CN103009395B - Floating gripping apparatus for hopper wallboard by robot - Google Patents
Floating gripping apparatus for hopper wallboard by robot Download PDFInfo
- Publication number
- CN103009395B CN103009395B CN201310021207.2A CN201310021207A CN103009395B CN 103009395 B CN103009395 B CN 103009395B CN 201310021207 A CN201310021207 A CN 201310021207A CN 103009395 B CN103009395 B CN 103009395B
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- China
- Prior art keywords
- gripping apparatus
- cylinder
- clamp
- floating
- thermal insulation
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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 a kind of hopper wall board machine people floats gripping apparatus.
Background technology
At present, the automatic upper and lower pieces of hopper side wall pressing robot is little, is main mainly with manual hand manipulation.Adopt artificial lower part, hopper side wall weight is at about 35KG, and through heating before punching press, heating-up temperature is at about 600 DEG C, and the working environment of workers is severe, and workman's labor intensity is large, larger to workers ' health harm.Because workpiece supplied materials is manually cut into shaping, place and there is certain error after punching press, if therefore adopt common gripping apparatus, easily occurring capturing deviation, grab tight, cause and come off, infringement gripping apparatus, and occur security incident.
Summary of the invention
For prior art Problems existing, the present invention aims to provide a kind of hopper wall board machine people and to float gripping apparatus, under the drive of robot, the full-automatic production work of hopper side wall is realized in conjunction with equipment such as material loading gripping apparatus and press, the deviation that manual operation can be avoided to bring and reduce labor strength, eliminate potential security incident, also can eliminate the crawl that common gripping apparatus brings to be forbidden, grab the impact brought such as not tight.
The invention provides a kind of hopper wall board machine people to float gripping apparatus, comprise gripping apparatus main body, the floating clamping mechanism of two covers 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 gripping apparatus thermal insulation board, described floating clamping mechanism is fixed on described gripping apparatus thermal insulation board, and the clamping mechanism that floats described in each comprises two cylinders be oppositely arranged, cylinder described in each is all connected with cylinder contiguous block by cylinder connector, and between described two cylinders, be provided with clamp and the safe block be located at above described clamp, and described clamp is fixed on line slideway by clamp Connection Block.
Described cylinder is fixed on described gripping apparatus thermal insulation board by cylinder saddle, and described in each, the periphery of cylinder is equipped with cylinder protective cover.
Preferably, cylinder described in each is all equiped with band guiding one-way valve.
Preferably, the supporting multiple guide rail protection plate in described line slideway periphery.
Preferably, clamp thermal insulation board is provided with between described clamp and described clamp Connection Block.
Preferably, described safe block is that circular arc hook side is arranged.
Further, the described hopper wall board machine people gripping apparatus that floats also comprises two automatically controlled 3 position-5 way magnetic valve and speed control valve.
Described hopper wall board machine people provided by the invention its float clamp mechanism of gripping apparatus that floats can realize the full-automatic production work of hopper side wall in conjunction with equipment such as material loading gripping apparatus and press, avoid the deviation that manual operation brings, can labor strength be reduced, eliminate potential security incident; The setting of its safe block and clamp can be eliminated crawl that common gripping apparatus brings and forbidden and grab the impact brought such as not tight; Safe block is that circular arc hook side is arranged, and can guarantee security and the fastness of workpiece grabbing process; The band guiding one-way valve that two automatically controlled 3 position-5 way magnetic valve, speed control valve and cylinder are installed, when can ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees safety; Gripping apparatus thermal insulation board, guide rail protection plate and clamp thermal insulation board can effectively protect the main parts size such as cylinder and line slideway, avoid amount of heat to import into and cause damaging.
Accompanying drawing explanation
Fig. 1 is that a kind of hopper wall board machine people provided by the invention floats the top view of gripping apparatus;
Fig. 2 is that a kind of hopper wall board machine people provided by the invention floats the front view of gripping apparatus;
Fig. 3 is the structural scheme of mechanism of float clamp mechanism in Fig. 1;
Fig. 4 is the numbering figure of cylinder in the course of work.
Drawing reference numeral explanation
1-gripping apparatus main body; 2-gripping apparatus thermal insulation board; 3-line slideway; 4-cylinder protective cover; 5-cylinder contiguous block; 6-cylinder connector; 7-cylinder saddle; 8-first cylinder; 9-clamp Connection Block; 10-clamp thermal insulation board; 11-safe block; 12-clamp; 13-guide rail protection plate; 14-first cylinder; 15-second cylinder; 16-the 3rd cylinder; 17-four-cylinder.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing:
Please refer to Fig. 1 to Fig. 3, the invention provides a kind of hopper wall board machine people and to float gripping apparatus, comprise gripping apparatus main body 1, two and overlap float clamping 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 floating clamping mechanism is fixed on described gripping apparatus thermal insulation board 2.
