Multi-station lifting clamping jaw transfer structure

Abstract

The utility model provides a multi-station lifting clamping jaw transfer structure. The multi-station lifting clamping jaw transfer structure comprises an aluminum profile. The sliding bearing assembly is installed on the side, close to a product, of the aluminum profile through a support. The limiting guide rod assembly is coaxially arranged on the sliding bearing assembly in a penetrating manner, and the limiting guide rod assembly does oblique linear motion along the sliding bearing assembly; the sliding block is horizontally installed below the limiting guide rod assembly, the bottom of the sliding block is horizontally arranged, the sliding block moves close to or away from the product along with movement of the limiting guide rod assembly, and a proximity switch sensor is further installed at the end, close to the product, of the sliding block. The clamping jaws are installed at the bottoms of the sliding blocks in parallel and tightly attached mode, the ends, close to the products, of the clamping jaws extend out of the ends, on the same sides of the sliding blocks, of the clamping jaws, and when the clamping jaws are close to the products, the products are lifted. The sliding bearing assembly and the limiting guide rod assembly are used for achieving mechanical arm auxiliary material clamping translation so as to achieve relative movement of products on the surface of a mold, manual placement is omitted, positioning is accurate, and production efficiency and quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of product transfer, and in particular to the field of robotic arm transfer technology, specifically a multi-station lifting gripper transfer structure. Background Technology

[0002] Since the reform and opening up, my country's industrial output and industrial level have been greatly improved. The widespread use of mechanical automation technology in the national economy has led to rapid market growth. Mechanical automation technology has become the first choice for Chinese enterprises to actively cope with rising human resource costs and has become one of the important driving forces in my country's economic transformation.

[0003] Currently, our company's production of automotive headlight back covers relies on manual placement, which is inefficient, labor-intensive, and fails to reduce costs. Furthermore, the strict dimensional requirements of the products and the instability of manual placement lead to defective products and increased subsequent costs. Specifically, these factors include the following:

[0004] Because the product goes through multiple processes, it cannot move from one workstation to the next on its own. Therefore, it is necessary to manually place the parts to the next workstation. This is very dangerous and inefficient, as it requires reaching into the mold.

[0005] In addition, repetitive manual actions can easily lead to fatigue, potentially resulting in dangerous operations such as missed steps or misplacement. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a multi-station lifting gripper transfer structure to solve the difficulties of the prior art.

[0007] To achieve the above and other related objectives, this utility model provides a multi-station lifting gripper transfer structure, comprising:

[0008] Aluminum profile 1, which is horizontally arranged on both sides of the punching station;

[0009] A sliding bearing assembly is mounted on the side of the aluminum profile 1 closest to the product via a bracket 4. The sliding bearing assembly is inclined, with its bottom closer to the product than its top.

[0010] A limiting guide rod assembly is coaxially mounted on a sliding bearing assembly, with one bottom end passing through the lower end of the sliding bearing assembly and extending toward the punch press station. The limiting guide rod assembly moves obliquely in a straight line along the sliding bearing assembly.

[0011] The slider 12 is horizontally installed below the limiting guide rod assembly, with its bottom set horizontally. The slider 12 moves closer to or away from the product as the limiting guide rod assembly moves. A proximity switch sensor 2 is also installed on the end of the slider 12 that is closer to the product.

[0012] The gripper 13 is installed parallel and close to the bottom of the slider 12. The end of the gripper 13 near the product extends out of the end of the slider 12 on the same side. When the gripper 13 is close to the product, it lifts the product.

[0013] According to a preferred embodiment, the sliding bearing assembly includes:

[0014] A sliding bearing fixing block 7 is installed on the bracket 4 by bolts;

[0015] The sliding bearing 8 is embedded in the sliding bearing fixing block 7, and a through elongated hole for installing the limiting guide rod 5 is pre-reserved coaxially at the center.

[0016] The top pressure block 6 and the bottom pressure block 9 are tightly fitted on both ends of the sliding bearing fixing block 7.

[0017] According to the preferred embodiment, the sliding bearing fixing block 7 is inclined at 45°.

[0018] According to the preferred embodiment, the bracket 4 is inclined on the side away from the aluminum profile 1, and the bottom is closer to the product than the top.

