Anti-shaking stamping mechanical hand transfer mechanism

Abstract

The utility model discloses a kind of anti-shaking stamping mechanical hand transfer mechanism, it is related to stamping mechanical hand technical field, including mechanical hand body, the one end of mechanical hand body is equipped with moving mechanism, moving mechanism includes connecting frame, and the one end of connecting frame is fixedly connected with first motor, in the utility model, vibration sensor is installed on gripper assembly to detect shaking, drive second motor to work, drive screw rod to rotate, two moving plates move, connecting frame drives clamping plate synchronous movement, clamping connecting rod, so that the second air bag of clamping plate inner ring surface is pressed, internal gas flows to first air bag by connecting pipeline, push abutment plate to move, compression spring deformation, utilize the compressibility of gas and compression spring elastic deformation absorption vibration energy, attenuate the shaking produced in inertia, impact during transfer process, avoid workpiece to deviate or drop due to shaking, improve the positioning accuracy of stamping transfer.

Description

Technical Field

[0001] This utility model relates to the field of stamping robot technology, and in particular to a vibration-resistant stamping robot transfer mechanism. Background Technology

[0002] Stamping is a forming process that uses a press and dies to apply external force to sheet metal, strip, tube and profile materials, causing them to undergo plastic deformation or separation, thereby obtaining workpieces of the required shape and size. During the processing of products, stamping production lines use robotic arms to transfer workpieces.

[0003] For example, CN214321566U discloses a motion mechanism for a stamping and transfer robot, including a base, a hydraulic press is snapped onto the top of the base, a hydraulic arm is movably connected to the top of the hydraulic press, a telescopic motor is fixedly installed on the top of the hydraulic arm, a telescopic gear is movably connected below the telescopic motor, a telescopic arm is snapped onto the outer wall of the telescopic gear, and a rotary motor is fixedly connected to the inner wall of the base.

[0004] In existing technologies, when robotic arms are used for transport, the end effector experiences large vibrations due to inertial impacts and start-stop vibrations, leading to workpiece positioning deviations or even workpiece detachment and damage. When buffering vibrations, a single spring is often used. Under heavy loads, the rigidity is insufficient, causing excessive spring deformation and buffering failure. Under light loads, the response is overshoot, causing excessive spring force and triggering secondary vibrations. Therefore, it is impossible to suppress vibrations under different loads. Utility Model Content

[0005] The purpose of this invention is to solve the problem in the prior art that the end effect of the robot arm during transfer affects the positioning accuracy of the workpiece, and that the vibration buffering relies on a single spring, which cannot simultaneously suppress vibration under different loads. Therefore, this invention proposes a vibration-resistant stamping robot arm transfer mechanism.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a vibration-resistant stamping manipulator transfer mechanism, comprising a manipulator body, a moving mechanism mounted on one end of the manipulator body, the moving mechanism comprising a connecting frame, a first motor fixedly connected to one end of the connecting frame, a connecting sleeve mounted on one end of the first motor, a connecting rod rotatably connected inside the connecting sleeve, one end of the connecting rod fixedly connected to the output end of the first motor, a gripper assembly mounted on the other end of the connecting rod, a vibration-resistant mechanism comprising a clamping plate provided outside the connecting rod, a second airbag mounted on the inner ring surface of the clamping plate, a connecting pipe fixedly connected to the outer side of the second airbag, one end of the connecting pipe passing through the clamping plate and fixedly connected to the first airbag, the inner ring of the first airbag fixedly connected to the outer surface of the clamping plate, a telescopic rod fixedly connected to the outer surface of the clamping plate, and an abutment plate fixedly connected to one end of the telescopic rod.

[0007] Preferably, a compression spring is sleeved on the outside of the telescopic rod, and the end of the compression spring is installed between the abutment plate and the clamping plate.

[0008] Preferably, a connecting frame is fixedly connected to the outer side of both abutting plates. A clamping mechanism is installed at one end of the connecting frame. The clamping mechanism includes a mounting plate. Four fixing blocks are fixedly connected to one side of the mounting plate. A second motor is fixedly connected to one side of one of the fixing blocks. A threaded rod is fixedly connected to the output end of the second motor through the fixing block. One end of the threaded rod is rotatably connected to one side of another fixing block.

