An integrated high-efficiency pickup device suitable for vehicle lamp mold forming

Abstract

The application is suitable for the technical field of lamp processing equipment, and provides an integrated high-efficiency part taking device suitable for vehicle lamp mold forming; the device comprises a mechanical arm, movable clamping jaws installed on the execution end of the mechanical arm, the movable clamping jaws comprising two oppositely arranged sub-clamping jaws, at least one of the sub-clamping jaws being provided with a clamping jaw contact assembly, the clamping jaw contact assembly comprising a connecting seat, a cylinder body and a clamping block, the connecting seat being fixedly installed on the movable clamping jaw, the cylinder body being fixed on the connecting seat and being internally provided with a chamber extending along the length direction, the clamping block being elastically slidably installed on the connecting seat along a clamping direction, the front end surface of the clamping block being a clamping surface, the clamping surface being provided with at least one suction cavity, each suction cavity being internally provided with a suction disc, the suction disc being in communication with the variable volume chamber in the cylinder body through a gas pipe, the front end of the suction disc protruding from the clamping surface, a piston rod being fixedly installed on a piston, the piston rod penetrating through the end wall of the cylinder body and being connected to one side of the clamping block away from the clamping surface.

Description

Technical Field

[0001] This invention relates to the field of lighting processing equipment technology, specifically an integrated and efficient part-removing device suitable for automotive lamp mold forming. Background Technology

[0002] As a key exterior and functional component of automobiles, automotive lights have extremely stringent requirements for the optical performance and surface quality of the final product due to their molding process. Components such as automotive light lenses and covers are usually injection molded, with high demolding temperatures (up to 80℃ to 120℃), and the mold cavity surface needs to be sprayed with a release agent to assist in demolding, resulting in an oily film remaining on the workpiece surface.

[0003] In automated production lines, the formed automotive lamp workpieces need to be removed from the mold by a part-removing device and transferred to the next process. Currently, there are two main types of part-removing methods: purely mechanical clamping and purely vacuum adsorption. However, using a single part-removing method cannot guarantee the stability of part removal. To solve this technical problem, an integrated and efficient part-removing device suitable for automotive lamp mold forming is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated and efficient part-removing device suitable for automotive lamp mold forming, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An integrated, high-efficiency part-removing device suitable for automotive lamp mold forming, comprising a robotic arm; The movable gripper, mounted on the actuator end of the robotic arm, includes two opposing sub-grippers that can move closer or further apart to grip the workpiece; and... At least one of the sub-grippers is provided with a gripper contact assembly; The gripper contact assembly includes a connecting seat, a cylinder, and a gripping block. The connecting seat is fixedly mounted on the sub-gripper for reliably connecting the entire assembly to the sub-gripper. The cylinder is fixed on the connecting seat and has a chamber extending along its length. The gripping block is elastically slidably mounted on the connecting seat along the gripping direction. The front end face of the gripping block is the gripping surface, and at least one adsorption chamber is provided on the gripping surface. Each adsorption chamber is equipped with a suction cup. The suction cup is connected to a variable volume chamber inside the cylinder through an air pipe, and the front end of the suction cup protrudes from the gripping surface. The variable volume chamber inside the cylinder is formed by the inner wall of the cylinder and a piston slidably disposed therein. A piston rod is fixedly mounted on the piston, and the piston rod passes through the end wall of the cylinder and is connected to the side of the gripping block opposite to the gripping surface.

[0006] As a further aspect of the present invention, the clamping block is characterized by having at least two elastic telescopic rods installed on the side of the clamping block near the connecting seat, with the end of the elastic telescopic rod away from the clamping block fixed to the connecting seat, and the elastic telescopic rod also having a limiting structure for limiting the maximum retraction stroke and maximum extension of the clamping block.

[0007] As a further aspect of the present invention, the clamping surface of the clamping block is further provided with a soft rubber layer; the front end face of the suction cup is closer to the workpiece than the soft rubber layer.

[0008] As a further aspect of the present invention, the soft rubber layer is characterized by being made of high-temperature resistant fluororubber.

[0009] As a further aspect of the present invention: the variable volume cavity is provided with an elastic reset bladder, the elastic reset bladder is located between the piston and the inner wall of the cylinder, the end away from the piston is fixedly connected to the inner wall of the cylinder, and the end close to the piston is fixedly connected to the piston rod; the elastic reset bladder is pre-filled with atmospheric pressure air to form a closed airbag structure.

