Industrial robot forearm die blanking tool

Abstract

The utility model discloses an industrial robot forearm die blanking tool, belongs to the technical field of tool structures, and provides a tool which can be arranged on an industrial robot forearm to enable die blanking safety to be higher. The tool comprises a configuration frame, the configuration frame is provided with a pair of track plates, and a beam plate is fixedly connected between the two track plates; a driver is arranged below the beam plate, the movable end of the driver is rotationally connected with a clamping part, the end face, opposite to the track plate, of the clamping part is provided with two sliding shafts, a sliding groove is formed in the track plate and suitable for being matched with the sliding groove to form a sliding pair, the part, close to the beam plate, of the sliding groove extends horizontally, and the part, away from the beam plate, of the sliding groove extends downwards along an arc. By arranging the pair of clamping parts capable of swinging, when the two clamping parts get close to each other, the die can enter a horizontal storage position, and when the clamping parts are relatively far away from each other, the die can be clamped and transferred, so that the probability of interference with processing equipment in the transferring process is reduced, manual participation is reduced, and the blanking safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of tooling structures, and in particular to a tooling for blanking a mold of an industrial robot forearm. Background Art

[0002] The mold goes through multiple processing steps during the production process. Different steps may need to be processed on different equipment, so the mold needs to be transferred. The existing method is to use a lifting device to lift the mold and then transfer it. However, the suspension steel cable of the lifting equipment may interfere with the processing equipment. Therefore, the mold cannot be aligned with the mounting seat of the processing equipment during unloading. Manual operation is required, which is not only time-consuming and laborious, but also relatively dangerous. Summary of the invention

[0003] The purpose of the present application is to provide a tooling that can be arranged on the forearm of an industrial robot to make mold unloading safer.

[0004] To achieve the above objectives, the present application provides an industrial robot forearm mold blanking tooling: comprising a configuration frame, the configuration frame having a pair of track plates, a beam plate fixedly connected between the two track plates, a driver being arranged below the beam plate, the movable end of the driver being rotatably connected to a clamping portion, the end surfaces of the clamping portion facing the track plates each having two sliding shafts, the track plate being provided with a slide groove, suitable for cooperating with the slide groove to form a sliding pair, the portion of the slide groove close to the beam plate extending horizontally, the portion away from the beam plate extending downwardly along a circular arc, the central angle of the arc being less than or equal to 90°, thereby ensuring that the clamping portion can return to its original position along the original path.

[0005] As a preferred embodiment, the main part of the driver is a bidirectional telescopic hydraulic cylinder, and the driver includes a limit sleeve fixedly connected to the beam plate, and the limit sleeve is fixedly connected to the cylinder barrel of the bidirectional telescopic hydraulic cylinder, and the cylinder barrel is movably connected to two telescopic rods, and the movable end of each telescopic rod is rotatably connected to the clamping part to ensure the freedom of movement of the clamping part.

[0006] Preferably, the clamping portion includes a guide plate, the sliding shafts are all located on the end face of the guide plate, the side of the guide plate facing away from the driver has a force plate, the force plate is inclined relative to the guide plate, and the height of the force plate on the side facing away from the guide plate is lower, and the end of the arc portion of the slide groove faces downward, ensuring that the force plate can be deflected to a vertical direction when the guide plate is also tilted.

[0007] As a preferred embodiment, a clearance groove is formed on the side of the guide plate facing the driver, and the inner wall of the clearance groove is fixedly connected with a load-bearing shaft parallel to the sliding shaft, and the movable end of the telescopic rod is fixedly connected with a traction handle, which is suitable for cooperating with the load-bearing shaft to form a rotating pair, thereby driving the clamping part to move in a set installation manner.

[0008] As a preferred embodiment, the two sliding shafts located at the same end of the guide plate pass through the sliding groove and are fixedly connected to the limiting plate, the upper inclined surface of the force plate is provided with a load-reducing groove, and the lower inclined surface of the force plate is fixedly connected with a friction strip to increase the contact friction between the clamping part and the mold that needs to be unloaded.

[0009] As a preferred embodiment, the upper surface of the beam is rotatably connected to a bridge member, and the bridge member is also rotatably connected to a mounting seat. The rotation axis of the bridge member is skewed and perpendicular to the rotation axis of the beam, so that the configuration frame has two rotational degrees of freedom, so that the clamped mold can be fine-tuned, reducing the precision requirements for the industrial robot, thereby reducing the configuration cost.

[0010] Preferably, the upper surface of the beam plate has a lower axle frame, and the bridging member includes a lower swing arm, which is rotatably connected to the lower axle frame through a lower axle body. The lower axle body is provided with a lower axle hole, which is suitable for cooperating with the lower axle body to form a rotating pair, so that the configuration frame can swing within a certain range.

