A powder metallurgy part flip and discharge robot

Abstract

The present application relates to powder metallurgy processing equipment technical field, specifically is related to a kind of powder metallurgy parts turnover unloading mechanical hand, including workbench, mounting bracket, outer clamping mechanism and inner clamping mechanism, outer clamping mechanism, setting in the mounting bracket, including first lifting assembly, rotating assembly being installed on the first lifting assembly, and first clamping assembly being driven to overturn by the rotating assembly;Including second lifting assembly, and second clamping assembly being driven to lift by the second lifting assembly;By the decoupling of the overturning action of outer clamping and the vertical lifting action of inner clamping in space and time sequence, the load bearing load of part is smoothly transferred, in final discharging stage, since the mechanical gripper outside part is removed, part can be closely arranged with very small spacing, and the loading arrangement density of single furnace sintering is improved.

Description

Technical Field

[0001] This invention relates to the field of powder metallurgy processing equipment technology, specifically to a powder metallurgy parts flipping and unloading robot. Background Technology

[0002] Powder metallurgy is widely used in the mass production of high-precision mechanical parts such as gears and oil-impregnated bearings. In the forming process, metal powder is pressed under high pressure in a press to form a green blank. Although the density of the green blank after pressing is high, the particles are only connected by mechanical interlocking and intermolecular forces, resulting in extremely low tensile and shear strength. The edges are very prone to chipping and breakage, commonly known as corner collapse.

[0003] The existing powder metallurgy press feeding process suffers from numerous pain points. The most traditional feeding method uses a mechanical pusher to flatten the ejected green billet into the slide, which easily leads to scratches on the bottom surface and edge damage. Manual feeding is not only labor-intensive and poses safety hazards, but also cannot keep up with the high-speed production cycle of modern presses. In recent years, some production lines have introduced six-axis articulated industrial robots for feeding. However, powder metallurgy parts are typically low-value-added, high-volume industrial consumables. The high procurement cost and complex electrical control system of six-axis robots result in a low return on investment for the production line. More critically, existing robotic arms typically use external grippers that move from the outside in throughout the feeding process. When the robotic arm places the green billet in the sintering basket, the grippers must open to both sides to release the billet. This means that a physical gap must be left between the green billets for the grippers to retract, resulting in extremely low space utilization of the sintering basket and severely restricting the sintering capacity of a single furnace. Furthermore, as... Figure 1 The powder metallurgical parts shown here, which have bosses and central through holes, often need to be rotated 180 degrees to meet the stability requirements of the center of gravity during subsequent sintering. Existing equipment usually requires additional rotating stations, resulting in large equipment footprint, many handover links, and high breakage rate. Summary of the Invention

[0004] To address the aforementioned issues, a powder metallurgy parts flipping and unloading robot is provided. By decoupling the flipping action of the outer clamping with the vertical lifting action of the inner clamping in space and time, the load-bearing capacity of the parts is smoothly transferred. In the final unloading stage, since the mechanical grippers outside the parts are removed, the parts can be arranged closely with a very small gap, thereby improving the loading density of a single furnace sintering.

[0005] To address the problems of existing technologies, this invention provides a powder metallurgy parts flipping and unloading robot, comprising: a worktable defining a picking station and a handover station; a mounting frame disposed on the worktable and configured to move horizontally between the picking station and the handover station; an outer clamping mechanism disposed on the mounting frame, including a first lifting component, a rotating component mounted on the first lifting component, and a first clamping component driven to flip by the rotating component; and an inner clamping mechanism disposed on the mounting frame, including a second lifting component, and... A second clamping assembly is driven to rise and fall by the second lifting assembly; the first clamping assembly is configured to clamp the part from the outside at the material handling station, and is lifted by the first lifting assembly in conjunction with the rotation drive of the rotating assembly, and moves with the mounting frame to the handover station; at the handover station, the central through-shaft hole of the part faces the second clamping assembly, and the second clamping assembly is configured to be driven by the second lifting assembly to extend downward into the central through-shaft hole of the part and to stretch outward, so as to take over the clamping of the part before the first clamping assembly opens and releases.