Please refer to Fig. 1 and Fig. 3, the clamping mechanism that floats described in each comprises two cylinders be oppositely arranged 8, described in each, cylinder 8 is all connected with cylinder contiguous block 5 by cylinder connector 6, and be provided with clamp 12 and the safe block 11 be located at above described clamp 12 between described two cylinders 8, and described clamp 12 is fixed on line slideway 3 by clamp Connection Block 8.
Please refer to Fig. 1 and Fig. 3, described cylinder 8 is fixed on described gripping apparatus thermal insulation board 2 by cylinder saddle 7, and described in each, the periphery of cylinder 8 is equipped with cylinder protective cover 4.Cylinder described in each is all equiped with band guiding one-way valve (not shown), during in order to ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees security.
Please refer to Fig. 2 and Fig. 3, the supporting multiple guide rail protection plate 13 in described line slideway 3 periphery.
Please refer to Fig. 1, between described clamp 12 and described clamp Connection Block 9, be provided with clamp thermal insulation board 10.
Please refer to Fig. 1, described safe block 11 is arranged in circular arc hook side.
The described hopper wall board machine people gripping apparatus that floats also comprises two automatically controlled 3 position-5 way magnetic valve (not shown) and speed control valve (not shown), and during in order to ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees security.
During work, please refer to Fig. 1, Fig. 2 and Fig. 4, often overlap float clamp mechanism and adopt two to come Workpiece clamping to top gas cylinder, cylinder stroke 30mm.When grabbing workpiece, two cylinders (14,15) of clamping work pieces inner surface work simultaneously, top tight workpiece inner surface, a tension force is provided to workpiece, can not make workpiece deformation again, there is deviation in such workpiece within the specific limits, and effective clamping stroke 25mm of cylinder can make up; Then, another two cylinders (16,17) clamp again, and the safe block 11 of the described band circular arc hook side herein clamp 12 connected can guarantee security and the fastness of workpiece grabbing process.
To sum up, the described hopper wall board machine people provided by the invention gripping apparatus that floats has following beneficial effect:
(1) its float clamp mechanism can realize the full-automatic production work of hopper side wall in conjunction with equipment such as material loading gripping apparatus and press, avoids the deviation that manual operation brings, can reduce labor strength, eliminate potential security incident;
(2) its safe block 11 and the setting of clamp 12 can be eliminated crawl that common gripping apparatus brings and forbidden and grab the impact brought such as not tight;
(3) safe block 11 is arranged in circular arc hook side, can guarantee security and the fastness of workpiece grabbing process;
(4) the band guiding one-way valve two automatically controlled 3 position-5 way magnetic valve, speed control valve and cylinder installed, when can ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees safety;
(5) gripping apparatus thermal insulation board 2, guide rail protection plate 13 can effectively protect the main parts size such as cylinder and line slideway with clamp thermal insulation board 10, avoid amount of heat to import into and cause damaging.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious realization of the present invention is not subject to the restrictions described above; as long as have employed the various improvement that technical solution of the present invention is carried out; or design of the present invention and technical scheme directly applied to other occasion, all in protection scope of the present invention without to improve.
Claims (1)
1. a hopper wall board machine people floats gripping apparatus, it is characterized in that, comprise gripping apparatus main body, the floating clamping mechanism of two covers 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 gripping apparatus thermal insulation board, described floating clamping mechanism is fixed on described gripping apparatus thermal insulation board, and the clamping mechanism that floats described in each comprises two cylinders be oppositely arranged, cylinder described in each is all connected with cylinder contiguous block by cylinder connector, and between described two cylinders, be provided with clamp and the safe block be located at above described clamp, and described clamp is fixed on line slideway by clamp Connection Block,
Described cylinder is fixed on described gripping apparatus thermal insulation board by cylinder saddle, and described in each, the periphery of cylinder is equipped with cylinder protective cover;
Cylinder described in each is all equiped with band guiding one-way valve;
The supporting multiple guide rail protection plate in described line slideway periphery;
Clamp thermal insulation board is provided with between described clamp and described clamp Connection Block;
Described safe block is that circular arc hook side is arranged;
Also comprise two automatically controlled 3 position-5 way magnetic valve 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 CN103009395A (en) | 2013-04-03 |
| CN103009395B true CN103009395B (en) | 2015-01-07 |
Family
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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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103009395B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624764B (en) * | 2013-11-26 | 2016-03-02 | 四川峨胜水泥集团股份有限公司 | test sampling mechanical arm |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
-
2013
- 2013-01-21 CN CN201310021207.2A patent/CN103009395B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平8-155875A 1996.06.18 * |
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| CN103009395A (en) | 2013-04-03 |
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