CN103009395A - Floating gripping apparatus for hopper wallboard by robot - Google Patents
Floating gripping apparatus for hopper wallboard by robot Download PDFInfo
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- CN103009395A CN103009395A CN2013100212072A CN201310021207A CN103009395A CN 103009395 A CN103009395 A CN 103009395A CN 2013100212072 A CN2013100212072 A CN 2013100212072A CN 201310021207 A CN201310021207 A CN 201310021207A CN 103009395 A CN103009395 A CN 103009395A
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- gripping apparatus
- cylinder
- robot
- clamp
- unsteady
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Abstract
The invention discloses a floating gripping apparatus for a hopper wallboard by a robot. The floating gripping apparatus comprises a gripping apparatus body, two sets of floating clamping mechanisms and a gripping apparatus thermal insulating board. One side of the gripping apparatus body is connected to a quick change device at the front end of the robot, the other side of the gripping apparatus body is provided with the gripping apparatus thermal insulating board, the floating clamping mechanisms are fixed on the gripping apparatus thermal insulating board, each floating clamping mechanism comprises two opposite cylinders, each cylinder is connected with a cylinder connecting block through a cylinder joint, a clamping block and a safety block arranged above the clamping block are arranged between the two cylinders, and the clamping block is fixed on a linear guide rail through a clamping block connecting seat. The floating clamping mechanisms of the floating gripping apparatus for the hopper wallboard by the robot can be combined with a feed gripping apparatus, a press machine and the like to achieve full-automatic production of the hopper wallboard, so that deviation caused by manual operation is avoided, labor intensity is relieved for a worker, and hidden safety accidents are eliminated.
Description
Technical field
The present invention relates to a kind of hopper wallboard gripping apparatus, particularly the unsteady gripping apparatus of a kind of hopper wallboard robot.
Background technology
At present, the automatic upper and lower pieces of hopper side wall press machine people seldom, mainly with being operating as manually the master.Adopt artificial lower part, hopper side wall weight is about 35KG, and process heating before the punching press, and heating-up temperature is about 600 ℃, and the working environment of workers is abominable, and workman's labor intensity is large, and is larger to workers ' health harm.Because the workpiece supplied materials is manually to be cut into moulding, place and punching press after have certain error, if therefore adopt common gripping apparatus, the crawl deviation easily appears, grab not tightly, cause to come off infringement gripping apparatus, and security incident occurs.
Summary of the invention
Problem for the prior art existence, the present invention aims to provide the unsteady gripping apparatus of a kind of hopper wallboard robot, under the drive of robot, realize the full-automatic production work of hopper side wall in conjunction with equipment such as material loading gripping apparatus and press, can avoid the deviation that manually-operated brings and reduce labor strength, eliminate potential security incident, also can eliminate the crawl that common gripping apparatus brings inaccurate, grab and tightly do not wait the impact that brings.
The invention provides the unsteady gripping apparatus of a kind of hopper wallboard robot, comprise the gripping apparatus main body, two covers float and step up mechanism and gripping apparatus thermal insulation board, the one side of described gripping apparatus main body is connected on the fast replacing device of robot front end, another side is provided with the gripping apparatus thermal insulation board, described float stepped up mechanism and is fixed on the described gripping apparatus thermal insulation board, and each is described floats and to step up mechanism and comprise two cylinders that are oppositely arranged, each described cylinder all is connected with the cylinder contiguous block by cylinder connector, and be provided with clamp and the safe block of being located at above the described clamp between described two cylinders, and described clamp is fixed on the line slideway by the clamp Connection Block.
Described cylinder is fixed on the described gripping apparatus thermal insulation board by cylinder saddle, and the periphery of each described cylinder is equipped with cylinder protective cover.
Preferably, all be equiped with the band guiding one-way valve on each described cylinder.
Preferably, the supporting a plurality of guide rail protection plates of described line slideway periphery.
Preferably, be provided with the clamp thermal insulation board between described clamp and the described clamp Connection Block.
Preferably, described safe block is the setting of arc hook face.
Further, the unsteady gripping apparatus of described hopper wallboard robot also comprises two automatically controlled 3 position-5 way magnetic valves and speed control valve.
Unsteady its float clamp mechanism of gripping apparatus of described hopper wallboard robot provided by the invention can be realized in conjunction with equipment such as material loading gripping apparatus and press the full-automatic production work of hopper side wall, the deviation of avoiding manually-operated to bring, can reduce labor strength, eliminate potential security incident; It is inaccurate and grab and tightly do not wait the impact that brings that the setting of its safe block and clamp can be eliminated crawl that common gripping apparatus brings; Safe block is the setting of arc hook face, can guarantee security and the fastness of workpiece grabbing process; The band guiding one-way valve of installing on two automatically controlled 3 position-5 way magnetic valves, speed control valve and the cylinder, cylinder also is in clamped condition in the time of can guaranteeing that System Sudden is died, and avoids workpiece to come off, and guarantees safety; Gripping apparatus thermal insulation board, guide rail protection plate and clamp thermal insulation board can effectively protect main parts size such as cylinder and line slideways, avoid amount of heat to import into and cause damaging.
