阅读说明：本技术 一种用于冲压工序的上下料机械手 (Feeding and discharging mechanical arm for stamping process ) 是由 张洁 于 2021-09-28 设计创作，主要内容包括：本发明公开了一种用于冲压工序的上下料机械手,包括基座,所述基座上侧壁设有安装架,所述安装架下端设有夹持机构,所述夹持机构包括电动推杆,所述电动推杆伸缩端固定连接有安装板,所述安装板下侧壁固定连接有安装框,所述安装框内圈侧壁固定连接有夹持囊,所述夹持囊侧壁连通设有导管,所述安装架上侧壁固定连接有安装盒,所述安装盒内底部固定连接有电动伸缩杆,所述电动伸缩杆的伸缩端固定连接有移动板,所述安装盒侧壁连通设有连接管,所述安装盒内位于移动板上端的空间与夹持囊内均填充有电流变液。本发明能够根据材料的形状形成与其充分贴合的形状,能够夹持不同形状的材料,扩大了装置的适用范围。(The invention discloses an feeding and discharging manipulator for a stamping process, which comprises a base, wherein an installation frame is arranged on the upper side wall of the base, a clamping mechanism is arranged at the lower end of the installation frame, the clamping mechanism comprises an electric push rod, an installation plate is fixedly connected with the telescopic end of the electric push rod, an installation frame is fixedly connected with the lower side wall of the installation plate, a clamping bag is fixedly connected with the inner ring side wall of the installation frame, a guide pipe is communicated with the side wall of the clamping bag, an installation box is fixedly connected with the upper side wall of the installation frame, an electric telescopic rod is fixedly connected with the bottom in the installation box, a movable plate is fixedly connected with the telescopic end of the electric telescopic rod, a connecting pipe is communicated with the side wall of the installation box, and electrorheological fluid is filled in the space at the upper end of the movable plate in the installation box and in the clamping bag. The invention can form a shape which is fully attached to the material according to the shape of the material, can clamp the materials with different shapes, and enlarges the application range of the device.)

1. The utility model provides a go up unloading manipulator for punching press process, includes base (1), the lateral wall is equipped with mounting bracket (3) on base (1), its characterized in that: the device is characterized in that a clamping mechanism is arranged at the lower end of the mounting frame (3), the clamping mechanism comprises an electric push rod (6), a telescopic end of the electric push rod (6) is fixedly connected with a mounting plate (7), a side wall of the mounting plate (7) is fixedly connected with a mounting frame (9), an inner ring side wall of the mounting frame (9) is fixedly connected with a clamping bag (10), a conduit (11) is communicated with the side wall of the clamping bag (10), a side wall of the mounting frame (3) is fixedly connected with a mounting box (12), an electric telescopic rod (14) is fixedly connected with the bottom of the mounting box (12), a movable plate (13) is fixedly connected with the telescopic end of the electric telescopic rod (14), a connecting pipe (15) is communicated with the side wall of the mounting box (12), and electrorheological fluid (18) is filled in a space at the upper end of the movable plate (13) and in the clamping bag (10) in the mounting box (12), two side walls of the mounting frame (9) are fixedly connected with electrode plates (8);

the device is characterized in that a control mechanism for controlling the state and circulation condition of electrorheological fluid (18) is arranged at the upper end of the mounting frame (3), the control mechanism comprises a lifting plate (23) elastically connected to the inner top of the mounting box (12), a conductive strip (24) penetrates through the side wall of the lifting plate (23), two conductive strips (25) are fixedly embedded in the inner wall of the mounting box (12), the side wall of the mounting frame (3) is fixedly connected with a control box (19), the side wall of the control box (19) is fixedly connected with an electromagnet (20), the bottom of the control box (19) is rotatably connected with a rotating shaft, a disc (21) is fixedly connected to the upper end of the rotating shaft, and a through hole (22) penetrates through the side wall of the disc (21);

base (1) upper end is equipped with anti-drop mechanism, anti-drop mechanism includes two fixed box (2), two of fixed box (2) inner wall equal fixedly connected with flexible gasbag (27), two of flexible gasbag (27) lateral wall equal fixedly connected with sliding plate (28), two under sliding plate (28) the lateral wall all is equipped with standing groove (31), two all be equipped with layer board (30) in standing groove (31), two the lateral wall all runs through and is equipped with opening (26) under fixed box (2), mounting box (12) top intercommunication is equipped with buffer bag (16), buffer bag (16) communicate with two flexible gasbag (27) respectively through two tubules (17).

