Independent manipulator and stamping production line using same

Abstract

The utility model discloses an independent manipulator which comprises a carrying manipulator body, the carrying manipulator body comprises a moving device and a grabbing holding device, the moving device drives the grabbing holding device to move between any adjacent two of a feeding device, a discharging device and a stamping device, and the grabbing holding device and the moving device are detachably connected and fixed. The grabbing holding device comprises a suction cup fixed to the support assembly, and an air path for controlling the suction cup to work is arranged between the grabbing holding device and the moving device. The moving device and the grabbing and holding device are detachably connected and communicated with the air path to ensure that the suction cup normally conducts suction work, only different grabbing and holding devices need to be arranged according to workpieces, the applicability of parts of the carrying manipulator body is wide, and the overall cost can be reduced. The moving device and the grabbing and holding device are easy to assemble and disassemble, and the grabbing and holding device is convenient to replace.

Description

Technical Field

[0001] The utility model relates to the technical field of stamping production equipment, in particular to an independent type manipulator and a stamping production line using the same. Background Art

[0002] Chinese patent CN102896805A discloses a workpiece handling device that uses a negative pressure suction arm to hold the workpiece. Because the negative pressure suction arm is fixedly connected to the feed rod, the workpiece handling device has limited applicability. In a stamping line, sheet metal workpieces are constantly deformed by multiple stamping machines. Designing a workpiece handling device tailored to each stamping cycle would increase the overall cost of the stamping line. Utility Model Content

[0003] The purpose of the utility model is to provide an independent manipulator with a replaceable grasping and holding device.

[0004] The purpose of this utility model is achieved in this way.

[0005] A stand-alone manipulator includes a handling manipulator body, which includes a moving device and a grabbing and holding device. The moving device drives the grabbing and holding device to move between any two adjacent feeding devices, discharging devices and stamping devices. The grabbing and holding device and the moving device are detachably connected and fixed. The grabbing and holding device includes a suction cup fixed on a bracket assembly, and an air path for controlling the operation of the suction cup is provided between the grabbing and holding device and the moving device.

[0006] The moving device and the grasping and holding device of the utility model are detachably connected and the normal operation of the suction cup is ensured through a connected air path. It is only necessary to set different grasping and holding devices for the workpiece. The components of the handling robot body are widely applicable and the overall cost can be reduced.

[0007] Furthermore, the moving device includes a moving rod capable of moving in a vertical direction and a horizontal direction, and the grabbing and holding device and the moving rod are detachably connected and fixed.

[0008] The grabbing and holding device moves with the transfer rod to transport the workpiece.

[0009] Furthermore, the transfer rod is provided with a fixed seat, a mounting hole is provided on the front side of the fixed seat, a first positioning hole is provided on the top surface of the fixed seat, a clamping block is provided in the first positioning hole, the bracket assembly includes a first bracket, a second positioning hole is provided at the rear end of the first bracket, the rear end of the first bracket is inserted into the mounting hole, and the bottom of the clamping block passes through the first positioning hole and is inserted into the second positioning hole to connect and fix the first bracket and the fixed seat.

[0010] The grabbing and holding device is simple and easy to install and remove, making it convenient to change the bracket components.

[0011] Further, the pressing block is provided with a tapered step surface, and the top of the corresponding second positioning hole is provided with a tapered sink groove. The pressing block is inserted into the second positioning hole, and the tapered step surface and the tapered sink groove are in abutting contact.

[0012] The pressing block is in close contact with the first support.

[0013] Further, the transfer rod or the fixing seat is provided with a pressing cylinder. The pressing block is connected and fixed with the telescopic end of the pressing cylinder. The telescopic end of the pressing cylinder drives the pressing block to move downward to be inserted into the second positioning hole or to move upward to be separated from the second positioning hole.

[0014] The support assembly and the fixing seat are more firmly connected. In the high-speed movement of the transfer rod, the support assembly is not easy to fall off.

[0015] Further, the transfer rod is hollow for the signal line and the air pipe to pass through. The transfer rod is provided with an electromagnetic valve for controlling the pressing cylinder.

[0016] The electromagnetic valve facilitates the control of the action of the pressing cylinder.

[0017] Further, the fixing seat is provided with a first channel connected with a vacuum generator. The first channel is provided with a first communication port at the bottom surface of the mounting hole close to the open end. The first communication port is provided with a first sink groove. The first sink groove is provided with a sealing ring. The first support is provided with a second channel. The second channel is provided with a second communication port at the bottom surface of the first support close to the rear end. The rear end of the first support is inserted into the mounting hole. The sealing ring is in contact with the periphery of the second communication port. The second communication port and the first communication port are aligned and connected to constitute an air path for controlling the work of the suction cup. The second channel is provided with an outlet on the side surface of the first support and is connected with an air pipe quick connector.