[0006] Preferably, the mounting bracket is provided with a top plate, the outer clamping mechanism is suspended below the top plate, and the inner clamping mechanism is installed above the top plate; the top plate is provided with an avoidance through hole, through which the downward movement trajectory of the second clamping component passes.

[0007] Preferably, the second clamping assembly includes an air shaft, the air shaft including a hollow shaft body, an air bladder disposed inside the hollow shaft body, and a plurality of key strips slidably disposed along the hollow shaft body; the air bladder is configured to push the plurality of key strips outward when inflated, so as to abut against the inner wall of the central through-hole of the part to achieve the outward clamping.

[0008] Preferably, the inner clamping mechanism further includes a floating joint connected between the second lifting component and the air shaft, and the floating joint is provided with an elastic reset element.

[0009] Preferably, the second lifting component is a linear drive module, which is configured to, after driving the part down and placing it flat on the external receiving station, drive the second clamping component to release the outwardly tightened state, and drive the second clamping component to be pulled straight upward along the vertical axis of the central through hole.

[0010] Preferably, the rotating assembly includes a rotating cylinder and its base; the external clamping mechanism further includes a first limiting block and a second limiting block, the first limiting block being fixed to the outer wall of the first clamping assembly, and the second limiting block being fixed to the base of the rotating cylinder; after the rotating assembly drives the first clamping assembly to flip, the first limiting block and the second limiting block rigidly abut against each other to limit the flipping angle of the first clamping assembly.

[0011] Preferably, the first clamping assembly includes two lateral grippers arranged opposite each other, the gripping surfaces of the lateral grippers having a V-shaped structure and covered with a flexible buffer layer.

[0012] Preferably, both the first clamping component and the second clamping component are provided with pressure detection components.

[0013] Preferably, the workbench is provided with a position detection component for detecting whether the mounting bracket has moved to the handover station.

[0014] Preferably, a horizontal guide rail is fixedly provided on the workbench, and a slider is provided at the bottom of the mounting bracket, and the mounting bracket is slidably assembled onto the horizontal guide rail via the slider.

[0015] The advantages of this invention compared to the prior art are: 1. This invention decouples the flipping action of the outer clamping from the vertical lifting action of the inner clamping in space and time. After the first clamping component completes the clamping and flipping on the periphery, the second clamping component takes over the pipe from the internal through-shaft hole, so that the load-bearing capacity of the parts can be transferred smoothly. In the final unloading stage, since the mechanical claws on the outside of the parts are removed, the parts can be arranged closely with a very small gap, which improves the loading density of a single furnace sintering. At the same time, the air flipping action eliminates the need for a separate flipping transfer table, which effectively reduces the probability of the parts being bumped and broken during multi-station transfer.

[0016] 2. This invention constructs a three-dimensional spatial isolation layout with upper and lower layers by setting a top plate with avoidance through holes on the mounting frame. The outer clamping mechanism is suspended below the top plate and performs a flipping action, while the inner clamping mechanism is installed above the top plate and performs a lifting action. The two do not physically interfere with each other. The opening of the avoidance through holes creates a vertical unobstructed channel for the downward relay of the second clamping component, ensuring the accuracy and smoothness of the handover process and improving the structural compactness and operational reliability of the robot under high-frequency operating conditions.

[0017] 3. The second clamping component of the present invention preferably adopts an air-expanding shaft structure. It utilizes the fluid pressure equalization characteristics generated by the inflation and expansion of the air bladder inside the hollow shaft to push multiple external key strips to abut against the inner wall of the central through-shaft hole of the part. This structure transforms the traditional point contact rigid support into a uniformly distributed surface pressure fit. It uses flexible radial tension to achieve outward support and connection force, reducing the risk of stress cracking of the inner wall of the central through-shaft hole of the part, and playing a stress protection role for fragile powder metallurgy parts. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a powder metallurgy part.

