CN118989171A - Manipulator device for stamping and carrying parts - Google Patents

Manipulator device for stamping and carrying parts Download PDF

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Publication number
CN118989171A
CN118989171A CN202411464632.3A CN202411464632A CN118989171A CN 118989171 A CN118989171 A CN 118989171A CN 202411464632 A CN202411464632 A CN 202411464632A CN 118989171 A CN118989171 A CN 118989171A
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CN
China
Prior art keywords
plate
clamping
arm
away
fixedly connected
Prior art date
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Granted
Application number
CN202411464632.3A
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Chinese (zh)
Other versions
CN118989171B (en
Inventor
李责瑞
高俊鹏
陈继泽
王诚林
裴雷钢
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Dongguan Yaoxin Hardware Plastic Products Co ltd
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Changchun College of Electronic Technology
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Priority to CN202411464632.3A priority Critical patent/CN118989171B/en
Publication of CN118989171A publication Critical patent/CN118989171A/en
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Publication of CN118989171B publication Critical patent/CN118989171B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种用于零部件冲压搬运的机械手装置，本发明涉及搬运机械手技术领域。本发明包括夹持组件，该夹持组件具有缓冲结构，用于零部件搬运时的固定，夹持组件与连接块的间隔处设置有卡块，卡块远离夹持组件的一侧通过转杆与连接块的内侧面转动连接，卡块远离连接块的一侧与夹持组件的内侧面滑动连接，且夹持组件沿卡块的周向设置有若干个，夹持组件的缓冲结构在夹持冲压件时进行缓冲，避免夹持速度过快造成工件损伤，若干个夹持组件能够独立驱动，相比于同时驱动，在对形状不规则的冲压件进行夹持时，能够更好的贴合冲压件表面，避免冲压件与夹持组件之间产生空隙，从而避免搬运时冲压件脱落。

The present invention discloses a manipulator device for stamping and handling parts, and the present invention relates to the technical field of handling manipulators. The present invention includes a clamping assembly, which has a buffer structure for fixing parts during handling, a clamping block is provided at the interval between the clamping assembly and the connecting block, the side of the clamping block away from the clamping assembly is rotatably connected to the inner side surface of the connecting block through a rotating rod, the side of the clamping block away from the connecting block is slidably connected to the inner side surface of the clamping assembly, and the clamping assembly is provided with a plurality of clamping assemblies along the circumference of the clamping block, the buffer structure of the clamping assembly is used for buffering when clamping the stamping part, so as to avoid damage to the workpiece caused by excessive clamping speed, and the plurality of clamping assemblies can be driven independently, and compared with simultaneous driving, when clamping irregularly shaped stamping parts, the surface of the stamping parts can be better fitted, so as to avoid the generation of gaps between the stamping parts and the clamping assembly, thereby preventing the stamping parts from falling off during handling.

Description

Manipulator device for stamping and carrying parts
Technical Field
The invention relates to the technical field of carrying manipulators, in particular to a manipulator device for stamping and carrying parts.
Background
The stamping process is a processing method for obtaining a workpiece with certain size, shape and performance by applying external force to a blank through a die to enable the blank to be plastically deformed or separated, and has wide application range, and can be used for processing metal plates and bars and processing various nonmetallic materials, and the processing is usually carried out at normal temperature, so the stamping process is also called cold stamping;
In the process of forming a complex stamping part, products need to be formed through repeated stamping, namely stamping equipment is provided with a plurality of dies, stamping parts are stamped among multiple stations for multiple times, traditional stamping equipment is used for carrying the stamping parts manually when the stamping parts are stamped among the multiple stations for multiple times, the working efficiency is low, the labor intensity is high, the cost is high, the position for placing the stamping parts is difficult to ensure, the shape error of the products is large, at present, some carrying manipulators appear on the market, the defect of manually carrying the stamping parts is overcome to a certain extent, but the existing carrying manipulator structure cannot be used for effectively fixing when clamping various workpieces, the shape and the size of the stamping parts are different, and small parts cannot be carried effectively, so that a manipulator device for part stamping and carrying is provided.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a manipulator device for stamping and carrying parts, comprising:
The automatic stamping device comprises a base, wherein a translation mechanism is slidably connected to the bottom of the base, a rotating seat is arranged on one side, far away from the translation mechanism, of the base, the inner side surface of the base is rotationally connected with the surface of the rotating seat, a first connecting arm is arranged on one side, far away from the base, of the rotating seat, the surface of the first connecting arm is rotationally connected with the inner side surface of the rotating seat through a rotating rod, a second connecting arm is arranged on one side, far away from the rotating seat, of the first connecting arm, the inner side surface of the second connecting arm is rotationally connected with the side surface of the first connecting arm through a rotating rod, the translation mechanism can drive the base to move between stations, feed and discharge stamping parts or carry the stamping parts among different stamping procedures, and when the automatic stamping device works, the rotating seat is driven to rotate inside the base, the first connecting arm is driven to rotate inside the rotating seat, and the second connecting arm is driven to rotate relative to the first connecting arm, so that the position of a stamping part can be freely replaced;
The conveying mechanism is provided with a clamping structure and is used for conveying parts during stamping, the end part of the conveying mechanism is rotatably connected with one end of the second connecting arm far away from the first connecting arm through a rotating rod, the conveying mechanism clamps the stamping part, drives the conveying mechanism to rotate relative to the second connecting arm, and can adjust the orientation of a workpiece, stamp different surfaces of the workpiece or change the placing direction of the workpiece;
wherein, handling mechanism includes:
The connecting block is arranged at one end of the second connecting arm far away from the first connecting arm, a limiting component is arranged at the interval between the connecting block and the second connecting arm and is fixedly connected with one side of the connecting block, which is close to the second connecting arm, respectively, the shape of different stamping parts is different, the clamping position is also different, the connecting block is driven to rotate relative to the second connecting arm, the clamping angle can be adjusted, the stamping parts can be clamped more conveniently and firmly, the rotation of the connecting block can be limited by the limiting component, the connecting block can be stably circulated, and the large shaking of the connecting block is avoided when the connecting block rotates;
Clamping assembly, this clamping assembly has buffer structure for fixed when spare part transport, clamping assembly is provided with the fixture block with the interval department of connecting block, one side that clamping assembly was kept away from to the fixture block is rotated through the medial surface of bull stick and connecting block and is connected, one side that the connecting block was kept away from to the fixture block and clamping assembly's medial surface sliding connection, just clamping assembly is provided with a plurality of along the circumference of fixture block, and after clamping assembly arrived the preset position, drive clamping assembly was inside the fixture block to slide, and a plurality of clamping assembly cooperation is carried out the centre gripping to the stamping workpiece, and clamping assembly's buffer structure buffers when the centre gripping stamping workpiece, avoids the clamping speed to cause the work piece damage too fast, and a plurality of clamping assembly can independently drive, compares in the simultaneous drive, when carrying out the centre gripping to the irregular stamping workpiece of shape, can be better laminating surface, avoids producing the space between stamping workpiece and the clamping assembly to avoid the stamping workpiece to drop when carrying.
