A hot stamping machine loading and unloading robot mechanical arm

Abstract

This invention provides a robotic arm for loading and unloading a hot stamping machine tool, relating to the field of robotic arms. It includes a base, an arm structure mounted on the base, and an end effector connected to the end of the arm structure. The end effector comprises: a support; at least one set of gripping fingers rotatably connected to the support via a rotating shaft; a drive device mounted on the support, its output end connected to the gripping fingers; and a thermal compensation device mounted on the support. The thermal compensation device includes a thermal driving element and a limiting part. The thermal driving element generates displacement according to temperature changes and drives the limiting part to move, thereby changing the limiting position of the gripping fingers in the closing direction. This invention automatically adjusts the gripping limit through a thermal sensing mechanism, effectively overcoming high-temperature deformation; anti-slip grippers ensure stable workpiece gripping; a vision system combined with a heat-insulating structure achieves precise positioning, facilitating quick replacement and maintenance; the overall structure has heat radiation resistance characteristics, and the mobile chassis adapts to various working conditions.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to a robotic arm for loading and unloading hot stamping machine tools. Background Technology

[0002] Hot stamping machines are key equipment in the automotive manufacturing industry for producing high-strength steel sheet parts. The degree of automation in their loading and unloading operations directly affects production efficiency and operational safety. On high-temperature stamping production lines, robotic arms constantly face multiple technical challenges, including thermal deformation, positioning accuracy, and thermal protection. Due to the large temperature variation range of the workpieces and the high production cycle requirements, the loading and unloading robotic arms must possess resistance to thermal interference and stable and reliable gripping performance.

[0003] Traditional hot stamping loading and unloading robotic arms generally suffer from insufficient thermal adaptability and unstable positioning accuracy. Their end effectors are prone to thermal deformation in high-temperature environments, leading to decreased gripping accuracy; the vision positioning system is susceptible to image drift due to heat radiation; and heat transfer between the robotic arm and the high-temperature workpiece affects joint motion accuracy. Furthermore, existing devices often employ fixed limiting structures, making it difficult to automatically adjust gripping parameters according to temperature changes, resulting in insufficient stability when handling high-temperature workpieces. In addition, the base movement system lacks adaptive leveling capabilities, affecting positioning accuracy on uneven workshop floors, and the limited thermal insulation efficiency of traditional insulation structures means that prolonged high-temperature operation can easily lead to an increase in the temperature of the robotic arm itself. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a robotic arm for loading and unloading hot stamping machine tools, which addresses the above-mentioned defects in the prior art.

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a robotic arm for loading and unloading hot stamping machine tools to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A robotic arm for loading and unloading a hot stamping machine tool includes: a base, an arm structure disposed on the base, and an end effector connected to the end of the arm structure, characterized in that the end effector includes: support; At least one set of gripping fingers is rotatably connected to the bracket via a pivot. A drive device is mounted on the bracket, and its output end is connected to the clamping finger. A thermal compensation device is mounted on the bracket; The thermal compensation device includes a thermal driving element and a limiting part. The thermal driving element can generate displacement in response to temperature changes and drive the limiting part to move, thereby changing the limiting position of the clamping finger in the closing direction.

[0007] Preferably, the thermal compensation device is further provided with a lever, the middle part of which is rotatably mounted on the bracket via a fulcrum shaft, the thermal driving element is in contact with one end of the lever, and the limiting part is connected to the other end of the lever.

[0008] Preferably, one end of the lever is provided with a first adjusting screw, the end of the first adjusting screw is in contact with the heat-driven element, and the other end of the lever is provided with a second adjusting screw, with the limiting part located at the end of the second adjusting screw.

[0009] Preferably, the thermal drive element includes a housing, a push rod, and a guide; The housing is connected to the bracket, the push rod is movably disposed within the housing, one end of the push rod contacts the first adjusting screw, and the guide is disposed within the housing to restrict the movement path of the push rod.

[0010] Preferably, the output end of the driving device is connected to the clamping finger through a linkage mechanism, the linkage mechanism including a first link and a second link, the first link being connected to the output end of the driving device, and the second link being connected to the clamping finger.