[0010] As a further aspect of the present invention, the piston is characterized in that it is elastically slidably mounted in the cylinder body via an elastic element: one end of the elastic element is fixed to the piston, and the other end is fixed to a limiting element, which is fixedly mounted on the inner wall of the cylinder body.

[0011] As a further aspect of the present invention, the elastic repositioning capsule and the elastic element can be integrated into a single structure.

[0012] As a further aspect of the present invention: the differential pressure switch valve and the one-way valve are provided on the gas line connecting the suction cup and the variable volume cavity, and the two are arranged in parallel; the differential pressure switch valve is configured to open only when the internal pressure of the variable volume cavity is lower than a set threshold, so as to connect the variable volume cavity and the suction cavity of the suction cup; the one-way valve is used to discharge the gas in the variable volume cavity to the outside atmosphere.

[0013] As a further aspect of the present invention, the differential pressure switching valve is characterized in that it is a spring-loaded diaphragm valve, with an elastic diaphragm inside the valve body. One side of the diaphragm is connected to a variable volume chamber, and the other side is connected to the external atmosphere or has a reference pressure chamber.

[0014] As a further embodiment of the present invention, it also includes a controller and a signal acquisition device. The signal acquisition device is used to acquire the mold opening signal. Both the robotic arm and the signal acquisition device are electrically connected to the controller. The controller controls the robotic arm to pick up the part based on the mold opening signal.

[0015] Compared with existing technologies, the advantages of this invention are as follows: By integrating a cylinder, piston, piston rod, and clamping block onto the movable gripper, clamping and adsorption are linked, resulting in two clamping methods during the gripping process. Simultaneous use of these two methods improves the stability of part removal. The linkage structure of the cylinder, piston, piston rod, and clamping block directly converts the linear motion of clamping into a volume change in the variable-volume cavity, thereby generating vacuum adsorption force. The entire device only requires driving the movable gripper to open and close, eliminating the need for additional vacuum pumps, vacuum generators, solenoid valve assemblies, and external pipelines. The mechanical linkage and natural synchronization of the clamping and adsorption actions fundamentally eliminate the complexity of traditional solutions that require two independent drive and control systems for clamping and adsorption. The structure is compact, the response is rapid, and the integration and reliability of the equipment are significantly improved. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an integrated high-efficiency part-removing device suitable for automotive lamp mold forming, as described in Embodiment 1 of the present invention. Figure 1 .

[0017] Figure 2 This is a schematic diagram of the structure of an integrated high-efficiency part-removing device suitable for automotive lamp mold forming, as described in Embodiment 1 of the present invention. Figure 2 .

[0018] Figure 3 This is a schematic diagram of the gripper contact assembly in an integrated high-efficiency part-removing device suitable for automotive lamp mold forming, according to an embodiment of the present invention. Figure 1 .

[0019] Figure 4 This is a schematic diagram of the gripper contact assembly in an integrated high-efficiency part-removing device suitable for automotive lamp mold forming, according to an embodiment of the present invention. Figure 2 .

[0020] Figure 5 This is a schematic diagram of the internal structure of the gripper contact assembly in an integrated high-efficiency part-removing device suitable for forming automotive lamp molds, according to an embodiment of the present invention.

[0021] Figure 6 This is an exploded view of the gripper contact assembly in an integrated high-efficiency part-removing device suitable for forming automotive lamp molds, according to an embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of an integrated high-efficiency part-removing device suitable for forming automotive lamp molds, according to Embodiment 2 of the present invention.

[0023] In the diagram: 1-robotic arm, 2-moving gripper, 3-signal acquisition device, 4-controller; Gripper contact assembly; 211-Connecting seat, 212-Cylinder body, 213-Clamping block, 214-Piston rod, 215-Elastic reset bladder, 216-Piston, 217-Connecting ring, 218-Elastic element, 219-Limiting element, 220-Elastic telescopic rod, 221-Differential pressure switch valve, 222-Adsorption chamber, 223-Suction cup, 224-Soft rubber layer. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0025] Example 1

[0026] like Figures 1-6 As shown, this embodiment 1 provides an integrated high-efficiency part-removing device suitable for automotive lamp mold forming, including a robotic arm 1 and a movable gripper 2 mounted on the execution end of the robotic arm 1. The movable gripper 2 includes two opposing sub-grippers that can move closer or further apart to grip the workpiece. At least one sub-gripper is provided with a gripper contact assembly 21. This embodiment describes the example where both movable grippers are provided with gripper contact assemblies 21.

