Boxed semi-enclosed part retrieval gripper

Abstract

The utility model is suitable for mould field, provide box type semi -closed part takes spare hand of taking spare, including upper die subassembly, hand assembly, lower die subassembly, guide rod and guide plate, the upper die subassembly includes upper die plate and fixedly connected with the upper die plate lower surface upper die, the lower surface of upper die is equipped with the stamping groove that is adapted to the shape of box type semi -closed part, in the utility model, hand assembly is completely integrated in mould interior through the rotation connection of hand main part and connecting frame with hinge pin, and the action logic of " meeting interference contraction - pass after opening" is realized to cooperation double limit surface, need not external installation space, compared with external mechanical arm, space occupancy reduces greatly, perfect adaptation level progressive die narrow installation environment, simultaneously, hand action and mould open and close rhythm are completely synchronous, no action delay, do not prolong production rhythm.

Description

Technical Field

[0001] This utility model belongs to the field of mold making, and in particular relates to a box-type semi-enclosed part removal gripper. Background Technology

[0002] The problem of lack of downward force for semi-enclosed box-shaped parts: When semi-enclosed box-shaped parts for automotive interior panels are produced using progressive dies, due to the semi-enclosed structure of the parts themselves, they cannot achieve stable downward movement and detachment from the die by gravity alone after stamping. They are prone to getting stuck on the stamping boss or forming area of ​​the die, causing production interruption. Existing technologies lack a structure that can be integrated into the die to provide auxiliary downward force for the semi-enclosed box-shaped parts, and cannot solve the problem of lack of force at its root. Existing part-removal solutions are costly and inefficient: To address the above issues, existing technologies mostly employ an "external robotic arm + suction cup" part-removal method, which requires additional configuration of a robotic arm drive system (including motor and controller) and a suction cup vacuum system. This not only results in high equipment purchase costs but also high maintenance costs (such as suction cup replacement and motor maintenance). At the same time, the part-removal trajectory of the robotic arm needs to be matched with the opening and closing rhythm of the mold, which can easily lead to action delays, prolong the production cycle, and reduce overall production efficiency. Poor spatial adaptability: External robotic arms are large in size and require sufficient installation and movement space around the mold. In scenarios with compact production line layouts or limited internal space of progressive dies, robotic arms cannot be installed or used normally, failing to meet the high space utilization requirements of progressive dies and thus limiting their applicability. Therefore, a box-type semi-enclosed parts pick-up gripper is needed to solve the above problems. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a box-type semi-enclosed parts pick-up gripper to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A box-type semi-enclosed part picking gripper includes an upper mold assembly, a gripper assembly, a lower mold assembly, a guide rod, and a guide plate; the upper mold assembly includes an upper template and an upper mold fixedly connected to the lower surface of the upper template, and the lower surface of the upper mold is provided with a stamping groove adapted to the shape of the box-type semi-enclosed part; The gripper assembly includes a connector, a pin, and a gripper body. The connector includes a connecting frame, which is fixedly installed on the side of the upper template near the upper mold. The connecting frame has a first limiting surface and a second limiting surface integrally formed on it. The gripper body is L-shaped and is made of two rigid parts. One end of the gripper body is rotatably connected to the connecting frame through a pin. The gripper body can rotate around the pin to achieve the action of contraction or opening. When the gripper body rotates, it fits with the first limiting surface and the second limiting surface to form a hard limit. The lower mold assembly includes a lower mold frame and a lower mold fixedly connected to the upper surface of the lower mold frame. The upper surface of the lower mold is provided with a stamping boss corresponding to the stamping groove of the upper mold. The lower mold and the upper mold are arranged vertically opposite each other. The guide rod is fixedly installed on the upper surface of the lower mold frame, and the guide plate is fixedly connected to the side of the lower mold frame near the lower mold. The inner side wall of the guide plate is in contact with the outer side wall of the guide rod, and the guide rod and the guide plate cooperate to form a box-type semi-enclosed part sliding guide channel. The gripper assembly is integrated inside the mold, eliminating the need for external space and making it perfect for confined spaces. The gripper is driven by the mold's own movement, requiring no additional power source. This reduces equipment costs and ensures that the gripper's movements are synchronized with the mold's opening and closing, without extending the production cycle.

