CN210029191U

CN210029191U - Manipulator is used in mould transport

Info

Publication number: CN210029191U
Application number: CN201920718474.8U
Authority: CN
Inventors: 王璐
Original assignee: Wuxi Professional College of Science and Technology
Current assignee: Wuxi Professional College of Science and Technology
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-02-07
Anticipated expiration: 2029-05-20

Abstract

The utility model provides a manipulator is used in mould transport, including setting up in the terminal push rod of slewing arm, the set casing, the push rod configuration part extends into the fore-set of set casing, the lateral part of fore-set forms the spacing groove and connects the pressure disk at the free end of fore-set, the set casing sets up the slide bar that perpendicular and symmetry set up, the slider on the slide bar is established to the marginal assembly cover of pressure disk, and inlay between the interior bottom surface of slider and set casing and establish the spring, the marginal articulated at least two clamp splice that extend the set casing downwards of pressure disk, the bottom of set casing forms supporting of integral type structure and leans on the boss, the top of set casing forms the hollow cylinder that the part shields the fore-set, the internal face of hollow cylinder forms the locating part that transversely extends into the spacing groove, form the stress point of vertical direction centre gripping mould more than two at least between boss and the clamp splice. Through the utility model discloses, simplified the structure and reduced manufacturing cost to the reliability to the snatching process of mould has been improved remarkably.

Description

Manipulator is used in mould transport

Technical Field

The utility model relates to an automation equipment technical field especially relates to a manipulator is used in mould transport for carrying mould.

Background

The manipulator is one of important modules of modern intelligent workshops and intelligent storage. The manipulator can simulate certain action functions of human arms and is used for realizing grabbing and carrying of the mould according to a fixed program and a fixed space preset motion trail. The robot may be programmed to perform various desired tasks. The manipulator mainly comprises three major parts, namely an execution mechanism, a driving mechanism and a control system, wherein the hand part is a part for holding a workpiece (or a tool), the hand part has various structural forms such as a clamping type, a holding type or an adsorption type according to the shape, the size, the weight, the material and the operation requirement of the held object, the motion mechanism enables the hand part to complete various rotating, swinging, moving or compound motions to realize the action preset by the system, the position and the posture of the held object are changed, and the independent motion modes such as lifting, stretching and rotating of the motion mechanism are called the degree of freedom of the manipulator.

The mold is a common article in industrial manufacturing that requires transfer. Since the molds are very heavy, it is not practical to transfer the molds manually, and it has become a trend of technical development to rely on an automated robot to transfer the molds. After careful search, the applicant found that chinese utility model patent publication No. CN109048978A discloses a mold workpiece carrying robot.

In this prior art, connect first gangbar through the push rod axle, the other end of first gangbar sets up the dwang through rivet connection to through the setting of bending track and slide bar, realize going up and down when the transport of manipulator, and through the setting of stationary dog, axis of rotation and wire rope isotructure, realize snatching the mould. However, in the process of lifting the mold workpiece carrying manipulator in the vertical direction through the bent rail and the slide rod while carrying, the lifting amplitude of the manipulator is small, and there is a risk that the bent rail and the slide rod are worn to cause mechanical failure after long-term use. Meanwhile, in the operation process that the fixing claws shrink inwards to grab articles and expand inwards to loosen the articles in the prior art, the fixing claws are always required to be retracted and released by steel wire ropes, so that the steel wire ropes have great potential safety hazards once broken, and the defect that the grabbing effect on heavy molds is poor exists.

Simultaneously, because the free end of two stationary dogs among this prior art is the slope symmetry and sets up, consequently only forms two ascending stress points at the in-process of snatching the mould, thereby this manipulator is in the in-process that realizes whole lift and translation because the mould appears rocking and leads to the mould to drop from the stationary dog to there is the potential safety hazard that causes the operation accident. Therefore, the fixed claw has a poor effect on grabbing the object to be carried by the mold.