[0011] Preferably, the clamping surface of the clamping finger is provided with a replaceable clamping block, the clamping surface of the clamping block is provided with a groove, and the clamping surface of the clamping block is also provided with anti-slip texture.

[0012] Preferably, the robotic arm of the hot stamping machine tool loading and unloading robot further includes a vision positioning system, which includes a camera and a mounting frame. The mounting frame is connected to the bracket, and the camera is mounted on the mounting frame via a gimbal.

[0013] Preferably, a heat insulation plate is provided between the arm structure and the end effector, a first reinforcing rib is provided between the heat insulation plate and the arm structure, and a second reinforcing rib is provided between the heat insulation plate and the bracket.

[0014] Preferably, the base is provided with a moving component at its bottom, the moving component including a moving wheel and a locking device, and the base is also provided with a counterweight.

[0015] Preferably, the clamping finger is provided with a connecting lug, the second connecting rod is hinged to the connecting lug, the second connecting rod is provided with a limiting boss, and a lubrication structure is provided between the first connecting rod and the driving device.

[0016] The present invention adopts the above technical solution and has the following technical effects compared with the prior art: 1. Adaptive thermal compensation: By using a purely mechanical thermal compensation device and taking advantage of the physical characteristics of the thermal drive element, the closing limit of the clamping fingers is automatically adjusted in high-temperature environments, effectively offsetting the influence of thermal deformation on clamping accuracy. This achieves sensorless, highly reliable adaptive clamping, overcoming the shortcomings of existing technologies that rely on electronic sensors and are susceptible to high-temperature interference.

[0017] 2. Highly stable gripping mechanism: The replaceable gripping blocks on the gripping fingers, combined with the groove and anti-slip texture design, not only adapt to high-temperature workpieces of different shapes, but also ensure gripping stability through the anti-slip texture. At the same time, the modular design facilitates quick replacement and maintenance.

[0018] 3. Heat Radiation Resistance and Precise Positioning: A multi-layered composite heat insulation plate, along with reinforcing ribs, is installed between the arm structure and the end effector to effectively block heat radiation transmission and protect the motion accuracy of the arm structure. Simultaneously, a multi-axis gimbal integrates the camera and end effector, and active stabilization technology enables precise workpiece positioning even in high-temperature heat radiation environments.

[0019] 4. System Integration and Adaptability: By combining the moving components with counterweights, the real-time position adjustment of the counterweights balances the changes in the center of gravity caused by the arm's movement, improving the overall stability of the machine under different working conditions. The overall structure is compact and highly adaptable. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 2 This is a schematic diagram of the base and counterweight of a robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 3 This is a schematic diagram of the end effector and vision positioning system of a robotic arm for loading and unloading hot stamping machine tools according to the present invention; Figure 4 This is a schematic diagram of a thermal compensation device for a robotic arm of a hot stamping machine tool loading and unloading robot according to the present invention. Figure 5 This is a schematic diagram of the end effector of a robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 6 This is a schematic diagram of the gripping fingers of a robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 7 This is a schematic diagram of the visual positioning system of the robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 8This is a schematic diagram of the clamping block of a robotic arm for loading and unloading a hot stamping machine tool according to the present invention; Figure 9 This is a schematic diagram of the drive device for a robotic arm of a hot stamping machine tool according to the present invention.

[0021] The reference numerals in the attached drawings are as follows: 1. Base; 2. Arm structure; 3. End effector; 301. Bracket; 302. Gripping finger; 3021. Connecting lug; 303. Rotating shaft; 304. Drive device; 305. Thermal compensation device; 3051. Thermal drive element; 3052. Limiting part; 3053. Lever; 3054. Pivot shaft; 3055. First adjusting screw; 3056. Second adjusting screw; 3057. Housing; 3058. Push rod; 3059. Guide. 306. Linkage mechanism; 3061. First link; 3062. Second link; 3063. Limiting boss; 3064. Lubrication structure; 307. Clamping block; 3071. Groove; 3072. Anti-slip texture; 4. Visual positioning system; 401. Camera; 402. Mounting bracket; 403. Gimbal; 5. Heat insulation plate; 501. First reinforcing rib; 502. Second reinforcing rib; 6. Moving component; 601. Moving wheel; 602. Locking device; 7. Counterweight. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1

