An automatic feeding and discharging robot for motor end cover stamping

Abstract

The application belongs to the technical field of stamping automation equipment, and particularly relates to an automatic feeding and discharging robot for motor end cover stamping processing, which aims at the problems that existing residual iron chips of a die easily cause workpiece bruising and scrapping, finished products are difficult to be stably picked up due to vacuum adsorption and die sticking, and manual arrangement is required for scattered stacking, the robot comprises a stamping forming machine, load plates are fixed on both sides of the stamping forming machine, a robot is arranged on the load plates, the robot is composed of a mechanical arm and a rotating disc, a clamping mechanism and a blowing mechanism are arranged at the bottom of the rotating disc, the clamping mechanism comprises a plurality of clamping claws, the blowing mechanism comprises a hollow sphere and a nozzle arranged in the clamping claw, a gas cavity is arranged in the rotating disc, a brush cleaning disc is arranged in a cleaning box, a supporting plate driven to lift through a threaded rod is arranged in a stacking box, the supporting plate is arranged in an inclined mode, and a limiting plate is arranged in the stacking box, the robot can loosen workpieces through blowing of the nozzle before picking up the workpieces, and the die can be blown and cleaned, and the workpieces can be regularly stacked in the stacking box.

Description

Technical Field

[0001] This invention relates to the field of stamping automation equipment technology, and in particular to an automatic loading and unloading robot for stamping motor end caps. Background Technology

[0002] The motor end cap is a core component of the motor, and the precision and efficiency of its stamping directly affect motor performance and production costs. Currently, processes such as loading and unloading, mold cleaning, and finished product stacking during the motor end cap stamping process are mostly completed manually or with simple semi-automatic equipment. Existing technologies use general-purpose industrial robots to replace manual labor for stamping loading and unloading, which improves automation to some extent. However, general-purpose industrial robots are conventional handling equipment, not dedicated micro-operating mechanisms designed for stamping operations. They have shortcomings in terms of precision operation and multi-functional adaptability; 1. Existing general-purpose robotic arms have limited functions, only possessing the ability to grasp and transfer workpieces, lacking integrated micro-cleaning structures, and unable to remove residual impurities from the mold surface, making it difficult to guarantee stamping accuracy;

[0003] 2. Because the motor end cap after stamping is attached to the mold surface, the general-purpose robot lacks the micro-operation function to assist in unloading, and the workpiece is prone to falling off or being damaged when directly gripped;

[0004] 3. General-purpose robotic arms do not have auxiliary operation functions such as positioning and palletizing. When finished products are stacked, they are prone to displacement and disorder, which affects the normal operation of subsequent processes.

[0005] In summary, the current field of motor end cap stamping lacks a dedicated micro-manipulation device that integrates miniature cleaning, assisted unloading, precise clamping, and automatic straightening functions. General-purpose industrial robots lack sufficient precision in their operation, have poor adaptability to various working conditions, and struggle to balance production safety, processing accuracy, and production efficiency, thus failing to meet the demands of large-scale, high-precision production. Therefore, there is an urgent need to develop a dedicated micro-manipulation robot adapted to stamping conditions to fill this technological gap. Summary of the Invention

[0006] The purpose of this invention is to solve the shortcomings of existing molds, such as residual iron filings that easily cause workpiece damage and scrap, difficulty in stable removal of finished products due to vacuum adsorption of the mold, and scattered stacking requiring manual sorting. Therefore, an automatic loading and unloading robot for motor end cap stamping is proposed.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An automatic loading and unloading robot for stamping motor end caps includes a stamping forming machine for stamping motor end caps. Both sides of the stamping forming machine are fixed with bearing plates, and robots are fixed to both sides of the bearing plates. The two robots are used for loading and unloading, respectively. Conveyor belt I and conveyor belt II are respectively provided on the side of the two robots away from the stamping forming machine. Conveyor belt I and conveyor belt II are used to transport the raw material to be stamped and the stamped motor end caps, respectively. A palletizing box is provided on the side of conveyor belt I away from the robot for carrying the motor end caps.

[0009] The robot consists of a robotic arm and a rotating disk. A camera is fixed to the bottom of the rotating disk. The bottom of the rotating disk is provided with a clamping mechanism for clamping raw materials and motor end caps, and a blowing mechanism for blowing the mold inside the stamping machine. The clamping mechanism includes multiple grippers that are rotatably mounted on the bottom of the rotating disk via hinges.

[0010] The purging mechanism includes multiple hollow spheres disposed within multiple grippers, with the hollow spheres positioned within the grippers near the movable end.

[0011] The stamping machine is equipped with a cleaning box for storing cleaning fluid. The cleaning box is equipped with a cleaning mechanism for cleaning the mold inside the stamping machine. The cleaning mechanism includes a brush cleaning disc installed inside the cleaning box, and the outer diameter of the brush cleaning disc matches the inner diameter of the cleaning box. The bottom of the brush cleaning disc is provided with brush bristles.

[0012] It also includes a stacking mechanism installed in the stacking box, used to stack and arrange the motor end caps when the conveyor belt I transports the motor end caps into the stacking box. The stacking mechanism includes a pallet that is slidably installed in the stacking box via a slide rail and a slide groove, and a threaded rod that rotates on the side of the stacking box away from the conveyor belt I. The outer wall of the threaded rod is threadedly connected to a lifting plate, and the lifting plate is fixed to the bottom of the pallet.