Further, the clamping assembly comprises a column body, column body fixed connection is at the medial surface of fixture block, the surface sliding connection of column body has the centre gripping arm, just the surface of centre gripping arm and the medial surface sliding connection of fixture block, one side that the centre gripping arm is close to fixture block axle center department is provided with the grip block, one side fixedly connected with plate body that the grip block is close to the grip arm, the one end that the grip block was kept away from to the plate body runs through the grip arm, just the surface and the medial surface sliding connection of grip arm of grip block, drive the grip arm slides at the medial surface of fixture block, drives the plate body and moves, drives the grip block and moves, and the grip block cooperation of a plurality of clamping assembly carries out the centre gripping to the work piece, and the column body can be spacing to the grip arm when the grip arm moves, avoids the grip arm to produce and rocks, and the grip block receives the oppression, and the grip block moves to the grip block to avoid the grip to cushion the centre gripping of work piece, avoid the grip block to contact the grip block after the grip block to stop buffering, to the work piece stable centre gripping.
Further, one side fixedly connected with buffer spring of grip block is kept away from to the grip block, one side fixedly connected with square board of grip block is kept away from to buffer spring, one side that the square board is close to buffer spring and one side fixedly connected with that the grip block was kept away from to the plate body, just buffer spring cover is established in the plate body outside, and the plate body removes, drives the square board and removes, drives buffer spring and stretch, buffer spring before stable centre gripping, exerts the elasticity for the grip block, makes the grip block have enough resistance, forms to fix in advance, when the grip block removes, provides buffer elasticity, avoids the grip block travel speed too fast to cause the damage to the work piece.
Further, the grip block sets up to the wave form, the grip block is made by elastic material, just the grip block cavity sets up, the inside of grip block is provided with the offset plate, the surface of offset plate and the medial surface fixed connection of grip block, wave form grip block has a plurality of sunkens, when pre-fixing, can carry out spacingly to less part and irregular part surface, avoid work piece production skew before fixing completely, ensure pre-fixing effect, simultaneously when fixing completely, the grip block can produce deformation, better cladding to the work piece, work piece slippage when avoiding the transport, the inside offset plate of grip block can provide the buffering when being in contact with the work piece for the grip block, avoid the grip block to damage the work piece, also can assist the grip block after the deformation to resume deformation, avoid the grip block to lose elasticity, increase of service life.
Further, the bilateral symmetry of plate body is provided with the limiting plate, the limiting plate sets up to trapezoidal, and two the one side that the limiting plate is close to each other is connected with the fixed surface of plate body, the limiting plate sets up in buffer spring's circle, just the surface of limiting plate and the medial surface sliding connection of centre gripping arm, the one end that the cylinder was kept away from to the centre gripping arm is provided with auxiliary assembly, sets up the limiting plate, can carry out spacingly when the plate body removes, ensures the stable slip of plate body to ensure the stable removal of clamping plate, avoid the scheduled work piece to produce the skew slippage, limit the limiting plate further spacing when fixed, and single plate body can independently remove, adapt to the deformation that the clamping plate produced the work piece cladding, better cladding to the work piece for the work piece of equidimension and shape not, all can be firm fixed, stable transport.
Further, the auxiliary assembly comprises a touch plate, one end sliding connection that the cylinder was kept away from to touch plate and centre gripping arm, one side that the touch plate is close to the centre gripping board and one side fixed connection that the cylinder was kept away from to the centre gripping board, just the touch plate is located the centre gripping arm and is kept away from one side slope setting of square board, when the part is too little, drives centre gripping arm perpendicular to work piece directly over, and drive touch plate and work piece contact, and a plurality of touch plates are spacing to the work piece, carry the work piece perpendicularly to accomplish the transport of the less work piece of volume, when the touch plate removed, drive the centre gripping board and remove, the centre gripping board receives the buffering, makes the touch plate also receive the buffering.