[0019] Figure 2 This is a three-dimensional structural diagram of the external clamping mechanism in a powder metallurgy parts flipping and unloading robot.

[0020] Figure 3 This is a side view of the external clamping mechanism in a powder metallurgy parts flipping and unloading robot when it is being held.

[0021] Figure 4 This is a front view of the external clamping mechanism in a powder metallurgy parts flipping and unloading robot when it is being held.

[0022] Figure 5 This is a three-dimensional structural diagram of the external clamping mechanism in a powder metallurgy parts flipping and unloading robot during the flipping process.

[0023] Figure 6 This is a front view of the external clamping mechanism in a powder metallurgy parts flipping and unloading robot when it is flipped.

[0024] Figure 7 A schematic diagram of the three-dimensional structure of the internal clamping mechanism in a powder metallurgy parts flipping and unloading robot. Figure 1 .

[0025] Figure 8 yes Figure 7 Enlarged view of point A in the middle.

[0026] Figure 9 A schematic diagram of the three-dimensional structure of the internal clamping mechanism in a powder metallurgy parts flipping and unloading robot. Figure 2 .

[0027] Figure 10 This is a partial three-dimensional structural diagram of the first clamping component, rotating component, and first lifting component of a powder metallurgy parts flipping and unloading robot.

[0028] Figure 11 yes Figure 10 Enlarged view of point B in the middle.

[0029] The following are the labels in the diagram: 1. Worktable; 11. Position detection component; 12. Horizontal guide rail; 2. Mounting bracket; 21. External clamping mechanism; 211. First lifting component; 212. Rotation component; 2121. Rotary cylinder; 2122. Base; 2123. Second limiting block; 213. First clamping component; 2131. First limiting block; 2132. Lateral gripper; 2133. Flexible buffer layer; 22. Internal clamping mechanism; 221. Second lifting component; 222. Second clamping component; 2221. Air shaft; 2222. Hollow shaft; 2223. Key bar; 2224. Floating joint; 23. Top plate; 231. Clearance through hole; 24. Slider; 31. Part; 311. Boss; 312. Central through-shaft hole. Detailed Implementation

[0030] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1 to 7 As shown: A powder metallurgy parts flipping and unloading robot includes: a worktable 1, which defines a picking station and a handover station; a mounting frame 2, disposed on the worktable 1 and configured to move horizontally between the picking station and the handover station; an outer clamping mechanism 21, disposed on the mounting frame 2, including a first lifting component 211, a rotating component 212 mounted on the first lifting component 211, and a first clamping component 213 driven to flip by the rotating component 212; and an inner clamping mechanism 22, disposed on the mounting frame 2, including a second lifting component 221 and a first clamping component 213 driven to flip by the second lifting component 221. The second clamping assembly 222 is dynamically raised and lowered; the first clamping assembly 213 is configured to clamp the part 31 from the outside at the material handling station, and is lifted by the first lifting assembly 211 in conjunction with the drive of the rotating assembly 212 to rotate, and moves with the mounting frame 2 to the handover station; at the handover station, the central through-shaft hole 312 of the part 31 faces the second clamping assembly 222, and the second clamping assembly 222 is configured to be driven by the second lifting assembly 221 to extend downward into the central through-shaft hole 312 of the part 31 and to stretch outward, so as to take over the clamping of the part 31 before the first clamping assembly 213 opens and releases.

