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CN-122007271-A - Pneumatic feeding manipulator

CN122007271ACN 122007271 ACN122007271 ACN 122007271ACN-122007271-A

Abstract

The invention discloses a pneumatic feeding manipulator, and belongs to the field of stamping automation equipment. The invention comprises a frame, a cantilever rotating mechanism, a swing arm mechanism, a gesture adjusting mechanism, an adsorption frame, a sucker assembly and a vacuum system. The sucking disc subassembly includes sucking disc body, connects sucking disc body and the connecting seat of absorption frame, and the connecting seat includes ball head pole, ball seat and transverse adjustment mechanism. The ball head rod and the ball socket seat form a ball hinge structure, so that the sucker body can swing in a universal direction, the surface of the plane of the blank holder of the self-adaptive drawing plate is inclined, and the transverse adjusting mechanism enables the sucker body to have a transverse movement degree of freedom in a direction parallel to the plane of the blank holder, so that the positioning error between the suction frame and the drawing plate is compensated. According to the invention, through the spherical hinge structure and the transverse adjusting mechanism, double self-adaption of the suction cup to the plane inclination of the blank holder and the system positioning error is realized, the requirement of equipment on positioning precision is reduced, reliable adsorption to non-planar drawing plates is realized at lower cost, and the feeding efficiency and safety are improved.

Inventors

  • DU XUECHAO
  • WANG JIANFENG
  • DU WEISHUAI
  • LI JIE
  • SU ZHITING

Assignees

  • 豪尔沃(山东)机械科技有限公司

Dates

Publication Date
20260512
Application Date
20260409

Claims (9)

  1. 1. Pneumatic feeding manipulator, its characterized in that includes: a frame (1); The cantilever rotating mechanism (2) is arranged on the frame (1) and can rotate around a vertical axis; The swing arm mechanism (3) is connected with the cantilever rotating mechanism (2) and comprises a swing arm (31) capable of swinging up and down; the posture adjusting mechanism (4) is connected to the tail end of the swing arm (31) and is used for adjusting the posture of the adsorption frame (5); An adsorption frame (5) connected with the posture adjustment mechanism (4) and comprising a frame body (51) and a plurality of sucking disc assemblies (6) arranged on the frame body (51); the vacuum system (7) is connected with the plurality of sucker assemblies (6) in an air way and is used for providing negative pressure; the sucker assembly (6) comprises a sucker body (61) and a connecting seat for connecting the sucker body (61) with the frame body (51); The connecting seat comprises a ball head rod (62), a ball socket seat (63) and a transverse adjusting mechanism (64), wherein one end of the ball head rod is connected with a sucker body (61), the other end of the ball head rod is in a ball head shape, the ball socket seat (63) is used for accommodating the ball head end of the ball head rod (62), the sucker body (61) can swing universally relative to a frame body (51) to be adaptive to the surface inclination of a blank holder plane (101) of a drawing plate (100), and the transverse adjusting mechanism (64) is connected between the ball socket seat (63) and the frame body (51) to enable the sucker body (61) to have a transverse movement degree of freedom in a direction parallel to the blank holder plane (101) so as to compensate positioning errors between the suction frame (5) and the drawing plate (100).
  2. 2. The pneumatic feeding manipulator according to claim 1, wherein an elastic damping member (631) is provided in the ball socket (63), and the elastic damping member (631) is in contact with the ball surface of the ball head rod (62) for providing rotational damping.
  3. 3. The pneumatic loading manipulator of claim 1, wherein the lateral adjustment mechanism (64) is a passive floating structure comprising: a slider (641) fixedly connected to the ball socket (63); A guide rail (642) fixedly mounted on the frame (51), the slider (641) being slidably fitted on the guide rail (642); And a return spring (643) disposed between the slider (641) and an end of the guide rail (642) for maintaining the slider (641) in a centered position.
  4. 4. The pneumatic loading manipulator of claim 1, wherein the lateral adjustment mechanism (64) is an actively driven structure comprising: The linear driving module (65) is fixedly arranged on the frame body (51), and the output end of the linear driving module is connected with the ball socket seat (63); A position sensor (66) mounted on the suction frame (5) for detecting the position of the blank holder plane (101); And the controller (8) is respectively and electrically connected with the linear driving module (65) and the position sensor (66), and controls the linear driving module (65) to drive the sucker body (61) to move to the target position according to the detection signal of the position sensor (66).
  5. 5. A pneumatic feeding manipulator according to claim 1, wherein the attitude adjustment mechanism (4) comprises: the upper end of the second supporting rod (41) is hinged with the tail end of the swing arm (31), and the lower end of the second supporting rod is fixedly connected with the adsorption frame (5); the cylinder body end of the leveling cylinder (42) is hinged with the swing arm (31), and the piston rod end is hinged with the second supporting rod (41); The second supporting rod (41) can be driven to swing around the hinge point at the upper end by the expansion and contraction of the leveling air cylinder (42), so that the posture of the adsorption frame (5) is adjusted.
  6. 6. A pneumatic feeding manipulator according to claim 5, wherein the swing arm mechanism (3) further comprises: a frame structure (32) connected with the cantilever rotation mechanism (2) and capable of rotating around a vertical axis, The frame structure (32) is hinged with the swing arm (31); And the swinging air cylinder (34) is hinged with the frame-shaped structure (32) at the end of the cylinder body, and the piston rod end is hinged with the swinging arm (31) and is used for driving the swinging arm (31) to swing up and down.
  7. 7. Pneumatic feeding manipulator according to claim 1, characterized in that the frame body (51) of the adsorption frame (5) comprises: a main beam (511) connected with the posture adjusting mechanism (4); the auxiliary beams (512) are perpendicular to the main beams (511) and are fixedly connected with the main beams to form a comb-tooth-shaped or grid-shaped structure; The plurality of suction cup assemblies (6) are distributed on the plurality of secondary beams (512).
  8. 8. A pneumatic loading manipulator according to claim 1, wherein the vacuum system (7) comprises: A vacuum pump (71) mounted on the frame (1); a main air pipe (72) arranged along the cantilever rotation mechanism (2) and the swing arm mechanism (3); the confluence plate (73) is arranged on the adsorption frame (5) and connected with the main air pipe (72) for shunting the air path; a plurality of bronchi (74) respectively connecting the confluence plate (73) and each sucking disc component (6); an independent control valve (75) is arranged on each bronchus (74).
  9. 9. Pneumatic feeding manipulator according to claim 1, characterized in that the interior of the ball head rod (62) of the suction cup assembly (6) is provided with a through air passage, which is connected with the vacuum system (7) by a flexible hose.

