Separating mechanism for automatic manipulator tooling of stamping production line

Abstract

The utility model relates to an automatic manipulator tooling separation mechanism for a stamping production line. The multiple grabbing assemblies are arranged at different preset positions on the main frame correspondingly; and at least one of the multiple grabbing assemblies is adjustable and comprises a guide structure and a grabbing part, the grabbing part is used for grabbing or releasing parts, the grabbing part is connected to the main frame through the guide structure, and the grabbing part can be movably adjusted along the guide structure so as to change the distance between the grabbing part and other grabbing assemblies. According to the automatic manipulator tooling separation mechanism for the stamping production line, under the action of the grabbing part and the guide structure, the grabbing part can adjust the position along the guide structure after grabbing a part at a mold, and then the grabbing part is driven by the main frame to move to the parallel conveying belt, so that the part is separated from the conveying belt, and the part is separated from the conveying belt. The distance between the parts can be matched with the distance between the conveying belts, so that the parts are accurately placed on the conveying belts, and the phenomenon that the parts fall off is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of end pickers, and in particular to a sheet separation mechanism of an automatic manipulator end picker of a stamping production line. Background Art

[0002] During the operation of the production line in the stamping workshop, after the mold completes the processing of the parts, the parts need to be transferred from the mold to the conveyor belt by a robot or an AGV trolley, and then transferred to the next process. In the process of transferring the parts from the mold to the conveyor belt, if it is a one-mold-two-piece production mode, one-mold-two-piece means that the mold completes the molding of two parts at the same time, and transfers the two parts to two different conveyor belts respectively. There are certain problems in transferring parts to the conveyor belt. For example, after the mold completes molding of two parts at one time, if it is transferred by an AGV trolley, the speed of the AGV trolley to transfer the parts twice cannot keep up with the production speed. If two parts are transferred at one time by a robot, since there is a certain gap between the two parts at the mold, when the two parts are transferred to the conveyor belt by the robot, the gap between the two parts may not match the spacing between the two conveyor belts, so one part can be released on one conveyor belt, while the other part cannot be accurately released on the other conveyor belt, and there is a risk of parts falling. Utility Model Content

[0003] The purpose of this application is to provide an automatic manipulator end picker sheeting mechanism for a stamping production line, which can adjust the distance between parts when transferring multiple parts to multiple parallel conveyor belts to adapt to the distance between the conveyor belts, thereby effectively solving the shortcomings of the prior art.

[0004] To this end, the embodiment of the present application provides a sheet separation mechanism for an automatic manipulator end picker of a stamping production line, comprising:

[0005] A main frame, movable in vertical and horizontal directions;

[0006] There are multiple grabbing components, which are respectively arranged at different preset positions on the main frame;

[0007] Among them, at least one of the multiple grabbing components is adjustable and includes a guide structure and a grabbing part. The grabbing part is connected to the main frame through the guide structure, and the grabbing part can be moved and adjusted along the guide structure to change the distance between the grabbing part and the grabbing parts of other grabbing components.

[0008] In a possible implementation, two grabbing assemblies are provided, one of which is adjustable and the other is non-adjustable.

[0009] In a possible implementation, an adjustment direction of the gripping portion of the adjustable gripping assembly on the guide structure is parallel to an arrangement direction of the two gripping assemblies.

[0010] In a possible implementation, the guide structure includes a guide rail, the guide rail is connected to the main frame, a movable seat is adjustably provided on the guide rail, and the gripping portion is installed on the movable seat.

[0011] In a possible implementation, the gripping portion includes a mounting member connected to the guide structure, and a plurality of grippers are provided on the mounting member, and the grippers are used to grip or release parts.

[0012] In a possible implementation, the gripper is mounted on the mounting member in a swingable and adjustable manner, and a swing adjustment direction of the gripper on the mounting member is perpendicular to a moving direction of the gripping portion on the guide structure.

[0013] In a possible implementation, the gripper can be linearly adjusted and mounted on the mounting member, and a linear adjustment direction of the gripper on the mounting member is parallel to a moving direction of the gripping portion on the guide structure.