[0005] A further technical solution is that the connecting frame and the upper template are fixedly connected by a detachable connector. The thickness of the connecting frame is adapted to the thickness of the upper template. After the connecting frame is installed, it does not exceed the overall outline of the upper mold assembly. The detachable connection facilitates the installation, maintenance and replacement of the clamping assembly, reducing the difficulty of later maintenance. The thickness adaptation design prevents the connecting frame from exceeding the outline of the upper mold assembly and prevents interference with other parts of the mold.

[0006] A further technical solution is that the splice of the gripper body is rotatably engaged with the outer wall of the pin. The end of the gripper body away from the pin is an arc-shaped structure, and the outer wall of the arc-shaped structure is a smooth surface. The rotatable engagement ensures that the gripper body can flexibly retract and open, meeting the requirement of "avoiding interference". The arc-shaped smooth surface can avoid scratching the surface of the box-type semi-enclosed parts during the part removal process, ensuring the molding quality of the box-type semi-enclosed parts.

[0007] A further technical solution is that the two ends of the pin are fixedly connected to the two side walls of the connecting frame, and the outer side wall of the pin is clearance-fitted with the inner side wall of the rotating hole of the gripper body. The fixed installation of the pin ensures structural stability, and the clearance fit can prevent the gripper body from getting stuck during rotation, ensuring smooth operation and adapting to high-frequency opening and closing scenarios of molds.

[0008] A further technical solution is that the guide rods are provided with at least two rods, all of which are evenly distributed along the length of the lower mold. The axis of the guide rods is perpendicular to the upper surface of the lower mold frame, and the top of the guide rods is higher than the upper surface of the lower mold. Multiple guide rods can form a stable guiding support to prevent the box-type semi-enclosed parts from deviating when sliding down. The top height design does not hinder the box-type semi-enclosed parts from leaving the lower mold, but also ensures that the box-type semi-enclosed parts always slide down along the guide channel, thus solving the problem of loss of directional control.

[0009] In a further technical solution, the connection between the upper mold and the upper template, and the connection between the lower mold and the lower mold frame are all rigid fixed connections. When the upper mold and the lower mold are closed, the stamping groove and the stamping boss form a complete box-type semi-closed part forming cavity. The gripper body is located below the upper mold, and when the gripper body is opened, it can extend into the area below the box-shaped semi-enclosed part above the lower mold. The gripper body is designed to extend into the box-shaped semi-enclosed part in a timely manner after the stamping is completed, so as to avoid delaying the part removal time and ensure production continuity.

[0010] The length, width, and thickness of the gripper body are all adapted to the narrow installation space of the progressive die, and the structural strength of the gripper body meets the requirements of high-frequency opening and closing of the die, and will not deform or be damaged after long-term use.

[0011] Compared with the prior art, the beneficial effects of this utility model are: This utility model has strong spatial adaptability: the gripper body is rotatably connected to the connecting frame through a pin, and with the help of double limiting surfaces, it realizes the action logic of "contracting when encountering interference and opening after passing through". The gripper assembly can be completely integrated into the mold, without the need for external installation space. Compared with external robotic arms, the space occupied is greatly reduced, perfectly adapting to the narrow installation environment of progressive molds and solving the problem of poor spatial adaptability of existing solutions. This invention is low in cost and high in efficiency: it uses the mold's own up-and-down movement to drive the gripper action, eliminating the need for an additional drive system (such as a robotic arm motor or suction cup vacuum pump), thus saving on equipment purchase costs and reducing subsequent maintenance expenses; at the same time, the gripper action is completely synchronized with the mold's opening and closing rhythm, with no action delay and no extension of the production cycle, solving the problems of high cost and low efficiency of existing solutions, and has been verified to be stably adapted to high-frequency production. This invention provides stable part retrieval and high-quality semi-enclosed box parts: the guide rod and guide plate work together to form a guide channel, which can accurately guide the semi-enclosed box parts downwards and avoid deviation; the arc-shaped smooth surface of the gripper body can prevent scratches on the semi-enclosed box parts and ensure the surface integrity of the semi-enclosed box parts; the combination of the two allows the semi-enclosed box parts to slide smoothly and stably after being retrieved, solving the problems of unstable part retrieval and easy damage to semi-enclosed box parts in existing solutions, and ensuring the product qualification rate.

