagement state.

[0072] Reference Figure 7 and Figure 12 The drive source 13 descends and drives the first gear set 9 through the first stroke. The first gear set 9 can drive the drive block 6 away from the opening 202 and reset by clamping the transmission component 11. When the transmission block 3 slides down due to gravity and couples with the drive block 6, the drive block 6 and the transmission block 3 are paired and re-linked through the linkage structure. At this time, it is the sliding reset state.

[0073] Reference Figures 10-13 The bottom of the transmission block 3 is provided with a linkage groove 302. The inner wall of the linkage groove 302 near the opening 202 forms a linkage inclined surface 303. The side of the transmission block 3 away from the opening 202 forms a linkage inclined portion 304. The linkage inclined surface 303 extends upward at an inclination from near the opening 202 to away from the opening 202. The bottom of the transmission block 3 is provided with a first support portion 305 and a second support portion 306. The drive block 6 is provided with a linkage protrusion 601 that matches the linkage groove 302. The outer side of the linkage protrusion 601 is provided with a drive inclined surface 602 that matches and contacts the linkage inclined surface 303. The top of the drive block 6 is provided with a first lifting portion 603 and a second lifting portion 604 that can provide support force to the first support portion 305 and the second support portion 306. When the linkage structure of the transmission block 3 and the drive block 6 is disengaged, the first lifting portion 603 and the second lifting portion 604 contact the first support portion 305 and the second support portion 306 respectively and provide lifting support to the transmission block 3.

[0074] In this embodiment, the top of the drive block 6 forms an inclined groove 605 that matches the linkage inclined part 304.

[0075] Specifically, the transmission block 3 has raised guide protrusions 307 on both sides. The guide protrusions 307 extend horizontally toward the opening 202 and are paired with the guide groove 172, so that the transmission block 3 can slide and extend relative to the opening 202 along the guide groove 172 through the guide protrusions 307.

[0076] In some embodiments, a reset guide post 14 is provided in the receiving cavity 201. The reset guide post 14 is cylindrical or has an arc-shaped outer surface. The top of the transmission block 3 away from the opening 202 forms a reset slope 308. When the drive block 6 retracts and re-hooks the linkage groove 302 through the linkage protrusion 601, the reset of the drive block 6 and the self-weight of the transmission block 3 are affected. If the transmission block 3 fails to slide smoothly, the drive block 6 hooks the retraction reset of the transmission block 3. The reset of the transmission block 3 can be ensured by the contact between the reset guide post 14 and the reset slope 308.

[0077] In some embodiments, a positioning groove 606 is provided on the side of the drive block 6 near the pressure plate 18. A plurality of positioning beads 15 are connected on the pressure plate 18. The arc-shaped surface of the positioning beads 15 extends through the pressure plate 18 into the receiving cavity 201. When the drive block 6 moves toward the opening 202 and the transmission block 3 is in the clamping and conveying state, the positioning groove 606 on the drive block 6 moves to match with the positioning beads 15. Through the contact and matching of the positioning beads 15 and the positioning groove 606, the limiting of the drive block 6 is further ensured, and the transmission block 3 is prevented from shifting, falling off, or being dislodged.

[0078] Through the cooperation of the linkage groove 302, linkage inclined surface 303, linkage tilting part 304 at the bottom of the transmission block 3, and the linkage protrusion 601 and driving inclined surface 602 on the drive block 6, a separable linkage structure with inclined surface guidance is formed between the drive block 6 and the transmission block 3. This allows the drive block 6 to drive the transmission block 3 to synchronously extend, retract, and lift when moving towards the opening 202. This structure realizes automatic lifting of the transmission block 3 when it extends to the limit and automatic sliding coupling when it resets, enabling the clamping block 8 to quickly complete the clamping and releasing actions, improving the continuity of clamping and unfolding actions and production efficiency.

[0079] The clamping transmission component 11 includes a linkage rod 111, a clamping transmission gear 112, and a clamping transmission rack 113. The clamping transmission rack 113 is fixed to the drive block 6 by screws. The clamping transmission gear 112 is installed at one end of the linkage rod 111 and meshes with the clamping transmission rack 113. The other end of the linkage rod 111 passes through the support base 2 and is connected to the output end of the first gear set 9. The side of the support base 2 is connected to a pressure plate 18 for limiting. When the clamping transmission gear 112 rotates, the clamping transmission rack 113 can drive the drive block 6 to extend and retract towards the opening 202. At the same time, the drive block 6 contacts the linkage inclined surface 303 of the transmission block 3 through the driving inclined surface 602 to drive the transmission block 3 to lift.