Description of drawings
Fig. 1 is the top view of the unsteady gripping apparatus of a kind of hopper wallboard robot provided by the invention;
Fig. 2 is the front view of the unsteady gripping apparatus of a kind of hopper wallboard robot provided by the invention;
Fig. 3 is the structural scheme of mechanism of float clamp mechanism among Fig. 1;
Fig. 4 is the numbering figure of cylinder in the course of work.
The drawing reference numeral explanation
1-gripping apparatus main body; 2-gripping apparatus thermal insulation board; The 3-line slideway; The 4-cylinder protective cover; 5-cylinder contiguous block; The 6-cylinder connector; The 7-cylinder saddle; 8-the first cylinder; 9-clamp Connection Block; 10-clamp thermal insulation board; The 11-safe block; The 12-clamp; 13-guide rail protection plate; 14-the first cylinder; 15-the second cylinder; 16-the 3rd cylinder; The 17-four-cylinder.
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and by the specific embodiment:
Please refer to Fig. 1 to Fig. 3, the invention provides the unsteady gripping apparatus of a kind of hopper wallboard robot, comprise that gripping apparatus main body 1, two covers float and step up mechanism and gripping apparatus thermal insulation board 2.
Please refer to Fig. 1 to Fig. 2, the one side of described gripping apparatus main body 1 is connected on the fast replacing device of robot front end, and another side is provided with gripping apparatus thermal insulation board 2, and described float stepped up mechanism and be fixed on the described gripping apparatus thermal insulation board 2.
Please refer to Fig. 1 and Fig. 3, each is described floats and to step up mechanism and comprise two cylinders that are oppositely arranged 8, each described cylinder 8 all is connected with cylinder contiguous block 5 by cylinder connector 6, and be provided with clamp 12 and the safe block 11 of being located at above the described clamp 12 between described two cylinders 8, and described clamp 12 is fixed on the line slideway 3 by clamp Connection Block 8.
Please refer to Fig. 1 and Fig. 3, described cylinder 8 is fixed on the described gripping apparatus thermal insulation board 2 by cylinder saddle 7, and the periphery of each described cylinder 8 is equipped with cylinder protective cover 4.All be equiped with band guiding one-way valve (not shown) on each described cylinder, cylinder also is in clamped condition when guaranteeing that System Sudden is died, and avoids workpiece to come off, and guarantees security.
Please refer to Fig. 2 and Fig. 3, the supporting a plurality of guide rail protection plates 13 of described line slideway 3 peripheries.
Please refer to Fig. 1, be provided with clamp thermal insulation board 10 between described clamp 12 and the described clamp Connection Block 9.
Please refer to Fig. 1, described safe block 11 is the setting of arc hook face.
The described hopper wallboard robot gripping apparatus that floats also comprises two automatically controlled 3 position-5 way magnetic valves (not shown) and speed control valve (not shown), and cylinder also is in clamped condition when guaranteeing that System Sudden is died, and avoids workpiece to come off, and guarantees security.
During work, please refer to Fig. 1, Fig. 2 and Fig. 4, every cover float clamp mechanism adopts two the top gas cylinder come to Workpiece clamping cylinder stroke 30mm.When grabbing workpiece, two cylinders (14,15) of clamping work pieces inner surface are worked the top tight workpiece inner surface simultaneously, provide a tension force to workpiece, can not make workpiece deformation again, deviation appears in workpiece within the specific limits like this, and effective clamping stroke 25mm of cylinder can remedy; Then, two cylinders (16,17) clamp again in addition, and the described safe block 11 with the arc hook face that herein connects on the clamp 12 can be guaranteed security and the fastness of workpiece grabbing process.
To sum up, the unsteady gripping apparatus of described hopper wallboard robot provided by the invention has following beneficial effect:
(1) its float clamp mechanism can be realized in conjunction with equipment such as material loading gripping apparatus and press the full-automatic production work of hopper side wall, and the deviation of avoiding manually-operated to bring can reduce labor strength, eliminates potential security incident;
(2) it is inaccurate and grab and tightly do not wait the impact that brings that its safe block 11 and the setting of clamp 12 can be eliminated crawl that common gripping apparatus brings;
(3) safe block 11 is the setting of arc hook face, can guarantee security and the fastness of workpiece grabbing process;
(4) the band guiding one-way valve of installing on two automatically controlled 3 position-5 way magnetic valves, speed control valve and the cylinder, cylinder also is in clamped condition in the time of can guaranteeing that System Sudden is died, and avoids workpiece to come off, and guarantees safety;
(5) gripping apparatus thermal insulation board 2, guide rail protection plate 13 can effectively protect main parts size such as cylinder and line slideways with clamp thermal insulation board 10, avoid amount of heat to import into and cause damaging.