[0013] In one possible design, the gripper consists of a hydraulic cylinder and two bending arms, with a pin and multiple connecting rods fixed between the two bending arms. The cylinder body of the hydraulic cylinder rotates at the bottom of the rotating disk via a rotating shaft, and the bottom end of the piston rod of the hydraulic cylinder is rotatably connected to the pin.

[0014] In one possible design, the purging mechanism further includes an air chamber disposed within a rotating disk. An air inlet connected to the air chamber is fixed to the top of the rotating disk. The air inlet is connected to an external compressed air pump via a hose. A series of connecting rods located within the gripper are provided with air guide hoses. The top ends of the air guide hoses are fixedly extended into the air chamber. A series of hollow spheres are respectively fixed between two bent arms within the same gripper. The bottom ends of the air guide hoses are fixedly connected to the hollow spheres. A series of nozzles are fixed to the side of the hollow spheres away from the air guide hoses.

[0015] In one possible design, the end of the robotic arm is rotatably connected to a rotating shaft, the bottom end of which is fixedly connected to the top of a rotating disk. Gear I is fixedly sleeved on the outer wall of the rotating shaft. A drive motor and a protective ring are fixedly attached to the end of the robotic arm. Gear II, which meshes with gear I, is fixed to the output shaft of the drive motor. The protective ring is sleeved on the outside of the rotating shaft and the drive motor, and its bottom end is rotatably connected to the top of the rotating disk, serving to protect gear I, the drive motor, and gear II.

[0016] In one possible design, the cleaning mechanism further includes a fixed cylinder fixed to the inner wall of the bottom of the cleaning tank. The fixed cylinder has a sliding cavity, and a sliding rod is slidably mounted in the sliding cavity. A spring is fixed between the bottom end of the sliding rod and the inner wall of the bottom of the sliding cavity via a spring seat. The top end of the sliding rod extends slidably to the top of the fixed cylinder and rotates with a pad. The brush cleaning disc is mounted on the top of the pad. Through the cooperation of the spring and the sliding rod, the brush cleaning disc can be pushed upward so that the bristles of the brush cleaning disc are above the cleaning liquid surface. A fixing ring is fixed to the top of the brush cleaning disc. Multiple frames are fixed to the inner wall of the fixing ring. An assembly plate is fixed between the two bending arms in the same gripper. A positioning pin is fixed to the side of the assembly plate away from the hollow sphere, and the positioning pin is clearance-fitted with the frame. The positioning pin can extend into the frame to clamp and fix the fixing ring.

[0017] In one possible design, multiple carbon wire heating elements are fixed to the top inner wall of the air chamber for heating the air inside the air chamber.

[0018] In one possible design, a rubber pad is fixed to the movable end of the bending arm.

[0019] In one possible design, the palletizing mechanism further includes two base plates, both of which are fixed to the side of the palletizing box away from conveyor belt I. The two base plates are arranged vertically. The top and bottom ends of the threaded rod are rotatably disposed between the two base plates. The bottom of the lower base plate is fixed with a motor for driving the threaded rod to rotate via a frame. Two guide rods are fixed between the two base plates. The top ends of the guide rods slide through the lifting plate. The side of the palletizing box away from conveyor belt I is provided with a vertical groove, and the lifting plate is slidably disposed in the vertical groove. Two arc-shaped limiting plates are fixed to the bottom inner wall of the palletizing box. The bottom ends of the arc-shaped limiting plates slide through the support plate to limit the motor end cap entering the palletizing box. The support plate is inclined, and the height of the end of the support plate closer to conveyor belt I is greater than that of the other end.

[0020] In one possible design, an inclined plate is fixed inside the conveyor belt I near one end of the pallet box, and the inclined plate extends into the pallet box and is located above the pallet, for guiding the motor end cover to fall above the pallet.

[0021] In one possible design, two symmetrically placed bent guide plates are fixed to the top of the inclined plate, and multiple ball bearings are tumbling on the top of the inclined plate.

[0022] Beneficial effects: In this invention, by setting a clamping mechanism at the bottom of the rotating disk and a blowing mechanism at the same time, and setting a hollow sphere and a nozzle near the movable end inside the gripper, the robot can simultaneously blow the mold when performing the unloading action, remove the iron filings remaining on the mold surface after stamping, ensure the cleanliness of the mold surface, improve the quality of subsequent stamped products, and avoid the extra space and cost required to set up a separate blowing device.

[0023] In this invention, before the gripper grasps the motor end cover, an airflow is sprayed from a nozzle onto the bottom of the motor end cover. The impact force of the airflow loosens the top of the motor end cover that is tightly attached to the mold, making it easier for the gripper to grasp the workpiece steadily. This effectively avoids difficulties in material handling or damage to the workpiece caused by the workpiece being too tightly attached to the mold due to the stamping pressure.

[0024] In this invention, by setting up an air chamber, a carbon resistance wire heating plate, and an air guide hose, the compressed gas can be heated in the air chamber and hot air is sprayed out through the nozzle, realizing the dual functions of blowing and drying the mold. This is beneficial for quickly removing cleaning liquid residue from the mold surface after cleaning operations, shortening the mold waiting time, and improving production efficiency.

[0025] In this invention, by setting up a cleaning box and a cleaning mechanism, and by setting an assembly plate and a positioning pin between the bent arms of the gripper, the robot can automatically pick up and operate the brush cleaning plate through the gripper, and use the brush bristles at the bottom of the brush cleaning plate to perform deep cleaning of the mold without manual intervention. At the same time, the cleaning liquid in the cleaning box is used to automatically wash and spin dry the brush bristles, ensuring the cleanliness of the brush bristles and improving the cleaning effect of the mold.