[0019] According to the preferred embodiment, the limiting guide rod assembly includes:

[0020] The limiting guide rod 5 is coaxially inserted through the sliding bearing 8 and has a pre-drilled mounting hole at the bottom. The outer diameter of the rod cap at the top of the limiting guide rod 5 is larger than the inner diameter of the elongated hole in the sliding bearing 8.

[0021] A rectangular spring 10 is sleeved on the limiting guide rod 5 and located between the sliding bearing fixing block 7 and the slider 12.

[0022] According to the preferred embodiment, the outer diameter of the first rectangular spring 10 is larger than the inner diameter of the elongated hole in the sliding bearing 8.

[0023] According to the preferred embodiment, a limiting block 3 is installed at the end of the sliding bearing fixing block 7 away from the product via a top pressure block 6. The distance between the inner side of the limiting block 3 and the central axis of the sliding bearing fixing block 7 is less than the distance between the outer side of the rod cap of the limiting guide rod 5 and the central axis of the sliding bearing fixing block 7.

[0024] According to a preferred embodiment, the slider 12 includes a guide rod connecting end 121 and a gripper connecting end 122;

[0025] The guide rod connecting end 121 is integrally set on the top of the gripper connecting end 122 and is close to the product. The guide rod connecting end 121 is provided with a mounting groove for installing the limiting guide rod 5.

[0026] The bottom of the guide rod connecting end 121 is horizontally arranged, and the end of the guide rod connecting end 121 away from the gripper connecting end 122 is provided with a pin hole for connection with the bottom gripper 13;

[0027] The guide rod connecting end 121 and the gripper connecting end 122 are flush with each other in the vertical direction on the side closest to the product.

[0028] According to the preferred embodiment, the top two sides of the guide rod connecting end 121 are inclined.

[0029] According to the preferred embodiment, the top of the guide rod connecting end 121 is set at a 90-degree angle.

[0030] According to the preferred embodiment, the bottom of the limiting guide rod 5 is locked onto the guide rod connection end 121 of the slider 12 by passing a pin 11 through a pin hole.

[0031] According to the preferred embodiment, a guide rod 14 is coaxially and horizontally installed inside the gripper 13. A second rectangular spring 15 is sleeved on the guide rod 14. A ejector pin 16 is installed at the end of the guide rod 14 near the product, and the end of the ejector pin 16 away from the product abuts against the second rectangular spring 15.

[0032] When not holding a product, the other end of the ejector pin 16 protrudes from the gripper 13.

[0033] This invention utilizes a sliding bearing assembly and a limiting guide rod assembly to enable a robotic arm to assist in clamping and translating the material, thereby achieving relative movement of the product on the mold surface. This eliminates the need for manual placement, provides precise positioning, and improves production efficiency and quality.

[0034] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, so as to facilitate an understanding of the features and advantages of the present invention. Attached Figure Description

[0035] Figure 1 This is shown as a top view of the present invention, and also as a schematic diagram of step I;

[0036] Figure 2 This is shown as the front view of the present invention, and also as a schematic diagram of step I;

[0037] Figure 3 Displayed as Figure 2 A magnified schematic diagram of a local structure;

[0038] Figure 4 Displayed as Figure 2A magnified schematic diagram of a local structure;

[0039] Figure 5 This is a schematic diagram of step II;

[0040] Figure 6 The diagram shown is for step III;

[0041] Figure 7 This is a schematic diagram of step IV;

[0042] Label Explanation

[0043] 1. Aluminum profile; 2. Proximity switch sensor; 3. Limit block; 4. Bracket; 5. Limit guide rod; 6. Top pressure block; 7. Sliding bearing fixing block; 8. Sliding bearing; 9. Bottom pressure block; 10. No. 1 rectangular spring; 11. Pin; 12. Slider; 121. Guide rod connecting end; 122. Gripper connecting end; 13. Gripper; 14. Guide rod; 15. No. 2 rectangular spring; 16. Ejector pin. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0045] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of protection of this utility model may have fewer components, have other components not shown in the drawings, different components, components arranged differently, or components with different connections, etc. Furthermore, two or more components shown in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0046] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, “an” or “a” and similar terms do not necessarily indicate a quantity limitation. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0047] This utility model proposes a multi-station lifting gripper transfer structure for use in product transfer processes. This utility model does not limit the type of product, but the multi-station lifting gripper transfer structure is particularly suitable for automotive headlight back covers.