Finally, the overall structure of the mold workpiece carrying manipulator disclosed by the prior art is too complex, so that the defects of too high assembly and maintenance difficulty, higher manufacturing cost and low overall mechanical reliability exist.

In view of the above, there is a need to improve a mold conveying robot in the prior art to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to disclose a manipulator is used in mould transport to overcome the structure complicacy that the manipulator that is used for carrying the mould among the prior art exists, the higher and not high defect of reliability of manufacturing cost, and realize the reliability to the snatching process of mould.

In order to achieve the above object, the utility model provides a manipulator is used in mould transport, include: set up in the terminal push rod of slewing arm, utensil hollow structure's set casing, the push rod configuration part extends into the fore-set of set casing, the lateral part of fore-set forms the spacing groove and connects the pressure disk at the free end of fore-set, the set casing sets up the slide bar that perpendicular and symmetry set up, the slider on the slide bar is established to the edge assembly cover of pressure disk to inlay between the interior bottom surface of slider and set casing and establish the spring, the edge of pressure disk articulates two at least clamp splice that extend the set casing downwards, the bottom of set casing forms supporting of integral type structure and leans on the boss, the top of set casing forms the hollow cylinder that the part shielded the fore-set, the internal face of hollow cylinder forms and transversely extends into the locating part of spacing groove, form the stress point of vertical direction centre gripping mould more than two at least between boss and the clamp splice.

As a further improvement of the present invention, the limiting groove is circular, and the limiting part is a circular ring plate having a circular through hole.

As a further improvement of the present invention, the clamping device further comprises a limiting boss which is arranged coaxially with the abutting boss and extends downwards, and the limiting boss extends downwards across the clamping block.

As a further improvement of the present invention, the clamping block forms an inward bending hooking portion, and the hooking portion overlaps with the circular ring surface formed by the abutting boss on the vertical projection surface.

As a further improvement of the present invention, the length of the limiting groove in the vertical direction is less than or equal to the difference between the spring in the compressed state and the spring in the relaxed state in the vertical direction.

As a further improvement, the lateral surface of the clamping block forms a notch part, the cross sectional shape of the notch part is semicircular or triangular, and the bottom of the fixing shell forms a circular ring hole for the clamping block to extend downwards out of the fixing shell.

As a further improvement, the radial width of the circular ring hole is 1.5 to 2 times of the radial width of the clamping block.

As a further improvement of the utility model, the push rod is an electric push rod or a hydraulic push rod.

As a further improvement of the present invention, the present invention further comprises: the rotary arm is vertically connected with a rotary column of the rotary arm, the rotary arm and a spindle are coaxially assembled with the rotary column, an accommodating groove for accommodating a bearing is formed in the top of the spindle, and the rotary column is axially assembled with an inner ring of the bearing.

As a further improvement of the present invention, the present invention further comprises: the outer surface of the base is integrally coated with insulating paint.

Compared with the prior art, the beneficial effects of the utility model are that: through the utility model discloses a manipulator is used in mould transport, through form the stress point of two above vertical direction centre gripping moulds at least between boss and the clamp splice, not only overcome the structure complicacy that the manipulator that is used for carrying the mould exists among the prior art, the defect that manufacturing cost is higher and the reliability is not high, still improved this mould and moved the reliability of the process of snatching of manipulator to the mould with showing.

Drawings

Fig. 1 is a schematic structural view of a manipulator for carrying a mold according to the present invention;

fig. 2 is a sectional view of a manipulator for carrying a mold according to the present invention;

fig. 3 is a perspective view of a fixing housing in the manipulator for transporting molds according to the present invention;

FIG. 4 is a schematic view of the spring in a compressed state with the clamp blocks displaced downward;

FIG. 5 is a schematic view of the spring in a compressed state with the clamp blocks displaced downward and laterally expanded.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that the functions, methods, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

The first embodiment is as follows:

fig. 1 to 5 show an embodiment of a manipulator for carrying a mold according to the present invention.