[0014] In a possible implementation, the mounting piece is arranged in a long strip shape, and the grippers are arranged in sequence along the length direction of the mounting piece. A clamping piece and a tensioning piece are provided at one end where the gripper and the mounting piece are connected. The clamping piece and the gripper are hingedly connected. Under the action of the tensioning piece, the clamping piece and the gripper cooperate to clamp onto the mounting piece.

[0015] In a possible implementation, the gripper is retractable and includes a first connecting arm and a second connecting arm, the clamping member is arranged on the first connecting arm, and a suction cup is arranged on the second connecting arm.

[0016] In a possible implementation, the first connecting arm is a hollow long tube structure, the second connecting arm is a long rod structure, the second connecting arm can be movably extended into the first connecting arm, and a limiting structure is provided between the first connecting arm and the second connecting arm to limit and fasten the first connecting arm and the second connecting arm.

[0017] According to the automatic manipulator end picker sheeting mechanism of the stamping production line provided in the embodiment of the present application, under the action of the grabbing part and the guide structure, the grabbing part can adjust its position along the guide structure after grabbing the parts at the mold, and then move to the parallel conveyor belt under the drive of the main frame, so that the distance between the parts can match the distance between the conveyor belts, so that the parts can be accurately placed on the conveyor belt, avoiding the phenomenon of parts falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1A schematic diagram of the structure of a sheet separation mechanism of an automatic manipulator end picker of a stamping production line provided in an embodiment of the present application;

[0019] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0020] Figure 3 A schematic diagram of the structure of a gripping portion provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of the gripper provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] like Figure 1-Figure 4 As shown, the embodiment of the present application provides an automatic manipulator end picker sheeting mechanism for a stamping production line, which is applied to the stamping production line. Specifically, it is applied to the manipulator that transfers parts in the stamping production line. In the past, in the stamping production line, after the mold has stamped the part, a manipulator or an AGV trolley is required to transfer the part to a conveyor belt to transport it to the next process. When the mold is in a one-mold-two-piece production mode, the two parts are processed at one time, and the two parts are transferred to two parallel conveyor belts respectively. If the transfer is performed by an AGV trolley, the speed of the AGV trolley to transfer the parts twice back and forth obviously cannot keep up with the production progress. If the transfer is performed by a manipulator, the manipulator can transfer two parts at the same time, but there are also certain problems. After the mold is opened, there is a certain distance between the two parts. The manipulator grabs the two parts at the same time and moves them to two parallel conveyor belts and then releases the two parts. Since the distance between the two parts and the distance between the conveyor belts cannot match well, if one of the parts can fall on the conveyor belt, the other part cannot be accurately released on the other conveyor belt, and there is a risk of parts falling during the transfer process.

[0024] The automatic robot end picker sheet separation mechanism of the stamping production line provided in this application is intended to achieve the simultaneous transfer of two parts, and enable the two parts to be accurately placed on two conveyor belts respectively, avoiding the problem that individual parts cannot be accurately placed on the conveyor belt when the robot transfers two parts at the same time.

[0025] In the present embodiment, the automatic manipulator end picker sheet separation mechanism of the stamping production line includes a main frame 1, and the main frame 1 can move in the vertical direction and the horizontal direction. In the present embodiment, the movement of the main frame 1 can be driven by the existing driving device. For example, the movement of the main frame 1 in the horizontal direction and the vertical direction can be achieved through the cooperation of the cylinder and the linear guide rail, as long as it can realize the reciprocating between the position of the mold and the conveyor belt.

[0026] It also includes a grabbing assembly, and there are multiple grabbing assemblies. The grabbing assemblies are used to grab or release parts, and the multiple grabbing assemblies are respectively arranged at different preset positions on the main frame 1. The preset position means that when the main frame 1 moves to the mold, the position of each grabbing assembly can correspond to the position of each part in the mold, so that the grabbing assembly can grab the part. In practice, after the mold is opened, the part is exposed, the main frame 1 moves to the position of the mold and lowers the height, and then the grabbing assembly grabs the part, and then the main frame 1 is raised and moved to the conveyor belt and then lowered, so that the part sits down on the conveyor belt, the grabbing assembly releases the part, and the main frame 1 returns, and the parts are transported repeatedly in this way.