[0018] The second communication port and the first communication port are connected and are not easy to leak air. The pressing cylinder can press the sealing ring tightly.

[0019] Further, the side surface of the first support close to the rear end is provided with a stop. The rear end of the first support is inserted into the mounting hole until the stop and the periphery of the mounting hole abut and limit.

[0020] The stop has a positioning effect. It is convenient for the second communication port and the first communication port to be aligned, for the first positioning hole and the second positioning hole to be aligned, and for the support assembly to be installed more simply.

[0021] Further, the support assembly further includes a second support and a third support. The first support is provided with a plurality of first adjusting holes in the length direction at the front end. The second support is provided with a plurality of second adjusting holes in the length direction. The length direction of the second support is perpendicular to the length direction of the second support. At least one second adjusting hole and the first adjusting hole are aligned and connected and fixed by a connecting piece. The third support is provided with a long strip-shaped adjusting hole in the length direction. The long strip-shaped adjusting hole is connected and fixed with one second adjusting hole at any position by a connecting piece. The suction cup is arranged at one end of the third support.

[0022] The adjustable design between the first bracket, the second bracket and the third bracket can move the suction cup to a variety of positions to meet usage requirements and reduce the number of required parts.

[0023] Furthermore, the suction cup is mounted on the third bracket via a suction cup buffer.

[0024] The suction cup is not easily damaged.

[0025] A stamping production line includes the above-mentioned independent manipulator, and also includes a feeding device, a discharging device, a stamping device and a moving device to drive the grasping and holding device to move between any two adjacent feeding devices, discharging devices and stamping devices.

[0026] The mobile device and gripping and holding device of the independent manipulator of the utility model are detachably connected and connected to the air path to ensure that the suction cup can perform adsorption work normally. The assembly and disassembly operations between the mobile device and the gripping and holding device are easy, and the gripping and holding device is quick-release and easy to replace. Only different gripping and holding devices need to be set for the workpiece. The mobile device is highly versatile and can reduce overall production costs. The adjustable design between the first bracket, the second bracket, and the third bracket can move the suction cup to a variety of positions. The gripping and holding device has a variety of ways to adsorb workpieces and a wide range of applications, meeting the needs of use in many occasions. The gripping and holding device reduces the number of required parts, further reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural diagram of the stamping production line of Example 1.

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the handling robot body in Example 1.

[0029] Figure 3 This is a schematic diagram of the partial decomposition structure of the handling robot body in Example 1.

[0030] Figure 4 This is a schematic diagram of the partial cross-sectional structure of the handling robot body in Example 1.

[0031] Figure 5 This is another partial cross-sectional structural diagram of the handling robot body in Example 1.

[0032] Figure 6 This is a structural diagram of the base in Example 1.

[0033] Figure 7 This is a schematic structural diagram of the first bracket in Example 1.

[0034] Figure 8 This is a structural diagram of the compression block in Example 1. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Example 1, see Figures 1-8 As shown, a stand-alone manipulator and a stamping production line using the same are shown. The stamping production line includes a feeding device 1, a discharging device 2, a stamping device 3, and a stand-alone manipulator. The stand-alone manipulator includes a handling manipulator body 4. In this embodiment, there are four stamping devices 3. A handling manipulator body 4 is provided between the feeding device 1 and the stamping device 3, between adjacent stamping devices 3, and between the stamping device 3 and the discharging device 2. The feeding device 1, the discharging device 2, and the stamping device 3 are conventional and will not be described in detail in this embodiment.

[0037] The transport robot body 4 includes a moving device 41 and a grabbing and holding device 5 provided on the body. The moving device 41 drives the grabbing and holding device 5 to move between any adjacent two of the feeding device 1 , the discharging device 2 and the punching device 3 .

[0038] The gripping and holding device 5 and the moving device 41 are detachably connected and fixed. The moving device 41 includes a transfer rod 42 that can move in both vertical and horizontal directions. The gripping and holding device 5 and the transfer rod 42 are detachably connected and fixed. The structure of the moving device 41 is conventional and will not be described in detail in this embodiment.

[0039] A fixing seat 6 is provided on the front of the transfer rod 42, and a mounting hole 60 is provided on the front of the fixing seat 6. A first positioning hole 63 is provided on the top surface of the fixing seat 6. A clamping cylinder (not shown in the figure) is provided above the first positioning hole 63 on the transfer rod 42 or the fixing seat 6. A clamping block 7 is connected and fixed to the telescopic end of the clamping cylinder. The hollow space inside the transfer rod 42 is used for the passage of signal lines and air pipes. A solenoid valve for controlling the clamping cylinder is provided on the transfer rod 42. The telescopic end of the clamping cylinder drives the clamping block 7 to move downward and insert it into the first positioning hole 63. The fixing seat 6 is provided with a first channel 67 connected to the vacuum generator. The first channel 67 is provided with a first connecting port 64 on the bottom surface of the mounting hole 60 near the open end. A first sink 65 is provided at the first connecting port 64, and a sealing ring 66 is provided in the first sink 65.