[0026] In this invention, by setting a fixed cylinder, a sliding rod and a spring at the bottom of the cleaning box, the brush cleaning tray can be pushed upward when not in use, so that the bristles are kept above the cleaning liquid surface. This avoids the bristles from being soaked in the cleaning liquid for a long time, which would cause the bristles to deform or the cleaning liquid to be consumed excessively. At the same time, the spring can provide a buffering effect during the process of taking out and putting back the brush cleaning tray to avoid rigid impact.

[0027] In this invention, by setting an inclined pallet, an arc-shaped limiting plate, and a lifting mechanism driven by a threaded rod inside the palletizing box, the motor end caps entering the palletizing box from the conveyor belt can automatically slide to a predetermined position under the action of gravity and be limited by the arc-shaped limiting plate. At the same time, the pallet can descend a fixed distance one after another, so that the motor end caps that enter later can be neatly stacked on top of the previous end cap. This achieves automatic and orderly palletizing of motor end caps and avoids the problems of high labor intensity and low efficiency of manual palletizing.

[0028] In this invention, by setting a drive motor, gear I and gear II at the end of the robotic arm to drive the rotating disk to rotate, the rotating disk can actively rotate during the clamping and blowing operations, which expands the blowing range of the nozzle, improves the uniformity and coverage of the blowing, and at the same time can drive the brush cleaning disk to rotate, improving the cleaning effect of the brush bristles and the cleaning efficiency of the mold.

[0029] In this invention, by integrating the clamping mechanism, blowing mechanism, and cleaning mechanism into a robot system, and in conjunction with the palletizing mechanism, a complete process of automatic feeding, automatic unloading, automatic mold blowing, automatic mold cleaning, and automatic and orderly palletizing of finished products is realized in the stamping process of motor end caps. This solves the problems of low efficiency of manual feeding and unloading, residual iron filings in the mold affecting product quality, difficulty in demolding the molded workpiece, and uneven palletizing of finished products in the prior art, thereby improving the overall efficiency and quality stability of stamping process of motor end caps. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural schematic diagram of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0031] Figure 2 A three-dimensional structural diagram of the robot and cleaning box of an automatic loading and unloading robot for stamping motor end caps provided by the present invention;

[0032] Figure 3 This is a three-dimensional exploded view of the rotating disk and grippers of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0033] Figure 4 A three-dimensional cross-sectional view of the rotating disk of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0034] Figure 5 This is a three-dimensional exploded view of the gripper of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0035] Figure 6 A three-dimensional structural diagram of the hollow sphere and positioning pin of an automatic loading and unloading robot for stamping motor end caps provided by the present invention;

[0036] Figure 7 A three-dimensional cross-sectional view of the cleaning box of an automatic loading and unloading robot for stamping motor end caps provided by the present invention;

[0037] Figure 8 This is a three-dimensional exploded view of the fixed cylinder and sliding rod of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0038] Figure 9 A three-dimensional cross-sectional view of the fixing ring of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0039] Figure 10 This is a three-dimensional exploded view of the palletizing box and inclined plate of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0040] Figure 11 This is a three-dimensional exploded view of the pallet box and pallet of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0041] Figure 12 This is a three-dimensional structural diagram of the bending guide plate and ball bearings of an automatic loading and unloading robot for stamping motor end caps provided by the present invention.

[0042] In the diagram: 1. Stamping machine; 2. Robot; 3. Conveyor belt I; 4. Conveyor belt II; 5. Palletizing box; 6. Bearing plate; 7. Robotic arm; 8. Rotary disk; 9. Rotating shaft; 10. Gear I; 11. Drive motor; 12. Gear II; 13. Protective ring; 14. Gripper; 15. Bending arm; 16. Connecting rod; 17. Pin; 18. Hydraulic cylinder; 19. Rubber pad; 20. Hollow sphere; 21. Nozzle; 22. Air guide hose; 23. Air chamber; 24. 25. Air inlet; 26. Carbon wire heating element; 27. Camera; 28. Cleaning box; 29. ​​Fixing cylinder; 30. Sliding rod; 31. Spring; 32. Pad; 33. Brush cleaning disc; 34. Fixing ring; 35. Frame; 36. Inclined plate; 37. Support plate; 38. Vertical groove; 39. Base plate; 40. Threaded rod; 41. Lifting plate; 42. Guide rod; 43. Arc-shaped limiting plate; 44. Bending guide plate; 45. Ball bearing; 46. Assembly plate; 47. Positioning pin. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0044] In one embodiment: Refer to Figures 1-11 An automatic loading and unloading robot for stamping motor end caps is disclosed, relating to the field of stamping automation equipment technology. It mainly includes a stamping forming machine 1, a support plate 6, a robot 2, a conveyor belt I 3, a conveyor belt II 4, and a palletizing box 5. The stamping forming machine 1 is used to stamp motor end caps. It employs conventional stamping equipment and has an upper mold and a lower mold. Support plates 6 are fixed to both sides of the stamping forming machine 1 by bolts or welding to support the robot 2. Robots 2 are fixed to the two support plates 6 respectively. The robot 2 on one side of the stamping forming machine 1 is used for loading, and the robot 2 on the other side is used for unloading. Conveyor belt II 4 and conveyor belt I 3 are respectively located on the side of the two robots 2 away from the stamping forming machine 1. Conveyor belt II 4 is used to transport the raw material to be stamped, and conveyor belt I 3 is used to transport the stamped motor end caps. A palletizing box 5 is located on the side of conveyor belt I 3 away from the robot 2, and the palletizing box 5 is used to support the stamped motor end caps.