Further, one side fixedly connected with recess board of square board is kept away from to the centre gripping arm, one side that square board was kept away from to the recess board runs through the slope side of touch panel, just the surface of recess board and the medial surface sliding connection of touch panel, evenly distributed has touch sensor in the recess scope of recess board, just touch sensor and touch panel keep away from one side fixedly connected of centre gripping arm, drive touch panel and work piece contact, touch sensor sends out the instruction, and this manipulator of drive carries out the series action, and the touch panel removes, and the recess board is static, and a plurality of recess boards constitute a discontinuous space for hold the work piece, make the less part of unable centre gripping, also can carry through placing in the inside of a plurality of recess boards.
Further, one side fixedly connected with stopper that the touch panel is close to the centre gripping arm, just the surface of stopper and the medial surface sliding connection of centre gripping arm, the medial surface sliding connection of stopper has the termination board, one side and the medial surface fixed connection of centre gripping arm that the touch panel was kept away from to the termination board, one side fixedly connected with connecting plate that the centre gripping arm was kept away from to the termination board, the connecting plate runs through the touch panel, connecting plate and recess board fixed connection, the touch panel removes, drives the stopper and slides in the centre gripping arm inside to make the removal of touch panel more stable, the stopper slides in the outside of termination board, when the termination board slides to stopper medial surface bottom, removes to terminate, accomplishes the bearing to less part, and the termination board can be spacing to the removal of stopper, further ensures the steady removal of touch panel.
Further, spacing subassembly includes the ring groove board, ring groove board fixed connection is near one side of connecting block at the second linking arm, the medial surface sliding connection of ring groove board has the ring board, one side fixedly connected with connecting seat of second linking arm is kept away from to the ring board, one side of connecting seat and connecting block that is close to one side fixed connection of second linking arm are kept away from to the connecting seat, and the connecting block is rotatory, drives connecting seat, ring board rotation, and the ring board slides in the inside of ring groove board to spacing the connecting block, avoid it to produce in handling and rock.
Further, translation mechanism includes the slip table cylinder, the top of slip table cylinder and the bottom fixed connection of base, just one side that the base kept away from the rotation seat and the output fixed connection of slip table cylinder, the bilateral symmetry of base is provided with the sleeve board, two the sleeve board is close to one side and the fixed surface of base each other, one side that the base was kept away from to the sleeve board is provided with the slide bar, just the medial surface of sleeve board and the surface sliding connection of slide bar, the fixed surface of slide bar and slip table cylinder is connected, the equal fixedly connected with damping spring in both sides of sleeve board, damping spring cover is established in the slide bar outside, and two damping spring keeps away from each other one end and the fixed surface of slide bar are connected, during the transport, start the slip table cylinder, the slip table cylinder drives the base and removes, finally drives the work piece and removes the transport that drives the sleeve board and remove, and slide the sleeve board slides at the slide bar surface for the removal of base is more stable, drives damping spring deformation simultaneously, cushions and the shock attenuation when removing, avoids producing the transport of rocking, influence work piece.
The invention has the beneficial effects that:
According to the invention, the clamping assembly is arranged, the column body can limit the clamping arm when the clamping arm moves, so that the clamping arm is prevented from shaking, the clamping plate is pressed when the workpiece is clamped, the clamping plate and the plate body move relative to the clamping arm, so that the workpiece is buffered, the workpiece is prevented from being damaged due to too high clamping speed, the buffer spring applies elasticity to the clamping plate before stable clamping, the clamping plate has enough resistance to form pre-fixing, and the buffer elasticity is provided when the clamping plate moves, so that the workpiece is prevented from being damaged due to too high moving speed of the clamping plate.
According to the invention, the wavy clamping plate is provided with the plurality of pits, so that the surfaces of smaller parts and irregular parts can be limited during pre-fixing, the phenomenon that the workpiece is deviated before complete fixing is avoided, the pre-fixing effect is ensured, the clamping plate can deform during complete fixing, the workpiece is better coated, the workpiece is prevented from slipping during carrying, the rubber plate in the clamping plate can provide buffering for the contact of the clamping plate and the workpiece, the damage of the clamping plate to the workpiece is avoided, the deformed clamping plate can be assisted to recover deformation, the clamping plate is prevented from losing elasticity, and the service life is prolonged.
According to the invention, the limiting plate is arranged, when the plate body moves, the limiting plate is limited, the stable sliding of the plate body is ensured, so that the stable movement of the clamping plate is ensured, the offset sliding of a workpiece is avoided in the preset time, the limiting plate is further limited when the clamping plate is fixed, the single plate body can move independently, the deformation generated by the workpiece coating by the clamping plate is adapted, the workpiece is better coated, and the workpieces with different sizes and shapes can be firmly fixed and stably conveyed.
According to the invention, by arranging the auxiliary assembly, when the part is too small, the clamping arm is driven to be perpendicular to the upper part of the workpiece, the touch plate is driven to be in contact with the workpiece to move, the groove plates are static, and a discontinuous space is formed by the groove plates for accommodating the workpiece, so that the small part which cannot be clamped can be carried by being placed in the groove plates, the carrying of the workpiece with small volume is completed, and when the touch plate moves, the clamping plate is driven to move and is buffered, and the touch plate can be buffered.
Drawings
FIG. 1 is a schematic view of a manipulator apparatus for part stamping handling according to the present invention;
FIG. 2 is a schematic diagram of a handling mechanism according to the present invention;
FIG. 3 is a schematic view of a clamping arm according to the present invention;
FIG. 4 is a schematic view of a clamping plate structure according to the present invention;
FIG. 5 is a schematic view of a limiting plate structure according to the present invention;
FIG. 6 is a schematic cross-sectional view of a clamping arm according to the present invention;
FIG. 7 is a schematic view of the auxiliary assembly structure of the present invention;
FIG. 8 is a schematic view of a spacing assembly according to the present invention;
fig. 9 is a schematic structural view of a translation mechanism of the present invention.
