CN103170984B - Adapt to robot flexibility gripping apparatus and the process for stamping thereof of the punching press of many specifications hot plate - Google Patents
Adapt to robot flexibility gripping apparatus and the process for stamping thereof of the punching press of many specifications hot plate Download PDFInfo
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- CN103170984B CN103170984B CN201310111130.8A CN201310111130A CN103170984B CN 103170984 B CN103170984 B CN 103170984B CN 201310111130 A CN201310111130 A CN 201310111130A CN 103170984 B CN103170984 B CN 103170984B
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- robot
- connecting plate
- pneumatic clamping
- clamping jaw
- gripping apparatus
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Abstract
The invention discloses a kind of robot flexibility gripping apparatus adapting to the punching press of many specifications hot plate, comprise two groups of Pneumatic clamping jaws, robot connecting plate, protective plate, Pneumatic clamping jaw connecting plate, main connecting plate and thermal insulation board.The bottom of robot connecting plate is connected with Quick change robot side; Pneumatic clamping jaw comprises jaw body and the chuck of split design, and is provided with for reducing heat conducting thermal insulation board between jaw body and chuck; Described two groups of Pneumatic clamping jaw symmetries are installed on Pneumatic clamping jaw connecting plate, and are located by Pneumatic clamping jaw positioning sleeve; The both ends of Pneumatic clamping jaw are equipped with the thermal insulation board for reducing radiation, and are provided with gripper shoe between thermal insulation board and Pneumatic clamping jaw connecting plate.The robot flexibility gripping apparatus of this adaptation many specifications hot plate punching press and process for stamping thereof adopt 2 modes clamping grabbing workpiece, adopt Pneumatic clamping jaw as power, solve the shortcoming that common gripping apparatus flexibility is lower, adaptability is not strong, improve production efficiency and product quality, again reduce gripping apparatus manufacturing cost.
Description
Technical field
The present invention relates to robot field, particularly a kind of robot flexibility gripping apparatus and process for stamping thereof adapting to the punching press of many specifications hot plate.
Background technology
At present, the automatic upper and lower pieces of hot plate stamping parts robot is little, is main mainly with manual hand manipulation, and existing hot plate stamping parts robot automatic grasper is generally made up of two covers, is material loading gripping apparatus and blanking gripping apparatus.Its material loading gripping apparatus is made up of robot flange, gripping apparatus body, width adjusting cylinder, line slideway, work supporting block, clamping cylinder etc.; Blanking gripping apparatus makes special gripping apparatus according to workpiece shapes.
Because existing hot plate stamping parts robot automatic grasper adopts the separately design of material loading gripping apparatus and blanking gripping apparatus, and modulated cylinder stroke and work supporting block restriction, be difficult to the crawl adapting to many specification products, general utility functions is limited; Add cost; In addition, robot material loading time space requires comparatively large, easily interferes and cannot capture with the mould on stamping machine.
Summary of the invention
For prior art Problems existing, the present invention aims to provide a kind of the robot flexibility gripping apparatus and the process for stamping thereof that adapt to the punching press of many specifications hot plate, under the drive of robot, the full-automatic production work of hot plate punching press 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, solve the shortcoming that common gripping apparatus flexibility is lower, adaptability is not strong, improve production efficiency and product quality, again reduce gripping apparatus manufacturing cost.
First aspect present invention provides a kind of robot flexibility gripping apparatus adapting to the punching press of many specifications hot plate, comprises two groups of Pneumatic clamping jaws, robot connecting plate, protective plate, Pneumatic clamping jaw connecting plate, main connecting plate and thermal insulation board.
The bottom of described robot connecting plate is connected with Quick change robot side, and upper end is connected to form by main connecting plate and described Pneumatic clamping jaw connecting plate the open accommodation space being provided with placing pneumatic element.
Pneumatic clamping jaw described in each comprises jaw body and is located at the chuck above described jaw body, and described two groups of Pneumatic clamping jaw symmetries are installed on described Pneumatic clamping jaw connecting plate, and is located by Pneumatic clamping jaw positioning sleeve.
The both ends of Pneumatic clamping jaw described in each are equipped with the thermal insulation board for reducing radiation, and are provided with gripper shoe between described thermal insulation board and described Pneumatic clamping jaw connecting plate.
Preferably, described thermal insulation board is high temperature resistant and the material of low heat conductivity is made.
Described jaw body is fixed on manipulator by jaw body positioning sleeve.
Described jaw body and described chuck split design, and are provided with for reducing heat conducting heat shield between described jaw body and described chuck.
Preferably, described jaw body and chuck are that exotic material is made.
Described robot connecting plate and described Pneumatic clamping jaw connecting plate be arranged in parallel, and are provided with the post that is located by connecting for supporting described Pneumatic clamping jaw between described robot connecting plate and described Pneumatic clamping jaw connecting plate.
The both sides, front and back of described robot connecting plate and described Pneumatic clamping jaw connecting plate are provided with protective plate, and described robot connecting plate, described Pneumatic clamping jaw connecting plate, described main connecting plate and described protective plate form the airtight cavity being provided with placing pneumatic element.
Preferably, described Pneumatic clamping jaw is equipped with band guiding one-way valve and two automatically controlled 3 position-5 way magnetic valve.