[0027] like Figures 1-6 As shown, in some embodiments, the gripper contact assembly 21 includes a connecting seat 211, a cylinder 212, and a gripping block 213. The connecting seat 211 is fixedly mounted on the sub-gripper for reliably connecting the entire assembly to the sub-gripper. The cylinder 212 is fixed to the connecting seat 211 and has a chamber extending along its length. The gripping block 213 is elastically slidably mounted on the connecting seat 211 along the gripping direction. Specifically, at least two elastic telescopic rods 220 are installed on the side of the gripping block 213 near the connecting seat 211, and the end of the elastic telescopic rod 220 away from the gripping block 213 is fixed to the connecting seat 211. In this way, the gripping block 213 is pushed forward by the elastic telescopic rods 220 when it is not in contact with the workpiece, and can retract towards the connecting seat 211 when it is subjected to the reaction force of the workpiece. The front end face of the gripping block 213 is a gripping surface, and at least one suction cavity 222 is provided on the gripping surface, and each suction cavity 222 is equipped with a suction cup 223. The suction cup 223 is connected to the variable volume cavity inside the cylinder 212 through an air pipe, and the front end of the suction cup 223 protrudes from the clamping surface to ensure that the suction cup 223 can contact the workpiece before the clamping surface during clamping, so as to achieve the coordinated action of adsorption and clamping.

[0028] In another embodiment, the elastic telescopic rod 220 is further provided with a limiting structure to limit the maximum retraction stroke and maximum extension of the clamping block 213. The limiting structure may be a step or a retaining ring provided on the sliding rod. When the clamping block retracts to the limit position, the step or retaining ring abuts against the end face of the guide sleeve to prevent further retraction and protect the elastic reset bladder 215 and the piston 216 from overstretching damage.

[0029] In some embodiments, the variable volume cavity inside the cylinder 212 is enclosed by the inner wall of the cylinder 212 and a piston 216 slidably disposed therein. A piston rod 214 is fixedly mounted on the piston 216, passing through the end wall of the cylinder 212 and connected to the side of the clamping block 213 opposite to the clamping surface. The piston 216 is elastically slidably mounted inside the cylinder 212 by an elastic member 218: one end of the elastic member 218 is fixed to the piston 216, and the other end is fixed to a limiting member 219, which is fixedly mounted on the inner wall of the cylinder 212. In the free state, the elastic member 218 pushes the piston 216 toward the clamping block 213, making the initial volume of the variable volume cavity smaller. When the clamping block 213 is squeezed by the workpiece and retracts towards the connecting seat 211, the piston rod 214 pushes the piston 216 to slide away from the clamping block 213, overcoming the force of the elastic element 218. The volume of the variable volume chamber increases accordingly, and the air pressure inside the chamber decreases. This draws air from between the suction cup 223 and the workpiece through the air pipe, creating a negative pressure within the suction cup 223 and adsorbing the workpiece. This structure directly converts the linear motion of clamping into a vacuum action, eliminating the need for an additional vacuum pump or vacuum generator. This greatly simplifies the system structure, achieves integrated clamping and adsorption, eliminates the need for traditional external supports and air pipes, and improves the equipment's integration and reliability.

[0030] In some embodiments, a soft rubber layer 224 is also installed on the clamping surface of the clamping block 213 to protect the surface of the vehicle lamp workpiece during clamping. The front end face of the suction cup 223 is closer to the workpiece than the soft rubber layer 224, i.e., the suction cup 223 protrudes beyond the soft rubber layer 224. When clamping the workpiece, the suction cup 223 first contacts the workpiece surface, and the soft rubber layer 224 is gradually compressed as the clamping force increases. This compression deformation brings two beneficial effects: on the one hand, the deformation of the soft rubber layer 224 increases the actual contact area with the workpiece, compensates for the microscopic unevenness of the workpiece surface, and improves friction and clamping stability; on the other hand, the suction cup 223 is axially compressed under clamping pressure, and its elastic material expands outward, which increases the internal space of the suction cup 223. This is equivalent to increasing the volume of the suction cup cavity while increasing the volume of the variable volume cavity, thereby enhancing the negative pressure adsorption effect, so that the adsorption force is further improved with the increase of the clamping force, realizing the positive synergy of "the more you clamp, the stronger you stick".

[0031] In some embodiments, the choice of material for the soft rubber layer 224 has a significant impact on the clamping effect. In a preferred embodiment, the soft rubber layer 224 is made of high-temperature resistant fluororubber, which has excellent heat resistance and oil resistance, making it suitable for applications where mold release agent residues are common in automotive lamp molds. In another embodiment, the soft rubber layer 224 is made of foamed silicone rubber containing closed-cell microbubbles, resulting in better compression resilience and maintaining good shape recovery after multiple clamping cycles.