[0080] Since the clamping transmission rack 113 is fixed to the drive block 6, the rotation of the clamping transmission gear 112 can drive the clamping transmission rack 113 to move linearly.

[0081] The base plate 1 has a movable groove 20, and a movable block 21 that can slide along the extension direction of the movable groove 20 is connected to the movable groove 20. A guide rod 22 is connected to the movable block 21. A connecting seat 23 is provided on the conveying beam 5. A guide groove 24 for matching the guide rod 22 is provided on the connecting seat 23. One end of the guide rod 22 extends through the guide groove 24.

[0082] Specifically, the guide groove 24 is a vertically set waist hole, and the length of the guide rod 22 always passes through the guide groove 24.

[0083] The conveying transmission component 12 includes a transmission rod 121, a conveying transmission gear 122, and a conveying transmission rack 123. The conveying transmission rack 123 is mounted on the moving block 21. The conveying transmission gear 122 is mounted on one end of the transmission rod 121 and meshes with the conveying transmission rack 123. 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 reciprocate along the moving groove 20.

[0084] The drive source 13 includes a lifting plate 131, a guide seat 132, a first drive rack 133 for driving the first gear set 9, and a second drive rack 134 for driving the second gear set 10. The first stroke and the second stroke are the first drive rack 133 and the second drive rack 134, respectively. The guide seat 132 is installed between the support seats 2. The inner side of the guide seat 132 is provided with a sliding groove 135 for matching the lifting plate 131. The top of the lifting plate 131 is used to connect the upper mold of the mold. The first drive rack 133 is installed on the inner side of the guide seat 132 through a connecting block 136, and the first drive rack 133 is meshed with the input end of the first gear set 9. The second drive rack 134 is installed on the inner side of the guide seat 132 through a limiter 137. The second drive rack 134 can slide along the limiter 137, and the second drive rack 134 is meshed with the input end of the second gear set 10.

[0085] The lifting plate 131 can drive the conveyor beam 5 to perform clamping, conveying, and unfolding unloading movements.

[0086] Clamping and conveying state (i.e., moving and lifting disengaging state): When the lifting plate 131 rises and drives the first gear set 9 through the first drive rack 133, the conveying end of the first gear set 9 drives the drive block 6 to move toward the opening 202 through the clamping transmission component 11. The transmission block 3 moves synchronously with the drive block 6, so that the conveying beam 5 drives the clamping block 8 to move closer to the product and rise to form a clamp. At the same time, the rise of the lifting plate 131 drives the second gear set 10 through the second drive rack 134, so that the second gear set 10 drives the conveying beam 5 to move horizontally to feed the material through the conveying transmission component 12.

[0087] Unfolded movement state (i.e., sliding and reset state): When the lifting plate 131 descends, the conveying end of the first gear set 9 drives the drive block 6 to retract into the support seat 2 through the clamping transmission component 11, so that the conveying beam 5 drives the clamping block 8 to release the clamp and descend to form an unfolded state. At the same time, the descent of the lifting plate 131 can drive the second gear set 10 to rotate, so that the second gear set 10 drives the conveying beam 5 to move and reset through the conveying transmission component 12.

[0088] The drive source triggers the rotation of the first and second gear sets through the vertical movement of the lifting plate, thereby controlling the extension and retraction of the conveyor beam and its movement to approach the product to be clamped, as well as controlling the conveyor beam to reciprocate along the sliding member, thereby completing the clamping, conveying and unfolding of the product.

[0089] The drive source is directly connected to the upper mold via a lifting plate. The lifting plate moves synchronously with the upper mold during opening and closing, and in turn, drives the first and second gear sets via the first and second drive racks, respectively. This achieves automatic synchronization between the robot's movements and the mold opening and closing process: when the upper mold rises, the robot automatically performs clamping and conveying actions; when the upper mold descends, the robot automatically performs release and reset actions.