[0045] Reference Figure 2 and Figure 4Robot 2 consists of a robotic arm 7 and a rotating disk 8. The robotic arm 7 is a six-axis industrial robot, with its base fixed on a support plate 6. The end effector of the robotic arm 7 can perform multi-degree-of-freedom movements. The rotating disk 8 is located at the end effector of the robotic arm 7, and a rotating shaft 9 is rotatably connected to the end effector of the robotic arm 7. The bottom end of the rotating shaft 9 is fixedly connected to the top of the rotating disk 8. A gear I 10 is fixedly sleeved on the outer wall of the rotating shaft 9. A drive motor 11 and a protective ring 13 are fixed to the end effector of the robotic arm 7, and a gear II 10 is fixed to the output shaft of the drive motor 11. 2. Gear II 12 meshes with gear I 10. A protective ring 13 is fitted around the outside of the rotating shaft 9 and the drive motor 11. The bottom end of the protective ring 13 is rotatably connected to the top of the rotating disk 8. The protective ring 13 is used to protect gear I 10, drive motor 11 and gear II 12, preventing external dust and debris from entering the meshing area. The drive motor 11 drives gear II 12 to rotate. The meshing of gear II 12 with gear I 10 can drive the rotating shaft 9 and the rotating disk 8 to rotate relative to the end of the robotic arm 7.

[0046] Reference Figures 1-4 A camera 26 is fixed at the bottom of the rotating disk 8. The camera 26 is used to collect image information of the mold area of ​​the stamping machine 1 and the conveyor belt I3 and conveyor belt II4, so as to enable the control system to identify the position and posture of the workpiece. The bottom of the rotating disk 8 is provided with a clamping mechanism and a blowing mechanism. The clamping mechanism is used to clamp the raw material and the stamping motor end cover, and the blowing mechanism is used to blow the mold in the stamping machine 1.

[0047] Reference Figure 3 and Figure 5 The clamping mechanism includes multiple grippers 14 rotatably mounted on the bottom of the rotating disk 8 via hinges. In this embodiment, there are four grippers 14, which are evenly distributed around the circumference of the rotating disk 8. Each gripper 14 consists of a hydraulic cylinder 18 and two bending arms 15. A pin 17 and multiple connecting rods 16 are fixed between the two bending arms 15. A rubber pad 19 is fixed to the movable end of each bending arm 15. The rubber pad 19 is used to prevent the bending arms 15 from scratching the surface of the motor end cover during clamping. The cylinder body of the hydraulic cylinder 18 is rotatably connected to the rotating disk 8 via a pivot. At the bottom of the rotating disk 8, the bottom end of the piston rod of the hydraulic cylinder 18 is rotatably connected to the pin 17. By extending and retracting the piston rod of the hydraulic cylinder 18, the bending arm 15 can be driven to rotate around the hinge axis, thereby completing the clamping or releasing action of the workpiece. When the piston rod of the hydraulic cylinder 18 extends, it pushes the pin 17 to move outward, so that the movable ends of the two bending arms 15 approach each other, realizing the clamping of the workpiece; when the piston rod of the hydraulic cylinder 18 retracts, it pulls the pin 17 to move inward, so that the movable ends of the two bending arms 15 move away from each other, realizing the release of the workpiece.

[0048] Reference Figures 4-6The purging mechanism includes an air chamber 23 disposed within a rotating disk 8 and multiple hollow spheres 20 disposed within multiple grippers 14. An air inlet 24 connected to the air chamber 23 is fixed to the top of the rotating disk 8. The air inlet 24 is connected to an external compressed air pump via a hose. A guide hose 22 is inserted through multiple connecting rods 16 located within the grippers 14. The top end of the guide hose 22 is fixedly extended into the air chamber 23. Multiple hollow spheres 20 are respectively fixed between two bent arms 15 within the same gripper 14, and the hollow spheres 20 are positioned within the gripper 14 near the movable end. The bottom end of the guide hose 22 is fixedly connected to the hollow sphere 20. Multiple nozzles 21 are fixed to the side of the hollow sphere 20 away from the guide hose 22.

[0049] Specifically, the compressed gas generated by the compressed air pump enters the air inlet 24 through the hose, then enters the air chamber 23, then enters the hollow sphere 20 through the air guide hose 22, and finally exits from the nozzle 21. When the robot 2 removes the stamped motor end cover from the stamping machine 1, the compressed air pump injects compressed gas into the air chamber 23. The gas is then ejected through the nozzle 21, which can blow away the upper and lower molds in the stamping machine 1 and remove the iron filings remaining on the mold surface. In addition, before the gripper 14 grabs the motor end cover, the nozzle 21 sprays a stream of air at the bottom of the motor end cover. The impact force of the air stream loosens the top of the motor end cover that is tightly attached to the lower mold, making it easier for the gripper 14 to remove the motor end cover. During the process of the nozzle 21 blowing away the mold, the drive motor 11 drives the rotating disk 8 to rotate. The rotation of the rotating disk 8 can make the gas ejected from the nozzle 21 form a rotating air curtain, expanding the blowing coverage area and fully blowing away the mold surface.