[0032] In some embodiments, the surface of the soft rubber layer 224 may be textured to enhance friction. For example, the surface may have a diamond grid pattern, a wavy pattern, or a dot matrix of raised dots, with a texture depth of 0.5 mm to 2 mm. The textured surface can effectively pierce the release agent film on the workpiece surface during clamping, achieving "dry contact" and significantly improving the coefficient of friction.

[0033] In some embodiments, to further improve the reliability and duration of adsorption, an elastic reset capsule 215 is provided within the variable volume chamber. This elastic reset capsule 215 is located between the piston 216 and the inner wall of the cylinder 212. One end (the end furthest from the piston 216) is fixedly connected to the inner wall of the cylinder 212, and the other end (the end closest to the piston 216) is fixedly connected to the piston rod 214. The elastic reset capsule 215 is pre-filled with atmospheric pressure air, forming a closed airbag structure. When the clamping block 213 retracts, pushing the piston 216 to move and increasing the volume of the variable volume chamber, the piston rod 214 causes the elastic reset capsule 215 to be axially stretched, resulting in expansion of the internal gas volume, a decrease in gas pressure, and storage of elastic potential energy. When adsorption is first established, the variable volume chamber is under negative pressure, the capsule is stretched, and its internal gas pressure is lower than the external gas pressure (a pressure difference is formed between the inside and outside of the capsule, balancing the elastic force). During long-term adsorption, if a tiny leak occurs at the suction cup lip or soft rubber layer, allowing outside air to slowly seep into the variable volume chamber, the number of gas molecules inside the chamber will increase, and the gas pressure will rise (negative pressure will weaken). At this time, the pressure difference between the inside and outside of the chamber changes—the increased pressure inside the chamber reduces the pressure difference, and the chamber slightly retracts under its own elastic contraction force, reducing its volume. This retraction reduces the effective volume of the variable volume chamber, compressing the gas inside and causing the pressure to drop, automatically compensating for the pressure loss caused by the micro-leakage and maintaining stable adsorption. This process requires no sensors or external control; it relies entirely on the physical properties of the elastic resetting chamber to achieve passive leakage compensation, significantly extending the reliable adsorption holding time. When the workpiece needs to be released, the movable grippers open, and the piston moves to its initial position under the combined action of the resetting force of the elastic element 218 and the retracting elastic force of the elastic resetting chamber. The volume of the variable volume chamber decreases, and the gas inside is pushed into the suction cup to form a positive pressure pulse, assisting in breaking the residual vacuum. The workpiece then falls off naturally, with a clean and decisive action.

[0034] In a preferred embodiment, the elastic reset capsule 215 is made of high-temperature resistant silicone rubber, with an operating temperature range of -60°C to 250°C, completely covering the temperature range during the removal of the automotive lamp mold. In another embodiment, the elastic reset capsule 215 may adopt a metal bellows structure, made of stainless steel or beryllium bronze thin-walled tube by hydroforming, which has a higher fatigue life and more stable elastic properties, suitable for ultra-high-speed removal applications.

[0035] In some embodiments, the internal pre-charge pressure of the elastic reset bladder 215 can also be adjusted according to actual working conditions. For lightweight small automotive lamp lenses, the bladder pre-charge pressure can be set slightly lower than atmospheric pressure, so that the bladder has softer characteristics in the stretched state and the leakage compensation response is more sensitive; for heavy large automotive lamp covers, the bladder pre-charge pressure can be set slightly higher than atmospheric pressure, so that the bladder has stronger rebound force in the stretched state and can generate a stronger positive pressure pulse when released, ensuring reliable workpiece detachment.

[0036] In another embodiment, the elastic reset bladder 215 and the elastic element 218 can be integrated into a single structure. For example, the elastic element 218 (coil spring) can be placed inside the elastic reset bladder 215, with the bladder covering the outside of the spring, and the elastic forces of both acting in parallel on the piston 216. This integrated design saves internal cylinder space, and the bladder isolates and protects the spring, preventing high-temperature gases or oil from corroding the spring and extending its service life.