[0011] As a preferred embodiment, the upper end of the lower swing arm is fixedly connected to an upper shaft frame, and the mounting seat includes an upper swing arm, and the upper swing arm is rotatably connected to the upper shaft frame via an upper shaft body, and the upper shaft frame is provided with an upper shaft hole, which is suitable for cooperating with the upper shaft body to form a rotating pair, and the upper end of the upper swing arm has a fixed plate, and the fixed plate is provided with connecting holes for bolts and other connecting parts to pass through, so as to connect the fixed plate to the end of the mechanical arm of the industrial robot.

[0012] Compared with the prior art, the beneficial effects of this application are:

[0013] (1) By providing a pair of swingable clamping parts, when the two clamping parts are close to each other, they will enter a horizontal storage position. When the two clamping parts are relatively far away from each other, the mold can be clamped and transferred, which reduces the probability of interference with the processing equipment during the transfer process, thereby reducing manual participation and improving the safety of material feeding;

[0014] (2) By setting up an articulated structure between the configuration frame and the industrial robot arm, the position of the mold can be fine-tuned during the mold blanking process, so that the matching accuracy between the mold and the processing equipment is higher, and the fine-tuning operation has little impact on the safety of the workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is the first stereoscopic schematic diagram of the overall structure of the industrial robot forearm mold blanking tooling.

[0016] Figure 2 This is the second stereoscopic schematic diagram of the overall structure of the industrial robot forearm mold blanking tooling.

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of the connection between the clamping part and the driver of the industrial robot forearm mold blanking tooling.

[0018] Figure 4 This is the first view of the three-dimensional structure of the clamping part of the industrial robot forearm mold blanking tooling.

[0019] Figure 5 This is the second view of the three-dimensional structure of the clamping part of the industrial robot forearm mold blanking tooling.

[0020] Figure 6 This is a schematic diagram of the three-dimensional structure of the connection between the driver and the configuration frame of the industrial robot forearm mold blanking tooling.

[0021] Figure 7 This is a schematic diagram of the three-dimensional structure of the bridge component of the industrial robot forearm mold blanking tooling.

[0022] Figure 8 This is a schematic diagram of the three-dimensional structure of the mounting base of the industrial robot forearm mold blanking tooling.

[0023] In the figure: 1. mounting seat; 101. upper swing arm; 102. upper shaft body; 103. fixing plate; 104. connecting hole; 2. bridging member; 201. lower swing arm; 202. lower shaft body; 203. upper shaft frame; 204. upper shaft hole; 3. configuration frame; 301. beam plate; 302. track plate; 303. lower shaft frame; 304. lower shaft hole; 305. slide groove; 4. driver; 401. limiting sleeve; 402. cylinder barrel; 403. telescopic rod; 404. traction handle; 5. clamping part; 510. guide plate; 511. clearance groove; 512. load-bearing shaft; 513. sliding shaft; 514. limiting plate; 520. force plate; 521. load-reducing groove; 522. friction strip. DETAILED DESCRIPTION

[0024] Below, the present application is further described in conjunction with specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0025] In the description of the present application, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0027] The terms "including" and "having" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0028] like Figure 1-8The industrial robot forearm mold blanking tooling shown includes a suspended configuration frame 3, the configuration frame 3 has a pair of track plates 302, the two track plates 302 are symmetrical about the vertical plane, a beam plate 301 is fixedly connected between the two track plates 302, the beam plate 301 is located at the center of the top surface of the track plate 302, the upper surface of the beam plate 301 is rotatably connected to a bridge member 2, the bridge member 2 is also rotatably connected to a mounting seat 1, the mounting seat 1 is used to connect to the end of the forearm of the industrial robot, the rotation axis of the bridge member 2 is skewed and perpendicular to the rotation axis of the beam plate 301, so that the configuration frame 3 has two vertical degrees of rotation freedom, to ensure the flexibility of the configuration frame 3, the upper surface of the beam plate 301 has a lower shaft frame 303, the bridge member 2 includes a lower swing arm 201, the lower swing arm 201 is rotatably connected to the lower shaft frame 303 through a lower shaft body 202, and the lower shaft body 202 is opened There is a lower shaft hole 304, which is used to cooperate with the lower shaft body 202 to form a revolving pair. In fact, the lower shaft body 202 and the lower swing arm 201 are plugged in, and the rings with larger diameters at both ends of the lower shaft body 202 play a limiting role, and disassembly and assembly can be achieved by bolts. The upper end of the lower swing arm 201 is fixedly connected to an upper shaft frame 203, and the mounting base 1 includes an upper swing arm 101, which is rotatably connected to the upper shaft frame 203 through the upper shaft body 102, and the upper shaft frame 203 is provided with an upper shaft hole 204, which is used to cooperate with the upper shaft body 102 to form a revolving pair. Similarly, the upper shaft body 102 is also plugged in with the upper swing arm 101, and the annular structures at both ends of the upper shaft body 102 can be connected by bolts. The upper end of the upper swing arm 101 has a fixed plate 103, and the fixed plate 103 is provided with a connecting hole 104, for the connecting piece to pass through to constrain the fixed plate 103 to the end of the forearm of the industrial robot.