[0025] As attached Figures 1 to 9The illustrated robotic arm for loading and unloading a hot stamping machine tool has a base 1 with a welded box-shaped structure and internally arranged reinforcing ribs. A moving component 6 is installed at the bottom, comprising four rectangularly distributed moving wheels 601. The wheels 601 are polyurethane-coated and equipped with an independent suspension system. A locking device 602 achieves synchronous braking via pneumatic control. A counterweight 7 moves back and forth within the base 1 via a guide rail. The counterweight 7 is driven by a servo motor and a ball screw mechanism. When the robotic arm is working, the locking device 602 automatically locks the moving wheels 601, and the counterweight 7 adjusts its position in real time according to the movement posture of the arm structure 2 to maintain overall stability. Specifically, when the robotic arm moves to the working position, the locking device (602) automatically locks the moving wheels (601) to fix the base (1); the counterweight (7) adjusts its position in real time according to the movement posture of the arm structure (2) to maintain overall stability.

[0026] The arm structure 2 adopts a six-degree-of-freedom serial configuration. Each joint has a hollow structure to facilitate cable routing. The joint connection is driven by a combination of harmonic reducer and servo motor. The end is connected to the heat insulation plate 5 through a flange. A first reinforcing rib 501 is set between the heat insulation plate 5 and the arm structure 2. The first reinforcing rib 501 is evenly distributed radially. When the arm structure 2 moves, each joint achieves precise positioning of the end effector 3 through kinematic algorithms.

[0027] The bracket 301 is made of cast aluminum alloy with internal cooling medium channels. The clamping finger 302 is rotatably connected to the bracket 301 via a rotating shaft 303. Self-lubricating bearings are installed at both ends of the rotating shaft 303. The drive device 304 is fixed to the side of the bracket 301 via a mounting base. The output shaft of the drive device 304 is splined to the linkage mechanism 306. The thermal compensation device 305 is installed at a designated position on the bracket 301 via a positioning pin, i.e., a predetermined installation position. When the drive device 304 is working, the output shaft pushes the linkage mechanism 306 to move, thereby causing the clamping finger 302 to rotate around the rotating shaft 303.

[0028] The thermal drive element 3051 of the thermal compensation device 305 is fixed to the side of the bracket 301 by bolts. The limiting part 3052 is set at the extreme position of the rotation trajectory of the clamping finger 302. The push rod 3058 inside the thermal drive element 3051 is made of an alloy material with a specific coefficient of thermal expansion. When the ambient temperature changes, the push rod 3058 generates a corresponding axial displacement, which is transmitted to the limiting part 3052 through the lever 3053 mechanism, so that the limiting part 3052 moves along the guide rail, thereby adjusting the maximum closing angle of the clamping finger 302.

[0029] Preferably, the push rod 3058 is made of an alloy with a high coefficient of thermal expansion, such as an iron-nickel alloy (the reverse effect of Invar alloy) or an aluminum-silicon alloy, or is made of a shape memory alloy.

[0030] When the ambient temperature rises, the size of the clamping finger (302) or the workpiece to be clamped increases due to thermal expansion. The thermal driving element (3051) senses the temperature change and drives the limiting part (3052) to move, thereby increasing the limiting angle of the clamping finger (302) in the closing direction, thereby increasing the clamping opening and avoiding excessive clamping or inability to clamp due to thermal expansion.

[0031] The clamping finger 302 is manufactured by forging. A connecting lug 3021 is provided at the end. The connecting lug 3021 has a hinge hole and is connected to the second connecting rod 3062 by a pin. A limiting boss 3063 is machined on the second connecting rod 3062. The working surface of the limiting boss 3063 is surface hardened. A lubrication structure 3064 is provided between the first connecting rod 3061 and the output end of the drive device 304. The lubrication structure 3064 includes an oil storage chamber and an automatic oil injection device. When the second connecting rod 3062 moves, the limiting boss 3063 contacts the limiting surface on the bracket 301, limiting the limit opening and closing angle of the clamping finger 302.

