A head end picker

Abstract

This utility model discloses a head end-collector with mutually orthogonal first, second, and third directions. The head end-collector includes: a robotic arm connection structure, with its two ends in the first direction serving as a connecting end and an execution end, the connecting end for connecting to the robotic arm; a clamping drive structure installed on the execution end; two workpiece clamping structures arranged along the second direction; both workpiece clamping structures are connected to the clamping drive structure, which drives the two workpiece clamping structures to move closer or further away along the second direction; and a waste material removal structure fixed to the workpiece clamping structures for separating waste material from the workpiece. This solution can reduce the required closing height of stamping equipment, thereby reducing the cost of stamping equipment. Simultaneously, it can achieve automated waste material separation, thus effectively reducing labor costs.

Description

Technical Field

[0001] This utility model relates to the field of stamping equipment technology, and in particular to a head end picker. Background Technology

[0002] For the production of large stamped workpieces, large stamping equipment is generally used for processing. After the workpiece is processed, it is usually picked up by a robotic arm and a workpiece picking device installed on the execution end of the robotic arm.

[0003] Existing workpiece pickup devices employ a structure where the clamping drive mechanism and the workpiece clamping mechanism are combined vertically, with the clamping drive mechanism positioned above the workpiece clamping mechanism. This layout results in a relatively large vertical structural height for the workpiece pickup device, thus requiring the stamping equipment to have a greater closing height.

[0004] As is well known, the closing height of stamping equipment is positively correlated with its manufacturing cost. A higher closing height will significantly increase the investment in equipment procurement, thereby putting pressure on the cost control of production enterprises.

[0005] Furthermore, existing pick-up devices are relatively simple in function and generally lack the ability to automatically separate workpieces from scrap. When workpieces and scrap stick together after stamping, manual separation is often required, which not only increases production cycle time but also raises labor costs, affecting overall production efficiency and the improvement of automation levels. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a head end-cap pickup to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0007] The solution to the technical problem of this utility model is: A head end effector has three mutually orthogonal directions: a first direction, a second direction, and a third direction. The head end effector includes: A robotic arm connection structure has two ends in a first direction, which are a connection end and an execution end, and the connection end is used to connect to the robotic arm; A clamping drive structure is mounted on the actuator end; The workpiece clamping structure is provided in two, and the two workpiece clamping structures are arranged along the second direction; both workpiece clamping structures are connected to the clamping driving structure, and the clamping driving structure drives the two workpiece clamping structures to move closer or further away along the second direction; The waste removal structure is fixed to the workpiece clamping structure and is used to separate the waste from the workpiece.

[0008] As a further improvement to the above technical solution, a workpiece detection component is also included, which is installed on the workpiece clamping structure or the clamping drive structure and is used to detect whether a workpiece is placed between the two workpiece clamping structures.

[0009] As a further improvement to the above technical solution, the waste knocking structure includes: The drive component is knocked off and fixed to the workpiece clamping structure; The knockdown actuator is a needle-shaped or disc-shaped structure; it is fixed to the output end of the knockdown drive, and the knockdown drive drives the knockdown actuator to move in a third direction.

[0010] As a further improvement to the above technical solution, the knock-down drive component is a linear cylinder.

[0011] As a further improvement to the above technical solution, the workpiece clamping structure is fixed with a soft pad, which is used to abut against the workpiece.

[0012] As a further improvement to the above technical solution, the soft pad is fixed to the workpiece clamping structure by screws.

[0013] As a further improvement to the above technical solution, the clamping drive structure is a double-outlet cylinder with two output ends, and the two workpiece clamping structures are respectively fixed to the two output ends of the clamping drive structure.

[0014] As a further improvement to the above technical solution, it also includes multiple adsorption structures, which are evenly arranged and fixed to the workpiece clamping structure.

[0015] As a further improvement to the above technical solution, the adsorption structure includes: An adsorption and fixing component is fixed to the workpiece clamping structure; An adsorption connector is slidably connected to the adsorption fixing member along a third direction; An adsorption actuator is fixed to the end of the adsorption connector that is away from the adsorption fixing member.

[0016] As a further improvement to the above technical solution, the adsorption structure further includes: An adsorption elastic structure is disposed between the adsorption actuator and the adsorption fixing member, or between the adsorption connector and the adsorption fixing member, and is used to ensure that the adsorption actuator always tends to move away from the adsorption fixing member.

[0017] The beneficial effects of this utility model are: by setting the workpiece clamping structure and the clamping drive structure to be arranged along the second direction, the overall height of the end cap pickup in the vertical direction can be greatly reduced, thereby reducing the closing height requirement of the stamping equipment and reducing the cost of the stamping equipment.

[0018] Furthermore, this solution incorporates a waste removal structure. When the robotic arm moves the workpiece and waste to the waste removal station, the waste removal structure removes the waste, separating it from the workpiece. This achieves automated waste separation, effectively reducing labor costs.