[0029] A driver 4 is arranged below the beam 301, and a movable end of the driver 4 is rotatably connected to a clamping part 5. The main part of the driver 4 is actually a two-way telescopic hydraulic cylinder. The driver 4 includes a limit sleeve 401 fixedly connected to the beam 301, and a cylinder barrel 402 of the two-way telescopic hydraulic cylinder is fixedly connected inside the limit sleeve 401. The cylinder barrel 402 is movably connected to two telescopic rods 403, and the axes of the two telescopic rods 403 are collinear. The movable end of each telescopic rod 403 is rotatably connected to the clamping part 5. The specific structure of the clamping part 5 includes a guide plate 510, and the guide plate 510 is connected to the A clearance groove 511 is opened on one side of the driver 4, and the inner wall of the clearance groove 511 is fixedly connected with a load-bearing shaft 512 parallel to the sliding shaft 513. The movable end of the telescopic rod 403 is fixedly connected with the traction handle 404, which just cooperates with the load-bearing shaft 512 to form a rotating pair. The side wall of the clearance groove 511 fits with the end surface of the traction handle 404 and can slide and rub relative to each other, which effectively improves the stability of the driver 4 driving the clamping part 5. Usually, two drivers 4 are provided, and the two drivers 4 are arranged in parallel with the ends flush, which can further improve the movement stability of the clamping part 5.

[0030] The track plate 302 is provided with a slide groove 305, and the end surface of the clamping part 5 facing the track plate 302 is provided with two sliding shafts 513. The two sliding shafts 513 have the same diameter and are used to cooperate with the slide groove 305 to form a sliding pair. In fact, the sliding shafts 513 are all located on the end surface of the guide plate 510, and the two sliding shafts 513 located at the same end of the guide plate 510 pass through the slide groove 305 and are fixedly connected to the limiting plate 514, which can improve the synchronization of the movement of the two ends of the guide plate 510. The upper inclined surface of the force plate 520 is provided with a load-reducing groove 521. Under the premise of ensuring the structural strength of the force plate 520, the speed reduction consumables and the dead weight are reduced, so that the entire tooling has a better lightweight. The side of the guide plate 510 facing away from the driver 4 is provided with a force plate 520, which is the main component in contact with the mold. The lower inclined surface of the force plate 520 is fixedly connected with a friction strip 522, and the friction strip 522 is made of wear-resistant rubber material It is made of, has a high contact friction coefficient, has multiple, equidistantly arranged and all horizontally set, the force plate 520 is inclined relative to the guide plate 510, and the relative angle is in the range of 120° to 150°. It should be noted that the side of the force plate 520 facing away from the guide plate 510 is lower in height. When the guide plate 510 is in a horizontal position, the force plate 520 is in a downward tilted direction, and the portion of the slide 305 close to the beam plate 301 extends horizontally, and the portion away from the beam plate 301 extends downward along an arc, and the center angle of the arc is less than or equal to 90°. The horizontal extension portion and the arc extension portion of the slide 305 are tangent and continuous, and the width of the inner wall remains unchanged. In this embodiment, the center angle of the arc portion of the slide 305 is 90°, and the end of the arc portion of the slide 305 faces downward, and the sliding shaft 513 can slide from the horizontal portion of the slide 305 to the arc portion, and then return to the horizontal portion from the arc portion.

[0031] Working principle: Before use, the tooling is first fixed to the end of the forearm of the industrial robot, and the industrial robot arm drives the position transfer. The driver 4 is connected to the hydraulic system. In the initial state, the telescopic rod 403 is retracted, the two clamping parts 5 are close to each other, the guide plate 510 is in a horizontal position, and the force plate 520 is in an inclined position. When the tooling moves to the top of the mold that needs to be unloaded, the telescopic rod 403 is extended under the drive of the hydraulic pressure, and the two clamping parts 5 are away from each other. When a sliding shaft 513 slides from the horizontal part of the slide groove 305 to the arc part, the clamping part 5 will change, the originally horizontal guide plate 510 will gradually tilt, and the originally inclined force plate 520 will gradually approach the vertical direction until it contacts the vertical outer surface of the mold and applies sufficient clamping force. By using the contact friction of the friction strip 522, the robot arm can use the tooling to clamp the mold from the conveying equipment and place it on the processing equipment to realize the unloading operation. The hinged structure between the configuration frame 3 and the end of the robot arm can make the robot arm more smooth when turning.