2. The loading and unloading manipulator for the stamping process as claimed in claim 1, wherein: the side wall is equipped with electronic slide rail (4) under mounting bracket (3), sliding connection has electronic slider (5) on electronic slide rail (4), electronic slider (5) lower extreme and electric putter (6) fixed connection.

3. The loading and unloading manipulator for the stamping process as claimed in claim 1, wherein: the clamping bag (10) is filled with a hollow ball (32), and the hollow ball (32) is filled with magnetic fluid.

4. The loading and unloading manipulator for the stamping process as claimed in claim 1, wherein: the left side of disc (21) is made by the metal material that can be attracted by magnet, the right side of disc (21) is made by the material of non-magnetic conductivity, the pivot passes through torsional spring and control box (19) elastic connection.

5. The loading and unloading manipulator for the stamping process as claimed in claim 1, wherein: the inner walls of the two openings (26) are fixedly connected with auxiliary plates (29), the two supporting plates (30) are respectively positioned in the two openings (26), and the side walls of the two supporting plates (30) are respectively provided with an inclined plane.

6. The loading and unloading manipulator for the stamping process as claimed in claim 5, wherein: the cross sections of the two placing grooves (31) are both T-shaped structures, and one ends, located in the placing grooves (31), of the two supporting plates (30) are fixedly connected with limiting pieces.

7. The loading and unloading manipulator for the stamping process as claimed in claim 1, wherein: the disc (21) is tightly attached to the inner top of the control box (19), the connecting pipe (15) is communicated with the upper end of the through opening (22), and the guide pipe (11) is communicated with the lower end of the through opening (22).

Technical Field

The invention relates to the technical field of manipulators, in particular to a feeding and discharging manipulator for a stamping process.

Background

The punching process is a metal processing method, which is based on the plastic deformation of metal, and applies pressure to the plate by using a die and a punching device to make the plate generate plastic deformation or separation, thereby obtaining parts with certain shape, size and performance.

The existing feeding and discharging process in the stamping process is generally completed by a mechanical arm, and through retrieval, the patent with the publication number of CN208131840U provides a feeding and discharging mechanical arm for the stamping process, the device drives a second threaded rod to rotate through a second motor, and further drives a second clamping plate to move left and right, and the distance between the second clamping plate and a first clamping plate can be adjusted, so as to clamp different products, however, in the automobile manufacturing process, the shapes of parts are irregular, the device can only better clamp materials with regular shapes, such as cuboid and other structures, and when clamping materials with irregular shapes, because the contact area between the first clamping plate and the second clamping plate and the materials is too small, even only one point can be contacted with each other, the clamping effect of the device can be greatly reduced when clamping materials with irregular shapes, and the requirement of actual production can not be met, therefore, a feeding and discharging robot for a stamping process needs to be designed to solve the above problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a feeding and discharging manipulator for a stamping process.

In order to achieve the purpose, the invention adopts the following technical scheme:

an upper and lower feeding mechanical arm for a stamping process comprises a base, wherein a mounting frame is arranged on the upper side wall of the base, a clamping mechanism is arranged at the lower end of the mounting frame and comprises an electric push rod, a telescopic end of the electric push rod is fixedly connected with a mounting plate, a mounting frame is fixedly connected with the lower side wall of the mounting plate, a clamping bag is fixedly connected with the inner ring side wall of the mounting frame, a guide pipe is communicated with the side wall of the clamping bag, a mounting box is fixedly connected with the upper side wall of the mounting frame, an electric telescopic rod is fixedly connected with the bottom in the mounting box, a movable plate is fixedly connected with the telescopic end of the electric telescopic rod, a connecting pipe is communicated with the side wall of the mounting box, electrorheological fluid is filled in a space at the upper end of the movable plate and in the clamping bag in the mounting box, and electrode plates are fixedly connected with the two side walls of the mounting frame;

the upper end of the mounting frame is provided with a control mechanism for controlling the state and the circulation condition of the electro-rheological fluid, the control mechanism comprises a lifting plate which is elastically connected to the top in the mounting box, the side wall of the lifting plate is provided with a conductive strip in a penetrating way, the inner wall of the mounting box is fixedly embedded with two conductive strips, the side wall of the mounting frame is fixedly connected with a control box, the side wall of the control box is fixedly connected with an electromagnet, the bottom in the control box is rotatably connected with a rotating shaft, the upper end of the rotating shaft is fixedly connected with a disc, and the side wall of the disc is provided with a penetrating port in a penetrating way;

the base upper end is equipped with anti-dropping mechanism, anti-dropping mechanism includes two fixed boxes of fixed connection at the installing frame lateral wall, two the equal fixedly connected with flexible gasbag of fixed box inner wall, two the equal fixedly connected with sliding plate of flexible gasbag lateral wall, two the lateral wall all is equipped with the standing groove under the sliding plate, two all be equipped with the layer board in the standing groove, two the lateral wall all runs through under the fixed box and is equipped with the opening, the installing box top intercommunication is equipped with the buffering bag, the buffering bag communicates with two flexible gasbags respectively through two tubules.

