Automatic feeding and discharging manipulator structure for stamping parts

Abstract

The utility model discloses an automatic feeding and discharging manipulator structure for stamping parts, which comprises a mechanical arm fixedly mounted on the ground; the mounting block is rotationally connected with the end of the mechanical arm, and a plurality of telescopic rods are mounted on the mounting block; the adsorption frame is a polygonal frame composed of a plurality of telescopic combined rods, the adjacent combined rods are hinged, the telescopic rods are hinged to the ends of the combined rods, the outer side faces of the combined rods and the telescopic rods are detachably connected with a plurality of electromagnets, the electromagnets are externally connected with a controller, and buffer blocks are installed on the end faces of the electromagnets. The adsorption frame has the advantages that the shape of the adsorption frame can be adjusted under the telescopic action of the telescopic rod, meanwhile, the distance between the electromagnets installed on the adsorption frame and the end face of the telescopic rod can be adjusted, iron plates of different shapes can be adsorbed and grabbed, and then the adsorption and grabbing effect can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the related technical field of mechanical hand, especially a stamping part automation feeding and discharging mechanical hand structure. BACKGROUND

[0002] In modern factories, in order to improve production efficiency and ensure the safety of personnel, now more adopt the mechanical hand to carry out the feeding and discharging operation when processing. The existing mechanical hand structure is widely used in lathe machining center, automobile parts, electronic production line and other fields.

[0003] When processing the iron plate, the use of mechanical hand is more convenient, but the spacing of the adsorption point in the existing mechanical hand's grabbing adsorption module cannot be adjusted, so that when grabbing, the workpiece falls due to the excessive weight, therefore, the existing mechanical hand structure needs to be improved to adjust the spacing of the adsorption point when grabbing the iron plate of different shapes and sizes, and ensure the grabbing effect. UTILITY MODEL CONTENT

[0004] The utility model discloses to overcome the insufficient that the spacing of adsorption point is not adjustable and the adsorption effect is poor in the prior art, provide a kind of stamping part automation feeding and discharging mechanical hand structure, the spacing of adsorption point is adjustable, and adsorption grabbing effect is good.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme: a kind of stamping part automation feeding and discharging mechanical hand structure, comprising: mechanical arm, the mechanical arm is fixedly installed on ground;

[0006] Mounting block, the mounting block is rotatably connected with the end of mechanical arm, the mounting block is installed with several telescopic rods;

[0007] Adsorption frame, the adsorption frame is the polygonal frame of several telescopic combination rods, adjacent combination rod articulates, the end of telescopic rod and combination rod is articulated, the outer side of combination rod and telescopic rod can be detachably connected with several electromagnetic blocks, the electromagnetic block is connected with controller, the end surface of electromagnetic block is installed with buffer block.

[0008] The mechanical arm is a rectangular coordinate type, which includes three mutually orthogonal movement joints and has three translational degrees of freedom. A telescopic cylinder is arranged on one of the movement joints, which can extend the movement joint and further improve the control range. The bottom of the mechanical arm can be fixedly installed on the ground. An installation block is installed at the end of the mechanical arm, which can be rotationally connected with the end head of the mechanical arm, i.e. the end movement joint of the mechanical arm is a rotatable joint. Through the rotation function, the installation block can be rotated, and the mechanical arm can be programmed to realize grabbing the iron plate and then being put into different molds through the control program, which facilitates subsequent stamping processing. A plurality of telescopic rods are installed on the installation block, and the number of the telescopic rods is at least four. Meanwhile, a suction frame is arranged on the structure, which is composed of a plurality of telescopic combination rods hingedly connected at the tail, forming a polygonal frame. The number of the combination rods is at least four, and the number of the combination rods is the same as that of the telescopic rods. The extension end of the telescopic rod is hingedly connected with the hinge end of the adjacent combination rod. Meanwhile, a plurality of electromagnets are installed on the outer side of the combination rod and the telescopic rod, which are detachably connected. Through the detachable connection, the electromagnets can be arranged in combination to meet the adsorption and grabbing of iron plates of different shapes, which facilitates subsequent stamping processing. The shape of the suction frame can be deformed under the telescopic action of the telescopic rod, and the spacing of the electromagnets installed on the suction frame can be adjusted to realize adjustable adsorption point spacing and improve the adsorption effect. Meanwhile, the electromagnets are connected with a controller, which can control the on-off of the electromagnets to realize the grabbing and releasing of the electromagnets on the iron plate, so that the grabbing and releasing operation is simple and convenient, and the adsorption and grabbing effect is good. Meanwhile, a buffer block is installed on the end face of the electromagnet, which can avoid damaging the iron plate during adsorption and grabbing, ensure the normality of subsequent stamping processing, and ensure the good effect of stamping part forming.