[0037] In some embodiments, for situations where the workpiece temperature is high after the headlight mold is formed, this device further includes a differential pressure switch valve 221 and a one-way valve (not shown in the figure) in the air path connecting the suction cup 223 and the variable volume cavity, arranged in parallel. The differential pressure switch valve 221 is configured to open only when the pressure inside the variable volume cavity is lower than a set threshold (i.e., a certain vacuum level is reached), so as to connect the variable volume cavity with the suction chamber of the suction cup 223; the one-way valve is used to discharge the gas in the variable volume cavity to the outside atmosphere. The specific operation process is as follows: at the beginning of clamping, the suction cup 223 first contacts the surface of the high-temperature workpiece, at which time the differential pressure switch valve 221 is in the closed state, and the variable volume cavity and the suction cup 223 are not connected. As the clamping block 213 continues to be pressed and retracted, the suction cup 223 is compressed and deformed, and the residual hot air inside (air that expands due to the heating of the workpiece) is squeezed out to the outside through the one-way valve or a special exhaust channel. When the negative pressure in the variable volume chamber reaches a preset threshold, the differential pressure switch valve 221 opens, connecting the variable volume chamber with the adsorption chamber of the suction cup 223. At this point, the inner cavity of the suction cup 223, from which hot air is discharged, is connected to the high negative pressure area of ​​the variable volume chamber, instantly drawing in the gas from the adsorption chamber and establishing a strong vacuum adsorption. The beneficial effects of this design are: it greatly reduces the amount of high-temperature gas drawn into the variable volume chamber, effectively reducing the adverse effects of thermal expansion on vacuum maintenance, avoiding the problem of negative pressure attenuation or even vacuum destruction caused by the cooling and contraction of hot air entering the variable volume chamber, and ensuring the adsorption stability and reliability under high-temperature environments.

[0038] In some embodiments, the differential pressure switching valve 221 can be a spring-loaded diaphragm valve. An elastic diaphragm is provided inside the valve body, with one side of the diaphragm communicating with a variable volume chamber and the other side communicating with the external atmosphere or having a reference pressure chamber. When the negative pressure in the variable volume chamber reaches a preset threshold, the pressure difference across the diaphragm overcomes the spring force, pushing the valve core to move and opening the valve port to connect the variable volume chamber and the adsorption chamber. This preset threshold can be set by adjusting the spring preload, for example, by changing the position of the spring seat using a knob or screw.

[0039] Example 2

[0040] like Figure 7 As shown, Embodiment 2 of the present invention also includes a controller 4 and a signal collector 3. The signal collector 3 is used to collect the mold opening signal. Both the robotic arm 1 and the signal collector 3 are electrically connected to the controller 4. The controller 4 controls the robotic arm 1 to pick up the part based on the mold opening signal. In this way, the linkage between the mold opening and closing rhythm automatically triggers the picking up of the part, which is then quickly transferred to the unloading station. The signal collector 3 can be installed on the automotive headlight mold.

[0041] The working principle of this invention is: In the initial state, the robotic arm 1, controlled by the pick-up signal from the controller 4, moves the movable gripper 2 to the pick-up position after the headlight mold is opened. The two sub-grippers approach each other under the action of the drive assembly, and the suction cup 223 on the gripping block 213 first contacts the workpiece surface. As the clamping force continues to be applied, the gripping block 213 experiences a reaction force from the workpiece, overcoming the elastic force of the elastic telescopic rod 220 and retracting towards the connecting seat 211. Simultaneously, the piston rod 214 pushes the piston 216 to slide within the cylinder 212, increasing the volume of the variable volume chamber. During this initial retraction, the differential pressure switch valve 221 is closed, and the suction cup 223 is compressed, expelling the hot air inside caused by the workpiece heating. When the negative pressure inside the variable volume chamber reaches a set threshold, the differential pressure switch valve 221 opens, connecting the variable volume chamber to the suction cup 223, rapidly drawing in the residual gas within the suction cup and establishing a strong vacuum suction force. Meanwhile, the soft rubber layer 224 is compressed and deformed, increasing the contact area and friction, and the suction cup 223 expands outward, further enhancing the internal negative pressure. The elastic reset capsule 215 is stretched during the movement of the piston 216, storing elastic potential energy and preparing for subsequent leakage compensation. Throughout the clamping and handling process, if a micro-leakage occurs, the elastic reset capsule 215 automatically retracts to compensate for pressure loss, ensuring that the suction force remains at a reliable level.