[0090] Specifically, in this embodiment, the side of the limiter 137 is provided with a limiting groove for the mating installation of the second drive rack 134. Both ends of the limiting groove are formed with limiting ends. Due to the meshing connection between the second drive rack 134 and the input gear of the second gear set 10, the second drive rack 134 slides synchronously up and down along the limiting groove under the lifting movement of the lifting plate 131. When one end of the second drive rack 134 abuts against the limiting end of one end of the limiting groove, the input gear of the second gear set 10 rotates. 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 conveying beam 5 moves laterally reciprocatingly.

[0091] In this embodiment, as the lifting plate 131 rises, the second drive rack 134 moves to the bottom of the limiting groove and is stopped by the stop at the lower limiting end. At this time, the input gear of the second gear set 10 can rotate under the drive of the second drive rack 134. For example, refer to Figure 17 The conveyor beam 5 can move to the left in the product conveying direction, that is, move to the lower material station. Conversely, under the downward movement of the lifting plate 131, the second drive rack 134 moves to the top of the limiting groove and is limited by the stop at the upper limiting end. At this time, the input gear of the second gear set 10 can rotate under the drive of the second drive rack 134, and the conveyor beam 5 can move to the right in the product conveying direction to reset, that is, move to the upper material station.

[0092] Multiple clamping blocks 8 are provided, and the multiple clamping blocks 8 are installed at intervals on the conveying beam 5. A protective pad 27 is provided on the clamping block 8. A receiving part 81 for carrying the product and a clamping part 82 for holding the side of the product are formed on the clamping block 8. One end of the clamping part 82 is connected to the conveying beam 5. The clamping and positioning auxiliary device consists of a vacuum nozzle 29 and a vacuum pump (not shown) for providing vacuum suction to the vacuum nozzle 29. The suction part of the vacuum nozzle 29 is exposed on the receiving part 81, and the vacuum nozzle 29 is connected to the vacuum pump through a pipe.

[0093] The spaced arrangement of multiple clamping blocks allows the robotic arm to grip multiple products simultaneously, increasing the number of products processed in a single operation and thus improving loading and unloading efficiency. The protective pads, receiving sections, and clamping sections on the clamping blocks, combined with the suction force provided by the vacuum nozzles, ensure stable product support and auxiliary positioning, preventing displacement or detachment during clamping and conveying. Pressure sensors monitor the clamping contact pressure in real time, preventing excessive clamping force that could damage the product. This ensures the stability, safety, and efficiency of the clamping process, supporting rapid and continuous clamping and conveying operations, and enabling high-efficiency die stamping production.

[0094] For example, multiple clamping blocks 8 can be used for multiple stamping stations (e.g., first stamping → second stamping → third stamping → unloading). Specifically, in this embodiment, each conveying beam 5 is provided with 4 clamping blocks 8, which can improve the continuity and production efficiency of clamping, conveying and unloading stamped products.

[0095] In this embodiment, an in-mold transfer robot is installed in a continuous stamping die. For example, this in-mold transfer robot is used for the production of automotive metal stamping arms.

[0096] In-mold transfer control method, the transfer control method includes the following steps:

[0097] Step 1: Install the in-mold transfer robot. Install the in-mold transfer robot on the side of the mold. There are two sets of in-mold transfer robots, and the two sets of in-mold transfer robots are symmetrically arranged on both sides of the mold. The in-mold transfer robot is installed on the lower template 26 of the mold through the base plate 1. Connect the top of the lifting plate 131 of the two sets of in-mold transfer robots to the upper template 25 of the mold, so that the lowering and opening of the upper template 25 can drive the lifting plate 131 to descend and rise synchronously. The clamping end of the clamping block 8 extends into the interior of the mold.

[0098] Step 2: Loading. Connect one end of the mold to the external feeder and cutting machine. The feeder cuts the sheet into sheets, and the loading robot places the cut sheet into the stamping station of the lower template 26.

[0099] Specifically, the mold has four stamping stations inside. The number of clamping blocks 8 is matched with the number of stamping stations, and the spacing of the four clamping blocks 8 is matched with the spacing of the four stamping stations. The sliding beam 5 along the sliding member 7 can drive multiple clamping blocks 8 to move synchronously. The clamping blocks 8 clamp the products on the adjacent stamping stations and move them into the next stamping station. By repeatedly executing the opening and closing movements of the upper template 25 and the lower template 26, the in-mold conveying robot can be driven to continuously feed materials in a cycle.