[0050] Reference Figure 4 Multiple carbon resistance wire heating elements 25 are fixed on the top inner wall of the air cavity 23. The carbon resistance wire heating elements 25 are used to heat the air in the air cavity 23. When the mold needs to be heated and dried, the carbon resistance wire heating elements 25 are energized to generate heat, which heats the air in the air cavity 23. The heated air is discharged through the nozzle 21, which can spray hot air onto the mold to achieve the blowing and drying of the mold.

[0051] Reference Figure 1 , Figure 7 and Figure 8The stamping machine 1 has a cleaning tank 27 fixed inside. The cleaning tank 27 is used to store cleaning fluid. The cleaning tank 27 is equipped with a cleaning mechanism for cleaning the mold inside the stamping machine 1. The cleaning mechanism includes a brush cleaning disc 32 set inside the cleaning tank 27. The outer diameter of the brush cleaning disc 32 matches the inner diameter of the cleaning tank 27. The bottom of the brush cleaning disc 32 is provided with bristles. The cleaning mechanism also includes a fixed cylinder 28 fixed to the inner wall of the bottom of the cleaning tank 27. The fixed cylinder 28 is provided with a sliding cavity. A sliding rod 29 is provided, with a spring 30 fixed between the bottom end of the sliding rod 29 and the bottom inner wall of the sliding cavity via a spring seat. The top end of the sliding rod 29 extends slidably above the fixed cylinder 28 and is rotatably connected to a pad 31. A brush cleaning disc 32 is positioned on top of the pad 31. Under the elastic force of the spring 30, the sliding rod 29 is pushed upward, thereby pushing the pad 31 and the brush cleaning disc 32 upward, so that the bristles at the bottom of the brush cleaning disc 32 are naturally positioned above the surface of the cleaning liquid. The bristles at the bottom of the brush cleaning disc 32 are made of wear-resistant and relatively rigid industrial nylon or steel wire bristles (selected according to the mold material). Combined with the softening effect of the cleaning liquid immersion and the centrifugal force and friction generated by high-speed rotation, it can effectively remove stubborn iron filings and oxides attached to the mold surface and grooves. At the same time, in conjunction with the high-pressure gas pre-blowing of the nozzle 21 before brushing, a multi-stage cleaning closed loop of "high-pressure loosening - liquid wetting - brushing and peeling - high-pressure drying" is formed to ensure the cleanliness of the mold surface.

[0052] Reference Figures 5-9 A fixing ring 33 is fixed to the top of the brush cleaning disc 32. Multiple frames 34 are fixed to the inner wall of the fixing ring 33. An assembly plate 45 is fixed between two bent arms 15 in the same gripper 14. A positioning pin 46 is fixed to the side of the assembly plate 45 away from the hollow sphere 20. The positioning pin 46 and the frame 34 are in clearance fit to realize the detachable connection between the gripper 14 and the brush cleaning disc 32.

[0053] Specifically, when the gripper 14 needs to pick up the brush cleaning disc 32, the robotic arm 7 moves the gripper 14 above the cleaning box 27 and inserts multiple grippers 14 into the fixing ring 33. Then, the piston rod of the hydraulic cylinder 18 retracts, driving multiple bending arms 15 to rotate outward, so that the positioning pin 46 inserts into the corresponding frame 34. As the bending arms 15 continue to rotate, the gripper 14 clamps and fixes the fixing ring 33. Subsequently, the robotic arm 7 drives the brush cleaning disc 32 downward through the gripper 14. The brush cleaning disc 32 compresses the spring 30 through the pad 31 and the sliding rod 29, so that the bristles at the bottom of the brush cleaning disc 32 are immersed below the surface of the cleaning liquid. Then, the drive motor 11 drives the rotating disc 8 to rotate through the meshing of gear I 10 and gear II 12. The rotating disk 8 drives the brush cleaning disk 32 to rotate via the gripper 14, using cleaning fluid to clean the bristles at the bottom of the brush cleaning disk 32. After cleaning the bristles, the robotic arm 7 drives the brush cleaning disk 32 upward via the rotating disk 8 and the gripper 14 until the bristles are above the surface of the cleaning fluid. At this time, the brush cleaning disk 32 is still inside the cleaning tank 27. The drive motor 11 continues to drive the rotating disk 8 and the brush cleaning disk 32 to rotate at high speed, shaking off the cleaning fluid attached to the bristles. Then, through the cooperation of the robotic arm 7 and the brush cleaning disk 32, the brush cleaning disk 32 is moved to the mold area of ​​the stamping machine 1, using the bristles to clean the mold surface. During the cleaning process, the drive motor 11 drives the rotating disk 8 and the brush cleaning disk 32 to rotate continuously, improving the cleaning effect.