Preferably, the side wall is equipped with electronic slide rail under the mounting bracket, sliding connection has electronic slider on the electronic slide rail, electronic slider lower extreme and electric putter fixed connection.

Preferably, a hollow ball is filled in the clamping bag, and a magnetic fluid is filled in the hollow ball.

Preferably, the left side of disc is made by the metal material that can be attracted by magnet, the right side of disc is made by the material that does not lead magnetic, the pivot passes through torsional spring and control box elastic connection.

Preferably, the inner walls of the two openings are fixedly connected with auxiliary plates, the two supporting plates are respectively positioned in the two openings, and the side walls of the two supporting plates are provided with inclined planes.

Preferably, the cross sections of the two placing grooves are both T-shaped structures, and one ends of the two supporting plates, which are located in the placing grooves, are fixedly connected with limiting pieces.

Preferably, the disc is tightly attached to the top of the control box, the connecting pipe is communicated with the upper end of the through opening, and the guide pipe is communicated with the lower end of the through opening.

The invention has the following beneficial effects:

1. compared with the prior art, the clamping device is provided with the clamping mechanism and the control mechanism, the electro-rheological fluid is squeezed into the clamping bag through the movable plate, the clamping bag is enabled to completely wrap the material, then the electromagnet is electrified to generate magnetism, the disc is enabled to rotate, the conduit is further enabled to be staggered with the through hole, and the electro-rheological fluid cannot flow back, so that the clamping effect of the clamping bag on the material is ensured, in addition, the clamping bag can form a shape which is fully attached to the clamping bag according to the shape of the material when in clamping, the materials with different shapes can be clamped, and the application range of the device is expanded;

2. compared with the prior art, the invention generates an electric field around the clamping bag by electrifying the two electrode plates, so as to solidify the electrorheological fluid in the clamping bag, effectively prevent the clamping bag from deforming, and further ensure that the material cannot shake in the feeding and discharging processes;

3. compared with the prior art, when some metal materials are clamped, the clamping bag is just started to approach the materials, the plurality of hollow balls in the clamping bag are gathered to approach the materials under the action of the magnetic fluid, and the friction force between the materials and the surface of the clamping bag can be increased through the attraction between the magnetic fluid and the materials, so that the materials are further prevented from falling off in the feeding and discharging processes;

4. compared with the prior art, for some materials which are not completely cooled after being punched, the magnetic fluid in the hollow ball can also absorb the heat on the surface of the material, so that the material can be cooled and formed more quickly;

5. compared with the prior art, the material loading and unloading device is provided with the anti-falling mechanism, air is extruded into the two telescopic air bags through the movement of the lifting plate, so that the two supporting plates are driven to be close to each other, the bottom of the material can be supported, and the material is further prevented from falling in the loading and unloading process.

Drawings

Fig. 1 is a schematic structural view of a loading and unloading manipulator for a stamping process according to the present invention;

FIG. 2 is an enlarged view of the structure at A in FIG. 1;

FIG. 3 is an enlarged view of the structure at B in FIG. 1;

FIG. 4 is an enlarged view of the structure at C in FIG. 1;

fig. 5 is an enlarged view of the structure at D in fig. 1.