[0032] In the pressing and molding process of powder metallurgy products, the formed green blank, i.e., part 31, usually needs to be transferred from the press worktable 1 to the sintering basket or receiving tray. Since the structure of powder metallurgy part 31 is relatively fragile, and after pressing and demolding, it often presents a posture with the small end boss 311 facing down and the large end face facing up. Conventional push plate unloading can easily cause scratches on the bottom surface and edge collapse of part 31. When the traditional single external clamping robot is unloading, the physical interference of the gripper opening outwards results in a large clearance between parts 31, which restricts the loading density of a single furnace sintering. To address the above problems, this solution relies on the worktable 1 as a basic support. The worktable 1 is defined with a material picking station and a handover station. After the pressed part 31 is ejected, the external clamping mechanism 21 set on the mounting frame 2 intervenes first. Its first clamping component 213 clamps the part 31 from the outside at the material picking station. Subsequently, the first lifting component 211 performs lifting movement. The rotating component 212 provides the necessary vertical rotation space for the flipping of part 31. As the mounting frame 2 carries the clamped part 31 to the handover station in the horizontal direction, the rotating component 212 synchronously drives the first clamping component 213 to flip. When the part 31 reaches the handover station and is flipped into place, the central through-shaft hole 312 of part 31 is exactly facing the second clamping component 222 located above. At this time, the inner clamping mechanism 22 set on the mounting frame 2 intervenes. The second lifting component 221 drives the second clamping component 222 to extend downward into the central through-shaft hole 312 of part 31 and to tighten it outward. It should be noted that the timing of this action limits the second clamping component 222 to take over the clamping of part 31 before the first clamping component 213 opens and releases. This allows the gravity load of part 31 in the suspended state to be transferred smoothly, thereby allowing the removal of the mechanical structure interference outside part 31 during the final unloading, and realizing high-density compact stacking in the sintering process.

[0033] like Figure 1 , Figures 3 to 9 As shown: The mounting bracket 2 is provided with a top plate 23, the outer clamping mechanism 21 is suspended below the top plate 23, and the inner clamping mechanism 22 is installed above the top plate 23; the top plate 23 is provided with an avoidance through hole 231, and the downward movement trajectory of the second clamping component 222 passes through the avoidance through hole 231.

[0034] The second clamping assembly 222 includes an air shaft 2221, which includes a hollow shaft body 2222, an air bladder disposed inside the hollow shaft body 2222, and a plurality of key bars 2223 that are slidably disposed along the hollow shaft body 2222. The air bladder is configured to push the plurality of key bars 2223 outward when inflated, so as to abut against the inner wall of the central through-hole 312 of the part 31 to achieve the outward clamping.

[0035] By providing an avoidance through hole 231 on the top plate 23, the downward movement trajectory of the second clamping assembly 222 can accurately pass through the top plate 23, creating a channel for the inner clamping mechanism 22 to pass through. The second clamping assembly 222 preferably adopts an air expansion shaft 2221 structure, which includes a hollow shaft body 2222, an air bladder disposed inside the hollow shaft body 2222, and multiple key strips 2223 that slide radially along the hollow shaft body 2222. When it extends inward into the central through-shaft hole 312, the air bladder inflates and expands, using the fluid pressure equalization characteristics of the gas to push the multiple key strips 2223 outward. This arrangement transforms the traditional point-contact rigid support into a uniformly distributed surface pressure bonding. The outward tightening is achieved by using flexible radial tension to abut against the inner wall of the hole, reducing the risk of cracking of the central through-hole 312 of part 31 under stress. It should be noted that the structure of the air shaft 2221 shown in the figure is only a preferred schematic expression. In actual engineering applications, the implementation of the second clamping component 222 is not limited to the air shaft 2221 with sliding key 2223. It can also adopt the air shaft 2221 with an integral expansion rubber sleeve or other internal support structures with equivalent radial pressure equalization expansion function. Its core purpose is to achieve non-destructive tightening of the central through-hole 312 of part 31 by using flexible surface contact to achieve the best protection effect, without being limited to a single mechanical structure.

[0036] To further improve the quality of material unloading, when the part is unloaded from the receiving station after handover, the air shaft 2221 maintains an outwardly tightened state to securely hold the part 31. Driven by the second lifting component 221, it descends smoothly. This unloading process does not rely on gravity to make the part 31 slide axially. Instead, the air shaft 2221 forcibly envelops the part 31 throughout its full stroke, carrying it down synchronously until the bottom of the part 31 is stable and completely in contact with the surface of the receiving station. Only then does the air bladder release pressure, causing the multiple key bars 2223 to retract inward. Subsequently, the air shaft 2221 is pulled upward in a straight line along the vertical axis of the central through-hole 312. This full-stroke forced envelopment and zero-drop demolding action logic avoids the impact of falling during the release of the part, avoids the bumping and corner collapse damage of the bottom corner of the part 31, and improves the yield of finished products under high-cycle conditions.