[0009] Preferably, movable plates are threadedly connected to both sides of the middle section of the threaded rod, and the middle of the two movable plates is fixedly connected to one side of the connecting frame.

[0010] Preferably, a guide rod is slidably connected to the other end of the movable plate, and the two ends of the guide rod are fixedly connected between two other fixed blocks.

[0011] Preferably, a positioning mechanism is installed on the other side of the mounting plate. The positioning mechanism includes a slide groove, one side of which is fixedly connected to the other side of the mounting plate, and a slider is slidably connected inside the slide groove.

[0012] Preferably, one end of the slider is fixedly connected to a support rod, one end of the support rod is fixedly connected to a fixing plate, and one side of the fixing plate is fixedly connected to one side of the connecting frame.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0014] 1. In this utility model, a vibration sensor is installed on the gripper assembly to detect vibration, drive the second motor to work, drive the threaded rod to rotate, move the two moving plates, and drive the clamping plate to move synchronously, clamping the connecting rod, so that the second airbag on the inner ring surface of the clamping plate is compressed, and the internal gas flows to the first airbag through the connecting pipe, pushing the abutment plate to move and compressing the spring. The compressibility of the gas and the elastic deformation of the compression spring are used to absorb vibration energy, attenuate the vibration caused by inertia and impact during the transfer process, avoid the workpiece from shifting or falling off due to vibration, and improve the positioning accuracy of stamping transfer.

[0015] 2. In this utility model, when the first motor drives the connecting rod and the gripper assembly to rotate, the anti-vibration mechanism clamping the outside of the connecting rod rotates accordingly. At the same time, the support rod slides in the groove through the slider, restricting the anti-vibration mechanism to only perform rotational motion, preventing interference between the clamping of the anti-vibration mechanism and the rotation of the connecting rod, and reducing deformation vibration during the movement. Attached Figure Description

[0016] Figure 1 A three-dimensional structural diagram of a vibration-resistant stamping robot transfer mechanism is provided for this utility model;

[0017] Figure 2 This utility model provides a schematic diagram of a partial connection structure of a vibration-resistant stamping robot transfer mechanism;

[0018] Figure 3 This utility model provides a schematic diagram of the connection structure between the positioning mechanism and the clamping mechanism of a vibration-resistant stamping robot transfer mechanism;

[0019] Figure 4 This utility model provides a disassembly diagram of the anti-vibration mechanism of a stamping robot transfer mechanism.

[0020] Legend: 1. Robotic arm body; 2. Moving mechanism; 21. Connecting frame; 22. First motor; 23. Connecting sleeve; 24. Connecting rod; 3. Positioning mechanism; 31. Fixing plate; 32. Support rod; 33. Slider; 34. Slide groove; 4. Anti-vibration mechanism; 41. Abutment plate; 42. Connecting frame; 43. First airbag; 44. Second airbag; 45. Telescopic rod; 46. Compression spring; 47. Clamping plate; 48. Connecting pipe; 5. Clamping mechanism; 51. Mounting plate; 52. Guide rod; 53. Moving plate; 54. Second motor; 55. Threaded rod; 56. Fixing block; 6. Gripper assembly. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: As Figure 1 - Figure 4As shown, this utility model provides a vibration-resistant stamping robot transfer mechanism, including a robot body 1. A moving mechanism 2 is installed at one end of the robot body 1. The moving mechanism 2 includes a connecting frame 21. A first motor 22 is fixedly connected to one end of the connecting frame 21. A connecting sleeve 23 is installed at one end of the first motor 22. A connecting rod 24 is rotatably connected inside the connecting sleeve 23. One end of the connecting rod 24 is fixedly connected to the output end of the first motor 22. A gripper assembly 6 is installed at the other end of the connecting rod 24. A vibration-resistant mechanism 4 is provided on the outside of the connecting rod 24 for vibration prevention. The moving mechanism 4 includes a clamping plate 47. A second airbag 44 is installed on the inner ring surface of the clamping plate 47. A connecting pipe 48 is fixedly connected to the outer side of the second airbag 44. One end of the connecting pipe 48 passes through the clamping plate 47 and is fixedly connected to a first airbag 43. The inner ring of the first airbag 43 is fixedly connected to the outer surface of the clamping plate 47. A telescopic rod 45 is fixedly connected to the outer surface of the clamping plate 47. One end of the telescopic rod 45 is fixedly connected to an abutment plate 41. A compression spring 46 is sleeved on the outside of the telescopic rod 45. The end of the compression spring 46 is installed between the abutment plate 41 and the clamping plate 47.