In the figure: 1. a base; 2. a translation mechanism; 21. a slipway cylinder; 22. a slide bar; 23. a damping spring; 24. a sleeve plate; 3. a rotating seat; 4. a first connecting arm; 5. a second connecting arm; 6. a carrying mechanism; 61. a connecting block; 62. a limit component; 621. a ring groove plate; 622. a ring plate; 623. a connecting seat; 63. a clamping block; 65. a clamping assembly; 651. a column; 652. a clamping arm; 653. a plate body; 654. a clamping plate; 655. a square plate; 656. an auxiliary component; 6561. a touch panel; 6562. a tactile sensor; 6563. a groove plate; 6564. a limiting block; 6565. a connecting plate; 6566. a termination plate; 657. a buffer spring; 658. a limiting plate; 659. and (5) a rubber plate.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Embodiment 1 referring to fig. 1-7, the present invention is a manipulator device for stamping and carrying parts, comprising:
The automatic stamping device comprises a base 1, wherein the bottom of the base 1 is slidably connected with a translation mechanism 2, one side, far away from the translation mechanism 2, of the base 1 is provided with a rotating seat 3, the inner side surface of the base 1 is rotationally connected with the surface of the rotating seat 3, one side, far away from the base 1, of the rotating seat 3 is provided with a first connecting arm 4, the surface of the first connecting arm 4 is rotationally connected with the inner side surface of the rotating seat 3 through a rotating rod, one side, far away from the rotating seat 3, of the first connecting arm 4 is provided with a second connecting arm 5, the inner side surface of the second connecting arm 5 is rotationally connected with the side surface of the first connecting arm 4 through a rotating rod, the translation mechanism 2 can drive the base 1 to move between stations, feed and discharge stamping parts or carry the stamping parts among different stamping procedures, and when the mechanical arm device works, the rotating seat 3 is driven to rotate inside the base 1, the first connecting arm 4 is driven to rotate inside the rotating seat 3, and the second connecting arm 5 is driven to rotate relative to the first connecting arm 4, so that the position of the stamping parts can be freely replaced;
The carrying mechanism 6 is provided with a clamping structure and is used for carrying when parts are punched, the end part of the carrying mechanism 6 is rotatably connected with one end, far away from the first connecting arm 4, of the second connecting arm 5 through a rotating rod, the carrying mechanism 6 clamps a stamping part, the carrying mechanism 6 is driven to rotate relative to the second connecting arm 5, the workpiece orientation can be adjusted, different surfaces of the workpiece are punched, or the placing direction of the workpiece is changed;
Wherein, transport mechanism 6 includes:
The connecting block 61, the connecting block 61 sets up the one end of keeping away from first linking arm 4 at second linking arm 5, the interval department of connecting block 61 and second linking arm 5 is provided with spacing subassembly 62, spacing subassembly 62 respectively with connecting block 61 and the one side fixed connection that second linking arm 5 is close to each other, the shape of different stamping parts is different, the position of convenient centre gripping is also different, drive connecting block 61 is rotatory for second linking arm 5, can adjust the centre gripping angle, more convenient also more firm centre gripping to the stamping parts, spacing subassembly 62 can restrict the rotation of connecting block 61, make its stable turnover that goes round, avoid producing when connecting block 61 rotates and shake by a wide margin;
Clamping component 65, this clamping component 65 has buffer structure, be used for the fixed when spare part transport, the interval department of clamping component 65 and connecting block 61 is provided with fixture block 63, one side that clamping component 65 was kept away from to fixture block 63 is rotated through the bull stick with the medial surface of connecting block 61 and is connected, one side that connecting block 61 was kept away from to fixture block 63 and clamping component 65 medial surface sliding connection, and clamping component 65 is provided with a plurality of along the circumference of fixture block 63, after clamping component 65 reached the preset position, drive clamping component 65 slides in fixture block 63 inside, a plurality of clamping component 65 cooperation, carry out the centre gripping to the stamping workpiece, buffer structure of clamping component 65 buffers when the centre gripping stamping workpiece, avoid the clamping speed to cause the work piece damage too fast, a plurality of clamping component 65 can independent drive, compare in the simultaneous drive, laminating stamping workpiece surface that can be better when carrying out the centre gripping to the irregular stamping workpiece, avoid producing the space between stamping workpiece and the clamping component 65, thereby the stamping workpiece drops when avoiding the transport.
The clamping assembly 65 comprises a column 651, the column 651 is fixedly connected to the inner side face of the clamping block 63, the surface of the column 651 is slidably connected with a clamping arm 652, the surface of the clamping arm 652 is slidably connected with the inner side face of the clamping block 63, one side, close to the axis of the clamping block 63, of the clamping arm 652 is provided with a clamping plate 654, one side, close to the clamping arm 652, of the clamping plate 654 is fixedly connected with a plate 653, one end, far from the clamping plate 654, of the plate 653 penetrates through the clamping arm 652, the surface of the clamping plate 654 is slidably connected with the inner side face of the clamping arm 652, the clamping arm 652 is driven to slide on the inner side face of the clamping block 63, the plate 653 is driven to move, the clamping plate 654 is driven to move, the clamping plates 654 of the clamping assembly 65 are matched to clamp a workpiece, the column 651 can limit the clamping arm 652 when the clamping arm 652 moves, the clamping plate 654 is prevented from shaking, the clamping plate 654 is pressed, the clamping plate 654 and the plate 653 move relative to the clamping arm 652, damage to the workpiece is avoided, and the clamping speed of the workpiece is stopped when the clamping plate is contacted with the clamping arm 652, and the workpiece is stably buffered.