[0048] In general, the multi-station lifting gripper transmission structure proposed in this utility model mainly includes an aluminum profile 1, a sliding bearing assembly, a limiting guide rod assembly, a slider 12, and a gripper 13. See also... Figure 1 It shows the arrangement of aluminum profile 1, sliding bearing assembly, limit guide rod assembly, slider 12 and gripper 13.

[0049] To optimize the accuracy of product placement and solve the problems in the background technology, such as low efficiency, high labor intensity, and high cost due to manual placement, as well as the instability caused by strict product size requirements and manual placement, resulting in defective products and increased subsequent costs, the technical solution provided in this embodiment installs aluminum profiles 1 on both sides of the punching station, and installs grippers 13 and other structures on the aluminum profiles 1 to form the basis for product transfer and provide stable operation.

[0050] Specifically, aluminum profile 1 is preferably an 80*808 slotted heavy-duty profile because this profile moves continuously back and forth and left and right during the production process via a servo motor. This metal has a low density and is lightweight, with a density of only 2.70 g / cm³. 3 It is 1 / 3 the weight of iron, so there is no need to consider its load-bearing capacity during use. After anodizing, its corrosion resistance is greatly improved, and it is not easy to rust. It is superior in both appearance and service life, so this type of profile is used as an auxiliary moving medium.

[0051] Overall, such as Figure 1 As shown, the sliding bearing assembly is installed on the side of the aluminum profile 1 closest to the product via the bracket 4. Since the side of the bracket 4 away from the aluminum profile 1 is inclined, the bottom is closer to the product than the top. Therefore, the sliding bearing assembly installed on the bracket 4 is also inclined. After installation, the bottom of the sliding bearing assembly is closer to the product than the top, and there is also space around the punch press and the product to prevent the clamp 13 from clamping later and avoid any impact, thus providing effective protection for the lifting and movement of the product.

[0052] The sliding bearing assembly is mounted on the bracket 4 via a sliding bearing fixing block 7, a sliding bearing 8, a top pressure block 6, and a bottom pressure block 9. First, the sliding bearing fixing block 7 is bolted onto the bracket 4 to maintain the tilt of the entire sliding bearing assembly. Second, the sliding bearing 8 is embedded in the sliding bearing fixing block 7, with a through-hole for mounting a limiting guide rod 5 pre-drilled coaxially at the center. The sliding bearing 8 guides the linear movement of the limiting guide rod 5 through the sliding slider 12 within the sliding bearing fixing hole 7. During movement, the top pressure block 6 and the bottom pressure block 9 are tightly fitted at both ends of the sliding bearing fixing block 7 to effectively prevent the sliding bearing 8 from falling out of the sliding bearing fixing block 7.

[0053] In this embodiment, preferably, the sliding bearing fixing block 7 is inclined at 45°, which effectively utilizes space, reduces the size of the equipment, and makes the structure more compact. In addition, due to the inclined setting, it can adapt to the gripper 13 to move forward, backward, left and right. It drives the limiting guide rod 5 to tilt within the sliding bearing assembly, so that the slider 12 and gripper 13 connected to the bottom of the limiting guide rod 5 move more smoothly, reducing vibration and impact, and improving the accuracy of lifting materials.

[0054] As described above, the limiting guide rod assembly is coaxially mounted on the sliding bearing assembly. The limiting guide rod 5 is coaxially passed through the sliding bearing 8, with its bottom extending towards the punch press station. The limiting guide rod 5 enables oblique linear movement along the sliding bearing assembly, providing precise guidance for the slider 12. Structurally, the bottom of the limiting guide rod 5 has a pre-drilled mounting hole for connecting with the slider 12 below. Furthermore, a rectangular spring 10 is positioned between the limiting guide rod 5 and the sliding bearing fixing block 7 and the slider 12. The outer diameter of the rectangular spring 10 is larger than the inner diameter of the elongated hole in the sliding bearing 8. The rectangular spring 10 enables the reset gripper 13 to achieve good stability for product clamping.