In this embodiment, the robot for transferring a mold includes: a push rod 7 arranged at the tail end of the rotary arm 6 and a fixed shell 17 with a hollow structure. The stationary shell 17 forms a hollow cavity 18. The push rod 7 is disposed to partially extend into the top post 71 of the stationary housing 17. The side of the top column 71 is provided with a limit groove 15, the free end of the top column 71 is connected with the pressure plate 8, and the fixed shell 17 is provided with vertical and symmetrical sliding rods 13. Specifically, push rod 7 is electric putter or hydraulic push rod, specifically chooses electric putter for use in this embodiment to the wire that the accessible was buried revolving arm 6 is connected with host computer (for example industrial computer, PC), in order to realize automated control. The slide rod 13 vertically connects the inner top surface 176 and the inner bottom surface 175 of the stationary case 17.

The edge of the pressure plate 8 is fitted with a slider 12 fitted over the slide rod 13, and a spring 14 is fitted between the slider 12 and the inner bottom surface 175 of the fixed case 17. The edge of the pressure plate 8 is hinged with at least two clamping blocks 11 extending downwards out of the fixed shell 17, the bottom of the fixed shell 17 forms an integrated abutting boss 172, the top of the fixed shell 17 forms a hollow cylinder 171 partially shielding the top column 71, and the inner wall surface of the hollow cylinder 171 forms a limiting part 16 extending transversely into the limiting groove 15. The hollow cylinder 171 forms a cavity 170 for receiving the top post 71. The clamping block 11 forms an inward bent hooking part 112, and the hooking part 112 is partially overlapped with a circular ring surface 174 formed by the abutting boss 172 on a vertical projection plane. The hook part 112 forms a locking surface 110 on one side facing the fixed shell 17, and when the manipulator for transporting the mold is used for clamping the mold, the edge of the mold to be transported can be clamped by the locking surface 110 and the annular surface 174 together, so that the contact area in the process of transporting the mold is increased, the stability of transporting the mold (in the vertical direction and the horizontal direction) is improved, and the mold with larger weight is prevented from falling off in the transferring process. Meanwhile, in the embodiment, at least two stress points for clamping the mold in the vertical direction are formed between the boss 172 and the clamping block 11. The clamp blocks 11 are arranged in the horizontal direction at equal intervals in an annular mode, so that the stability of grabbing the die is further improved, and the die is prevented from falling in the horizontal operation process.

The fixed housing 17 is preferably configured to be cylindrical and is integrally supported by stainless steel, and two through holes 19 are formed in the bottom of the fixed housing 17 for the clamping blocks 11 to extend downward and form a square along the vertical projection. The side length of the through hole 19 is 1.5-2 times of the radial width of the clamping block 11, so that the clamping block 11 can clamp and release the die according to the state shown in fig. 4 and 5. In this embodiment, the robot hand for mold transfer further includes a stopper boss 173 coaxially disposed with the abutment boss 172 and extending downward, and the stopper boss 173 extends downward beyond the clamp block 11. In use, the limiting boss 173 may extend into an internal cavity (not shown) formed by the mold, and form at least two stress points for clamping the mold in the vertical direction through the hooking portion 112 and the circular ring 173 formed by the abutting boss 172 at the radial outer side of the limiting boss 173. More preferably, the boss 173 may also be configured to be vertically retractable to form a three-point mold clamping manner, so as to further improve the reliability and safety of the mold handling robot for clamping the mold.

In this embodiment, the limiting groove 15 is in the shape of a bar, and the length in the vertical direction is less than or equal to the difference between the lengths in the vertical direction of the spring 14 in the compressed state and the relaxed state. With this arrangement, the retainer 112 and the annular surface 174 formed radially outward of the stopper 173 by the abutment boss 172 are effectively prevented from being excessively compressed during the separation from each other in the vertical direction to release the mold, thereby improving the service life of the spring 14.