[0009] As preferred, a plurality of installation grooves are arranged in the installation block, which are rectangular grooves and are uniformly arranged. The telescopic rods are installed in the installation grooves. The plurality of installation grooves arranged in the installation block are uniformly arranged, which are rectangular grooves, and the number of the installation grooves is at least four. Meanwhile, the number of the installation grooves is the same as that of the telescopic rods, and the telescopic rods are installed in the installation grooves. This structure plays a role in fixing the telescopic rods, ensures the stability of the telescopic action of the telescopic rods, facilitates the subsequent adjustment of the shape of the suction frame, and further adjusts the spacing of the electromagnets, i.e. adjusts the adsorption point spacing, and improves the adsorption and grabbing effect.

[0010] As preferred, the hinged end of the adjacent combined rod is provided with a hinged shaft, the end of the telescopic rod is provided with a mounting seat, the mounting seat is a U-shaped piece, and the hinged shaft is rotationally connected with the mounting seat. Among them, the end of the adjacent combined rod is hinged with a hinged shaft, the hinged shaft is mounted to realize the hinging of the adjacent combined rod, the mounting seat provided at the end of the telescopic rod is a U-shaped piece, the hinged shaft is rotationally connected with the mounting seat, the hinging of the combined rod and the telescopic rod is realized, the shape adjustment of the adsorption frame is facilitated, and the spacing of the electromagnet blocks is adjusted, that is, the spacing between the adsorption points is adjusted, and the adsorption and grabbing effect is improved.

[0011] As preferred, the combined rod comprises a main pipe and two extension rods, the extension rods are inserted into the main pipe, the outer end of the extension rod is provided with a hinged hole, the hinged hole is sleeved with a hinged shaft, the inner end of the extension rod is provided with a limiting block, the main pipe is provided with a tension spring inside, and the two ends of the tension spring are respectively connected with the limiting blocks. Among them, the main pipe and the extension rod are arranged in the combined rod, the extension rod is inserted into the main pipe, the outer end of the extension rod is provided with a hinged hole, the hinged rod is sleeved with a hinged shaft to realize hinged connection, the inner end of the extension rod is provided with a limiting block, and the inside of the main pipe is provided with a tension spring, the two ends of the tension spring are respectively connected with the limiting blocks arranged at the ends of the extension rods. This structure can ensure that the extension rod remains stable when it moves under the tension of the tension spring when the extension rod and the main pipe slide relative to each other.

[0012] As preferred, the open end of the main pipe is provided with a limiting plate, the side wall of the extension rod is provided with a plurality of mounting holes, the mounting holes are provided with limiting balls, and the limiting balls are connected with the mounting holes through supporting springs. Among them, the open end of the main pipe is provided with a limiting plate, a plurality of mounting holes are arranged on the side wall of the extension rod at equal intervals, supporting springs are connected to the inner bottom surface of the mounting holes, the ends of the supporting springs are connected with limiting balls, the limiting balls are arranged in the limiting holes, part of the limiting balls exceeds the side wall surface of the extension rod, the limiting balls are in contact with the limiting plate, and the state of this structure can ensure the stable state of the extension rod and the main pipe. When the extension rod moves outward, the limiting ball at the front end passes through the end of the main pipe, the limiting ball at the rear end is in contact with the limiting plate, and the extension rod is also in a stable state after it is extended outward. Therefore, the stability of the mechanical hand structure is ensured when the mechanical hand structure adsorbs and grabs the iron plate, and the adsorption and grabbing effect is good.