[0027] Preferably, at least one of the multiple grabbing assemblies is adjustable, and the rest are non-adjustable. Among the adjustable or non-adjustable types mentioned here, the adjustable type means that after the grabbing assembly grabs the part, it can drive the part to adjust its position in the horizontal direction relative to the main frame 1 to change the relative positions between the multiple parts, so that each part can be accurately released onto the corresponding conveyor belt. The non-adjustable type means that after the grabbing assembly grabs the part at the mold, the part and the main frame 1 remain in a relatively fixed state, and the part can only move synchronously with the main frame 1. Therefore, under the action of the adjustable grabbing assembly, in the process of transferring the part from the mold to the conveyor belt, the relative position between the parts can be adjusted, so that the spacing between each part and each conveyor belt can be matched, so that each part can be accurately released on each conveyor belt to avoid the phenomenon of individual parts falling off. In this embodiment, the non-adjustable grabbing assembly may also include a grabbing portion 202, and the grabbing portion 202 in the non-adjustable grabbing assembly is fixedly mounted on the main frame 1.

[0028] Preferably, the adjustable grabbing assembly includes a guide structure 201 and a grabbing portion 202, the grabbing portion 202 is used to grab or release parts, the guide structure 201 is installed on the main frame 1, the grabbing portion 202 is arranged on the guide structure 201, and the grabbing portion 202 can be moved and adjusted along the guide structure 201, thereby changing the distance between the grabbing portion 202 and other grabbing assemblies, changing the position of the grabbing portion 202 relative to other grabbing assemblies, so as to adjust the relative positions between the parts.

[0029] Preferably, two grabbing assemblies are provided, one of which is adjustable and the other is non-adjustable. In practice, the production mode of the mold is mostly one mold with two parts, and two grabbing assemblies are provided to adapt to the one mold with two parts mode. In this embodiment, the main frame 1 drives the two grabbing assemblies to move to the mold. After the two grabbing assemblies grab the corresponding parts respectively, the main frame 1 moves toward the conveyor belt. During the movement, the grabbing portion 202 of the adjustable grabbing assembly is adjusted on the guide structure 201, thereby changing the relative position of the two parts. When the main frame 1 moves to two parallel conveyor belts, the distance between the two parts can be matched with the distance between the two conveyor belts, so that both parts can be accurately released on the corresponding conveyor belts to complete the transfer of the parts.

[0030] Preferably, the adjustment moving direction of the grabbing portion 202 of the adjustable grabbing assembly on the guide structure 201 and the arrangement direction of the two grabbing assemblies are parallel to each other, or in other words, the main frame 1 is arranged in an elongated strip shape as a whole and has a certain length. The adjustable grabbing assembly and the non-adjustable grabbing assembly are respectively arranged at positions close to the two ends of the main frame 1, and the two grabbing assemblies are both arranged at the bottom of the main frame 1. The two grabbing assemblies are arranged along the length direction of the main frame 1, and the adjustment moving direction of the grabbing portion 202 in the adjustable grabbing assembly on the guide structure 201 is also the length direction of the main frame 1. When the equipment is laid out, the two conveyor belts are made parallel to each other, the main frame 1 is arranged horizontally and perpendicular to the direction of the conveyor belts, and the connection direction of the two parts in the mold is also parallel to the main frame 1, which is more conducive to the transportation of the parts.

[0031] The guide structure 201 may include a guide rail 2013, which is connected to the main frame 1. Both ends of the guide rail 2013 are detachably connected to the main frame 1, for example, a movable seat 2014 is detachably connected to the guide rail 2013 by connecting members such as bolts or screws, and the movable seat 2014 can be adjusted along the guide rail 2013. The gripping part 202 is installed on the movable seat 2014, and the adjustment of the movable seat 2014 drives the position of the gripping part 202 to be adjusted. Preferably, a dovetail groove can be provided on the movable seat 2014, and the dovetail groove is provided on the top of the movable seat 2014. A slide rail adapted to the dovetail groove is set on the guide rail 2013, and the slide rail is set along the direction of the guide rail 2013 and at the bottom of the guide rail 2013. With the cooperation of the slide rail and the dovetail groove, the movable seat 2014 can move along the slide rail. The movement of the movable seat 2014 can be achieved by rotating the threaded rod or by the drive of the cylinder. As long as the position adjustment of the movable seat 2014 on the guide rail 2013 can be achieved, the guide structure 201 can also be a standard linear guide rail, and the grasping part 202 is set on the slider of the linear guide rail to achieve the adjustment of the position of the grasping part 202.