The limiting member 16 is configured as a column body matched with the limiting groove 15, and can enable the limiting member 16 to realize vertical relative movement in the limiting groove 15 due to the movement of the top pillar 71 in the vertical direction in the limiting groove 15, and play a role of guiding the limiting member 16 in the vertical direction through the limiting groove 15.

Meanwhile, the manipulator for transporting a mold disclosed in this embodiment further includes: a rotating column 5 vertically connected with the rotating arm 6, a main shaft 2 coaxially assembled with the rotating column 5, and a base 1 bearing the main shaft 2. The top of the main shaft 2 forms an accommodating groove 3 for accommodating the bearing 4, the rotating column 5 is axially assembled with the inner ring of the bearing 4, and the accommodating groove 3 clamps the outer ring of the bearing 4, so that the horizontal axial rotation of the rotary arm 6 is realized.

Meanwhile, in the present embodiment, the entire outer surface of the base 1 is coated with an insulating paint to prevent an electric leakage accident. Preferably, the main shaft 2 may be provided with a servo motor (not shown) therein, so that the servo motor drives the rotary column 6, and the rotary arm 6 is driven to rotate axially in the horizontal direction by taking the rotary column 6 as a pivot shaft, so as to integrally drive all components below the push rod 7 to grab the mold and realize the operation in the horizontal direction.

The following provides a brief description of the working principle and process of the mold-transferring robot disclosed in this embodiment, in combination with the structural features.

When it is necessary to grasp the mold, the top post 71 is moved vertically downward, the pressure plate 8 is driven to move vertically downward, and the spring 14 is compressed by the slider 12, while the two clamp blocks 11 hinged to each other extend vertically downward from the through hole 19 to increase the distance between the hooking portion 112 and the circular ring 174 formed by the abutment boss 172 radially outward of the limit boss 173, and to change the clamp blocks 11 from the state shown in fig. 2 to the state shown in fig. 4. In fig. 4, the clamping block 11 is moved to the position 11a shown by the broken line. Since the clamp blocks 11 are in hinged relation to the edge of the platen 8, the clamp blocks 11 can be opened laterally to form the condition shown in figure 5. In the present embodiment, the lateral expansion means a movement in the horizontal direction.

In fig. 5, the clamping block 11 is moved further to the position 11b shown in broken lines. Then, the top post 71 moves vertically upward, the clamping blocks 11 contract radially inward, and the edge of the mold is clamped by the hooking portions 112 together with the circular ring 174, so that the mold is clamped smoothly and reliably. In the process that pressure disk 8 moves vertically upwards, spring 14 is under the drive of resilience force, and drive slider 12 moves vertically upwards under the guide of slide bar 13 to make spring 14 be the lax state, thereby make the gesture of the in-process that pressure disk 8 moves vertically upwards more steady, comfortable, and prevent to take place the dead problem of lock, thereby prolonged the life and the overall reliability of whole manipulator for the mould transport.

Example two:

referring to fig. 2, 4 and 5, the main difference of the manipulator for transporting a mold according to the present embodiment is that, in the present embodiment, the limiting groove 15 is annular, and the limiting member 16 is a circular disk with a circular through hole. The limiting groove 15 is inwards arranged at the side part of the top column 71 in the radial direction. The outer side surface of the clamping block 11 forms a notch portion 111, the cross section of the notch portion 111 is semicircular or triangular, and the bottom of the fixing shell 17 forms a circular hole 19 for the clamping block 11 to extend downwards out of the fixing shell 17. The radial width of the annular hole 19 is 1.5-2 times of the radial width of the clamping block 11.

In this embodiment, the circular ring holes 19 have the same function as the through holes in the first embodiment, which are square along the vertical projection, and are used for allowing the clamping blocks 11 to extend downward out of the bottom of the fixing shell 17. Because in this embodiment, set up ring hole 19, can more simple and convenient clearance fixed shell 17 formed cavity body 18 inside accumulational dust and impurity, more importantly can be according to the user's needs, more convenient installation clamp splice 11. It should be noted that the number of the clamping blocks 11 is equal to the number of the sliding rods 13 and the springs 14, so that the fixed shell 17 based on the same specification can meet the use requirement of assembling different numbers of clamping blocks 11, the carrying requirement of the manipulator for carrying molds to molds of different shapes is further improved, and the universality of the fixed shell 17 is improved.