Description

Pneumatic feeding manipulator Technical Field The invention relates to the technical field of stamping automation equipment, in particular to a pneumatic feeding manipulator. Background In automotive stamping lines, the loading process of large panels such as doors typically requires the transfer of drawn panels from the area to be stamped to the stamping station. The drawing plate is a semi-finished product processed by a first drawing procedure, the cross section of the drawing plate is in a continuous trapezoid shape, and the drawing plate specifically comprises a blank holder plane for adsorption, a slope area serving as a process supplement and a product characteristic area in the middle. Because the drawn plate is large in size, thin in thickness and of a non-planar structure, the feeding of the drawn plate has a plurality of technical difficulties. At present, the prior art mainly adopts a multi-axis industrial robot, which has the advantages of high precision, high automation degree, high equipment cost, large occupied ground space and the need of maintenance of professional technicians, and a traditional pneumatic balance crane, which has low cost, but can only realize force balance in the vertical direction, and can not actively adjust the posture of a sucker frame, when a cantilever swings, the sucker frame is easy to incline, so that a sucker cannot be completely attached to a blank holder plane, and the three adopts complete manual feeding, which has potential safety hazard, low efficiency and difficult guarantee of positioning precision. In addition, the problem that the plane of the drawing plate blank holder is slightly inclined and the sucking disc cannot be accurately aligned with the plane of the blank holder due to multi-source error accumulation of the system is not considered in the conventional feeding equipment, so that the sucking disc is poor in sucking reliability, air leakage or sucking failure of the sucking disc is easy to occur, and the production beat and the product quality are affected. Disclosure of Invention The invention provides a pneumatic feeding manipulator, which aims to solve the problems that equipment cost is high, space occupation is large, the inclination and positioning errors of a blank holder plane cannot be self-adapted and adsorption reliability is poor when a drawing plate is fed in the prior art. In order to achieve the above purpose, the present invention provides the following technical solutions: The pneumatic feeding manipulator comprises a frame, a cantilever rotating mechanism, a swing arm mechanism, an attitude adjusting mechanism, an adsorption frame, a vacuum system and a connecting seat, wherein the cantilever rotating mechanism is arranged on the frame and can rotate around a vertical axis, the swing arm mechanism is connected with the cantilever rotating mechanism and comprises a swing arm capable of swinging up and down, the attitude adjusting mechanism is connected at the tail end of the swing arm and is used for adjusting the attitude of the adsorption frame, the adsorption frame is connected with the attitude adjusting mechanism and comprises a frame body and a plurality of sucking disc assemblies arranged on the frame body, the vacuum system is connected with the sucking disc assemblies in an air way and is used for providing negative pressure, the sucking disc assemblies comprise sucking disc bodies and connecting seats connected with the sucking disc bodies and the frame body, the connecting seats comprise ball head rods, one ends of the ball head rods are connected with the sucking disc bodies, the other ends of the ball head rods are in a ball head shape, the ball head seats are accommodated in the ball head end of the ball head rod, the sucking disc bodies can swing universally relative to the frame body so as to adapt to the surface inclination of a blank holder plane of a drawing plate, and are connected between the ball seat and the frame body, the suction disc bodies have a transverse movement degree of freedom in the direction parallel to the plane of the blank holder plane, so that the suction frame and the drawing error between the blank drawing position is compensated. Further, an elastic damping piece is arranged in the ball socket seat and is contacted with the ball head surface of the ball head rod, so that rotation damping is provided. Further, the transverse adjusting mechanism is of a passive floating structure and comprises a sliding block fixedly connected with the ball socket seat, a guide rail fixedly installed on the frame body, the sliding block is in sliding fit with the guide rail, and a reset spring is arranged between the sliding block and the end part of the guide rail and used for keeping the sliding block at a central position. The transverse adjusting mechanism is of an active driving type structure and comprises a linear driving module, a position sensor and a controller, wherein the linear driving modul