[0032] The gripping portion 202 includes a mounting member 2025, which is specifically disposed on the movable seat 2014. The mounting member 2025 is connected to the bottom of the movable seat 2014. A plurality of grippers 2026 are disposed on the mounting member 2025. The grippers 2026 are used to grip or release parts. In this embodiment, one gripping portion 202 is used to grip one part. By using a plurality of grippers 2026 to cooperate in gripping one part, the stability of gripping the part can be improved.

[0033] In this embodiment, each gripper 2026 can be swingably mounted on the mounting member 2025, and the swing adjustment direction of the gripper 2026 on the mounting member 2025 and the moving direction of the gripping portion 202 on the guide rail 2013 are perpendicular to each other. By swinging and adjusting the gripper 2026, the extension range and the reaching position of each gripper 2026 can be adjusted, thereby facilitating the adaptive adjustment of the gripping point according to the transferred parts, thereby further improving the gripping stability of the parts.

[0034] The gripper 2026 can also be linearly adjusted and installed on the mounting member 2025. The linear adjustment direction of the gripper 2026 on the mounting member 2025 is parallel to the moving direction of the gripping part 202 on the guide rail 2013, further increasing the adjustment space of the extension range of each gripper 2026, further increasing the adaptability to different parts, and improving the stability of part gripping.

[0035] Preferably, the mounting member 2025 can be in the shape of an elongated strip as a whole, for example, it can be a long rod with a circular cross-section and the axis of the mounting member 2025 is arranged horizontally. The mounting member 2025 can be welded to the bottom of the movable seat 2014, or the mounting member 2025 can be connected to the bottom of the movable seat 2014 by bolts, screws, etc., and each gripper 2026 is arranged along the length direction of the mounting member 2025. On the one hand, the gripper 2026 can be adjusted in position along the axis direction of the mounting member 2025, and on the other hand, the gripper 2026 can swing around the axis of the mounting member 2025. For this purpose, the top end of the gripper 2026 can be connected to the mounting member 2025, and a clamping member 300 and a tensioning member are arranged at the top end of the gripper 2026. The top of 300 and the gripper 2026 are hinged to each other. Under the action of the tensioning member, the clamping member 300 and the top of the gripper 2026 cooperate with each other to clamp on the mounting member 2025, thereby realizing the connection between the gripper 2026 and the mounting member 2025. More preferably, the top of the gripper 2026 is hinged to the two clamping members 300, and the clamping members 300 are roughly arranged in an arc shape. When the two clamping members 300 are close to each other, they can be clamped on the outer periphery of the mounting member 2025. A through hole can be set between the two clamping members 300, and the tensioning member can be a bolt. The two clamping members 300 can be clamped on the mounting member 2025 by the bolt, thereby realizing the connection between the gripper 2026 and the mounting member 2025, and it is also convenient for the rotation adjustment and linear adjustment of the gripper 2026.

[0036] Preferably, the gripper 2026 is a retractable structure, which further improves the adjustment of the extension range of the gripper 2026 and facilitates the grasping of different parts. The gripper 2026 may include a first connecting arm 501 and a second connecting arm 502. The clamping member 300 is arranged on the first connecting arm 501, and a suction cup 600 is arranged on the second connecting arm 502. The suction and release of the parts are achieved through the suction cup 600. In this embodiment, the first connecting arm 501 can be a hollow long tubular structure, and the second connecting arm 502 is a long rod-shaped structure. The second connecting arm 502 can be movably extended into the interior of the first connecting arm 501, and a limiting structure is arranged between the first connecting arm 501 and the second connecting arm 502. The limiting structure realizes the first connecting arm 501 and The limiting fastening between the second connecting arm 502 can realize the telescopic adjustment of the gripper 2026. In this embodiment, the limiting structure can be a screw, which can be radially screwed into the hollow space of the first connecting arm 501 through the side wall of the first connecting arm 501 and pressed against the second connecting arm 502 to realize the limiting between the first connecting arm 501 and the second connecting arm 502. It is also possible to set a notch extending in the axial direction on the side wall of the first connecting arm 501 for the second connecting arm 502 to extend into, and a bolt or screw can be set at the notch. Screwing the bolt or screw can cause the end of the first connecting arm 501 to shrink or expand, and can also realize the mutual limiting fastening between the first connecting arm 501 and the second connecting arm 502 to realize the telescopic adjustment of the gripper 2026.