[0032] The lever 3053 in the thermal compensation device 305 is mounted on the bearing seat of the bracket 301 via the fulcrum shaft 3054. The first adjusting screw 3055 and the second adjusting screw 3056 are screwed into the two ends of the lever 3053 respectively. The end of the first adjusting screw 3055 is spherical and contacts the push rod 3058 of the thermal drive element 3051. The end of the second adjusting screw 3056 is equipped with a limiting part 3052. When the temperature changes, the push rod 3058 of the thermal drive element 3051 is displaced, pushing the first adjusting screw 3055 to make the lever 3053 rotate around the fulcrum shaft 3054. The second adjusting screw 3056 then drives the limiting part 3052 to move along the linear guide rail.

[0033] The housing 3057 of the heat drive element 3051 is made of stainless steel and has an internal guide 3059. The push rod 3058 moves in a precise linear motion under the guidance of the linear bearing of the guide 3059. The guide 3059 has an oil reservoir inside and is filled with high-temperature resistant grease. The end of the housing 3057 is provided with a multi-layer sealing structure. When the push rod 3058 moves, the guide 3059 maintains the motion accuracy and prevents deviation and jamming.

[0034] The clamping block 307 on the clamping finger 302 is installed through a quick-change mechanism. The groove 3071 on the surface of the clamping block 307 adopts a contour design according to the shape of the workpiece. The anti-slip texture 3072 is formed into a mesh pattern by laser engraving. Temperature sensor and pressure sensor are embedded inside the clamping block 307. When the clamping finger 302 is closed, the clamping block 307 adapts to the contour of the workpiece surface through elastic deformation, and the anti-slip texture 3072 forms a reliable engagement with the workpiece surface.

[0035] The mounting bracket 402 of the visual positioning system 4 is connected to the bracket 301 via a shock-absorbing base. The camera 401 is mounted at the end of the mounting bracket 402 via a three-axis gimbal 403. The gimbal 403 integrates a gyroscope and an accelerometer. The mounting bracket 402 is made of carbon fiber. When the robotic arm moves, the gimbal 403 maintains the stability of the camera 401 through active stabilization technology to ensure the quality of image acquisition.

[0036] Preferably, one end of the mounting bracket (402) is connected to the end of the heat insulation plate (5) or the arm structure (2), and the other end extends to the vicinity of the end effector (3). The camera (401) is mounted on the other end of the mounting bracket (402) via a gimbal (403). The camera (401) is provided with a heat-insulating protective cover, and the front end of the protective cover is provided with an openable and closable high-temperature resistant glass window.

[0037] The heat insulation board 5 is made of ceramic matrix composite material and has multiple reflective screens inside. The first reinforcing rib 501 is welded to the arm structure 2, and the second reinforcing rib 502 is bolted to the bracket 301. The reinforcing rib adopts a variable cross-section design. When subjected to heat radiation, the heat insulation board 5 reflects and blocks heat transfer through the multi-layer structure, and the reinforcing rib evenly distributes the thermal stress to the main structure.

[0038] When the robotic arm works in a hot stamping environment, the moving component 6 first positions the robotic arm to the working position and automatically locks it. The counterweight 7 automatically adjusts the center of gravity position according to the movement range of the arm structure 2. The vision positioning system 4 adjusts the angle of the camera 401 through the gimbal 403 to identify the workpiece position. The thermal compensation device 305 adjusts the position of the limit part 3052 in real time according to the change of ambient temperature. The drive device 304 controls the gripping finger 302 to accurately grasp the workpiece through the linkage mechanism 306. The heat insulation system effectively blocks the influence of high temperature on the arm structure 2. The coordinated work of each system ensures stable operation and precise operation under high temperature conditions.