[0032] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and the specification only describe the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application for which protection is sought. The scope of protection claimed by the present application is defined by the attached claims and their equivalents.

Claims

1. An industrial robot forearm mold blanking tooling, characterized by: The configuration frame (3) comprises a pair of track plates (302), a beam plate (301) being fixedly connected between the two track plates (302), a driver (4) being arranged below the beam plate (301), a movable end of the driver (4) being rotatably connected with a clamping portion (5), the end surface of the clamping portion (5) facing the track plate (302) having two sliding shafts (513), a slide groove (305) being provided on the track plate (302) and being suitable for cooperating with the slide groove (305) to form a sliding pair, the slide groove (305) extending horizontally at a portion close to the beam plate (301) and extending downwardly along a circular arc at a portion away from the beam plate (301), and the central angle of the circular arc being less than or equal to 90°.

2. The industrial robot forearm mold blanking tooling as claimed in claim 1, characterized in that: The main body of the driver (4) is a bidirectional telescopic hydraulic cylinder. The driver (4) comprises a limiting sleeve (401) fixedly connected to the beam plate (301). A cylinder barrel (402) of the bidirectional telescopic hydraulic cylinder is fixedly connected inside the limiting sleeve (401). The cylinder barrel (402) is movably connected to two telescopic rods (403). The movable end of each telescopic rod (403) is rotatably connected to the clamping portion (5).

3. The industrial robot forearm mold blanking tooling as claimed in claim 2, characterized in that: The clamping portion (5) includes a guide plate (510), the sliding shaft (513) is located on the end surface of the guide plate (510), and the side of the guide plate (510) facing away from the driver (4) has a force plate (520), the force plate (520) is inclined relative to the guide plate (510), and the side of the force plate (520) facing away from the guide plate (510) is lower in height, and the end of the arc portion of the slide groove (305) faces downward.

4. The industrial robot forearm mold blanking tooling as claimed in claim 3, characterized in that: The guide plate (510) is provided with a clearance groove (511) on a side facing the driver (4); the inner wall of the clearance groove (511) is fixedly connected with a load-bearing shaft (512) parallel to the sliding shaft (513); the movable end of the telescopic rod (403) is fixedly connected with a traction handle (404) suitable for cooperating with the load-bearing shaft (512) to form a rotating pair.

5. The industrial robot forearm mold blanking tooling as claimed in claim 4, characterized in that: The two sliding shafts (513) located at the same end of the guide plate (510) pass through the sliding groove (305) and are fixedly connected to the limiting plate (514); the upper inclined surface of the force applying plate (520) is provided with a load-reducing groove (521); and the lower inclined surface of the force applying plate (520) is fixedly connected to a friction strip (522).

6. The industrial robot forearm mold blanking tool as claimed in any one of claims 1 to 5, characterized in that: The upper surface of the beam plate (301) is rotatably connected to a bridge member (2), and the bridge member (2) is also rotatably connected to a mounting seat (1), and the rotation axis of the bridge member (2) is skewed and perpendicular to the rotation axis of the beam plate (301).

7. The industrial robot forearm mold blanking tooling as claimed in claim 6, characterized in that: The upper surface of the beam plate (301) is provided with a lower shaft frame (303), and the bridging member (2) includes a lower swing arm (201), and the lower swing arm (201) is rotatably connected to the lower shaft frame (303) through a lower shaft body (202), and the lower shaft body (202) is provided with a lower shaft hole (304) suitable for cooperating with the lower shaft body (202) to form a rotating pair.

8. The industrial robot forearm mold blanking tooling as claimed in claim 7, characterized in that: The upper end of the lower swing arm (201) is fixedly connected to an upper shaft frame (203); the mounting seat (1) comprises an upper swing arm (101); the upper swing arm (101) is rotatably connected to the upper shaft frame (203) via an upper shaft body (102); the upper shaft frame (203) is provided with an upper shaft hole (204) suitable for cooperating with the upper shaft body (102) to form a rotating pair; the upper end of the upper swing arm (101) has a fixed plate (103); and the fixed plate (103) is provided with a connecting hole (104).

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