The above has carried out exemplary description to the present invention by reference to the accompanying drawings; obvious realization of the present invention is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted technical solution of the present invention to carry out; or without improving design of the present invention and technical scheme are directly applied to other occasion, all in protection scope of the present invention.
Claims (7)
1. the hopper wallboard robot gripping apparatus that floats, it is characterized in that, comprise the gripping apparatus main body, two covers float and step up mechanism and gripping apparatus thermal insulation board, the one side of described gripping apparatus main body is connected on the fast replacing device of robot front end, another side is provided with the gripping apparatus thermal insulation board, described float stepped up mechanism and is fixed on the described gripping apparatus thermal insulation board, and each is described floats and to step up mechanism and comprise two cylinders that are oppositely arranged, each described cylinder all is connected with the cylinder contiguous block by cylinder connector, and be provided with clamp and the safe block of being located at above the described clamp between described two cylinders, and described clamp is fixed on the line slideway by the clamp Connection Block.
2. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that, described cylinder is fixed on the described gripping apparatus thermal insulation board by cylinder saddle, and the periphery of each described cylinder is equipped with cylinder protective cover.
3. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that, all is equiped with the band guiding one-way valve on each described cylinder.
4. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that the supporting a plurality of guide rail protection plates of described line slideway periphery.
5. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that, is provided with the clamp thermal insulation board between described clamp and the described clamp Connection Block.
6. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that, described safe block is the setting of arc hook face.
7. the unsteady gripping apparatus of a kind of hopper wallboard robot according to claim 1 is characterized in that, also comprises two automatically controlled 3 position-5 way magnetic valves and speed control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310021207.2A CN103009395B (en) | 2013-01-21 | 2013-01-21 | Floating gripping apparatus for hopper wallboard by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310021207.2A CN103009395B (en) | 2013-01-21 | 2013-01-21 | Floating gripping apparatus for hopper wallboard by robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103009395A true CN103009395A (en) | 2013-04-03 |
| CN103009395B CN103009395B (en) | 2015-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310021207.2A Expired - Fee Related CN103009395B (en) | 2013-01-21 | 2013-01-21 | Floating gripping apparatus for hopper wallboard by robot |
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| Country | Link |
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| CN (1) | CN103009395B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624764A (en) * | 2013-11-26 | 2014-03-12 | 四川峨胜水泥集团股份有限公司 | Mechanical arm for test sampling |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
| US6039375A (en) * | 1998-01-28 | 2000-03-21 | Abb Flexible Automation, Inc. | Gripper assembly with integrated heat shield |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| CN201427396Y (en) * | 2009-07-13 | 2010-03-24 | 洛阳中冶重工机械有限公司 | Billet clamping device of cylindrical billet blocks |
| CN201913641U (en) * | 2010-11-27 | 2011-08-03 | 东莞丰裕电机有限公司 | Load moving fixture |
| CN202225215U (en) * | 2011-06-20 | 2012-05-23 | 应潮忠 | Mechanical arm for fetching out after sealing |
| CN102490325A (en) * | 2011-11-24 | 2012-06-13 | 长春富维-江森自控汽车饰件系统有限公司 | Stack mold gripper |
| CN203019377U (en) * | 2013-01-21 | 2013-06-26 | 长沙长泰机器人有限公司 | Hopper wallboard robot floating gripping apparatus |
-
2013
- 2013-01-21 CN CN201310021207.2A patent/CN103009395B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
| US6039375A (en) * | 1998-01-28 | 2000-03-21 | Abb Flexible Automation, Inc. | Gripper assembly with integrated heat shield |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| CN201427396Y (en) * | 2009-07-13 | 2010-03-24 | 洛阳中冶重工机械有限公司 | Billet clamping device of cylindrical billet blocks |
| CN201913641U (en) * | 2010-11-27 | 2011-08-03 | 东莞丰裕电机有限公司 | Load moving fixture |
| CN202225215U (en) * | 2011-06-20 | 2012-05-23 | 应潮忠 | Mechanical arm for fetching out after sealing |
| CN102490325A (en) * | 2011-11-24 | 2012-06-13 | 长春富维-江森自控汽车饰件系统有限公司 | Stack mold gripper |
| CN203019377U (en) * | 2013-01-21 | 2013-06-26 | 长沙长泰机器人有限公司 | Hopper wallboard robot floating gripping apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624764A (en) * | 2013-11-26 | 2014-03-12 | 四川峨胜水泥集团股份有限公司 | Mechanical arm for test sampling |
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| Publication number | Publication date |
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| CN103009395B (en) | 2015-01-07 |
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Granted publication date: 20150107 Termination date: 20190121 |