[0019] This invention relates to the field of stamping equipment technology. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this utility model, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model.

[0022] In the diagram, 100 is the robotic arm connection structure; 110 is the quick-connect joint; 120 is the quick-connect component; 200 is the clamping drive structure; 300 is the workpiece clamping structure; 310 is the soft pad; 320 is the workpiece detection component; 400 is the waste removal structure; 410 is the removal drive component; 420 is the removal actuator; 500 is the adsorption structure; 510 is the adsorption fixing component; 530 is the adsorption actuator; and 540 is the adsorption elastic structure. Detailed Implementation

[0023] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0024] Reference Figure 1A head end effector has a first direction, a second direction, and a third direction that are orthogonal to each other and are perpendicular to each other. Referring to the figure, the first direction is parallel to the X-axis in the figure, the second direction is parallel to the Y-axis in the figure, and the third direction is parallel to the Z-axis in the figure.

[0025] The end cap pickup includes: a robotic arm connection structure 100, a clamping drive structure 200, a workpiece clamping structure 300, and a waste material knocking-off structure 400.

[0026] The robotic arm connection structure 100 has an execution end and a connection end at its two ends in the first direction, respectively. The connection end is used to connect with the robotic arm.

[0027] Specifically, in this embodiment, a quick-connect connector 110 is fixedly provided at the connecting end. The quick-connect connector 110 is used to connect with a multi-axis robotic arm to achieve quick assembly and disassembly of the end cap pickup. The quick-connect connector 110 is a conventional structure in the art, and its specific structure will not be described in detail here.

[0028] Specifically, in this embodiment, the connecting end is also fixedly provided with a quick-connect connector 120. The quick-connect connector 120 has a wire socket for fixing one end of the wire and a tube socket for fixing one end of the tube. By setting the quick-connect connector 120, the end cap pickup does not need to be sorted out during installation, so that the wire and tube can be quickly connected to the wires and tubes of other devices, making the installation faster.

[0029] The clamping drive structure 200 is fixedly installed on the actuator. The clamping drive structure 200 is configured as a linear cylinder. In other embodiments, the clamping drive structure 200 may also be configured as a linear motor. Those skilled in the art can select the specific structure of the clamping drive structure 200 according to actual needs.

[0030] Specifically, in this embodiment, the clamping drive structure 200 is a dual-outlet cylinder with two output ends arranged along the second direction.

[0031] The number of workpiece clamping structures 300 is set to two, and the two workpiece clamping structures 300 are respectively disposed on both sides of the clamping drive structure 200 in the second direction, and the two workpiece clamping structures 300 are respectively fixedly connected to the output end of the clamping drive structure 200. When the clamping drive structure 200 is working, it drives the two workpiece clamping structures 300 to move closer to each other or further away from each other.

[0032] Since the higher the closing height of the stamping equipment, the more expensive the equipment, this solution, compared with the existing technology that places the clamping drive structure 200 above the workpiece clamping structure 300, can effectively reduce the closing height of the mold, thereby reducing the closing height requirement of the stamping equipment and reducing the equipment cost for enterprises.

[0033] The workpiece clamping structure 300 has two clamping walls, which are arranged opposite to each other. A soft pad 310 is fixed to each clamping wall via a locking mechanism. The soft pad 310 abuts against the workpiece to prevent hard objects from contacting the workpiece surface and causing deformation. In other embodiments, the workpiece clamping structure 300 can also be fixed to the workpiece clamping structure 300 by means of snap-fit ​​or other methods. Those skilled in the art can select the connection structure between the soft pad 310 and the workpiece clamping structure 300 according to actual needs.

[0034] The workpiece clamping structure 300 is fixed with a workpiece detection element 320, which is a sensor conventionally used in the art. It is used to detect whether a workpiece is positioned between the two workpiece clamping structures 300. When a workpiece is detected between the two workpiece clamping structures 300, the clamping drive structure 200 drives the two workpiece clamping structures 300 to move closer together to clamp the workpiece. If the workpiece detection element 320 does not detect a workpiece between the two workpiece clamping structures 300, the robotic arm drives the end-cap pick-up device to return, waiting for the next stamping cycle to complete before resuming the workpiece pickup operation.

[0035] The waste removal structure 400 is fixed to the workpiece clamping structure 300, and the waste removal structure 400 is used to separate the workpiece and the waste.

[0036] Specifically, in this embodiment, the waste knocking structure 400 includes a knocking drive 410 and a knocking actuator 420.

[0037] The knock-down drive component 410 is fixedly connected to the workpiece clamping structure 300. In this embodiment, the knock-down drive component 410 is set as a linear cylinder. In other embodiments, the knock-down drive component 410 can also be set as a linear motor or other conventional linear drive device. Those skilled in the art can select the specific structure of the knock-down drive component 410 according to actual needs.