[0012] To more clearly illustrate the structural features and effects of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention from the front view; Figure 2 This is a side-view three-dimensional structural schematic diagram of the present invention; Figure 3 This is a partial frontal three-dimensional structural schematic diagram of the present invention; Figure 4 This is a three-dimensional structural diagram of the connecting frame of this utility model.

[0014] In the diagram: 1. Upper mold assembly; 11. Upper template; 12. Upper mold; 2. Gripper assembly; 21. Connector; 211. Connecting frame; 212. First limiting surface; 213. Second limiting surface; 22. Pin; 23. Gripper body; 3. Lower mold assembly; 31. Lower mold frame; 32. Lower mold; 4. Guide rod; 5. Guide plate; 6. Box-type semi-enclosed part. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0016] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0017] Example 1 like Figures 1-4 As shown, this utility model embodiment provides a box-type semi-enclosed part picking gripper, including an upper mold assembly 1, a gripper assembly 2, a lower mold assembly 3, a guide rod 4, and a guide plate 5; the upper mold assembly 1 includes an upper template 11 and an upper mold 12 fixed to the lower surface of the upper template 11 by a rigid connector, and the lower surface of the upper mold 12 is provided with a stamping groove adapted to the shape of the box-type semi-enclosed part 6 of the automotive inner panel; The gripper assembly 2 includes a connector 21, a pin 22 and a gripper body 23. The connector 211 is made of rigid material and is fixedly installed on the side of the upper template 11 near the upper mold 12 by a detachable connector. The connector 211 has a first limiting surface 212 and a second limiting surface 213 integrally formed on it. The gripper body 23 is L-shaped and is composed of two rigid parts. One end of the gripper body 23 is rotatably connected to the connecting frame 211 via a pin 22. The end of the gripper body 23 away from the pin 22 has a smooth arc-shaped structure. The lower mold assembly 3 includes a lower mold frame 31 and a lower mold 32 fixed to the upper surface of the lower mold frame 31 by a rigid connector. The upper surface of the lower mold 32 is provided with a stamping boss corresponding to the stamping groove of the upper mold 12. The lower mold 32 and the upper mold 12 are arranged vertically opposite each other. Two guide rods 4 are provided, which are evenly distributed along the length of the lower mold 32 and fixedly installed on the upper surface of the lower mold frame 31. The top of the guide rod 4 is higher than the upper surface of the lower mold 32. The guide plate 5 is a rigid plate and is fixedly connected to the side of the lower mold frame 31 near the lower mold 32. The inner side wall of the guide plate 5 is tightly fitted with the outer side wall of the guide rod 4 to form a guide channel for the box-type semi-enclosed part 6 to slide down.

[0018] In this embodiment, the gripper assembly 2 is integrated into the upper mold assembly 1, requiring no external space and adapting to the narrow installation environment of progressive molds; the arc-shaped smooth surface of the gripper body 23 avoids scratching the box-type semi-enclosed part 6, and the double limiting surface ensures accurate movement range without interference risk; the guide rod 4 and the guide plate 5 work together to guide the box-type semi-enclosed part 6 downward direction and avoid deviation. In practical applications, the gripper action is synchronized with the mold opening and closing, with no additional production time. The box-type semi-enclosed part 6 falls smoothly without any jamming. The equipment cost is significantly reduced compared to the external robotic arm solution, and the later maintenance is convenient. It is suitable for the production of standard-sized box-type semi-enclosed parts 6 for automotive interior panels.