[0037] like Figure 1 , Figures 3 to 6 As shown: The inner clamping mechanism 22 further includes a floating joint 2224 connected between the second lifting component 221 and the air shaft 2221, and the floating joint 2224 is provided with an elastic reset member.

[0038] Furthermore, to address the unavoidable mechanical accumulation tolerances under high-frequency operation, the inner clamping mechanism 22 preferably introduces a floating joint 2224 between the second lifting assembly 221 and the air shaft 2221. An elastic reset element (not shown in the figure) is provided within this radial floating joint 2224. During the transient process of the air shaft 2221 extending downwards into the central through-hole 312, if there is a coaxiality deviation, the floating joint 2224 allows the air shaft 2221 to generate a small displacement to actively adapt to the actual hole position of the part 31, transforming the rigid top into a smooth, tolerant guide. When the first clamping assembly 213 opens and releases, the weight of the part 31 is completely borne by the air shaft 2221. After loading, the rebound force of the elastic reset component drives the air shaft 2221 and the suspended part 31 to quickly return to and maintain a vertical reference state, suppressing the pendulum sway of part 31 during subsequent translation and ensuring the accuracy of the final dropping coordinate. Similarly, the floating joint 2224 is only shown in the drawing as a specific example of achieving the tolerance function. Those skilled in the art can select other existing connection components such as universal ball joints, cross slider couplings, or flexible flanges with rubber buffer pads according to the actual load and accuracy requirements. As long as the selected structure can provide a small radial runout and has a reset capability, the above-mentioned technical effects of dynamic compensation and static return can be achieved.

[0039] like Figure 1 , Figures 2 to 6 As shown: The second lifting component 221 is a linear drive module, which is configured to drive the second clamping component 222 to release the outward tension after the part 31 is lowered and placed flat on the outside receiving station, and drive the second clamping component 222 to be pulled straight up along the vertical axis of the central through hole 312.

[0040] After the handover is completed, in order to avoid impact and collision damage during the unloading process, the second lifting component 221 is preferably a linear drive module, such as a servo screw module or a precision thrust cylinder with a guide rod. In the actual operation cycle, the linear drive module is configured to drive the part 31 to descend smoothly until the large end face of the part 31 is completely flat on the bottom surface of the external receiving station. Only then does the control circuit drive the second clamping component 222 to release the outward tension. Subsequently, the linear drive module drives the second clamping component 222 to be pulled upward along the vertical axis of the central through-shaft hole 312 of the part 31. This effectively utilizes the vertical space of the central through-shaft hole 312, avoids the lateral scraping that is easy to occur when the lateral claws are withdrawn, and achieves demolding without damage.

[0041] like Figure 1 , Figures 6 to 10As shown: The rotating assembly 212 includes a rotating cylinder 2121 and its base 2122; the external clamping mechanism 21 further includes a first limiting block 2131 and a second limiting block 2123. The first limiting block 2131 is fixed to the outer wall of the first clamping assembly 213, and the second limiting block 2123 is fixed to the base 2122 of the rotating cylinder 2121. After the rotating assembly 212 drives the first clamping assembly 213 to rotate, the first limiting block 2131 and the second limiting block 2123 rigidly abut against each other to limit the rotation angle of the first clamping assembly 213.

[0042] Because pneumatic rotary actuators are prone to backlash during long-term operation, a first limiting block 2131 and a second limiting block 2123 are added to the outer clamping mechanism 21. The first lifting component 211 is raised first before flipping to provide sufficient flipping space. When the rotating component 212 drives the first clamping component 213 to flip and reach the handover posture, the first limiting block 2131 and the second limiting block 2123 rigidly abut against each other, forming a mechanical dead point. This physical interference eliminates the angular tolerance of the rotary cylinder 2121, ensuring that the center through-shaft hole 312 and the air expansion shaft 2221 can maintain a high degree of vertical concentricity after the part 31 is flipped.