[0039] Example 2

[0040] Based on Embodiment 1, the solution in Embodiment 1 will be further described in detail below with reference to the specific working method, such as... Figures 1 to 9 As shown below, see details: Furthermore, the thermal compensation device 305 also includes a lever 3053. The middle part of the lever 3053 is rotatably mounted on the bracket 301 via a fulcrum shaft 3054. The thermal drive element 3051 maintains contact with one end of the lever 3053, and the limiting part 3052 is fixedly connected to the other end of the lever 3053. The lever 3053 is made of high-strength alloy material to withstand cyclic stress. Both ends of the lever 3053 are respectively provided with precisely machined contact surfaces. One contact surface forms a sliding fit with the output end of the thermal drive element 3051, and the other contact surface is tightly fitted with the mounting base surface of the limiting part 3052. The fulcrum shaft 3054 adopts a surface hardening treatment process to improve wear resistance. The fulcrum shaft 3054 and the bearing seat on the bracket 301 are connected by an interference fit. When the ambient temperature rises... The thermal drive element 3051 generates a positive displacement, pushing the contact end of the lever 3053. The lever 3053 rotates clockwise around the fulcrum axis 3054, causing the limiting part 3052 to move closer to the rotation trajectory of the clamping finger 302. When the ambient temperature decreases, the thermal drive element 3051 generates a reverse displacement, and the lever 3053 rotates counterclockwise under the action of the return spring, causing the limiting part 3052 to move away from the rotation trajectory of the clamping finger 302. The rotational range of the lever 3053 is controlled by a mechanical limiting block set on the bracket 301. The limiting part 3052 is made of high-temperature resistant material to maintain dimensional stability. A lubrication structure 3064 is provided at the contact point between the lever 3053 and the thermal drive element 3051 to reduce frictional resistance and ensure the sensitivity and reliability of the temperature compensation action.

[0041] Furthermore, the thermal drive element 3051 generates linear displacement according to temperature changes and directly drives the limiting part 3052 to move. The thermal drive element 3051 and the limiting part 3052 are rigidly connected by a connector. When the ambient temperature rises, the thermally sensitive material inside the thermal drive element 3051 expands due to heat, pushing the limiting part 3052 to move smoothly along the guide track away from the rotation center of the clamping finger 302. When the ambient temperature drops, the thermally sensitive material inside the thermal drive element 3051 cools and contracts, and under the action of the reset element, it drives the limiting part 3052 to move along the guide track towards the rotation center of the clamping finger 302. A protective shell 3057 is provided outside the thermal drive element 3051. 57 is fixedly connected to the bracket 301. The connector passes through the protective housing 3057 and is connected to the limiting part 3052. A sealing structure is provided between the connector and the protective housing 3057. The guide rail is made of wear-resistant material and has a lubrication groove. A sliding block that cooperates with the guide rail is installed at the bottom of the limiting part 3052. The surface of the sliding block is covered with a friction-reducing coating. The bracket 301 is also provided with an adjustment mechanism that limits the movement range of the limiting part 3052. The adjustment mechanism limits the maximum stroke of the limiting part 3052 by changing the position of the stop. A temperature sensing element is provided inside the heat drive element 3051. The temperature sensing element is connected to the control system. When the temperature exceeds the set range, the position of the limiting part 3052 is automatically adjusted.

[0042] Furthermore, the housing 3057 and the bracket 301 are fixedly connected by a mounting flange. The front end of the push rod 3058 is in contact with the ball end of the first adjusting screw 3055. The guide 3059 is press-fitted onto the inner wall of the housing 3057 and restricts the movement path of the push rod 3058. The push rod 3058 adopts a multi-layer composite structure, with an inner layer of induction alloy with a high coefficient of thermal expansion and an outer layer of wear-resistant protective layer. When the ambient temperature changes, the push rod 3058 generates precise axial displacement. The guide 3059 has a precision linear guide mechanism inside, and the push rod 3058 forms a high-precision sliding fit with the linear guide. Both ends of the housing 3057 are threaded. The cover is sealed, and a multi-layer sealing structure is set at the mating point between the push rod 3058 and the end cover. The interior of the housing 3057 is filled with high-temperature thermally conductive silicone grease. The tail of the push rod 3058 is connected to a displacement amplification mechanism, which converts the micro-displacement of the push rod 3058 into the required output displacement. The surface of the guide 3059 is specially treated to reduce the coefficient of friction. The contact end of the push rod 3058 is inlaid with a ceramic contact head to improve its service life. An active heat dissipation system is set on the outside of the housing 3057. The travel of the push rod 3058 is precisely controlled by an adjustable mechanical limit device. An anti-rotation structure is also provided between the guide 3059 and the housing 3057.