Due to the notch part 111, when the clamping block 11 is opened radially outwards, the radial outward opening range of the clamping block 11 can be increased on the premise that the width of the annular hole 19 is determined, so that a mold with a larger size can be clamped by the hooking part 112 of the clamping block 11 and the annular surface 174 together, and the adaptability and the practicability of the manipulator for conveying the mold are improved.

Please refer to the first embodiment for a technical solution of the same parts of the manipulator for transporting a mold disclosed in this embodiment and the manipulator for transporting a mold disclosed in the first embodiment, which will not be described herein again.

The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A manipulator for carrying a mold, comprising: the push rod (7) is arranged at the tail end of the rotary arm (6), the fixed shell (17) is of a hollow structure, the push rod (7) is provided with a top column (71) of which the part extends into the fixed shell (17), the side part of the top column (71) forms a limiting groove (15) and is connected with a pressure plate (8) at the free end of the top column (71), the fixed shell (17) is provided with vertical and symmetrical sliding rods (13), the edge of the pressure plate (8) is assembled and sleeved with a sliding block (12) on the sliding rod (13), a spring (14) is embedded between the sliding block (12) and the inner bottom surface (175) of the fixed shell (17), the edge of the pressure plate (8) is hinged to downwards extend out at least two clamping blocks (11) of the fixed shell (17), the bottom of the fixed shell (17) forms an integral structure abutting boss (172), and the top of the fixed shell (17) forms a hollow cylinder (171) partially shielding the top column (71), the inner wall surface of the hollow column body (171) forms a limiting piece (16) which transversely extends into the limiting groove (15), and at least more than two stress points for clamping the die in the vertical direction are formed between the boss (172) and the clamping block (11).

2. The manipulator for mold handling according to claim 1, wherein the stopper groove (15) is annular, and the stopper (16) is an annular disk having a circular through hole.

3. The mold handling robot according to claim 1, further comprising a stopper boss (173) coaxially disposed with the abutting boss (172) and extending downward, wherein the stopper boss (173) extends downward beyond the clamp block (11).

4. The manipulator for mold transfer according to claim 3, wherein the clamp block (11) forms an inwardly bent hooking portion (112), and the hooking portion (112) partially overlaps with a torus (174) formed by the abutting boss (172) on a vertical projection plane.

5. The mold handling robot according to claim 1, wherein a length of the stopper groove (15) in a vertical direction is smaller than or equal to a difference in length of the spring (14) in the vertical direction between a compressed state and a relaxed state.

6. The robot hand for mold transfer according to any one of claims 1 to 5, wherein the outer side surface of the clamp block (11) forms a notch portion (111), the cross-sectional shape of the notch portion (111) is a semicircle or a triangle, and the bottom of the fixing housing (17) forms an annular hole (19) through which the clamp block (11) extends downward out of the fixing housing (17).

7. The robot for mold handling according to claim 6, wherein the radial width of the annular hole (19) is 1.5 to 2 times the radial width of the clamp block (11).

8. The mold conveying robot according to claim 6, wherein the pusher (7) is an electric pusher or a hydraulic pusher.

9. The mold handling robot of claim 6, further comprising: the rotary shaft is characterized by comprising a rotary column (5) vertically connected with a rotary arm (6) and a main shaft (2) coaxially assembled with the rotary column (5), wherein an accommodating groove (3) used for accommodating a bearing (4) is formed in the top of the main shaft (2), and the rotary column (5) is axially assembled with an inner ring of the bearing (4).

10. The mold handling robot of claim 9, further comprising: the base (1) of bearing main shaft (2), the whole application insulated paint of surface of base (1).