[0055] A limiting block 3 is installed at the end of the sliding bearing fixing block 7 furthest from the product via a top pressure block 6. The distance between the inner side of the limiting block 3 and the central axis of the sliding bearing fixing block 7 is less than the distance between the outer side of the limit guide rod 5 and the central axis of the sliding bearing fixing block 7. Its function is to control the movement stroke of the limit guide rod 5. When the product is abnormally placed and shifts forward or backward, the two grippers 13 will close at different times, resulting in uneven force on both sides of the grippers 13. When the displacement ends, one gripper 13 will be higher than the other. When the grippers 13 move to the next station and open, the product will be biased towards the side with the higher gripper 13, potentially damaging the mold. Therefore, to prevent this series of dangers, a stroke groove is made in the limit guide rod. The length of the groove is the lifting height required to raise the product. This way, even if the gripper 13 is subjected to uneven force, the limit guide rod 5 will stop moving after reaching its limit displacement stroke. The remaining force will be transferred through the product to the other gripper 13. When the closing is completed, the grippers 13 on both sides will be at the same height, thus indicating the center position of the product at this station.

[0056] Next, a slider 12 is provided below the limiting guide rod assembly. The slider 12 is horizontally installed below the limiting guide rod assembly. Specifically, in this embodiment, the slider 12 includes an integrally formed guide rod connecting end 121 and a gripper connecting end 122. The guide rod connecting end 121 is integrally set on the top of the gripper connecting end 122 and is set close to the product side. In order to facilitate the locking of the inclined limiting guide rod 5 and the guide rod connecting end 121, on the one hand, the top two sides of the guide rod connecting end 121 are inclined and the top of the guide rod connecting end 121 is set at 90 degrees. An installation groove is opened on the inclined surface close to the limiting guide rod 5 to provide an installation position for the limiting guide rod 5. The bottom of the limiting guide rod 5 is locked and installed on the guide rod connecting end 121 of the slider 12 through the pin hole by the pin 11. On the other hand, the corresponding side of the guide rod connecting end 121 is also set as an inclined surface, which can also prevent the gripper 13 from contacting the product and causing damage when it approaches the product.

[0057] As mentioned above, the bottom of the guide rod connecting end 121 is horizontally set so that it can fit tightly with the gripper 13 connected below. The end of the guide rod connecting end 121 away from the gripper connecting end 122 is provided with a pin hole for connecting with the bottom gripper 13. After being locked with the gripper 13 by bolts, the gripper 13 can be parallel to the template, ensuring the horizontal stability of the gripper 13 during movement.

[0058] From the overall structure of the slider 12, the guide rod connecting end 121 and the gripper connecting end 122 are vertically aligned on the side closest to the product. However, the gripper 13 is installed inside the gripper on the side closest to the product, which can provide a limit for the gripper 13 to lift the product. At the same time, a proximity switch sensor 2 is also installed on the end of the slider 12 closest to the product. Its function is to accurately sense whether the ejector pin 16 has reached the corresponding position. When the ejector pin 16 slides backward, it means that an object is applying a certain force to it, thus proving that there is a product at the workstation.

[0059] It should be specifically noted that the gripper 13 provided in this embodiment also has a coaxially arranged ejector pin 16 structure. Its function is to prevent the product from getting caught in the groove of the gripper 13, and also to compensate for the unevenness of the product flange edge, so that the gripper 13 can grip the product more stably. Structurally, the gripper 13 is installed parallel below the slider 12. A guide rod 14 is coaxially and horizontally installed inside the gripper 13. A second rectangular spring 15 is sleeved on the guide rod 14. An ejector pin 16 is installed at the end of the guide rod 14 near the product. The end of the ejector pin 16 away from the product abuts against the second rectangular spring 15. When not gripping the product, the other end of the ejector pin 16 protrudes from the gripper 13 and is reset by the second rectangular spring 15.

[0060] The following steps are included in its use:

[0061] Step I: First, confirm that the robotic arm is in the open origin position; otherwise, the punch press cannot start operating.

[0062] Press the two-hand buttons on the punch press with both hands. The punch press moves from the top dead center for one stroke and then stops at the top dead center again. At this moment, the product forming of this process is completed. After the punch press moves past the bottom dead center, the servo motor receives the command and the robot arm begins to close and move, slowly contacting the product. Finally, it is squeezed by the flange edge of the product, and the ejector pin 16 begins to retract. At the same time, the gripper 13 moves along the guide of the sliding bearing 8 through the limit guide rod 5 until the robot arm closes and moves, and the punch press also reaches the top dead center.

[0063] Step II: After the robot arm completes its closed displacement, the proximity switch sensor 2 determines whether the gripper 13 has gripped the product by sensing the position of the ejector pin 16 inside the gripper 13. At this moment, the proximity switch sensor 2 transmits the corresponding signal to the servo motor. After receiving the correct signal, the robot arm begins to move one step to the next station of the mold. During this period, the proximity switch sensor 2 will continue to sense the position of the ejector pin 16 and transmit the signal to the servo motor. If there is any abnormality, the movement will stop directly, and the punch press will also stop descending.