[0043] Furthermore, the first connecting rod 3061 is connected to the output end of the drive device 304 via a universal joint, and the second connecting rod 3062 is connected to the clamping finger 302 via a hinge seat. When the drive device 304 is working, the output end pushes the first connecting rod 3061 to reciprocate. The first connecting rod 3061 drives the second connecting rod 3062 to swing through an intermediate transmission mechanism. The second connecting rod 3062 transmits the swing motion to the clamping finger 302, causing it to open and close. An adjusting sleeve is provided between the first connecting rod 3061 and the second connecting rod 3062. The adjusting sleeve has left and right threads at both ends for precise adjustment of the connecting rod length. A torque limiter is installed in the middle of 3062 to prevent overload. A buffer damper is provided at the connection between the output end of the drive device 304 and the first connecting rod 3061. The connection between the second connecting rod 3062 and the clamping finger 302 adopts a self-lubricating bearing. A detachable protective cover is installed around the entire linkage mechanism 306. The surface of the first connecting rod 3061 is chrome-plated to improve wear resistance. A torque detection device is provided at the end of the second connecting rod 3062. Multiple limit devices are provided in the movement trajectory of the first connecting rod 3061 and the second connecting rod 3062. Each hinge point of the linkage mechanism 306 is provided with an oil injection nozzle for regular lubrication and maintenance.

[0044] Furthermore, the clamping block 307 is positioned and connected to the clamping finger 302 via a positioning pin. Heat dissipation fins are provided on the back of the clamping block 307. A temperature sensor is embedded inside the clamping block 307. The clamping surface of the clamping block 307 features a wave-shaped anti-slip texture 3072. An elastic support layer is provided at the bottom of the groove 3071. The edges of the clamping block 307 are rounded. An insulating layer is provided between the clamping block 307 and the clamping finger 302. Cooling channels are opened inside the clamping block 307 and are connected to an external cooling system. The surface of the clamping block 307 is sandblasted to increase the coefficient of friction. The clamping block 307 adopts a modular design. The 07 side is provided with a mounting guide groove, the clamping block 307 is provided with a pressure detection diaphragm inside, the contact surface between the clamping block 307 and the workpiece is provided with a grid-like groove 3071, the back of the clamping block 307 is provided with a quick-change buckle, the material of the clamping block 307 is made of high temperature resistant alloy, the working surface of the clamping block 307 is plated with a hard alloy layer, the inside of the clamping block 307 is provided with a vibration buffer layer, the clamping block 307 and the clamping finger 302 adopt a labyrinth seal structure, the edge of the clamping block 307 is provided with anti-collision corner guards, the inside of the clamping block 307 is embedded with a wear indicator, the surface of the clamping block 307 is provided with a chip removal groove, and the back of the clamping block 307 is provided with a centering adjustment mechanism.

[0045] Furthermore, the mounting frame 402 and the bracket 301 are connected by a flange. The camera 401 is mounted on the end of the extension arm of the mounting frame 402 via a multi-axis stabilized gimbal 403. The mounting frame 402 adopts a triangular support structure with an electromagnetic shielding circuit channel inside. The gimbal 403 is equipped with an automatic leveling mechanism to maintain the camera 401 in a horizontal position in real time. A constant temperature protective cover is set around the camera 401, and an electric zoom filter group is installed at the front end of the protective cover. A multi-dimensional shock absorption platform is set at the connection between the mounting frame 402 and the robotic arm. The gimbal 403 has a built-in angle encoder to provide real-time attitude data of the camera 401. Multiple adaptive fill lights are arranged around camera 401, and the brightness of the fill lights is automatically adjusted according to the ambient light intensity. The gimbal 403 uses a direct drive motor to achieve backlash-free transmission. The surface of the mounting bracket 402 is covered with an anti-reflective coating. Camera 401 is equipped with an automatic cleaning device that regularly removes contaminants from the mirror surface using a high-pressure air curtain. An emergency braking mechanism is set between the gimbal 403 and the mounting bracket 402. The vision system is equipped with an independent heat dissipation unit, which conducts heat to the heat dissipation fins through heat pipes. The mounting bracket 402 can be quickly installed and removed, and positioning pins ensure repeated installation accuracy. The data collected by camera 401 is transmitted to the processing unit in real time via optical fiber.