[0019] Example 2 The difference between this embodiment and Embodiment 1 is that the gripper body 23 is made of a high-strength rigid material to improve structural strength; Three guide rods 4 are provided, evenly distributed along the length of the lower mold 32, to further enhance guiding stability; The connection method between the connecting frame 211 and the upper template 11 has been changed to rigid welding to improve the connection stability.

[0020] In this embodiment, the high-strength material gripper body 23 can withstand higher frequency mold opening and closing impacts, extending its service life and making it suitable for long-term, high-frequency production scenarios; the three guide rods 4 form a more stable guiding support, which can effectively avoid the offset problem when the wide or irregularly shaped box-type semi-enclosed parts 6 slide down; the welded and fixed connecting frame 211 has no risk of loosening, ensuring that the gripper body 23 moves in a precise position, which is suitable for mold production scenarios with large vibrations or high requirements for connection stability. In practical applications, the sliding stability of the box-type semi-enclosed parts 6 is further improved, and the failure rate of the gripper assembly is significantly reduced.

[0021] Working principle and usage process of this utility model: The working process of this box-type semi-enclosed parts pick-up gripper relies entirely on the opening and closing action of the progressive die, requiring no additional power drive. The specific process is as follows: During the mold closing and stamping stage: the mold is in the closed state, the upper mold assembly 1 drives the upper mold 12 to move downward and fit with the lower mold 32 of the lower mold assembly 3. The box-shaped semi-enclosed part 6 is stamped and formed by the cooperation of the stamping groove and the stamping boss. During this process, the gripper body 23 moves downward with the upper mold assembly 1. If it comes into contact with the lower mold 32 or the blank and causes interference, the gripper body 23 rotates and retracts around the pin 22 towards the upper template 11 until the outer side wall of the gripper body 23 fits with the first limiting surface 212. This avoids the gripper body 23 from colliding and interfering with other parts of the mold, ensuring that the mold closing and stamping action is completed normally. The gripper body 23 moves to the bottom of the box-shaped semi-enclosed part 6, and the gripper body 23 rotates around the pin 22 under its own weight, so that the gripper body 23 fits with the second limiting surface 213 to form a hard limit. Mold opening and clamp opening stage: After the box-type semi-enclosed part 6 is stamped, the mold enters the mold opening stage. The upper mold assembly 1 drives the upper mold 12 and the clamp assembly 2 to move upward. As the upper mold assembly 1 rises, the clamp body 23 gradually contacts the box-type semi-enclosed part 6, providing a support point for the box-type semi-enclosed part 6 to slide down.

[0022] Assisted downward movement stage: The upper mold assembly 1 continues to move upward, the gripper body 23 contacts the lower surface of the box-shaped semi-enclosed part 6 and applies an upward auxiliary force, which drives the box-shaped semi-enclosed part 6 to detach from the stamping boss of the lower mold 32; After the box-shaped semi-enclosed part 6 detaches from the boss, under the combined action of its own weight and the auxiliary force of the gripper body 23, it slides down along the guide channel formed by the guide rod 4 and the guide plate 5. The guide rod 4 and the guide plate 5 restrict the lateral displacement of the box-shaped semi-enclosed part 6, ensuring that the box-shaped semi-enclosed part 6 slides down stably to the collection area in the preset direction; Cyclic Reset Stage: After the box-type semi-enclosed part 6 slides down to the collection area, the mold re-enters the mold closing stage. The upper mold assembly 1 drives the gripper assembly 2 to move downward. The gripper body 23 descends with the upper mold assembly 1 and interferes with the lower mold 32 or the next blank to be stamped. It retracts around the pin 22 and fits against the first limiting surface 212, returning to the initial retracted state and waiting for the next stamping and part removal cycle to achieve continuous automated production.