[0100] Step 3: Mold closing, refer to... Figure 14 When the upper mold plate 25 closes and drives the lifting plate 131 to descend, the lifting plate 131 drives the first drive rack 133 and the second drive rack 134 to drive the first gear set 9 and the second gear set 10 to rotate respectively. The first gear set 9 drives the linkage rod 111 to rotate. The clamping transmission gear 112 on the linkage rod 111 rotates, which can drive the clamping transmission rack 113 to move. The clamping transmission rack 113 synchronously drives the drive block 6 to move and retract into the receiving cavity 201. The conveying beam 5 drives the clamping block 8 to a retracted and released state and descends with the conveying beam 5 to avoid obstacles. (When the drive block 6 is reset and retracted into the receiving cavity 201, the transmission block 3 can slide down under its own gravity, so that the linkage groove 302 and the drive protrusion of the drive block 6 are recoupled, preparing for the mold opening and extension, and the material release action can be completed.) The second gear set 10 drives the transmission rod 121 to drive the conveying transmission gear 122 to rotate, the conveying transmission rack 123 drives the moving block 21 to move along the moving groove 20, and the conveying beam 5 drives the clamping block 8 to move to the set initial clamping area, waiting for the mold upper template 25 and lower template 26 to complete the mold closing stamping.

[0101] Step 4: Mold opening, refer to... Figure 15When the upper mold plate 25 opens and drives the lifting plate 131 to rise, the first driving rack 133 and the second driving rack 134 on the lifting plate 131 drive the first gear set 9 and the second gear set 10 to rotate respectively. The first gear set 9 drives the linkage rod 111 to rotate. The clamping transmission gear 112 on the linkage rod 111 rotates, which can drive the clamping transmission rack 113 to move. The clamping transmission rack 113 synchronously drives one end of the driving block 6 to move towards the opening 202. The transmission block 3 is driven by extension and lifting. (When the driving block 6 drives the transmission block 3 to extend horizontally, and the horizontal movement of the transmission block 3 is stopped by the guide block at the limit part 301, the driving block 6 continues to move towards the opening 202, causing the driving inclined surface 602 and the inclined groove 605 to squeeze and link together.) The inclined surface 303 and the linkage inclined part 304 cause the linkage protrusion 601 of the drive block 6 to disengage from the linkage groove 302. The inclined surface guides the transmission block 3 to decouple from the drive block 6. The vertical guide of the guide block causes the transmission block 3 to rise to the top to complete the lifting stroke required for material picking. The clamping block 8 on the conveyor beam 5 extends close to the product and rises with the conveyor beam 5 to form a clamping state. The two sets of symmetrically arranged clamping blocks 8 symmetrically clamp the two ends of the product, so that the product can be clamped and taken out from the stamping station. The second gear set 10 drives the transmission rod 121 to drive the conveying transmission gear 122 to rotate. The conveying transmission rack 123 drives the moving block 21 to move along the moving groove 20, so that the clamped product can be moved to the next stamping station.

[0102] In step four, when the clamping block 8 moves close to the product, the receiving part 81 supports the bottom of the product. Two sets of in-mold transfer robots clamp the sides of the product through the clamping parts 82 of the opposing clamping blocks 8. A vacuum pump delivers vacuum suction to the vacuum nozzle 29. The adsorption part of the vacuum nozzle 29 exposed on the receiving part 81 applies vacuum adsorption force to the bottom surface of the product, completing the product clamping assistance. The pressure detection sensor 28 detects the adsorption and clamping force on the product. The corresponding clamping force is received by the receiving module of the controller, and the corresponding product is analyzed and matched according to the detection and analysis module set in the controller. When the clamping force deviates, the suction control module adjusts the auxiliary clamping suction force applied to the product by the vacuum nozzle 29.

[0103] A vacuum nozzle 29 and a pressure sensor 28 are installed on the clamping block 8. This allows for flexible and stable gripping of the product through suction force during rapid conveying, preventing product displacement or detachment. Simultaneously, the sensor monitors the contact pressure in real time, providing precise positioning feedback or protection against pressure damage. This enhances the stability and safety of the entire conveying process at high speeds.