The one side fixedly connected with buffer spring 657 that the grip arm 652 kept away from grip plate 654, one side fixedly connected with square board 655 that buffer spring 657 kept away from the grip arm 652, one side that square board 655 is close to buffer spring 657 and one side fixedly connected that clamp plate 654 was kept away from to plate 653, and buffer spring 657 cover is established in plate 653 outside, plate 653 removes, drive square board 655 and remove, drive buffer spring 657 tensile, buffer spring 657 is before stable centre gripping, apply elasticity for clamp plate 654, make clamp plate 654 have sufficient resistance, form and fix in advance, when clamp plate 654 removes, provide buffer elasticity, avoid clamp plate 654 moving speed too fast to cause the damage to the work piece.
Clamping plate 654 sets up to the wave form, clamping plate 654 is made by the elasticity material, and clamping plate 654 cavity sets up, the inside of clamping plate 654 is provided with offset plate 659, offset plate 654's surface and clamping plate 654's medial surface fixed connection, wave form clamping plate 654 has a plurality of recesses, when pre-fixing, can carry out spacingly to less part and irregular part surface, avoid work piece production skew before fixing completely, ensure pre-fixing effect, simultaneously when fixing completely, clamping plate 654 can produce the deformation, better cladding the work piece, work piece slippage when avoiding the transport, clamping plate 654 inside offset plate 659 can provide the buffering when being in contact with the work piece for clamping plate 654, avoid clamping plate 654 to damage the work piece, clamping plate 654 after also can assisting deformation resumes deformation, avoid clamping plate 654 to lose elasticity, increase of service life.
The both sides symmetry of plate 653 is provided with limiting plate 658, limiting plate 658 sets up to trapezoidal, and the fixed surface of one side that two limiting plates 658 are close to each other is connected with plate 653, limiting plate 658 sets up in buffer spring 657's circle, and limiting plate 658's surface and clamping arm 652's medial surface sliding connection, clamping arm 652 keeps away from the one end of cylinder 651 and is provided with auxiliary assembly 656, set up limiting plate 658, can carry out spacing to plate 653 when it moves, ensure the stable slip of plate 653, thereby ensure the steady movement of clamping plate 654, avoid the scheduled work piece to produce the skew slippage, limiting plate 658 is further spacing when fixed, and single plate 653 can independently remove, adapt to the deformation that clamping plate 654 produced the work piece cladding, better cladding work piece, make the work piece of equidimension and shape not, all can be firm fixed, stable transport.
The auxiliary assembly 656 comprises a touch plate 6561, the touch plate 6561 and the clamping arm 652 are in sliding connection with one end of the cylinder 651, one side of the touch plate 6561, which is close to the clamping plate 654, is fixedly connected with one side of the clamping plate 654, which is far away from the cylinder 651, and the touch plate 6561 is arranged on one side of the clamping arm 652, which is far away from the square plate 655, in an inclined manner, when the part is too small, the clamping arm 652 is driven to be perpendicular to the upper side of the workpiece, the touch plate 6561 is driven to contact the workpiece, the plurality of touch plates 6561 limit the workpiece and vertically convey the workpiece, so that the workpiece with smaller volume is conveyed, the clamping plate 654 is driven to move when the touch plate 6561 moves, and the clamping plate 654 is buffered, so that the touch plate 6561 can be buffered.
The clamping arm 652 is fixedly connected with a groove plate 6563 on one side far away from the square plate 655, one side far away from the square plate 655 of the groove plate 6563 penetrates through the inclined side face of the touch plate 6561, the surface of the groove plate 6563 is in sliding connection with the inner side face of the touch plate 6561, tactile sensors 6562 are uniformly distributed in the groove range of the groove plate 6563, the tactile sensors 6562 are fixedly connected with one side far away from the clamping arm 652 of the touch plate 6561, the touch plate 6561 is driven to contact with a workpiece, the tactile sensors 6562 are contacted with the workpiece, the tactile sensors 6562 send out instructions to drive the manipulator to perform series actions, the touch plate 6561 moves, the groove plate 6563 is static, and a discontinuous space is formed by the groove plates 6563 and used for accommodating workpieces, so that small parts which cannot be clamped can be conveyed through the inside the groove plates 6563.
The contact plate 6561 is close to one side fixedly connected with stopper 6564 of arm 652, and stopper 6564's surface and the medial surface sliding connection of arm 652, stopper 6564's medial surface sliding connection has termination board 6566, termination board 6566 keeps away from contact plate 6561's one side and the medial surface fixed connection of arm 652, termination board 6566 keeps away from the one side fixedly connected with connecting plate 6565 of arm 652, connecting plate 6565 runs through contact plate 6561, connecting plate 6565 and recess board 6563 fixed connection, contact plate 6561 removes, drive stopper 6564 slides in arm 652 inside, thereby make the removal of contact plate 6561 more stable, stopper 6564 slides in termination board 6566's outside, when termination board 6566 slides to stopper 6564 medial surface bottom, the removal is terminated, the bearing of less part is accomplished, termination board 6566 can be spacing to stopper 6564's removal, further ensure the steady movement of contact plate 6561.
In embodiment 2, referring to fig. 1-9, the limiting component 62 includes a ring groove plate 621, the ring groove plate 621 is fixedly connected to one side of the second connecting arm 5 close to the connecting block 61, the inner side surface of the ring groove plate 621 is slidably connected with a ring plate 622, one side of the ring plate 622 away from the second connecting arm 5 is fixedly connected with a connecting seat 623, one side of the connecting seat 623 away from the ring plate 622 is fixedly connected with one side of the connecting block 61 close to the second connecting arm 5, the connecting block 61 rotates to drive the connecting seat 623 and the ring plate 622 to rotate, and the ring plate 622 slides in the ring groove plate 621, so as to limit the connecting block 61 and prevent the connecting block 61 from shaking during the carrying process.