[0024] A connecting frame 42 is fixedly connected to the outer side of each of the two abutting plates 41. A clamping mechanism 5 is installed at one end of the connecting frame 42. The clamping mechanism 5 includes a mounting plate 51. Four fixing blocks 56 are fixedly connected to one side of the mounting plate 51. A second motor 54 is fixedly connected to one side of one of the fixing blocks 56. A threaded rod 55 is fixedly connected to the output end of the second motor 54 through the fixing block 56. One end of the threaded rod 55 is rotatably connected to one side of another fixing block 56. Moving plates 53 are threadedly connected to both sides of the middle of the threaded rod 55. The middle of the two moving plates 53 is fixedly connected to one side of the connecting frame 42. A guide rod 52 is slidably connected to the other end of the moving plate 53. The two ends of the guide rod 52 are fixedly connected between the other two fixing blocks 56.

[0025] A vibration sensor is installed on the gripper assembly 6. When the gripper assembly 6 vibrates while gripping the workpiece, it drives the second motor 54 to work, which drives the threaded rod 55 to rotate. The threaded rod 55 adopts a bidirectional thread design with opposite threads on both sides. The two moving plates 53 fitted on the threaded rod 55 move closer or further away from each other along the direction of the guide rod 52. The connecting frame 42 drives the clamping plate 47 to move synchronously and clamp the connecting rod 24. The connecting rod 24 contacts the clamping plate 47 and applies a reaction force, which compresses the second airbag 44 on the inner ring surface of the clamping plate 47. The internal gas flows to the first airbag 43 through the connecting pipe 48, pushing the abutment plate 41 to move and compressing the spring 46. The compressibility of the gas and the elastic deformation of the spring 46 are used to absorb vibration energy, attenuate the vibration caused by inertia and impact during the transfer process, avoid the workpiece from shifting or falling off due to vibration, and improve the positioning accuracy of the stamping transfer.

[0026] Example 2: Figures 1-4As shown, a positioning mechanism 3 is installed on the other side of the mounting plate 51. The positioning mechanism 3 includes a slide groove 34. One side of the slide groove 34 is fixedly connected to the other side of the mounting plate 51. A slider 33 is slidably connected inside the slide groove 34. A support rod 32 is fixedly connected to one end of the slider 33. A fixing plate 31 is fixedly connected to one end of the support rod 32. One side of the fixing plate 31 is fixedly connected to one side of the connecting frame 21.

[0027] The operation of the robot body 1 can drive the gripper assembly 6 to move. The gripper assembly 6 transfers the workpiece by adjusting the position between the two gripping parts. The slider 33 is embedded in the slide groove 34. When the first motor 22 drives the connecting rod 24 and the gripper assembly 6 to rotate, the anti-vibration mechanism 4 clamped outside the connecting rod 24 rotates accordingly. At the same time, the support rod 32 slides in the slide groove 34 through the slider 33, which restricts the movement direction of the anti-vibration mechanism 4 and prevents interference between the clamping of the anti-vibration mechanism 4 and the rotation of the connecting rod 24, thereby reducing deformation and vibration during the movement.