[0023] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A box-type semi-enclosed parts pick-up gripper, comprising an upper mold assembly (1), a gripper assembly (2), a lower mold assembly (3), a guide rod (4), and a guide plate (5), characterized in that: The upper mold assembly (1) includes an upper template (11) and an upper mold (12) fixedly connected to the lower surface of the upper template (11). The lower surface of the upper mold (12) is provided with a stamping groove that is adapted to the shape of the box-type semi-enclosed part (6). The gripper assembly (2) includes a connector (21), a pin (22) and a gripper body (23). The connector (21) includes a connecting frame (211), which is fixedly installed on the side of the upper template (11) near the upper mold (12). The connecting frame (211) has a first limiting surface (212) and a second limiting surface (213) integrally formed on it. The gripper body (23) is L-shaped and is made of two rigid parts. One end of the gripper body (23) is rotatably connected to the connecting frame (211) through a pin (22). The gripper body (23) can rotate around the pin (22) to achieve the action of contraction or opening. When the gripper body (23) rotates, it fits against the first limiting surface (212) and the second limiting surface (213) to form a hard limit. The lower mold assembly (3) includes a lower mold frame (31) and a lower mold (32) fixedly connected to the upper surface of the lower mold frame (31). The upper surface of the lower mold (32) is provided with a stamping boss corresponding to the stamping groove of the upper mold (12). The lower mold (32) and the upper mold (12) are arranged vertically opposite each other. The guide rod (4) is fixedly installed on the upper surface of the lower mold frame (31), and the guide plate (5) is fixedly connected to the side of the lower mold frame (31) near the lower mold (32). The inner side wall of the guide plate (5) is in contact with the outer side wall of the guide rod (4). The guide rod (4) and the guide plate (5) cooperate to form a box-type semi-enclosed part (6) sliding guide channel.

2. The box-type semi-enclosed parts picker according to claim 1, characterized in that: The connecting frame (211) is fixedly connected to the upper template (11) by a detachable connector. The thickness of the connecting frame (211) is adapted to the thickness of the upper template (11). After installation, the connecting frame (211) does not exceed the overall outline of the upper mold assembly (1).

3. The box-type semi-enclosed parts picker according to claim 1, characterized in that: The splice of the gripper body (23) is rotated and engaged with the outer wall of the pin (22). The end of the gripper body (23) away from the pin (22) is an arc-shaped structure, and the outer wall of the arc-shaped structure is a smooth surface.

4. The box-type semi-enclosed parts picker according to claim 1, characterized in that: The two ends of the pin (22) are fixedly connected to the two side walls of the connecting frame (211), and the outer side wall of the pin (22) is in clearance fit with the inner side wall of the rotating hole of the gripper body (23), and the clearance range satisfies the requirement that the gripper body (23) rotates without jamming.

5. The box-type semi-enclosed parts picker according to claim 1, characterized in that: The guide rod (4) is provided with at least two rods. All guide rods (4) are evenly distributed along the length direction of the lower mold (32). The axis of the guide rod (4) is perpendicular to the upper surface of the lower mold frame (31). The top of the guide rod (4) is higher than the upper surface of the lower mold (32).

6. The box-type semi-enclosed parts picker according to claim 1, characterized in that: The connection between the upper mold (12) and the upper template (11), and the connection between the lower mold (32) and the lower mold frame (31) are all rigid fixed connections. When the upper mold (12) and the lower mold (32) are closed, the stamping groove and the stamping boss form a complete box-type semi-closed part (6) forming cavity. The gripper body (23) is located below the upper mold (12), and when the gripper body (23) is opened, it can extend into the area below the box-type semi-enclosed part (6) above the lower mold (32).

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