[0040] In this embodiment, the fixing base 6 includes a base 61 and a cover plate 62. The cover plate 62 is provided with the first positioning hole 63. The base 61 is provided with the mounting hole 60, which is open on the top surface. The cover plate 62 covers the top surface of the base 61 and obscures the open portion of the mounting hole 60. The base 61 is provided with the first channel 67. A vacuum generator (not shown) is mounted on the bottom surface of the base 61. The vacuum generator is conventional and will not be described in detail in this embodiment.

[0041] The grabbing and holding device 5 includes a suction cup 51 fixed on the bracket assembly 50 , and an air path for controlling the operation of the suction cup 51 is provided between the grabbing and holding device 5 and the moving device 41 .

[0042] The bracket assembly 50 includes a first bracket 8, a second bracket 52, and a third bracket 53. A second positioning hole 81 is defined at the rear end of the first bracket 8. The rear end of the first bracket 8 is inserted into the mounting hole 60. The bottom of the clamping block 7 passes through the first positioning hole 63 and is inserted into the second positioning hole 81, thereby securing the first bracket 8 to the mounting base 6. Specifically, the clamping block 7 has a tapered step surface 71, and a corresponding tapered recess 82 is defined at the top of the second positioning hole 81. The clamping block 7 passes through the first positioning hole 63 and is inserted into the second positioning hole 81, with the tapered step surface 71 and the tapered recess 82 contacting each other. Preferably, a slot 83 is defined at the rear end of the first bracket 8, connecting to the second positioning hole 81. The width of the slot 83 is smaller than the diameter of the bottom of the clamping block 7. The slot 83 and the bottom of the clamping block 7 act as a guide, guiding the rear end of the first bracket 8 through the slot 83 and into the second positioning hole 81. This allows the telescopic end of the clamping cylinder to move less extensively, requiring only the tapered step surface 71 to disengage from the tapered recess 82.

[0043] A second passage 84 is defined within the first bracket 8 . This second passage 84 has a second communication port on its bottom surface near the rear end. The rear end of the first bracket 8 is inserted into the mounting hole 60 . The pressing block 7 presses down on the first bracket 8 , causing the sealing ring 66 to contact the periphery of the second communication port. The second communication port aligns and connects with the first communication port 64 , forming an air path that controls the operation of the suction cup 51 . The second passage 84 has an outlet on the side of the first bracket 8 that connects to a quick-release air pipe connector 85 . The quick-release air pipe connector 85 and the suction cup 51 are connected via an air pipe.

[0044] A stopper 86 is provided on the side surface of the first bracket 8 near the rear end. The rear end of the first bracket 8 is inserted into the mounting hole 60 until the stopper 86 and the periphery of the mounting hole 60 are abutted against each other.

[0045] The front end of the first bracket 8 is provided with a plurality of first adjustment holes 87 along the length direction, the second bracket 52 is provided with a plurality of second adjustment holes 54 along the length direction, the length direction of the second bracket 52 is perpendicular to the length direction of the second bracket 52, at least one second adjustment hole 54 is aligned with the first adjustment hole 87 and is connected and fixed by a connecting member (such as a bolt, not shown in the figure), the third bracket 53 is provided with a long strip adjustment hole 55 along the length direction, any position of the long strip adjustment hole 55 and a second adjustment hole 54 are connected and fixed by a connecting member, and the suction cup 51 is installed on one end of the third bracket 53 through the suction cup buffer 56.

[0046] During commissioning of the stamping production line, the gripping and holding device 5 can be quickly removed from the mobile device 41. The suction cup 51 can be adjusted to the desired workpiece by adjusting the mounting positions between the first bracket 8, the second bracket 52, and the third bracket 53. Once the gripping and holding device 5 is adjusted, it is reattached to the mobile device 41. During removal and installation, there is no need to disassemble and install separate air circuits, simplifying the assembly process. The gripping and holding device 5 can quickly change its suction position within its adjustable range, depending on the stamping part, providing high versatility.

[0047] As used in this utility model, the terms: first, second, etc. do not indicate any order, quantity or importance, but are only used to distinguish.

[0048] As used in this utility model, the terms "a", "an", etc. do not indicate a limitation of quantity, but rather indicate the presence of at least one of the mentioned objects.

[0049] For example, terms indicating orientation or position used in this utility model, such as top, bottom, side, longitudinal, transverse, middle, center, outside, inside, horizontal, vertical, left, right, above, below, etc., are intended to reflect relative positions rather than absolute positions.