[0028] The device is used and operates as follows: A vibration sensor is installed on the gripper assembly 6 to detect vibrations, which drives the second motor 54 to rotate the threaded rod 55. The two moving plates 53 move closer or further apart, and the connecting frame 42 drives the clamping plate 47 to move synchronously, clamping the connecting rod 24. The connecting rod 24 contacts the clamping plate 47 and applies a reaction force, which compresses the second airbag 44 on the inner ring surface of the clamping plate 47. The internal gas flows to the first airbag 43 through the connecting pipe 48, pushing the abutment plate 41 to move and compressing the spring 46. When the first motor 22 drives the connecting rod 24 and the gripper assembly 6 to rotate, the anti-vibration mechanism 4 clamped outside the connecting rod 24 rotates accordingly. At the same time, the support rod 32 slides in the slide groove 34 through the slider 33, limiting the movement direction of the anti-vibration mechanism 4. The operation of the robot body 1 can drive the gripper assembly 6 to move and transfer the workpiece.

[0029] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A vibration-resistant stamping robotic arm transfer mechanism, comprising a robotic arm body (1), characterized in that: The robotic arm body (1) is equipped with a moving mechanism (2) at one end. The moving mechanism (2) includes a connecting frame (21). A first motor (22) is fixedly connected to one end of the connecting frame (21). A connecting sleeve (23) is installed at one end of the first motor (22). A connecting rod (24) is rotatably connected inside the connecting sleeve (23). One end of the connecting rod (24) is fixedly connected to the output end of the first motor (22). A gripper assembly (6) is installed at the other end of the connecting rod (24). An anti-shake mechanism is provided on the outside of the connecting rod (24). The anti-shaking mechanism (4) includes a clamping plate (47), a second airbag (44) is installed on the inner ring surface of the clamping plate (47), a connecting pipe (48) is fixedly connected to the outer side of the second airbag (44), one end of the connecting pipe (48) passes through the clamping plate (47) and is fixedly connected to a first airbag (43), the inner ring of the first airbag (43) is fixedly connected to the outer surface of the clamping plate (47), a telescopic rod (45) is fixedly connected to the outer surface of the clamping plate (47), and an abutment plate (41) is fixedly connected to one end of the telescopic rod (45).

2. The anti-vibration stamping robot transfer mechanism according to claim 1, characterized in that: A compression spring (46) is sleeved on the outside of the telescopic rod (45), and the end of the compression spring (46) is installed between the abutment plate (41) and the clamping plate (47).

3. The anti-vibration stamping robot transfer mechanism according to claim 1, characterized in that: A connecting frame (42) is fixedly connected to the outer side of both abutting plates (41). A clamping mechanism (5) is installed at one end of the connecting frame (42). The clamping mechanism (5) includes a mounting plate (51). Four fixing blocks (56) are fixedly connected to one side of the mounting plate (51). A second motor (54) is fixedly connected to one side of one of the fixing blocks (56). The output end of the second motor (54) passes through the fixing block (56) and is fixedly connected to a threaded rod (55). One end of the threaded rod (55) is rotatably connected to one side of another fixing block (56).

4. The anti-vibration stamping robot transfer mechanism according to claim 3, characterized in that: The threaded rod (55) has two movable plates (53) threadedly connected to the middle of both sides, and the middle of the two movable plates (53) is fixedly connected to one side of the connecting frame (42).

5. The anti-vibration stamping robot transfer mechanism according to claim 4, characterized in that: The other end of the movable plate (53) is slidably connected to a guide rod (52), and the two ends of the guide rod (52) are fixedly connected between two other fixed blocks (56).

6. The anti-vibration stamping robot transfer mechanism according to claim 3, characterized in that: A positioning mechanism (3) is installed on the other side of the mounting plate (51). The positioning mechanism (3) includes a slide groove (34). One side of the slide groove (34) is fixedly connected to the other side of the mounting plate (51). A slider (33) is slidably connected inside the slide groove (34).

7. The anti-vibration stamping robot transfer mechanism according to claim 6, characterized in that: One end of the slider (33) is fixedly connected to a support rod (32), and one end of the support rod (32) is fixedly connected to a fixing plate (31). One side of the fixing plate (31) is fixedly connected to one side of the connecting frame (21).

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