[0046] Furthermore, the heat insulation plate 5 adopts a multi-layer composite structure, including a reflective layer, a heat insulation layer, and a support layer. The reflective layer is arranged towards the end effector 3, the heat insulation layer is made of microporous ceramic material, and the support layer is a metal mesh structure. The first reinforcing rib 501 is radially distributed at the connection interface between the heat insulation plate 5 and the arm structure 2, and the second reinforcing rib 502 is arranged in a cross-grid pattern at the connection surface between the heat insulation plate 5 and the bracket 301. The edge of the heat insulation plate 5 is provided with a labyrinth-type sealing structure, with a temperature sensor embedded inside, and the surface is coated with a heat-resistant radiation coating. When the robotic arm is working, the heat insulation plate 5 blocks heat conduction through its multi-layer structure, and the first reinforcing rib 501 evenly distributes thermal stress to the arm structure 2. The second reinforcing rib 502 suppresses the thermal deformation of the bracket 301; expansion compensation gaps are provided around the heat insulation plate 5, and the gaps are filled with elastic sealing material; a gradual transition design is adopted between the reinforcing rib and the connecting surface, and cooling channels are arranged inside the heat insulation plate 5, which are connected to the external circulation system; stress monitoring points are set at the root of the first reinforcing rib 501, and a thermal barrier coating is applied to the surface of the second reinforcing rib 502; the heat insulation plate 5 and the arm structure 2 are connected by high-strength bolts, and heat insulation washers are set around the bolt holes; the reinforcing rib adopts a variable cross-section design, and the density of reinforcing ribs is increased in the stress concentration area; the heat insulation plate 5 is also equipped with a thermal expansion adaptive adjustment mechanism, which can automatically adjust the connection preload according to temperature changes.

[0047] Furthermore, the casters 601 adopt a universal wheel structure, with cushioning material inside the wheel body and shock-absorbing devices installed at the axles. The locking device 602 adopts a foot-operated mechanism, which simultaneously controls the braking state of multiple casters 601 via a linkage. The counterweight 7 adopts a modular design and can be adjusted forward and backward along the guide rail of the base 1 to change the center of gravity of the whole machine. An automatic adjustment mechanism for the counterweight 7 is set inside the base 1 to adjust the position of the counterweight in real time according to the working status of the robotic arm. The casters 601 are equipped with a height adjustment device, and the base 1 is leveled through a hydraulic system. The locking device 602 has a double locking function. The system integrates wheel steering and rolling locking functions. The counterweight 7 has an internal shock-absorbing cavity filled with damping material. The moving wheels 601 have polyurethane-coated surfaces and lightweight, hollowed-out hubs. The base 1 has adjustable support feet at its four corners, providing additional support when the locking device 602 is in operation. The counterweight 7 and base 1 are connected via a dovetail joint and equipped with an anti-loosening safety lock. The moving wheels 601 are equipped with displacement sensors to monitor equipment position changes in real time. The base 1 also features an environmentally adaptive leveling system at its bottom, automatically adjusting the height of each support point via pressure sensors.

[0048] Furthermore, the connecting lug 3021 and the clamping finger 302 body adopt an integral forging structure. A hinge hole is provided on the connecting lug 3021, and a self-lubricating bearing is installed inside the hinge hole. The second connecting rod 3062 and the connecting lug 3021 are rotatably connected via a hinge shaft, with anti-loosening retaining rings at both ends of the hinge shaft. The second connecting rod 3062 is provided with a limiting boss 3063, which is hardened and has a rounded contact surface. A lubrication structure 3064 is provided between the first connecting rod 3061 and the driving device 304. The lubrication structure 3064 includes an oil reservoir, an oil delivery channel, and an oil nozzle. The oil reservoir contains porous oil storage material, and the oil delivery channel connects to the first connecting rod 3061. The first connecting rod 3061 is connected to the drive device 304; when the second connecting rod 3062 moves, the limiting boss 3063 and the limiting surface on the bracket 301 form a contact fit, limiting the extreme position of the second connecting rod 3062; a stress dispersion groove is provided at the root of the connecting lug 3021, and a wear-resistant bushing is provided on the inner surface of the hinge hole; the limiting boss 3063 and the second connecting rod 3062 are connected by a transition fit, and their contact surface is coated with a friction-reducing coating; the lubrication structure 3064 is also equipped with a visible oil level observation window, and the oil storage chamber continuously supplies oil to the friction pair through capillary action; an installation positioning reference surface is provided on the side of the connecting lug 3021, and a lubrication groove is opened in the mating section between the second connecting rod 3062 and the hinge shaft.