The translation mechanism 2 includes slip table cylinder 21, the bottom fixed connection of slip table cylinder 21's top and base 1, and the one side that the rotation seat 3 was kept away from to base 1 and the output fixed connection of slip table cylinder 21, the bilateral symmetry of base 1 is provided with the nest plate 24, one side that two nest plates 24 are close to each other and the fixed surface of base 1 are connected, one side that nest plate 24 kept away from base 1 is provided with slide bar 22, and the medial surface of nest plate 24 and slide bar 22's surface sliding connection, slide bar 22 and the fixed surface of slip table cylinder 21 are connected, the both sides of nest plate 24 are all fixedly connected with damping spring 23, damping spring 23 cover is established in the slide bar 22 outside, and the fixed surface of one end that two damping spring 23 kept away from each other and slide bar 22 is connected, during the transport, start slip table cylinder 21 drives base 1 and removes, finally, the transport of work piece is realized, base 1 removes and drives the nest plate 24 and removes, the nest plate 24 and slides at slide bar 22 surface, make the removal of base 1 more stable, drive damping spring 23 deformation simultaneously, buffer and shock attenuation when removing, avoid producing and rock, the transport of influence work piece.
When in use, the touch plate 6561 is driven to contact with a workpiece, the touch sensor 6562 is contacted with the workpiece, the touch sensor 6562 sends out instructions to drive the manipulator to perform a series of actions, the rotating seat 3 is driven to rotate in the base 1, the first connecting arm 4 is driven to rotate in the rotating seat 3, the second connecting arm 5 is driven to rotate relative to the first connecting arm 4, the connecting block 61 is driven to rotate, the connecting seat 623 and the annular plate 622 are driven to rotate, the annular plate 622 slides in the annular plate 621 to realize free replacement of the position of the stamping part, the clamping arm 652 is driven to slide on the inner side surface of the clamping block 63, the plate 653 is driven to move, the clamping plate 654 is driven to move, the square plate 655 is driven to move, the buffer spring 657 is driven to stretch, the clamping plate 654 of a plurality of clamping assembly 65 cooperates, carry out the centre gripping to the work piece, after the clamping plate 654 contacts the clamp arm 652, the clamping plate 654 stops the buffering, the clamping plate 654 produces the deformation, carry out the cladding to the work piece, carry out stable centre gripping to the work piece, when carrying small-size work piece, touch panel 6561 removes, drive stopper 6564 and slide in clamp arm 652 inside, stopper 6564 slides in the outside of termination board 6566, when termination board 6566 slides to stopper 6564 medial surface bottom, the removal is terminated, accomplish the bearing to the less part, during the transport, start slip table cylinder 21, slip table cylinder 21 drives base 1 and removes, base 1 removes and drives the sleeve board 24 and remove, sleeve board 24 slides on slide bar 22 surface, finally drive the work piece and remove, realize the transport of work piece.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.

Claims (10)

1.一种用于零部件冲压搬运的机械手装置，其特征在于，包括：1. A manipulator device for stamping and handling parts, characterized by comprising: 底座（1），所述底座（1）的底部滑动连接有平移机构（2），所述底座（1）远离平移机构（2）的一侧设置有转动座（3），所述底座（1）的内侧面与转动座（3）的表面转动连接，所述转动座（3）远离底座（1）的一侧设置有第一连接臂（4），所述第一连接臂（4）的表面与转动座（3）的内侧面通过转杆转动连接，所述第一连接臂（4）远离转动座（3）的一侧设置有第二连接臂（5），所述第二连接臂（5）的内侧面与第一连接臂（4）的侧面通过转杆转动连接；A base (1), wherein the bottom of the base (1) is slidably connected to a translation mechanism (2), a rotating seat (3) is provided on a side of the base (1) away from the translation mechanism (2), an inner side surface of the base (1) is rotatably connected to a surface of the rotating seat (3), a first connecting arm (4) is provided on a side of the rotating seat (3) away from the base (1), a surface of the first connecting arm (4) is rotatably connected to an inner side surface of the rotating seat (3) via a rotating rod, a second connecting arm (5) is provided on a side of the first connecting arm (4) away from the rotating seat (3), an inner side surface of the second connecting arm (5) is rotatably connected to a side surface of the first connecting arm (4) via a rotating rod; 搬运机构（6），该搬运机构（6）具有夹持结构，用于零部件冲压时的搬运，所述搬运机构（6）端部与第二连接臂（5）远离第一连接臂（4）的一端通过转杆转动连接；A transport mechanism (6), the transport mechanism (6) having a clamping structure and used for transporting parts during stamping, wherein an end of the transport mechanism (6) is rotatably connected to an end of the second connecting arm (5) away from the first connecting arm (4) via a rotating rod; 其中，所述搬运机构（6）包括：Wherein, the transport mechanism (6) comprises: 连接块（61），所述连接块（61）设置在第二连接臂（5）远离第一连接臂（4）的一端，所述连接块（61）与第二连接臂（5）的间隔处设置有限位组件（62），所述限位组件（62）分别与连接块（61）与第二连接臂（5）相互靠近的一侧固定连接；A connecting block (61), the connecting block (61) being arranged at an end of the second connecting arm (5) away from the first connecting arm (4), a limiting assembly (62) being arranged at a distance between the connecting block (61) and the second connecting arm (5), the limiting assembly (62) being respectively fixedly connected to a side of the connecting block (61) and the second connecting arm (5) close to each other; 夹持组件（65），该夹持组件（65）具有缓冲结构，用于零部件搬运时的固定，所述夹持组件（65）与连接块（61）的间隔处设置有卡块（63），所述卡块（63）远离夹持组件（65）的一侧通过转杆与连接块（61）的内侧面转动连接，所述卡块（63）远离连接块（61）的一侧与夹持组件（65）的内侧面滑动连接，且所述夹持组件（65）沿卡块（63）的周向设置有若干个。