[0013] As preferred, the outer side of the main tube and the mounting base is provided with a mounting threaded hole, the electromagnet block is provided with a mounting screw rod, and the mounting screw rod is connected with the mounting threaded hole.

[0014] As preferred, the middle part of the outer end face of the electromagnet block is provided with a let-in slot, the buffer block is mounted in the let-in slot, and the end face of the buffer block exceeds the end face of the electromagnet block. Wherein, the outer end face of the electromagnet block is provided with the let-in slot, the buffer block is mounted in the let-in slot, and the end face of the buffer block exceeds the end face of the electromagnet block. After the electromagnet block is powered, the electromagnet block can attract the iron plate. When the iron plate is attracted, the iron plate first contacts the buffer block. After the iron plate is attracted, the buffer block is pressed into the let-in slot of the electromagnet block. During the attraction and grabbing process, the buffer block can prevent the iron plate from being damaged when the electromagnet block contacts the iron plate, thereby improving the attraction and grabbing effect.

[0015] As preferred, the end face of the buffer block is provided with an attraction slot, and the attraction slot is a tapered slot. Wherein, the end face of the buffer block is provided with the attraction slot, and the attraction slot is tapered. When the electromagnet block attracts the iron plate, the buffer block is compressed into the let-in slot. At the same time, the tapered attraction slot can have a certain attraction effect on the iron plate when it contacts the iron plate, thereby improving the attraction effect on the iron plate and ensuring the attraction and grabbing effect of the structure.

[0016] The beneficial effects of the utility model are: the attraction frame can adjust its shape under the telescopic action of the telescopic rod, and the distance between the electromagnet blocks mounted on the end faces of the attraction frame and the telescopic rod can be adjusted, thereby meeting the attraction and grabbing of iron plates of different shapes and improving the attraction and grabbing effect. At the same time, the electromagnet blocks are detachably mounted, and the attraction and grabbing of iron plates of different shapes can be met by mounting the electromagnet blocks at different arrangement positions, thereby improving the attraction and grabbing effect. The buffer blocks mounted on the electromagnet blocks can prevent the iron plate from being damaged when the electromagnet block contacts the iron plate, thereby improving the attraction and grabbing effect. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the perspective view of the utility model;

[0018] Figure 2 is Figure 1 is the enlarged view of A in the figure;

[0019] Figure 3 is the sectional view of the telescopic rod in the utility model;

[0020] Figure 4 This is a cross-sectional view of the combined rod in this utility model.

[0021] In the attached diagram, 1. robotic arm, 2. mounting block, 3. telescopic rod, 4. combination rod, 5. electromagnet block, 6. buffer block, 20. mounting groove, 30. mounting base, 31. mounting threaded hole, 40. hinge shaft, 41. main tube, 42. extension rod, 43. hinge hole, 44. limiting block, 45. tension spring, 46. limiting plate, 47. mounting hole, 48. limiting ball, 49. support spring, 50. mounting screw, 51. clearance groove, 60. adsorption groove. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0025] Example 1, as Figures 1-4 As shown, an automated loading and unloading robot structure for stamping parts includes:

[0026] Robotic arm 1, which is fixedly installed on the ground;

[0027] Mounting block 2 is rotatably connected to the end of robotic arm 1, and several telescopic rods 3 are mounted on mounting block 2;

[0028] The adsorption frame is a polygonal frame composed of several telescopic combination rods 4, adjacent combination rods 4 are hinged, the telescopic rod 3 is hinged with the end of the combination rod 4, the outer side of the combination rod 4 and the telescopic rod 3 is detachably connected with several electromagnet blocks 5, the electromagnet block 5 is externally connected with a controller, and the end face of the electromagnet block 5 is provided with a buffer block 6.