[0104] Step 5: Unloading. When the mold opens in Step 4, the in-mold conveying robot clamps the stamped sheet metal through the clamping block 8 on the conveying beam 5 and moves along the extension direction of the sliding member 7. One end of the sliding member 7 extends towards the unloading station of the mold, and the end of the conveying beam 5 can extend outward along the sliding member 7 towards the outer side of the mold. The conveying beam 5 clamps the stamped finished product and moves it towards the unloading station of the mold through the clamping block 8 near the unloading station. At this time, the mold closing action of Step 3 is executed, and multiple clamping blocks 8 simultaneously release their clamping on the product, completing the unloading action. Steps 3 and 4 are repeated to form a cyclic continuous feeding action that matches the stamping rhythm of the mold.

[0105] The dual fixing mechanism of mechanical clamping and vacuum adsorption ensures the accuracy of product side positioning and enhances clamping stability through bottom adsorption, effectively preventing the product from falling off or shifting during the transfer process.

[0106] The closed-loop feedback system consisting of the pressure 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. This avoids the risk of falling due to insufficient clamping force and prevents damage to the product due to excessive clamping, thereby improving the reliability of the conveying process and the yield of finished products.

[0107] In summary, this invention solves the problem of the difficulty in adjusting and controlling the loading and unloading robots of existing stamping dies. This invention achieves synchronous linkage between the clamping and conveying action of the in-die transfer robot and the stamping action. That is, under the linkage within the mold opening and closing motion cycle, the clamped product can be moved and conveyed to the next process and the released product can be moved to avoid the mold stamping, reducing the mold opening and closing waiting time, improving the continuity of the stamping cycle and production efficiency, and providing a solution with reliability, continuity and high efficiency for automated stamping production lines of sheet metal.

[0108] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. An in-mold transfer robot, including a base plate, characterized in that: A support base is connected to the base plate. A receiving cavity is formed on one side of the support base, and an opening communicating with the receiving cavity is provided on the side of the support base. A drive block that can slide back and forth toward the opening is arranged in the receiving cavity. A transmission block is paired and connected to the drive block. The drive block and the transmission block are connected by a separable linkage structure with inclined guide. A pressure block for pressing and limiting the drive block and the transmission block is connected to the side of the support base. Vertical guide grooves are opened on the inner sides of the pressure block and the receiving cavity. A guide block that can slide up and down is paired and connected to the guide groove. The side of the guide block is paired and connected to the transmission block through a guide groove. A limiting part is provided at the end of the transmission block away from the opening. One end of the transmission block passes through the opening and is exposed to the outside, and is connected to a mounting beam. A reciprocatingly movable conveying beam is connected to the mounting beam through a sliding member. A clamping block is connected to the conveying beam. A clamping positioning auxiliary device for providing suction to the product to be clamped and a pressure detection sensor for detecting the contact pressure of the product are arranged on the clamping block. The movement of the drive block toward or away from the opening can drive the transmission block to extend, retract, and rise. When the transmission block moves horizontally toward the opening until the limiting part contacts the guide block to form an extension limit, the continuous movement of the drive block drives the transmission block to decouple from the drive block through the linkage structure with inclined guide, and rises under the limit of the guide block. A drive source is provided on one side of the base plate, and a first gear set and a second gear set are configured on the base plate and are connected to the drive source. The first gear set is connected to the drive block through a clamping transmission component, and the second gear set is connected to the conveying beam through a conveying transmission component. The drive source is provided with a first stroke and a second stroke that are respectively paired with the first gear set and the second gear set. The drive source rises and drives the first gear set through the first stroke. The first gear set can drive the drive block to move in the opening direction by clamping the transmission component. The transmission block moves synchronously with the drive block through the linkage structure. When the limiting part on the transmission block is stopped by the guide block, the transmission block is driven to rise and separate relative to the drive block through the inclined guide of the linkage structure. At this time, it is in the moving lifting and disengagement state. The drive source descends and drives the first gear set through the first stroke. The first gear set can drive the drive block away from the opening and reset by clamping the transmission component. When the transmission block slides down due to gravity and couples with the drive block, the drive block and the transmission block are paired and re-linked through the linkage structure. At this time, it is in the sliding reset state.