In the figure: the device comprises a base 1, a fixed box 2, a mounting rack 3, an electric sliding rail 4, an electric sliding block 5, an electric push rod 6, a mounting plate 7, an electrode plate 8, a mounting frame 9, a clamping bag 10, a guide pipe 11, a mounting box 12, a moving plate 13, an electric telescopic rod 14, a connecting pipe 15, a buffer bag 16, a tubule 17, electrorheological fluid 18, a control box 19, an electromagnet 20, a disc 21, a through hole 22, a lifting plate 23, a conductive strip 24, a conductive strip 25, an opening 26, an expansion airbag 27, a sliding plate 28, an auxiliary plate 29, a supporting plate 30, a placing groove 31 and a hollow ball 32.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, a feeding and discharging manipulator for a stamping process comprises a base 1, wherein an installation frame 3 is arranged on the side wall of the base 1, a clamping mechanism is arranged at the lower end of the installation frame 3, the clamping mechanism comprises an electric push rod 6, an electric slide rail 4 is arranged on the side wall of the installation frame 3, an electric slide block 5 is connected on the electric slide rail 4 in a sliding manner, the lower end of the electric slide block 5 is fixedly connected with the electric push rod 6, an installation plate 7 is fixedly connected with the telescopic end of the electric push rod 6, an installation frame 9 is fixedly connected with the side wall of the lower side wall of the installation plate 7, a clamping bag 10 is fixedly connected with the side wall of the inner ring of the installation frame 9, the clamping bag 10 is made of a material capable of generating elastic deformation, a conduit 11 is communicated with the side wall of the clamping bag 10, the conduit 11 is a rubber hose to ensure that the clamping bag 10 can move smoothly, an installation box 12 is fixedly connected with the side wall of the installation frame 3, and an electric telescopic rod 14 is fixedly connected with the bottom of the installation box 12, the telescopic end of the electric telescopic rod 14 is fixedly connected with a movable plate 13, the movable plate 13 is connected with the inner wall of the mounting box 12 in a sealing and sliding mode, a connecting pipe 15 is communicated with the side wall of the mounting box 12, electrorheological fluid 18 is filled in a space at the upper end of the movable plate 13 in the mounting box 12 and the clamping bag 10, the electrorheological fluid 18 is in a suspension state in an initial state, when electric field force exists around the electrorheological fluid, the electrorheological fluid can be quickly converted into a solid state, a hollow ball 32 is filled in the clamping bag 10, magnetic fluid is filled in the hollow ball 32, and electrode plates 8 are fixedly connected to the two side walls of the mounting frame 9.

The upper end of the mounting frame 3 is provided with a control mechanism for controlling the state and circulation condition of the electrorheological fluid 18, the control mechanism comprises a lifting plate 23 elastically connected to the inner top of the mounting box 12, the lifting plate 23 is connected with the inner wall of the mounting box 12 in a sealing and sliding manner, the side wall of the lifting plate 23 is provided with a conductive strip 24 in a penetrating manner, the inner wall of the mounting box 12 is fixedly embedded with two conductive strips 25, the side wall of the mounting frame 3 is fixedly connected with a control box 19, the side wall of the control box 19 is fixedly connected with an electromagnet 20, the two conductive strips 25 are electrically connected with the electromagnet 20, the two electrode plates 8 and an external power supply, the bottom in the control box 19 is rotatably connected with a rotating shaft, the rotating shaft is elastically connected with the control box 19 through a torsion spring, the upper end of the rotating shaft is fixedly connected with a disc 21, the left side of the disc 21 is made of a metal material capable of being attracted by the magnet, the right side of the disc 21 is made of a non-magnetic material, and the disc 21 is tightly attached to the inner top of the control box 19, the side wall of the disc 21 is provided with a through opening 22, the connecting pipe 15 is communicated with the upper end of the through opening 22, and the conduit 11 is communicated with the lower end of the through opening 22, it should be noted that both the connecting pipe 15 and the conduit 11 are only attached to the surface of the disc 21 and are not fixedly connected to the surface of the disc 21.

The upper end of the base 1 is provided with an anti-falling mechanism, the anti-falling mechanism comprises two fixed boxes 2 fixedly connected with the side wall of the mounting frame 9, the inner walls of the two fixed boxes 2 are fixedly connected with telescopic airbags 27, the side walls of the two telescopic airbags 27 are fixedly connected with sliding plates 28, the lower side walls of the two sliding plates 28 are provided with placing grooves 31, the cross sections of the two placing grooves 31 are of T-shaped structures, supporting plates 30 are arranged in the two placing grooves 31, the cross sections of the two supporting plates 30 are of L-shaped structures, one ends of the two supporting plates 30, which are positioned in the placing grooves 31, are fixedly connected with limiting pieces, the supporting plates 30 are ensured not to fall from the placing grooves 31, the lower side walls of the two fixed boxes 2 are provided with openings 26 in a penetrating manner, the inner walls of the two openings 26 are fixedly connected with auxiliary plates 29, the two supporting plates 30 are respectively positioned in the two openings 26, the side walls of the two supporting plates 30 are provided with inclined planes, when the supporting plates 30 are close to the auxiliary plates 29, the supporting plate 30 moves upwards under the action of the inclined surface, the top of the mounting box 12 is communicated with a buffer bag 16, and the buffer bag 16 is respectively communicated with the two telescopic air bags 27 through two thin pipes 17.