[0029] A plurality of mounting grooves 20 are arranged in the mounting block 2, the mounting grooves 20 are rectangular grooves, and the mounting grooves 20 are uniformly arranged, and the telescopic rod 3 is mounted in the mounting groove 20.

[0030] The hinged end of the adjacent combination rod 4 is provided with a hinge shaft 40, and the end of the telescopic rod 3 is provided with a mounting seat 30, the mounting seat 30 is a U-shaped piece, and the hinge shaft 40 is rotationally connected with the mounting seat 30.

[0031] The combination rod 4 comprises a main pipe 41 and two extension rods 42, the extension rod 42 is inserted into the main pipe 41, the outer end of the extension rod 42 is provided with a hinge hole 43, the hinge hole 43 is sleeved with the hinge shaft 40, the inner end of the extension rod 42 is provided with a limiting block 44, the main pipe 41 is provided with a tension spring 45, and the two ends of the tension spring 45 are connected with the limiting block 44.

[0032] The open end of the main pipe 41 is provided with a limiting plate 46, the side wall of the extension rod 42 is provided with a plurality of mounting holes 47, the mounting hole 47 is provided with a limiting ball 48, the limiting ball 48 and the mounting hole 47 are connected with a supporting spring 49, and the limiting ball 48 is in contact with the limiting plate 46.

[0033] The outer side of the main pipe 41 and the mounting seat 30 is provided with a mounting threaded hole 31, the electromagnet block 5 is provided with a mounting screw rod 50, and the mounting screw rod 50 is connected with the mounting threaded hole 31.

[0034] The outer end face of the electromagnet block 5 is provided with a let-out groove 51, the buffer block 6 is mounted in the let-out groove 51, and the end face of the buffer block 6 exceeds the end face of the electromagnet block 5.

[0035] The end face of the buffer block 6 is provided with an adsorption groove 60, and the adsorption groove 60 is a tapered groove.

[0036] The working principle of the utility model is as follows: Figures 1-4As shown, a mechanical arm 1 is arranged in the structure, which is a Cartesian coordinate type, and includes three mutually orthogonal movement joints, having three translational degrees of freedom. A telescopic cylinder is arranged on one of the movement joints, which can extend the movement joint and further improve the control range. The bottom of the mechanical arm 1 can be fixedly installed on the ground. An installation block 2 is installed at the end of the mechanical arm 1, which can be rotationally connected with the end of the mechanical arm 1, i.e. the end movement joint of the mechanical arm 1 is a rotatable joint, which can drive the installation block 2 to rotate through the rotation function, and then the mechanical arm 1 can be programmed to realize grabbing the iron plate and then putting it into different molds through the control program, which is convenient for subsequent stamping processing. A plurality of telescopic rods 3 are installed on the installation block 2, wherein the number of telescopic rods 3 is at least four. At the same time, an adsorption frame is arranged on the structure, which is composed of a plurality of telescopic combination rods 4 hingedly connected at the tail, forming a polygonal frame, wherein the number of combination rods 4 is at least four, and the number of combination rods 4 is the same as that of telescopic rods 3. The extension end of the telescopic rod 3 is hingedly connected with the hinged end of the adjacent combination rod 4. At the same time, a plurality of electromagnet blocks 5 are installed on the outer side of the combination rod 4 and the telescopic rod 3, which are detachably connected, and the combination arrangement of the electromagnet blocks 5 can be realized through the detachable connection, which can meet the adsorption and grabbing of iron plates of different shapes and facilitate subsequent stamping processing. The shape of the adsorption frame can be deformed under the telescopic action of the telescopic rod 3, and then the spacing of the electromagnet blocks 5 installed on the adsorption frame can be realized, the adsorption point spacing can be adjusted, and the adsorption effect is good. At the same time, the electromagnet blocks 5 are externally connected with a controller, which can control the on-off of the electromagnet blocks 5, realize the grabbing and releasing of the iron plate by the electromagnet blocks 5, and make the grabbing and releasing operation simple and convenient, improve the adsorption and grabbing effect. At the same time, a buffer block 6 is installed on the end face of the electromagnet block 5, which can avoid damaging the iron plate during adsorption and grabbing, ensure the normality of subsequent stamping processing, and ensure the good effect of stamping part forming.