2. The in-mold transfer robot according to claim 1, characterized in that: The bottom of the transmission block is provided with a linkage groove, and the inner wall of the linkage groove near the opening forms a linkage inclined surface. The side of the transmission block away from the opening forms a linkage inclined part. The linkage inclined surface extends upward from the direction near the opening to the direction away from the opening. The bottom of the transmission block is provided with a first support part and a second support part. The drive block is provided with a linkage protrusion that matches the linkage groove. The outer side of the linkage protrusion is provided with a drive inclined surface that matches and contacts the linkage inclined surface. The top of the drive block is provided with a first lifting part and a second lifting part that can provide support force to the first support part and the second support part. When the linkage structure of the transmission block and the drive block is disengaged, the first lifting part and the second lifting part contact the first support part and the second support part respectively and provide lifting support to the transmission block.

3. The in-mold transfer robot according to claim 2, characterized in that: The clamping transmission component includes a linkage rod, a clamping transmission gear, and a clamping transmission rack. The clamping transmission rack is mounted on the drive block, and the clamping transmission gear is mounted on one end of the linkage rod and meshes with the clamping transmission rack. The other end of the linkage rod passes through the support base and is connected to the output end of the first gear set. A pressure plate for limiting the position is connected to the side of the support base. When the clamping transmission gear rotates, the clamping transmission rack can drive the drive block to extend and retract towards the opening. At the same time, the drive block contacts the linkage inclined surface of the transmission block through the driving inclined surface to drive the transmission block to lift.

4. The in-mold transfer robot according to claim 1, characterized in that: The base plate has a movable groove, and a movable block that can slide along the extension direction of the movable groove is connected to the movable groove. A guide rod is connected to the movable block. A connecting seat is provided on the conveying beam. A guide groove for matching the guide rod is provided on the connecting seat. One end of the guide rod extends through the guide groove.

5. The in-mold transfer robot according to claim 4, characterized in that: The conveying transmission component includes a transmission rod, a conveying transmission gear, and a conveying transmission rack. The conveying transmission rack is mounted on the moving block, and the conveying transmission gear is mounted on one end of the transmission rod and meshes 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 reciprocate along the moving groove.

6. The in-mold transfer robot according to any one of claims 1-5, characterized in that: The drive source includes a lifting plate, a guide seat, a first drive rack for driving a first gear set, and a second drive rack for driving a second gear set. The first stroke and the second stroke are the first drive rack and the second drive rack, respectively. The guide seat is installed between the support seats. The inner side of the guide seat has a groove for matching the lifting plate. The top of the lifting plate is used to connect the upper mold of the mold. The first drive rack is installed on the inner side of the guide seat through a connecting block, and the first drive rack is meshed with the input end of the first gear set. The second drive rack is installed on the inner side of the guide seat through a limiter. The second drive rack can slide along the limiter, and the second drive rack is meshed with the input end of the second gear set. The lifting and lowering of the lifting plate can drive the conveyor beam to clamp, transport, and unfold for unloading: Clamping and conveying state: When the lifting plate rises and drives the first gear set through the first drive rack, the conveying end of the first gear set drives the drive block to move in the opening direction through the clamping transmission component. The transmission block moves synchronously with the drive block, so that the conveying beam drives the clamping block to move closer to the product and rise to form clamping. At the same time, the rise of the lifting plate drives the second gear set through the second drive rack, so that the second gear set drives the conveying beam to move horizontally to feed the material through the conveying transmission component. Unfolding and moving state: When the lifting plate descends, the conveying end of the first gear set drives the drive block to retract into the support seat through the clamping transmission component, so that the conveying beam drives the clamping block to release the clamp and descend to form an unfolding state. At the same time, the descent of the lifting plate can drive the second gear set to rotate, so that the second gear set drives the conveying beam to move and reset through the conveying transmission component.

7. The in-mold transfer robot according to any one of claims 1-5, characterized in that: Multiple clamping blocks are provided and are installed at intervals on the conveyor beam. Protective pads are provided on the clamping blocks. The clamping blocks have a receiving part for carrying the product and a clamping part for holding the side of the product. One end of the clamping part is connected to the conveyor beam. The clamping and positioning auxiliary device consists of a vacuum nozzle and a vacuum pump for providing vacuum suction to the vacuum nozzle. The suction part of the vacuum nozzle is exposed on the receiving part, and the vacuum nozzle is connected to the vacuum pump through a pipe.