A clamping assembly (65) having a buffer structure and used for fixing parts during transportation; a clamping block (63) is provided at the interval between the clamping assembly (65) and the connecting block (61); a side of the clamping block (63) away from the clamping assembly (65) is rotatably connected to the inner side surface of the connecting block (61) via a rotating rod; a side of the clamping block (63) away from the connecting block (61) is slidably connected to the inner side surface of the clamping assembly (65); and a plurality of clamping assemblies (65) are provided along the circumference of the clamping block (63). 2.根据权利要求1所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述夹持组件（65）包括柱体（651），所述柱体（651）固定连接在卡块（63）的内侧面，所述柱体（651）的表面滑动连接有夹持臂（652），且所述夹持臂（652）的表面与卡块（63）的内侧面滑动连接，所述夹持臂（652）靠近卡块（63）轴心处的一侧设置有夹持板（654），所述夹持板（654）靠近夹持臂（652）的一侧固定连接有板体（653），所述板体（653）远离夹持板（654）的一端贯穿夹持臂（652），且所述夹持板（654）的表面与夹持臂（652）的内侧面滑动连接。2. A manipulator device for stamping and handling parts according to claim 1, characterized in that: the clamping assembly (65) includes a column (651), the column (651) is fixedly connected to the inner side surface of the clamping block (63), the surface of the column (651) is slidably connected to a clamping arm (652), and the surface of the clamping arm (652) is slidably connected to the inner side surface of the clamping block (63), a clamping plate (654) is provided on one side of the clamping arm (652) close to the axis of the clamping block (63), a plate body (653) is fixedly connected to one side of the clamping plate (654) close to the clamping arm (652), an end of the plate body (653) away from the clamping plate (654) passes through the clamping arm (652), and the surface of the clamping plate (654) is slidably connected to the inner side surface of the clamping arm (652). 3.根据权利要求2所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述夹持臂（652）远离夹持板（654）的一侧固定连接有缓冲弹簧（657）,所述缓冲弹簧（657）远离夹持臂（652）的一侧固定连接有方板（655），所述方板（655）靠近缓冲弹簧（657）的一侧与板体（653）远离夹持板（654）的一侧固定连接，且所述缓冲弹簧（657）套设在板体（653）外部。3. A manipulator device for stamping and handling parts according to claim 2, characterized in that: a side of the clamping arm (652) away from the clamping plate (654) is fixedly connected to a buffer spring (657), a side of the buffer spring (657) away from the clamping arm (652) is fixedly connected to a square plate (655), a side of the square plate (655) close to the buffer spring (657) is fixedly connected to a side of the plate body (653) away from the clamping plate (654), and the buffer spring (657) is sleeved on the outside of the plate body (653). 4.根据权利要求3所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述夹持板（654）设置为波形，所述夹持板（654）由弹性材质制成，且所述夹持板（654）中空设置，所述夹持板（654）的内部设置有胶板（659），所述胶板（659）的表面与夹持板（654）的内侧面固定连接。4. A manipulator device for stamping and handling parts according to claim 3, characterized in that: the clamping plate (654) is configured to be corrugated, the clamping plate (654) is made of elastic material, and the clamping plate (654) is configured to be hollow, a rubber plate (659) is configured inside the clamping plate (654), and the surface of the rubber plate (659) is fixedly connected to the inner side surface of the clamping plate (654). 5.根据权利要求4所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述板体（653）的两侧对称设置有限位板（658），所述限位板（658）设置为梯形，且两个所述限位板（658）相互靠近的一侧与板体（653）的表面固定连接，所述限位板（658）设置在缓冲弹簧（657）的圈内，且所述限位板（658）的表面与夹持臂（652）的内侧面滑动连接，所述夹持臂（652）远离柱体（651）的一端设置有辅助组件（656）。5. A manipulator device for stamping and handling parts according to claim 4, characterized in that: limit plates (658) are symmetrically arranged on both sides of the plate body (653), the limit plates (658) are arranged in a trapezoidal shape, and the sides of the two limit plates (658) close to each other are fixedly connected to the surface of the plate body (653), the limit plates (658) are arranged in the circle of the buffer spring (657), and the surface of the limit plates (658) is slidably connected to the inner side surface of the clamping arm (652), and an auxiliary component (656) is arranged at one end of the clamping arm (652) away from the column (651). 6.根据权利要求5所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述辅助组件（656）包括触板（6561），所述触板（6561）与夹持臂（652）远离柱体（651）的一端滑动连接，所述触板（6561）靠近夹持板（654）的一侧与夹持板（654）远离柱体（651）的一侧固定连接，且所述触板（6561）位于夹持臂（652）远离方板（655）的一侧倾斜设置。6. A manipulator device for stamping and handling parts according to claim 5, characterized in that: the auxiliary component (656) includes a touch plate (6561), the touch plate (6561) is slidably connected to an end of the clamping arm (652) away from the column (651), the side of the touch plate (6561) close to the clamping plate (654) is fixedly connected to the side of the clamping plate (654) away from the column (651), and the touch plate (6561) is inclined on the side of the clamping arm (652) away from the square plate (655). 