[0037] The installation slots 20 arranged in the installation block 2 are evenly arranged, which are rectangular slots, and the number of installation slots 20 is at least four, and the number of installation slots 20 is the same as that of telescopic rods 3, and the telescopic rods 3 are installed in the installation slots 20, which can fix the telescopic rods 3, ensure the stability of the telescopic action of the telescopic rods 3, facilitate the adjustment of the shape of the adsorption frame, and further realize the adjustment of the spacing of the electromagnet blocks 5, i.e. the adjustment of the adsorption point spacing, and improve the adsorption and grabbing effect.

[0038] The end of the adjacent combined rod 4 is hinged with a hinge shaft 40, the hinge of the adjacent combined rod 4 is realized through the installation of the hinge shaft 40, the mounting seat 30 arranged at the end of the telescopic rod 3 is a U-shaped piece, the hinge shaft 40 is rotationally connected with the mounting seat 30, the hinge of the combined rod 4 and the telescopic rod 3 is realized, the shape adjustment of the adsorption frame is facilitated, and then the distance between the electromagnet blocks 5 is adjusted, that is, the distance between the adsorption points is adjusted, and the adsorption and grabbing effect is improved.

[0039] The combined rod 4 is provided with a main pipe 41 and an extension rod 42, the extension rod 42 is inserted into the main pipe 41, the hinge hole 43 is arranged at the outer end of the extension rod 42, the hinge rod is sleeved with the hinge shaft 40, the hinge connection is realized, the limiting block 44 is arranged at the inner end of the extension rod 42, and the inside of the main pipe 41 is provided with the tension spring 45, the two ends of the tension spring 45 are connected with the limiting blocks 44 arranged at the ends of the extension rod 42, and the structure can ensure that the extension rod 42 moves stably under the tension of the tension spring 45 when the extension rod 42 and the main pipe 41 slide relative to each other.

[0040] The opening end of the main pipe 41 is provided with a limiting plate 46, a plurality of mounting holes 47 are arranged on the side wall of the extension rod 42 at equal intervals, the supporting spring 49 is connected to the inner bottom surface of the mounting hole 47, the end of the supporting spring 49 is connected with the limiting ball 48, the limiting ball 48 is arranged in the limiting hole and part of the limiting ball 48 exceeds the side wall surface of the extension rod 42, the limiting ball 48 is in contact with the limiting plate 46, and the state of the structure can ensure the stable state of the extension rod 42 and the main pipe 41. When the extension rod 42 moves outward, the limiting ball 48 at the front end penetrates the end of the main pipe 41, so that the limiting ball 48 at the rear end is in contact with the limiting plate 46, and then the extension rod 42 is also in a stable state after the extension rod 42 is extended outward, and the stability of the mechanical hand structure is ensured when the mechanical hand structure adsorbs and grabs the iron plate, so that the adsorption and grabbing effect is good.

[0041] The outer side surface of the main pipe 41 and the mounting seat 30 is provided with a mounting threaded hole 31, the inner side surface of the electromagnet block 5 is provided with a mounting screw rod 50, the mounting screw rod 50 is in threaded connection with the mounting threaded hole 31, the structure can realize detachable connection, the installation and dismounting of the electromagnet block 5 are facilitated, and the distance between the electromagnet blocks 5 can be adjusted, that is, the distance between the adsorption points is adjusted, and the adsorption and grabbing effect is improved.