The invention can be illustrated by the following operating modes: when materials need to be clamped and taken, the electric slide block 5 is controlled to move through the electric slide rail 4, so that the mounting frame 9 moves right above the materials, the electric push rod 6 is started, the electric push rod 6 drives the mounting plate 7 and the mounting frame 9 to move downwards, when the mounting frame 9 completely surrounds the materials, the electric push rod 6 is closed, the electric telescopic rod 14 is started again, the electric telescopic rod 14 extends, so that the moving plate 13 is driven to move upwards, the electrorheological fluid 18 in the mounting box 12 is extruded into the clamping bag 10, so that the clamping bag 10 is continuously expanded, the materials can be gradually wrapped in the expansion process of the clamping bag 10, a shape which is attached to the surface of the materials is formed, when the clamping bag 10 is completely attached to the materials, the clamping bag 10 cannot continue to expand, at the moment, the electric telescopic rod 14 continues to extend, only the lifting plate 23 can be pushed to move upwards, so that the conducting strip 24 is driven to move upwards, when the electric telescopic rod 14 is extended to the limit state, the conductive strip 24 contacts with the two conductive strips 25, and at this time, the circuit of the electrode plate 8 and the electromagnet 20 is conducted.

Electromagnet 20 circular telegram produces magnetism, can attract disc 21 to rotate one hundred eighty degrees, thereby make through-hole 22 misplace with pipe 11, can effectively prevent the 18 backward flows of electrorheological fluids in the centre gripping bag 10, and then guarantee that the material can't take place to rock, when two electrode plates 8 circular telegrams, can form the electric field between electrode plate 8, under the effect of electric field force, electrorheological fluids 18 in the centre gripping bag 10 can be transformed into solid-state, thereby make centre gripping bag 10 can't take place deformation, guarantee that centre gripping bag 10 can fully laminate with the surface of material, and then guarantee the centre gripping effect to the material.

When the clamping bag 10 is just beginning to be close to the material, most of the material punched by automobile processing is made of metal material, therefore, the magnetic fluid in the hollow ball 32 in the clamping bag 10 can drive the hollow ball 32 to gather and approach to the material, so that the material is adsorbed on the surface of the clamping bag 10 through the attraction of the magnetic fluid, the pressure between the clamping bag 10 and the material is further increased, the friction force between the material and the clamping bag 10 is increased, the material is prevented from dropping, and for some materials of which the temperature is not completely cooled after punch forming, the magnetic fluid can absorb the heat released by the material, and the cooling forming of the material can be accelerated.

In the process that the lifting plate 23 moves upwards, air at the upper end of the mounting box 12 can be extruded into the buffer bag 16 and then enters the telescopic air bag 27, when the mounting frame 9 is not lifted, the bottom of the fixing box 2 is attached to the surface of the base 1, and the supporting plate 30 cannot move out of the opening 26, so that the telescopic air bag 27 extends, the sliding plate 28 is driven to move, the supporting plate 30 leaves the auxiliary plate 29, the telescopic air bag 27 cannot extend until the supporting plate 30 is attached to the inner wall of the opening 26, and the lifting plate 23 moves upwards continuously and only can expand the buffer bag 16.

After the centre gripping bag 10 grips the material completely, start electric putter 6, make electric putter 6 shrink, can drive the installing frame 9 and move up, at this moment, under the effect of gravity, two layer boards 30 can move down and leave opening 26 under the effect of gravity, at this moment, cushion bag 16 can contract rapidly, and extrude the air in flexible gasbag 27 (cushion bag 16's elasticity is far greater than flexible gasbag 27's elasticity), sliding plate 28 continues to move, can drive two layer boards 30 and be close to each other, two layer boards 30 can hold the bottom of material, further prevent that the material from dropping.

When an article needs to be put down, the electric telescopic rod 14 is started, the moving plate 13 moves downwards, the lifting plate 23 is further driven to move downwards, the conductive strips 24 are separated from the conductive strips 25, at the moment, the electromagnet 20 and the electrode plate 8 are powered off, the electrorheological fluid 18 is converted into a liquid state, the rotating shaft drives the disc 21 to rotate to an initial state under the action of the torsion spring, the telescopic air bag 27 contracts and drives the two supporting plates 30 to be away from each other, after the inclined surface of the supporting plate 30 is contacted with the auxiliary plate 29, the supporting plate 30 automatically moves into the opening 26, the moving plate 13 continuously moves downwards, the electrorheological fluid 18 can be sucked back into the mounting box 12, and the clamping bag 10 contracts and does not clamp the material any more.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent replacement or change according to the technical solution and the inventive concept of the present invention should be covered within the scope of the present invention.