[0038] The knocking actuator 420 is fixedly installed on the driving end of the knocking drive 410. The knocking actuator 420 is configured as a needle-shaped or disc-shaped structure. Specifically, in this embodiment, multiple knocking actuators 420 are respectively selected as needle-shaped and disc-shaped structures. In other embodiments, all waste knocking structures 400 may be selected as needle-shaped structures or disc-shaped structures. Those skilled in the art can select the specific structure of the knocking actuator 420 according to actual needs.

[0039] The knock-down drive 410 drives the knock-down actuator 420 to move along a third direction. When the workpiece and scrap move to the scrap discharge station, the knock-down drive 410 drives the knock-down actuator 420 to approach the scrap. After the knock-down actuator 420 comes into contact with the scrap, the scrap is separated from the workpiece by the impact of the collision and the pushing of the knock-down actuator 420. The scrap falls and remains at the scrap discharge station.

[0040] The end cap pickup also includes multiple adsorption structures 500, which are evenly arranged and fixed to the workpiece clamping structure 300. Specifically, in this embodiment, the number of end cap pickups is set to four, and the four end cap pickups are arranged in a rectangular pattern.

[0041] Specifically, in this embodiment, the adsorption structure 500 includes: an adsorption fixing member 510, an adsorption connector, an adsorption actuator 530, and an adsorption elastic structure 540.

[0042] The adsorption fixture 510 is fixedly connected to the workpiece clamping structure 300.

[0043] The adsorption connector is a rod-shaped component, and the adsorption connector and the workpiece clamping structure 300 are slidably connected in the third direction.

[0044] The adsorption actuator 530 is fixedly installed at the end of the adsorption connector away from the adsorption fixing member 510. Specifically, in this embodiment, the adsorption actuator 530 is set as a permanent magnet. The adsorption actuator 530 adsorbs the waste material by means of attraction to prevent the waste material from accidentally falling from a position other than the waste material discharge station.

[0045] The adsorption elastic structure 540 is disposed between the adsorption actuator 530 and the adsorption fixing member 510, or between the adsorption connector and the adsorption fixing member 510. Specifically, in this embodiment, the adsorption elastic structure 540 is disposed between the adsorption actuator 530 and the adsorption fixing member 510. The adsorption elastic structure 540 is configured as a spring. The adsorption elastic structure 540 is used to make the adsorption actuator 530 always tend to move away from the adsorption fixing member 510, so that the adsorption actuator 530 can contact the waste and adsorb the waste by magnetic force.

[0046] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A head end-cap pickup, characterized in that: The end cap pickup has three mutually orthogonal directions: a first direction, a second direction, and a third direction. A robotic arm connection structure has two ends in a first direction, which are a connection end and an execution end, and the connection end is used to connect to the robotic arm; A clamping drive structure is mounted on the actuator end; The workpiece clamping structure is provided in two, and the two workpiece clamping structures are arranged along the second direction; both workpiece clamping structures are connected to the clamping driving structure, and the clamping driving structure drives the two workpiece clamping structures to move closer or further away along the second direction; The waste removal structure is fixed to the workpiece clamping structure and is used to separate the waste from the workpiece.

2. The end cap pickup according to claim 1, characterized in that: It also includes a workpiece detection component, which is installed on the workpiece clamping structure or the clamping drive structure, and is used to detect whether a workpiece is placed between the two workpiece clamping structures.

3. The end cap pickup according to claim 1, characterized in that: The waste disposal structure includes: The drive component is knocked off and fixed to the workpiece clamping structure; The knockdown actuator is a needle-shaped or disc-shaped structure; it is fixed to the output end of the knockdown drive, and the knockdown drive drives the knockdown actuator to move in a third direction.

4. The end cap pickup according to claim 3, characterized in that: The knock-down drive component is a linear cylinder.

5. The end cap pickup according to claim 1, characterized in that: The workpiece clamping structure is fixed with a soft pad, which is used to abut against the workpiece.

6. The end cap pickup according to claim 5, characterized in that: The soft pad is fixed to the workpiece clamping structure by screws.

7. The end cap pickup according to claim 1, characterized in that: The clamping drive structure is a double-outlet cylinder with two output ends. The two workpiece clamping structures are respectively fixed to the two output ends of the clamping drive structure.

8. The end cap pickup according to claim 1, characterized in that: It also includes multiple adsorption structures, which are evenly arranged and fixed to the workpiece clamping structure.

9. An end-of-header pick-up according to claim 8, characterised in that: The adsorption structure includes: An adsorption and fixing component is fixed to the workpiece clamping structure; An adsorption connector is slidably connected to the adsorption fixing member along a third direction; An adsorption actuator is fixed to the end of the adsorption connector that is away from the adsorption fixing member.

10. A head end-cap pickup according to claim 9, characterized in that: The adsorption structure further includes: An adsorption elastic structure is disposed between the adsorption actuator and the adsorption fixing member, or between the adsorption connector and the adsorption fixing member, and is used to ensure that the adsorption actuator always tends to move away from the adsorption fixing member.

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