[0042] The outer end surface of the electromagnet block 5 is provided with a clearance slot 51, the buffer block 6 is installed in the clearance slot 51, and the end surface of the buffer block 6 exceeds the end surface of the electromagnet block 5; after the electromagnet block 5 is electrified, the electromagnet block 5 can attract the iron plate; when the iron plate is attracted, the iron plate first contacts the buffer block 6; after the iron plate is attracted, the buffer block 6 is pressed into the clearance slot 51 of the electromagnet block 5; during the attraction and grabbing process, the buffer block 6 can prevent the electromagnet block 5 from damaging the iron plate when the electromagnet block 5 contacts the iron plate, thereby improving the attraction and grabbing effect.

[0043] The end surface of the buffer block 6 is provided with an attraction slot 60, the attraction slot 60 is tapered, when the electromagnet block 5 attracts the iron plate, the buffer block 6 is compressed into the clearance slot 51, and at the same time, the tapered attraction slot 60 can have a certain attraction effect on the iron plate when contacting the iron plate, thereby improving the attraction effect on the iron plate, and further ensuring the attraction and grabbing effect of the structure.

[0044] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A stamping automatic feeding and discharging manipulator structure, characterized in that, Include: Mechanical arm (1), the mechanical arm (1) is fixedly installed on the ground; Mounting block (2), the mounting block (2) is rotatably connected with the end of mechanical arm (1), the mounting block (2) is installed with several telescopic rods (3); The adsorption frame is a polygonal frame composed of several telescopic combination rods (4), adjacent combination rods (4) are hinged, the telescopic rod (3) is hinged with the end of the combination rod (4), the outer side surface of the combination rod (4) and the telescopic rod (3) can be detachably connected with several electromagnet blocks (5), the electromagnet block (5) is connected with a controller, the electromagnet block (5) end face is provided with buffer block (6).

2. The automatic loading and unloading manipulator structure of a stamping part according to claim 1, characterized in that, The mounting block (2) is provided with several mounting grooves (20), the mounting groove (20) is a rectangular groove, several mounting grooves (20) are evenly arranged, the telescopic rod (3) is installed in the mounting groove (20).

3. The automatic loading and unloading manipulator structure of a stamping part according to claim 1, characterized in that, The hinged end of adjacent combination rod (4) is provided with a hinge shaft (40), the end of telescopic rod (3) is provided with a mounting seat (30), the mounting seat (30) is a U-shaped piece, the hinge shaft (40) is rotatably connected with the mounting seat (30).

4. The automatic loading and unloading manipulator structure of a stamping part according to claim 3, characterized in that, The combination rod (4) includes a main tube (41) and two extension rods (42), the extension rod (42) is inserted into the main tube (41), the outer end of the extension rod (42) is provided with a hinge hole (43), the hinge hole (43) is sleeved with the hinge shaft (40), the inner end of the extension rod (42) is provided with a limiting block (44), the main tube (41) is provided with a tension spring (45), the two ends of the tension spring (45) are connected with the limiting block (44) respectively.

5. The automatic loading and unloading manipulator structure of a stamping part according to claim 4, characterized in that, The opening end of the main tube (41) is provided with a limiting plate (46), the side wall of the extension rod (42) is provided with several mounting holes (47), the mounting hole (47) is provided with a limiting ball (48), the limiting ball (48) and the mounting hole (47) are connected with a supporting spring (49), the limiting ball (48) is in contact with the limiting plate (46).

6. The automatic loading and unloading manipulator structure of a stamping part according to claim 4, characterized in that, The outer side surface of the main tube (41) and the mounting seat (30) is provided with a mounting threaded hole (31), the electromagnet block (5) is provided with a mounting screw rod (50), the mounting screw rod (50) is connected with the mounting threaded hole (31).

7. The automatic loading and unloading manipulator structure of a stamping part according to claim 1, characterized in that, The middle part of the outer end surface of the electromagnet block (5) is provided with a let go slot (51), the buffer block (6) is installed in the let go slot (51), the end surface of the buffer block (6) exceeds the end surface of the electromagnet block (5).

8. The automatic loading and unloading manipulator structure of a stamping part according to claim 7, characterized in that, The end surface of the buffer block (6) is provided with an adsorption groove (60), the adsorption groove (60) is a tapered groove.

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