[0049] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly, the accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for loading and unloading a hot stamping machine tool, comprising a base (1), an arm structure (2) disposed on the base (1), and an end effector (3) connected to the end of the arm structure (2), characterized in that, The end effector (3) includes: Support (301); At least one set of clamping fingers (302) is rotatably connected to the bracket (301) via a pivot (303); A drive device (304) is mounted on the bracket (301), and its output end is connected to the clamping finger (302); A thermal compensation device (305) is disposed on the bracket (301); The thermal compensation device (305) includes a thermal driving element (3051) and a limiting part (3052). The thermal driving element (3051) can generate displacement in response to temperature changes and drive the limiting part (3052) to move, so as to change the limiting position of the clamping finger (302) in the closing direction.

2. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The thermal compensation device (305) is also provided with a lever (3053), the middle part of which is rotatably mounted on the bracket (301) via a fulcrum shaft (3054), the thermal drive element (3051) is in contact with one end of the lever (3053), and the limiting part (3052) is connected to the other end of the lever (3053).

3. The robotic arm for loading and unloading hot stamping machine tools according to claim 2, characterized in that: One end of the lever (3053) is provided with a first adjusting screw (3055), the end of the first adjusting screw (3055) is in contact with the heat-driven element (3051), the other end of the lever (3053) is provided with a second adjusting screw (3056), and the limiting part (3052) is provided at the end of the second adjusting screw (3056).

4. The robotic arm for loading and unloading hot stamping machine tools according to claim 3, characterized in that: The thermal drive element (3051) includes a housing (3057), a push rod (3058), and a guide (3059); The housing (3057) is connected to the bracket (301), the push rod (3058) is movably disposed in the housing (3057), one end of the push rod (3058) is in contact with the first adjusting screw (3055), and the guide (3059) is disposed in the housing (3057) to restrict the movement path of the push rod (3058).

5. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The output end of the drive device (304) is connected to the clamping finger (302) through a linkage mechanism (306). The linkage mechanism (306) includes a first link (3061) and a second link (3062). The first link (3061) is connected to the output end of the drive device (304), and the second link (3062) is connected to the clamping finger (302).

6. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The clamping surface of the clamping finger (302) is provided with a replaceable clamping block (307), the clamping surface of the clamping block (307) is provided with a groove (3071), and the clamping surface of the clamping block (307) is also provided with anti-slip texture (3072).

7. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The robotic arm of the hot stamping machine tool loading and unloading robot also includes a visual positioning system (4), which includes a camera (401) and a mounting bracket (402). The mounting bracket (402) is connected to the support (301), and the camera (401) is mounted on the mounting bracket (402) via a gimbal (403).

8. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: A heat insulation plate (5) is provided between the arm structure (2) and the end effector (3), a first reinforcing rib (501) is provided between the heat insulation plate (5) and the arm structure (2), and a second reinforcing rib (502) is provided between the heat insulation plate (5) and the bracket (301).

9. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The base (1) is provided with a moving component (6) at its bottom. The moving component (6) includes a moving wheel (601) and a locking device (602). The base (1) is also provided with a counterweight (7).

10. The robotic arm for loading and unloading hot stamping machine tools according to claim 1, characterized in that: The clamping finger (302) is provided with a connecting ear (3021), the second connecting rod (3062) is hinged to the connecting ear (3021), the second connecting rod (3062) is provided with a limiting boss (3063), and a lubrication structure (3064) is provided between the first connecting rod (3061) and the driving device (304).

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