[0064] Step 3: Next, after the displacement is completed, the robot arm opens and the product falls onto the corresponding workstation. The punch press begins to descend. When the punch press descends to the bottom dead center, the robot arm begins to return to the previous workstation.

[0065] Step IV: Finally, during the process of the punch press moving from the bottom dead center to the top dead center, the robot arm begins its closing displacement again. When the punch press reaches the top dead center, the robot arm's closing displacement ends. This cycle repeats four steps: I, II, III, and IV, and the product is produced step by step by the robot arm.

[0066] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A multi-station lifting gripper transfer structure, characterized in that, include: Aluminum profile (1), wherein the aluminum profile (1) is horizontally arranged on both sides of the punching station; A sliding bearing assembly is mounted on the side of the aluminum profile (1) close to the product via a bracket (4). The sliding bearing assembly is inclined and its bottom is closer to the product than its top. A limiting guide rod assembly is coaxially mounted on a sliding bearing assembly, with one bottom end passing through the lower end of the sliding bearing assembly and extending toward the punch press station. The limiting guide rod assembly moves obliquely in a straight line along the sliding bearing assembly. The slider (12) is horizontally installed below the limiting guide rod assembly, with its bottom set horizontally. The slider (12) moves closer to or away from the product as the limiting guide rod assembly moves. A proximity switch sensor (2) is also installed on the end of the slider (12) that is closer to the product. The gripper (13) is installed parallel and close to the bottom of the slider (12). The end of the gripper (13) near the product extends out of the end of the slider (12) on the same side. When the gripper (13) is close to the product, it lifts the product.

2. The multi-station lifting gripper transfer structure according to claim 1, characterized in that, The sliding bearing assembly includes: a sliding bearing fixing block (7), which is installed on the bracket (4) by bolts; A sliding bearing (8) is embedded in a sliding bearing fixing block (7), and a through long hole for installing a limiting guide rod (5) is pre-reserved coaxially at the center. The top pressure block (6) and the bottom pressure block (9) are tightly fitted on both ends of the sliding bearing fixing block (7).

3. The multi-station lifting gripper transfer structure according to claim 2, characterized in that, The sliding bearing fixing block (7) is set at a 45° angle.

4. The multi-station lifting gripper transfer structure according to claim 3, characterized in that, The limiting guide rod assembly includes: The limiting guide rod (5) is coaxially inserted through the sliding bearing (8) and has a pre-reserved mounting hole at the bottom. The outer diameter of the rod cap at the top of the limiting guide rod (5) is larger than the inner diameter of the elongated hole in the sliding bearing (8). A rectangular spring (10) is sleeved on the limiting guide rod (5) and located between the sliding bearing fixing block (7) and the slider (12).

5. The multi-station lifting gripper transfer structure according to claim 4, characterized in that, The sliding bearing fixing block (7) is equipped with a limiting block (3) at the end away from the product via a top pressure block (6). The distance between the inner side of the limiting block (3) and the central axis of the sliding bearing fixing block (7) is less than the distance between the outer side of the rod cap of the limiting guide rod (5) and the central axis of the sliding bearing fixing block (7).

6. The multi-station lifting gripper transfer structure according to claim 5, characterized in that, The slider (12) includes a guide rod connecting end (121) and a gripper connecting end (122); The guide rod connecting end (121) is integrally set on the top of the gripper connecting end (122) and is close to the product. The guide rod connecting end (121) is provided with an installation groove for installing the limiting guide rod (5). The bottom of the guide rod connecting end (121) is horizontally arranged, and the end of the guide rod connecting end (121) away from the gripper connecting end (122) is provided with a pin hole for connection with the bottom gripper (13); The guide rod connecting end (121) and the gripper connecting end (122) are flush with each other in the vertical direction on the side closest to the product.

7. The multi-station lifting gripper transfer structure according to claim 6, characterized in that, A guide rod (14) is coaxially and horizontally installed inside the gripper (13). A second rectangular spring (15) is sleeved on the guide rod (14). A ejector pin (16) is installed at the end of the guide rod (14) close to the product. The end of the ejector pin (16) away from the product abuts against the second rectangular spring (15). When not holding a product, the other end of the ejector pin (16) protrudes from the gripper (13).

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