[0050] As used in this invention, terms such as "substantially," "overall," "approximately," and "similar" are qualifiers that indicate that a characteristic exists but a certain degree of deviation is permitted. The amount of the permitted degree of deviation may vary depending on the specific context.

Claims

1. A stand-alone manipulator, characterized in that: The transport manipulator comprises a transport manipulator body (4), the transport manipulator body (4) comprises a moving device (41) and a grabbing and holding device (5), the grabbing and holding device (5) and the moving device (41) are detachably connected and fixed, the grabbing and holding device (5) comprises a suction cup (51) fixed on a bracket assembly (50), and an air path for controlling the operation of the suction cup (51) is provided between the grabbing and holding device (5) and the moving device (41).

2. The independent manipulator according to claim 1, characterized in that: The moving device (41) comprises a moving rod (42) capable of moving in a vertical moving direction and a horizontal moving direction, and the grabbing and holding device (5) and the moving rod (42) are detachably connected and fixed.

3. The independent manipulator according to claim 2, characterized in that: The transfer rod (42) is provided with a fixed seat (6), the front surface of the fixed seat (6) is provided with a mounting hole (60), the top surface of the fixed seat (6) is provided with a first positioning hole (63), a pressing block (7) is provided in the first positioning hole (63), the bracket assembly (50) includes a first bracket (8), the rear end of the first bracket (8) is provided with a second positioning hole (81), the rear end of the first bracket (8) is inserted into the mounting hole (60), the bottom of the pressing block (7) passes through the first positioning hole (63) and is inserted into the second positioning hole (81), so as to connect and fix the first bracket (8) and the fixed seat (6).

4. The independent manipulator according to claim 3, characterized in that: The pressing block (7) is provided with a conical step surface (71), and the top of the corresponding second positioning hole (81) is provided with a conical sink groove (82). The pressing block (7) is inserted into the second positioning hole (81), and the conical step surface (71) and the conical sink groove (82) are in contact with each other.

5. The independent manipulator according to claim 4, characterized in that: The transfer rod (42) or the fixed seat (6) is provided with a clamping cylinder, and the clamping block (7) and the telescopic end of the clamping cylinder are connected and fixed. The telescopic end of the clamping cylinder drives the clamping block (7) to move downward and insert into the second positioning hole (81) or move upward and leave the second positioning hole (81).

6. The independent manipulator according to claim 5, characterized in that: The hollow inside of the transfer rod (42) is used for passing the signal line and the air pipe. The transfer rod (42) is provided with a solenoid valve for controlling the compacting cylinder.

7. The independent manipulator according to claim 3, characterized in that: The fixing seat (6) is provided with a first channel (67) connected to the vacuum generator, the first channel (67) is provided with a first communication port (64) on the bottom surface of the mounting hole (60) near the open end, a first sinking groove (65) is provided at the first communication port (64), a sealing ring (66) is provided in the first sinking groove (65), a second channel (84) is provided in the first bracket (8), the second channel (84) is provided with a second communication port on the bottom surface of the first bracket (8) near the rear end, the rear end of the first bracket (8) is inserted into the mounting hole (60), the sealing ring (66) is in contact with the periphery of the second communication port, the second communication port and the first communication port (64) are aligned and connected to form an air path for the control suction cup (51) to work, and the second channel (84) is provided with an outlet on the side of the first bracket (8) and connected to the air pipe quick connector (85).

8. The independent manipulator according to claim 3, characterized in that: A stopper (86) is provided on the side of the first bracket (8) near the rear end, and the rear end of the first bracket (8) is inserted into the mounting hole (60) until the stopper (86) and the periphery of the mounting hole (60) abut against each other.

9. The independent manipulator according to claim 3, characterized in that: The bracket assembly (50) further includes a second bracket (52) and a third bracket (53), wherein a front end of the first bracket (8) is provided with a plurality of first adjustment holes (87) along the length direction, and a plurality of second adjustment holes (54) are provided along the length direction of the second bracket (52), wherein the length direction of the second bracket (52) is perpendicular to the length direction of the second bracket (52), and at least one second adjustment hole (54) is aligned with the first adjustment hole (87) and is connected and fixed by a connecting member, and the third bracket (53) is provided with a strip-shaped adjustment hole (55) along the length direction, and any position of the strip-shaped adjustment hole (55) and one second adjustment hole (54) are connected and fixed by a connecting member, and a suction cup (51) is provided at one end of the third bracket (53), and the suction cup (51) is mounted on the third bracket (53) through a suction cup buffer (56).

10. A stamping production line, comprising the independent manipulator according to any one of claims 1 to 9, characterized in that: It also includes a feeding device (1), a discharging device (2), a punching device (3) and a moving device (41) that drives the grabbing and holding device (5) to move between any two adjacent ones of the feeding device (1), the discharging device (2) and the punching device (3).

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