[0043] like Figure 1 , Figures 6 to 11 As shown: The first clamping assembly 213 includes two lateral grippers 2132 arranged opposite to each other. The clamping surfaces of the lateral grippers 2132 have a V-shaped structure and are covered with a flexible buffer layer 2133.

[0044] The first clamping assembly 213 preferably includes two opposing lateral grippers 2132, whose clamping surfaces are V-shaped and covered with a flexible buffer layer 2133, such as polyurethane or silicone pads. At the moment of closing, the V-shaped structure can use the inclined plane geometric constraint to physically guide and limit the boss 311 at the bottom of the part 31, correcting the slight displacement of the part 31 when it is ejected, while the flexible buffer layer 2133 effectively absorbs the clamping impact force, achieving initial non-destructive self-centering.

[0045] like Figure 1 , Figures 2 to 6 As shown: Both the first clamping component 213 and the second clamping component 222 are equipped with pressure detection components.

[0046] Furthermore, to improve the reliability of the clamping and handover process, both the first clamping assembly 213 and the second clamping assembly 222 are preferably equipped with pressure detection components (not shown in the figure), such as thin-film pressure sensors or digital pneumatic relays. Specifically, the pressure detection component on the first clamping assembly 213 is used to monitor the physical clamping force on the external features of the part 31 in real time to prevent the clamping force from being overloaded and causing the outer wall of the green blank to be crushed. The pressure detection component on the second clamping assembly 222 is used to monitor the fluid or mechanical tension state when it is stretched outward. Through this bidirectional pressure feedback monitoring, not only is a closed-loop control of the clamping force formed, but also a safe hardware and software interlock protection is constructed. That is, the control system only allows the first clamping assembly 213 to perform the opening and releasing action after confirming that the stretching pressure of the second clamping assembly 222 has reached the preset safety threshold, thereby effectively reducing the risk of the part 31 falling off during the handover process.

[0047] like Figures 1 to 4 As shown: The workbench 1 is provided with a position detection component 11 for detecting whether the mounting frame 2 has moved to the handover station.

[0048] In terms of status monitoring, as a preferred control scheme, the robot arm can be equipped with a position detection component 11, such as a photoelectric switch or a proximity sensor. The position detection component 11 is set on the mounting frame 2 or the worktable 1 to detect whether the mounting frame 2 has moved accurately to the handover position, thereby providing a safety permit for the lowering of the second lifting component 221.

[0049] like Figures 1 to 5 As shown: A horizontal guide rail 12 is fixedly installed on the workbench 1, and a slider 24 is provided at the bottom of the mounting bracket 2. The mounting bracket 2 is slidably assembled onto the horizontal guide rail 12 through the slider 24.

[0050] To support the dual-layer action of external clamping and flipping and the relay of the central through-shaft hole 312 without interference, the mounting frame 2 adopts a three-dimensional spatial isolation layout. As a preferred implementation structure, a horizontal guide rail 12 can be fixedly installed on the worktable 1, and a slider 24 is provided at the bottom of the mounting frame 2. Through the precise cooperation between the slider 24 and the horizontal guide rail 12, the straightness and stability during long-distance cross-displacement transportation are ensured. In addition, in order to realize the high-density matrix stacking of parts 31 in the receiving station (such as a sintering basket), the displacement extension of the system is not limited to a single... In the axial direction, as a preferred extended implementation, a second guide rail module can be added to the worktable 1, which is arranged intersecting with the horizontal guide rail 12, so that the mounting frame 2 has the ability to move in planar coordinates in multiple quadrants; or, based on the robot maintaining single-axis linear movement, the external receiving station is configured as a CNC platform that can move in two axes. Through the relative coordinate movement of the robot and the receiving station, the equipment can arrange the parts 31 one by one in a precise array in the receiving station with a very small interval, thereby improving the loading utilization rate of single furnace sintering.