[0037] At this point, the gripping portion 202 of the non-adjustable gripping assembly can be a suction cup 600 directly mounted on the main frame 1, or a round rod can be fixed and horizontally arranged at a corresponding position on the main frame 1, and then the suction cup 600 is installed through the same structure as the above-mentioned gripper 2026, that is, a non-adjustable gripping assembly is formed. Figure 1 Only the adjustable grabbing assembly installed at one end of the main frame 1 is shown, and the non-adjustable grabbing assembly arranged at the other end of the main frame 1 is not shown.

[0038] The working principle of the present application is as follows: when transferring parts, after the mold is opened, two parts are exposed, and the main frame 1 is driven by other driving devices to move to the top of the mold and lower its position, and the suction cups 600 of the two grabbing components respectively suck the parts at the corresponding positions, and then the main frame 1 is raised and moved to two parallel conveyor belts. At this time, the movable seat 2014 adjusts its position along the guide rail 2013 so that the distance between the two parts matches the distance between the two conveyor belts. It should also be noted that separation refers to the movement of the movable seat 2014, so that the suction cups 600 of the two grabbing components are separated and away from each other, and the main frame 1 moves to the position of the conveyor belt and then drops in height, so that the two parts can be accurately seated on the corresponding conveyor belts respectively, and then the suction cups 600 release the parts, so that the two parts are accurately transferred to the two conveyor belts respectively and transported to the next process for subsequent processing.

[0039] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0040] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0041] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0042] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The automatic manipulator end picker sheet separation mechanism of the stamping production line is characterized by: include: A main frame, movable in vertical and horizontal directions; There are multiple grabbing components, which are respectively arranged at different preset positions on the main frame; Among them, at least one of the multiple grabbing components is adjustable and includes a guide structure and a grabbing part. The grabbing part is connected to the main frame through the guide structure, and the grabbing part can be moved and adjusted along the guide structure to change the distance between the grabbing part and the grabbing parts of other grabbing components.

2. The automatic manipulator end picker sheet separation mechanism of the stamping production line according to claim 1 is characterized in that: The grabbing components are provided with two, one of which is adjustable and the other is non-adjustable.

3. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 2 is characterized in that: The adjustment direction of the gripping portion of the adjustable gripping assembly on the guide structure is parallel to the arrangement direction of the two gripping assemblies.

4. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 1 is characterized in that: The guide structure comprises a guide track, the guide track is connected to the main frame, a movable seat is adjustably arranged on the guide track, and the grabbing part is installed on the movable seat.

5. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 1, characterized in that: The gripping portion comprises a mounting member connected to the guide structure, and a plurality of grippers are arranged on the mounting member.

6. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 5, characterized in that: The gripper is mounted on the mounting member in a swingable and adjustable manner, and the swinging adjustment direction of the gripper on the mounting member is perpendicular to the moving direction of the gripping portion on the guide structure.

7. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 5, characterized in that: The gripper can be linearly adjusted and mounted on the mounting member, and a linear adjustment direction of the gripper on the mounting member is parallel to a moving direction of the gripping portion on the guide structure.

8. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 6 or 7, characterized in that: The mounting piece is arranged in a long strip shape, and the grippers are arranged in sequence along the length direction of the mounting piece. A clamping piece and a tensioning piece are arranged at one end where the gripper and the mounting piece are connected. The clamping piece and the gripper are hingedly connected. Under the action of the tensioning piece, the clamping piece and the gripper cooperate to clamp onto the mounting piece.

9. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 8, characterized in that: The gripper is retractable and comprises a first connecting arm and a second connecting arm, the clamping member is arranged on the first connecting arm, and a suction cup is arranged on the second connecting arm.

10. The sheet separation mechanism of the automatic manipulator end picker of the stamping production line according to claim 9, characterized in that: The first connecting arm is a hollow long tube structure, the second connecting arm is a long rod structure, the second connecting arm can movably extend into the first connecting arm, and a limiting structure is provided between the first connecting arm and the second connecting arm to limit and fasten the first connecting arm and the second connecting arm.

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