[0054] Reference Figure 1 , Figure 10 and Figure 11The palletizing box 5 is equipped with a palletizing mechanism for stacking and arranging the motor end caps when the conveyor belt I3 transports them into the palletizing box 5. The palletizing mechanism includes a pallet 36 that is slidably mounted in the palletizing box 5 via a slide rail and a slide groove, and a threaded rod 39 that is rotatably mounted on the side of the palletizing box 5 away from the conveyor belt I3. The palletizing mechanism also includes two base plates 38, both of which are fixed on the side of the palletizing box 5 away from the conveyor belt I3. The two base plates 38 are arranged vertically. The top and bottom ends of the threaded rod 39 are rotatably mounted between the two base plates 38, respectively. The bottom of the lower base plate 38 is fixed to a motor for driving the threaded rod 39 through a frame. A lifting plate 40 is threadedly connected to the outer wall of the threaded rod 39, and the lifting plate 40 is fixed to the pallet 36. At the bottom, two guide rods 41 are fixed between the two base plates 38. The top of the guide rods 41 slides through the lifting plate 40. The guide rods 41 are used to guide the lifting movement of the lifting plate 40 and prevent the lifting plate 40 from deflecting. A vertical groove 37 is provided on the side of the pallet box 5 away from the conveyor belt I3. The lifting plate 40 is slidably set in the vertical groove 37. The pallet 36 is inclined. The height of the end of the pallet 36 near the conveyor belt I3 is greater than that of the other end. That is, the pallet 36 gradually tilts downward from the side near the conveyor belt I3 to the side away from the conveyor belt I3. Two arc-shaped limiting plates 42 are fixed on the bottom inner wall of the pallet box 5. The bottom end of the arc-shaped limiting plate 42 slides through the pallet 36. The arc-shaped limiting plate 42 is used to limit the motor end cover entering the pallet box 5.

[0055] It also includes a control box fixedly mounted on the frame of the stamping machine 1. The control box contains a PLC controller (or industrial microcontroller). The PLC controller is electrically connected to the drive motor of the robotic arm 7, the solenoid valve of the drive motor 11, the solenoid valve of the hydraulic cylinder 18, the solenoid valve of the compressed air pump, and the camera 26. The camera 26 is used to capture positional images of the workpiece and mold and send them to the PLC controller. Based on a preset program and image feedback, the PLC controller controls the movement trajectory of the robotic arm 7, the rotation angle of the turntable 8, the clamping force of the gripper 14, and the blowing sequence of the nozzle 21, to achieve coordinated control of automatic loading / unloading and cleaning actions.

[0056] In another embodiment: Refer to Figure 10 and Figure 11An inclined plate 35 is fixed at one end of the conveyor belt I3 near the pallet box 5. The inclined plate 35 extends into the pallet box 5 and is located above the pallet 36. The inclined plate 35 is used to guide the motor end cover output from the conveyor belt I3 to fall above the pallet 36. Two symmetrically placed bent guide plates 43 are fixed on the top of the inclined plate 35. The bent guide plates 43 are used to center and align the motor end cover conveyed by the conveyor belt I3 before entering the pallet box 5. Multiple balls 44 are rolled on the top of the inclined plate 35. The balls 44 are used to reduce the friction between the motor end cover and the inclined plate 35, so that the motor end cover can slide smoothly into the pallet box 5.

[0057] Specifically, when the conveyor belt I3 transports the stamped motor end cap to the vicinity of the palletizing box 5, the motor end cap first passes through the inclined plate 35 and is aligned in the center under the guidance of the bending guide plate 43. Then, it slides into the palletizing box 5 through the inclined plate 35 and falls onto the pallet 36. Since the pallet 36 is inclined, the motor end cap slides into the palletizing box 5 under the action of gravity until it abuts against the arc-shaped limiting plate 42. The arc-shaped limiting plate 42 limits the motor end cap, so that the motor end cap falls accurately into the predetermined position of the pallet 36. Then, the motor drives the threaded rod 39 to rotate. The threaded engagement between the threaded rod 39 and the lifting plate 40 drives the lifting plate 40 to slide down along the guide rod 41. The lifting plate 40 drives the pallet 36 to move down a distance equal to the thickness of a single motor end cap, leaving stacking space for the motor end caps that subsequently enter the palletizing box 5. By repeating the above process, multiple motor end caps can be neatly stacked on the pallet 36.

[0058] A method for using an automatic loading and unloading robot for stamping motor end caps includes the following steps:

[0059] S1. Before the stamping process begins, the conveyor belt II4 transports the raw material to be stamped to the loading station. The robot 2 located on one side of the stamping machine 1 moves the rotating disk 8 above the conveyor belt II4 through the movement of the robotic arm 7. The camera 26 collects the position image of the raw material. The control system controls the posture adjustment of the robotic arm 7 and the rotating disk 8 according to the image information, so that the gripper 14 is aligned with the raw material. The piston rod of the hydraulic cylinder 18 extends and drives the bending arm 15 to rotate, so that the gripper 14 holds the raw material. The robotic arm 7 moves the rotating disk 8 holding the raw material to the mold area of ​​the stamping machine 1, and shakes the raw material to shake off the dust and debris. Then the raw material is placed on the lower mold. Subsequently, the gripper 14 is released, and the robotic arm 7 drives the rotating disk 8 to move out of the mold area.

[0060] S2. The stamping forming machine 1 stamps the raw material to form a motor end cover. After stamping, the robot 2 located on the other side of the stamping forming machine 1 starts the unloading operation. The robotic arm 7 drives the rotating disk 8 to move to the mold area. The gripper 14 extends towards the stamped motor end cover. Before the gripper 14 contacts the motor end cover, the compressed air pump injects compressed gas into the air chamber 23. The gas enters the hollow sphere 20 through the air guide hose 22 and is sprayed out from the nozzle 21 to blow away the iron filings on the surface of the mold and the motor end cover. At the same time, the drive motor 11 drives the rotating disk 8 to rotate, so that the gas sprayed from the nozzle 21 forms an air curtain and expands the blowing range. Then the nozzle 21 sprays a stream of air towards the bottom of the motor end cover. The impact force of the air stream loosens the top of the motor end cover that is tightly attached to the lower mold. Then the piston rod of the hydraulic cylinder 18 extends and drives the gripper 14 to hold the motor end cover. The robotic arm 7 drives the rotating disk 8 to remove the motor end cover from the mold.