8. An in-mold transfer control method, characterized in that, The transmission control method includes the following steps: Step 1: Install the in-mold conveying robot. Install the in-mold conveying robot according to any one of claims 1-7 on the side of the mold. There are two sets of in-mold conveying robots, and the two sets of in-mold conveying robots are symmetrically arranged on both sides of the mold. The in-mold conveying robot is installed on the lower template of the mold through the base plate. The top of the lifting plate is connected to the upper template of the mold. The descent and undulation of the upper template can drive the lifting plate to descend and rise synchronously. The clamping end of the clamping block extends into the interior of the mold. Step 2: Loading. Connect one end of the mold to the external feeder and cutting machine. The feeder cuts the sheet into sheets, and the loading robot places the cut sheet into the stamping station of the lower template. Step 3: Mold closing. When the upper mold plate closes and drives the lifting plate to descend, the lifting plate drives the first and second drive racks to drive the first and second gear sets to rotate respectively. The first gear set drives the linkage rod to rotate. The rotation of the clamping transmission gear on the linkage rod can drive the clamping transmission rack to move. The clamping transmission rack synchronously drives the drive block to move and retract into the receiving cavity. The conveying beam drives the clamping block to a retracted and released state and descends with the conveying beam to avoid it. The second gear set drives the transmission rod to drive the conveying transmission gear to rotate. The conveying transmission rack drives the moving block to move along the moving groove. The conveying beam drives the clamping block to move to the set initial clamping area, waiting for the mold upper and lower mold plates to close and stamp. Step 4: Mold opening. When the upper mold plate opens and the lifting plate rises, the first and second drive racks on the lifting plate drive the first and second gear sets to rotate, respectively. The first gear set drives the linkage rod to rotate, and the rotation of the clamping transmission gear on the linkage rod can drive the clamping transmission rack to move. The clamping transmission rack synchronously drives one end of the drive block to move towards the opening. The transmission block is driven by extension and lifting. The clamping block on the conveyor beam extends close to the product and forms a clamping state as the conveyor beam is lifted. The two sets of symmetrically arranged clamping blocks symmetrically clamp both ends of the product, thereby clamping the product and removing it from the stamping station. The second gear set drives the transmission rod to rotate the conveying transmission gear. The conveying transmission rack drives the moving block to move along the moving groove, which can move the clamped product to the next stamping station. Step 5: Unloading. When the mold opens in Step 4, the in-mold conveying robot clamps the stamped sheet metal through the clamping blocks on the conveying beam and moves along the extension direction of the sliding part. One end of the sliding part extends towards the unloading station of the mold, and the end of the conveying beam can extend outward along the sliding part towards the outer side of the mold. The conveying beam clamps the stamped finished product and moves it towards the unloading station of the mold through the clamping blocks near the unloading station. At this time, the mold closing action of Step 3 is executed. Multiple clamping blocks simultaneously release their clamping on the product, completing the unloading action. Steps 3 and 4 are repeated to form a cyclical 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 step two, the mold has multiple stamping stations inside. The number of clamping blocks is matched with the number of stamping stations, and the spacing of the clamping blocks is matched with the spacing of the stamping stations. The sliding of the conveyor beam along the sliding member can drive the multiple clamping blocks to move synchronously. The clamping blocks clamp the products on the adjacent stamping stations and move them into the next stamping station. By repeatedly executing the opening and closing motion of the upper and lower mold plates, the in-mold conveying robot can be synchronously driven to continuously feed materials in a cycle.

10. The in-mold transfer control method according to claim 8, characterized in that: In step four, when the clamping block moves close to the product, the receiving part supports the bottom of the product, and the two sets of in-mold conveying robots clamp the sides of the product through the clamping parts of the opposing clamping blocks. A vacuum pump delivers vacuum suction to the vacuum nozzle, and the adsorption part of the vacuum nozzle exposed on the receiving part applies vacuum adsorption force to the bottom surface of the product, thus assisting in clamping the product. The adsorption and clamping force on the product is detected by a pressure detection sensor, and the corresponding clamping force is received by the receiving module of the controller. The controller analyzes and matches the corresponding product according to the detection and analysis module set in the controller. When the clamping force deviates, the suction control module adjusts the auxiliary clamping suction force applied to the product by the vacuum nozzle.

Images