7.根据权利要求6所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述夹持臂（652）远离方板（655）的一侧固定连接有凹槽板（6563），所述凹槽板（6563）远离方板（655）的一侧贯穿触板（6561）的倾斜侧面，且所述凹槽板（6563）的表面与触板（6561）的内侧面滑动连接，所述凹槽板（6563）的凹槽范围内均匀分布有触觉传感器（6562），且所述触觉传感器（6562）与触板（6561）远离夹持臂（652）的一侧固定连接。7. A manipulator device for stamping and handling parts according to claim 6, characterized in that: a groove plate (6563) is fixedly connected to the side of the clamping arm (652) away from the square plate (655), the side of the groove plate (6563) away from the square plate (655) penetrates the inclined side surface of the touch plate (6561), and the surface of the groove plate (6563) is slidably connected to the inner side surface of the touch plate (6561), tactile sensors (6562) are evenly distributed within the groove range of the groove plate (6563), and the tactile sensors (6562) are fixedly connected to the side of the touch plate (6561) away from the clamping arm (652). 8.根据权利要求7所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述触板（6561）靠近夹持臂（652）的一侧固定连接有限位块（6564），且所述限位块（6564）的表面与夹持臂（652）的内侧面滑动连接，所述限位块（6564）的内侧面滑动连接有终止板（6566），所述终止板（6566）远离触板（6561）的一侧与夹持臂（652）的内侧面固定连接，所述终止板（6566）远离夹持臂（652）的一侧固定连接有连接板（6565），所述连接板（6565）贯穿触板（6561），所述连接板（6565）与凹槽板（6563）固定连接。8. A manipulator device for stamping and transporting parts according to claim 7, characterized in that: the side of the touch plate (6561) close to the clamping arm (652) is fixedly connected to the limit block (6564), and the surface of the limit block (6564) is slidably connected to the inner side surface of the clamping arm (652), the inner side surface of the limit block (6564) is slidably connected to a termination plate (6566), the side of the termination plate (6566) away from the touch plate (6561) is fixedly connected to the inner side surface of the clamping arm (652), the side of the termination plate (6566) away from the clamping arm (652) is fixedly connected to a connecting plate (6565), the connecting plate (6565) passes through the touch plate (6561), and the connecting plate (6565) is fixedly connected to the groove plate (6563). 9.根据权利要求8所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述限位组件（62）包括环槽板（621），所述环槽板（621）固定连接在第二连接臂（5）靠近连接块（61）的一侧，所述环槽板（621）的内侧面滑动连接有环板（622），所述环板（622）远离第二连接臂（5）的一侧固定连接有连接座（623），所述连接座（623）远离环板（622）的一侧与连接块（61）靠近第二连接臂（5）的一侧固定连接。9. A manipulator device for stamping and handling parts according to claim 8, characterized in that: the limiting assembly (62) includes a ring groove plate (621), the ring groove plate (621) is fixedly connected to a side of the second connecting arm (5) close to the connecting block (61), the inner side surface of the ring groove plate (621) is slidably connected to a ring plate (622), the side of the ring plate (622) away from the second connecting arm (5) is fixedly connected to a connecting seat (623), and the side of the connecting seat (623) away from the ring plate (622) is fixedly connected to a side of the connecting block (61) close to the second connecting arm (5). 10.根据权利要求9所述的一种用于零部件冲压搬运的机械手装置，其特征在于：所述平移机构（2）包括滑台气缸（21），所述滑台气缸（21）的顶部与底座（1）的底部固定连接，且所述底座（1）远离转动座（3）的一侧与滑台气缸（21）的输出端固定连接，所述底座（1）的两侧对称设置有套板（24），两个所述套板（24）相互靠近的一侧与底座（1）的表面固定连接，所述套板（24）远离底座（1）的一侧设置有滑杆（22），且所述套板（24）的内侧面与滑杆（22）的表面滑动连接，所述滑杆（22）与滑台气缸（21）的表面固定连接，所述套板（24）的两侧均固定连接有减震弹簧（23），所述减震弹簧（23）套设在滑杆（22）外部，且两个所述减震弹簧（23）相互远离的一端与滑杆（22）的表面固定连接。10. A manipulator device for stamping and handling parts according to claim 9, characterized in that: the translation mechanism (2) includes a slide cylinder (21), the top of the slide cylinder (21) is fixedly connected to the bottom of the base (1), and the side of the base (1) away from the rotating seat (3) is fixedly connected to the output end of the slide cylinder (21), and the base (1) is symmetrically provided with sleeve plates (24) on both sides, and the sides of the two sleeve plates (24) close to each other are in contact with the surface of the base (1). The sleeve (24) is fixedly connected, a sliding rod (22) is provided on a side of the sleeve (24) away from the base (1), and the inner side surface of the sleeve (24) is slidably connected to the surface of the sliding rod (22), the sliding rod (22) is fixedly connected to the surface of the slide cylinder (21), and shock absorbing springs (23) are fixedly connected on both sides of the sleeve (24), the shock absorbing springs (23) are sleeved on the outside of the sliding rod (22), and the ends of the two shock absorbing springs (23) away from each other are fixedly connected to the surface of the sliding rod (22).
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07314044A (en) * 1994-05-30 1995-12-05 Nisshinbo Ind Inc Material handling robot hand for metal sheet bending machine
CN219925279U (en) * 2023-06-05 2023-10-31 吴江市金明机械有限公司 Special-shaped piece clamping device
CN220680833U (en) * 2023-06-26 2024-03-29 孔凡磊 Mechanical arm
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