[0061] S3. If a more thorough cleaning of the mold is required, the cleaning mode is activated. The robotic arm 7 moves the gripper 14 above the cleaning box 27, inserting the gripper 14 into the fixing ring 33. The piston rod of the hydraulic cylinder 18 retracts, driving the bending arm 15 to rotate outward, causing the positioning pin 46 to insert into the frame 34. The gripper 14 clamps the fixing ring 33. The robotic arm 7, through the gripper 14, moves the brush cleaning disc 32 downward, compressing the spring 30, so that the brush bristles are immersed below the cleaning liquid surface. The drive motor 11 drives the rotating disc 8 and the brush cleaning disc 32 to rotate, cleaning the brush bristles. Then, the robotic arm 7 moves the brush cleaning disc 32 upward, so that... With the brush bristles positioned above the liquid surface, the drive motor 11 continues to drive the brush cleaning disc 32 to rotate at high speed, shaking off the cleaning liquid on the bristles. The robotic arm 7 moves the brush cleaning disc 32 to the mold area and uses the bristles to clean the mold surface. During the cleaning process, the drive motor 11 drives the brush cleaning disc 32 to rotate. After cleaning, the robotic arm 7 sends the brush cleaning disc 32 back into the cleaning box 27. The gripper 14 releases the fixing ring 33, and the spring 30 pushes the brush cleaning disc 32 upward to the initial position. Then, the carbon resistance wire heating plate 25 can be activated to heat the air in the air chamber 23. Hot air is then sprayed onto the mold through the nozzle 21 for blowing and drying.

[0062] S4. After the unloading robot 2 takes the stamped motor end cap from the stamping machine 1, it places it on the conveyor belt I3. The conveyor belt I3 transports the motor end cap towards the palletizing box 5. When the motor end cap passes the inclined plate 35, it is centered and aligned under the guidance of the bending guide plate 43. Then, it slides into the palletizing box 5 through the ball bearings 44 and falls on the pallet 36. Due to the inclined setting of the pallet 36, the motor end cap slides into the palletizing box 5 until it abuts against the arc-shaped limiting plate 42. Then, the motor drives the threaded rod 39 to rotate, which drives the lifting plate 40 and the pallet 36 to move down a distance equal to the thickness of the motor end cap. The motor end caps that subsequently enter the palletizing box 5 are stacked on top of the previous end cap in sequence to achieve neat stacking.

[0063] The moving parts of this device, such as the threaded rod 39, slide rail, hinge shaft, and gripper 14, require regular lubrication and surface cleaning after prolonged use to ensure the flexibility and precision of each moving part. The cleaning fluid in the cleaning tank 27 needs to be replaced regularly, and the bristles of the brush cleaning disc 32 should be replaced promptly after wear to ensure cleaning effectiveness. The above maintenance cycle shall be set by the operator according to the actual working conditions.

[0064] However, as is well known to those skilled in the art, the working principles and wiring methods of the hydraulic cylinder 18, carbon resistance wire heating element 25, drive motor 11 and camera 26 are all conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0065] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0066] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading robot for stamping motor end caps, characterized in that, The system includes a stamping machine (1) for stamping motor end caps. Both sides of the stamping machine (1) are fixed with bearing plates (6). Both sides of the two bearing plates (6) are fixed with robots (2). The two robots (2) are used for loading and unloading materials respectively. The two robots (2) are provided with conveyor belt I (3) and conveyor belt II (4) on the side away from the stamping machine (1) respectively. The conveyor belt II (4) and conveyor belt I (3) are used to transport the raw materials to be stamped and the stamped motor end caps respectively. The side of the conveyor belt I (3) away from the robot (2) is provided with a palletizing box (5) for carrying the motor end caps. The robot (2) consists of a mechanical arm (7) and a rotating disk (8). A camera (26) is fixed to the bottom of the rotating disk (8). The bottom of the rotating disk (8) is provided with a clamping mechanism for clamping raw materials and motor end caps, and a blowing mechanism for blowing the mold inside the stamping machine (1). The clamping mechanism includes multiple grippers (14) that are rotatably arranged at the bottom of the rotating disk (8) via a hinge. The purging mechanism includes multiple hollow spheres (20) respectively disposed in multiple grippers (14), and the hollow spheres (20) are disposed in the grippers (14) near the movable end; The stamping machine (1) is equipped with a cleaning box (27) for storing cleaning liquid. The cleaning box (27) is equipped with a cleaning mechanism for cleaning the mold inside the stamping machine (1). The cleaning mechanism includes a brush cleaning disc (32) set inside the cleaning box (27), and the outer diameter of the brush cleaning disc (32) matches the inner diameter of the cleaning box (27). The bottom of the brush cleaning disc (32) is provided with brush bristles. It also includes a stacking mechanism set in the stacking box (5) for stacking and arranging the motor end cover when the conveyor belt I (3) transports the motor end cover to the stacking box (5). The stacking mechanism includes a pallet (36) that is slidably set in the stacking box (5) via a slide rail and a slide groove, and a threaded rod (39) that rotates on the side of the stacking box (5) away from the conveyor belt I (3). The outer wall of the threaded rod (39) is threadedly connected to a lifting plate (40), and the lifting plate (40) is fixed to the bottom of the pallet (36).