[0042] Once the automotive lamp workpiece is moved to the target position, the movable gripper 2 opens, and the clamping force is released. The piston 216 resets under the combined action of the elastic element 218 and the elastic reset bladder 215, reducing the volume of the variable-volume cavity. The gas inside the cavity is then forced into the suction cup 223 via a one-way valve or differential pressure switch valve, creating a positive pressure impact. The workpiece is smoothly blown away from the suction cup surface, completing the removal operation. Throughout the process, the clamping and suction actions are entirely achieved through mechanical linkage, eliminating the need for an independent vacuum system and complex timing control. This results in a fast response speed, high cycle time, and excellent adaptability to harsh surface conditions such as high temperatures and oil films on the automotive lamp workpiece.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. They can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components. They can refer to a direct connection or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An integrated, high-efficiency part-removing device suitable for automotive lamp mold forming, characterized in that, Including robotic arms (1); The movable gripper (2) installed on the execution end of the robotic arm (1) includes two opposing sub-grippers that can move closer or further apart to grip the workpiece. At least one sub-gripper is provided with a gripper contact assembly (21); and, The gripper contact assembly (21) includes a connecting seat (211), a cylinder (212), and a gripping block (213). The connecting seat (211) is fixedly mounted on the sub-gripper and is used to connect the entire assembly to the sub-gripper. The cylinder (212) is fixed on the connecting seat (211) and has a chamber extending along its length. The gripping block (213) is elastically slidably mounted on the connecting seat (211) along the gripping direction. The front end face of the gripping block (213) is the gripping surface, and at least one adsorption cavity (222) is provided on the gripping surface. The suction chamber (222) is equipped with a suction cup (223); the suction cup (223) is connected to the variable volume chamber inside the cylinder (212) through an air pipe, and the front end of the suction cup (223) protrudes from the clamping surface; the variable volume chamber inside the cylinder (212) is formed by the inner wall of the cylinder (212) and the piston (216) which is slidably disposed therein; a piston rod (214) is fixedly installed on the piston (216), and the piston rod (214) passes through the end wall of the cylinder (212) and is connected to the side of the clamping block (213) away from the clamping surface.

2. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 1, characterized in that, The clamping block (213) is equipped with at least two elastic telescopic rods (220) on the side near the connecting seat (211). The end of the elastic telescopic rod (220) away from the clamping block (213) is fixed on the connecting seat (211). The elastic telescopic rod (220) is also provided with a limiting structure to limit the maximum retraction stroke and maximum extension of the clamping block (213).

3. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 1, characterized in that, A soft rubber layer (224) is also installed on the clamping surface of the clamping block (213); the front end face of the suction cup (223) is closer to the workpiece than the soft rubber layer (224).

4. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 3, characterized in that, The soft rubber layer (224) is made of high-temperature resistant fluororubber.

5. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 1, characterized in that, An elastic reset bladder (215) is provided inside the variable volume cavity. The elastic reset bladder (215) is located between the piston (216) and the inner wall of the cylinder (212). The end away from the piston (216) is fixedly connected to the inner wall of the cylinder (212), and the end close to the piston (216) is fixedly connected to the piston rod (214). The elastic reset bladder (215) is pre-filled with air to form a closed airbag structure.

6. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 5, characterized in that, The piston (216) is elastically slidably mounted in the cylinder (212) via an elastic element (218): one end of the elastic element (218) is fixed to the piston (216), and the other end is fixed to the limiting element (219), which is fixedly mounted on the inner wall of the cylinder (212).

7. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 6, characterized in that, The elastic repositioning capsule (215) and the elastic element (218) can be integrated into a single structure.

8. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 1, characterized in that, A differential pressure switch valve (221) and a one-way valve are installed on the gas path connecting the suction cup (223) and the variable volume chamber, and the two are arranged in parallel. The differential pressure switch valve (221) is configured to open only when the internal pressure of the variable volume chamber is lower than a set threshold, so as to connect the variable volume chamber and the adsorption chamber of the suction cup (223). The one-way valve is used to discharge the gas in the variable volume chamber to the outside atmosphere.

9. The integrated high-efficiency part-removing device for automotive lamp mold forming according to claim 8, characterized in that, The differential pressure switch valve (221) is a spring-loaded diaphragm valve. The valve body is equipped with an elastic diaphragm. One side of the diaphragm is connected to a variable volume chamber, and the other side is connected to the external atmosphere or is equipped with a reference pressure chamber.

10. An integrated high-efficiency part-removing device for automotive lamp mold forming according to any one of claims 1-9, characterized in that, It also includes a controller and a signal collector. The signal collector is used to collect the mold opening signal. The robotic arm (1) and the signal collector are both electrically connected to the controller. The controller controls the robotic arm (1) to pick up the parts based on the mold opening signal.

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