[0051] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A powder metallurgy parts flipping and unloading robot, characterized in that, include: The workbench (1) is defined by a material picking station and a handover station; Mounting frame (2), disposed on the workbench (1), and configured to move horizontally between the material handling station and the handover station; outer clamping mechanism (21), disposed on the mounting frame (2), including a first lifting assembly (211), a rotating assembly (212) mounted on the first lifting assembly (211), and a first clamping assembly (213) driven to rotate by the rotating assembly (212); inner clamping mechanism (22), disposed on the mounting frame (2), including a second lifting assembly (221), and a second clamping assembly (222) driven to lift by the second lifting assembly (221); the first clamping assembly (213) is configured to clamp the part (31) from the outside at the material handling station and be lifted by the first lifting assembly (211) in conjunction with the drive of the rotating assembly (212) to rotate, and move with the mounting frame (2) to the handover station; at the handover station, the central through-shaft hole (312) of the part (31) faces the second clamping assembly (222), and the second clamping assembly (222) is configured to be driven by the second lifting assembly (221) to extend downward into the central through-shaft hole (312) of the part (31) and to be stretched outward to take over the clamping of the part (31) before the first clamping assembly (213) opens and releases.

2. The powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, The mounting bracket (2) is provided with a top plate (23), the outer clamping mechanism (21) is suspended below the top plate (23), and the inner clamping mechanism (22) is installed above the top plate (23); the top plate (23) is provided with an avoidance through hole (231), and the downward movement trajectory of the second clamping component (222) passes through the avoidance through hole (231).

3. The powder metallurgy parts flipping and unloading robot according to claim 2, characterized in that, The second clamping assembly (222) includes an air shaft (2221), which includes a hollow shaft body (2222), an air bladder disposed inside the hollow shaft body (2222), and a plurality of key bars (2223) that are slidably disposed along the hollow shaft body (2222). The air bladder is configured to push the plurality of key bars (2223) outward when inflated, so as to abut against the inner wall of the central through hole (312) of the part (31) to achieve the outward clamping.

4. The powder metallurgy parts flipping and unloading robot according to claim 3, characterized in that, The inner clamping mechanism (22) further includes a floating joint (2224) connected between the second lifting assembly (221) and the air shaft (2221), and the floating joint (2224) is provided with an elastic reset member.

5. The powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, The second lifting assembly (221) is a linear drive module, which is configured to drive the second clamping assembly (222) to release the outward tension after the part (31) is lowered and placed flat on the outside receiving station, and drive the second clamping assembly (222) to be pulled straight up along the vertical axis of the central through hole (312).

6. The powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, The rotating assembly (212) includes a rotating cylinder (2121) and its base (2122); the external clamping mechanism (21) further includes a first limiting block (2131) and a second limiting block (2123). The first limiting block (2131) is fixed on the outer wall of the first clamping assembly (213), and the second limiting block (2123) is fixed on the base (2122) of the rotating cylinder (2121). After the rotating assembly (212) drives the first clamping assembly (213) to flip, the first limiting block (2131) and the second limiting block (2123) rigidly abut against each other to limit the flipping angle of the first clamping assembly (213).

7. The powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, The first clamping assembly (213) includes two opposing lateral grippers (2132), the gripping surfaces of which are V-shaped and covered with a flexible buffer layer (2133).

8. The powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, Pressure detection components are provided on both the first clamping component (213) and the second clamping component (222).

9. A powder metallurgy parts flipping and unloading robot according to claim 1, characterized in that, The workbench (1) is provided with a position detection component (11) for detecting whether the mounting frame (2) has moved to the handover station.

10. A powder metallurgy parts flipping and unloading robot according to any one of claims 1-9, characterized in that, A horizontal guide rail (12) is fixedly installed on the workbench (1), and a slider (24) is provided at the bottom of the mounting bracket (2). The mounting bracket (2) is slidably mounted on the horizontal guide rail (12) via the slider (24).

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