2. The automatic loading and unloading robot for stamping motor end caps according to claim 1, characterized in that, The gripper (14) consists of a hydraulic cylinder (18) and two bending arms (15). A pin (17) and multiple connecting rods (16) are fixed between the two bending arms (15). The cylinder body of the hydraulic cylinder (18) rotates at the bottom of the rotating disk (8) via a rotating shaft. The bottom end of the piston rod of the hydraulic cylinder (18) is rotatably connected to the pin (17).

3. The automatic loading and unloading robot for stamping motor end caps according to claim 2, characterized in that, The purging mechanism also includes an air chamber (23) disposed in a rotating disk (8). An air inlet (24) connected to the air chamber (23) is fixed on the top of the rotating disk (8). The air inlet (24) is connected to an external compressed air pump through a hose. A guide hose (22) is provided through multiple connecting rods (16) located in the gripper (14). The top end of the guide hose (22) is fixedly extended into the air chamber (23). Multiple hollow spheres (20) are respectively fixed between two bent arms (15) in the same gripper (14). The bottom end of the guide hose (22) is fixedly connected to the hollow sphere (20). Multiple nozzles (21) are fixed on the side of the hollow sphere (20) away from the guide hose (22).

4. The automatic loading and unloading robot for stamping motor end caps according to claim 3, characterized in that, The end of the robotic arm (7) is rotatably connected to a rotating shaft (9). The bottom end of the rotating shaft (9) is fixedly connected to the top of the rotating disk (8). Gear I (10) is fixedly sleeved on the outer wall of the rotating shaft (9). A drive motor (11) and a protective ring (13) are fixedly attached to the end of the robotic arm (7). Gear II (12) that meshes with gear I (10) is fixedly attached to the output shaft of the drive motor (11). The protective ring (13) is sleeved on the outside of the rotating shaft (9) and the drive motor (11). The bottom end of the protective ring (13) is rotatably connected to the top of the rotating disk (8) to protect gear I (10), drive motor (11) and gear II (12).

5. The automatic loading and unloading robot for stamping motor end caps according to claim 4, characterized in that, The cleaning mechanism also includes a fixed cylinder (28) fixed to the inner wall of the bottom of the cleaning box (27). The fixed cylinder (28) has a sliding cavity, and a sliding rod (29) is slidably disposed in the sliding cavity. A spring (30) is fixed between the bottom end of the sliding rod (29) and the inner wall of the bottom of the sliding cavity through a spring seat. The top end of the sliding rod (29) extends slidably to the top of the fixed cylinder (28) and rotates with a pad (31). The brush cleaning disc (32) is disposed on the top of the pad (31). Through the cooperation of the spring (30) and the sliding rod (29), the brush cleaning disc (32) can be lifted upward. Pushing the brush to position the bristles of the brush cleaning disc (32) above the cleaning liquid surface, a fixing ring (33) is fixed to the top of the brush cleaning disc (32), and multiple frames (34) are fixed to the inner wall of the fixing ring (33). An assembly plate (45) is fixed between the two bending arms (15) in the same gripper (14). A positioning pin (46) is fixed to the side of the assembly plate (45) away from the hollow sphere (20), and the positioning pin (46) is clearance-fitted with the frame (34). The positioning pin (46) can extend into the frame (34) to clamp and fix the fixing ring (33).

6. The automatic loading and unloading robot for stamping motor end caps according to claim 5, characterized in that, Multiple carbon wire heating elements (25) are fixed to the top inner wall of the air cavity (23) for heating the air inside the air cavity (23).

7. The automatic loading and unloading robot for stamping motor end caps according to claim 6, characterized in that, A rubber pad (19) is fixed to the movable end of the bending arm (15).

8. The automatic loading and unloading robot for stamping motor end caps according to claim 7, characterized in that, The palletizing mechanism also includes two base plates (38), both of which are fixed on the side of the palletizing box (5) away from the conveyor belt I (3). The two base plates (38) are arranged vertically. The top and bottom ends of the threaded rod (39) are rotatably disposed between the two base plates (38). The bottom of the lower base plate (38) is fixed with a motor for driving the threaded rod (39) to rotate via a frame. Two guide rods (41) are fixed between the two base plates (38). The top ends of the guide rods (41) are... A sliding through lifting plate (40) is provided. The palletizing box (5) is provided with a vertical groove (37) on the side away from the conveyor belt I (3), and the lifting plate (40) is slidably arranged in the vertical groove (37). Two arc-shaped limiting plates (42) are fixed on the bottom inner wall of the palletizing box (5). The bottom end of the arc-shaped limiting plate (42) slides through the pallet (36) to limit the motor end cover entering the palletizing box (5). The pallet (36) is inclined. The height of the end of the pallet (36) closer to the conveyor belt I (3) is greater than that of the other end.

9. An automatic loading and unloading robot for stamping motor end caps according to claim 8, characterized in that, An inclined plate (35) is fixed at one end of the conveyor belt I (3) near the pallet box (5), and the inclined plate (35) extends into the pallet box (5) and is located above the pallet (36) to guide the motor end cover to fall above the pallet (36).

10. An automatic loading and unloading robot for stamping motor end caps according to claim 9, characterized in that, Two symmetrically placed bent guide plates (43) are fixed to the top of the inclined plate (35), and multiple balls (44) are rolled on the top of the inclined plate (35).

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