Preferably, be provided with support below described robot connecting plate, described support is provided with travel switch.
Second aspect present invention provides a kind of process for stamping adapting to many specifications hot plate, and comprise the robot flexibility gripping apparatus of above-mentioned arbitrary described adaptation many specifications hot plate punching press, and described flexible gripping apparatus adopts 2 modes clamping grabbing workpiece, its punch steps is as follows:
S1: workpiece is transported to crawl position by rollgang after heating furnace heating, and lifting body is by workpiece jack-up;
S2: robot drives the robot flexibility gripping apparatus of described adaptation many specifications hot plate punching press to move to crawl position, two manipulator ventilations, by Workpiece clamping;
S3: robot motion, be placed into by the workpiece of crawl on the mould on stamping machine, two manipulators are opened, and robot leaves;
S4: stamping machine to workpiece punch forming, and resets;
S5: the location of workpiece after robot drives flexible gripping apparatus to move to punching press, two manipulator ventilations, by Workpiece clamping;
S6: robot motion, be placed into by the workpiece after punching press in material frame, robot resets.
The robot flexibility gripping apparatus of described adaptation many specifications hot plate provided by the invention punching press and process for stamping thereof adopt the mode of 2 holding workpieces, adopt Pneumatic clamping jaw as power, solve the shortcoming that common gripping apparatus flexibility is lower, adaptability is not strong, improve production efficiency and product quality, again reduce gripping apparatus manufacturing cost; Jaw body and chuck adopt Split type structure, and described jaw body and chuck are exotic material makes, and can prevent too high the generations distortion of Yin Wendu or destruction; The band guiding one-way valve that Pneumatic clamping jaw is equipped with, when can ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees security; In addition, gripping apparatus is also equipped with two automatically controlled 3 position-5 way magnetic valve, and during the unexpected power-off of guarantee system, cylinder is in clamped condition, avoids workpiece to come off, guarantees security; Thermal insulation board employing on gripping apparatus is high temperature resistant and the material of low heat conductivity, reduces heat and is delivered on the pneumatic elements such as manipulator; Thermal insulation board on flexible gripping apparatus can effectively protect main parts size such as manipulators, reduces hot spoke; The heat shield be provided with between jaw body and chuck can reduce the heat transfer between parts.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation adapting to the robot flexibility gripping apparatus of many specifications hot plate punching press that the present invention proposes;
Fig. 2 is the sectional view along A-A face in Fig. 1;
Fig. 3 is the sectional view along B-B face in Fig. 1.
Drawing reference numeral explanation
1-robot connecting plate, 2-are located by connecting post, 3-protective plate, 4-Pneumatic clamping jaw connecting plate, 5-jaw, 6-thermal insulation board, 7-chuck, 8-jaw body positioning sleeve, 9-support 1,10-manipulator, 11-Pneumatic clamping jaw positioning sleeve, 12-gripper shoe, 13-travel switch 2, the main connecting plate of 14-, 15-Quick change robot side.
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 robot flexibility gripping apparatus adapting to the punching press of many specifications hot plate, comprise two groups of Pneumatic clamping jaws, robot connecting plate 1, protective plate 3, Pneumatic clamping jaw connecting plate 4, main connecting plate 14 and thermal insulation board 6.
Please refer to Fig. 1 and Fig. 2, the bottom of described robot connecting plate 1 is connected with Quick change robot side 15, upper end is connected with described Pneumatic clamping jaw connecting plate 4 by main connecting plate 14, described robot connecting plate 1 is provided with protective plate 3 with the both sides, front and back of described Pneumatic clamping jaw connecting plate 4, and described robot connecting plate 1, described Pneumatic clamping jaw connecting plate 4, described main connecting plate 14 and described protective plate 3 form the airtight cavity being provided with placing pneumatic element.
Please refer to Fig. 1 and Fig. 3, Pneumatic clamping jaw described in each comprises jaw body 5 and is located at the chuck 7 above described jaw body 5, and described two groups of Pneumatic clamping jaw symmetries are installed on described Pneumatic clamping jaw connecting plate 4, and is located by Pneumatic clamping jaw positioning sleeve 11; And described Pneumatic clamping jaw is equipped with band guiding one-way valve and two automatically controlled 3 position-5 way magnetic valve.
Please refer to Fig. 1 and Fig. 3, described jaw body 5 is fixed on manipulator 10 by jaw body positioning sleeve 8; Described jaw body 5 designs with the split of described chuck 7, and the heat shield (not shown) be provided with between described jaw body 5 and chuck 7 can reduce the heat transfer between parts.
In the present embodiment, described jaw body 5 and chuck 7 are preferably exotic material and make, but not as limit.
Please refer to Fig. 1 and Fig. 3, described in each, the both ends of Pneumatic clamping jaw are equipped with thermal insulation board 6, and are provided with gripper shoe 12 between described thermal insulation board 6 and described Pneumatic clamping jaw connecting plate 4.
In the present embodiment, described thermal insulation board 6 is preferably high temperature resistant and the material of low heat conductivity is made, but not as limit.
Please refer to Fig. 1 and Fig. 3, described robot connecting plate 1 and described Pneumatic clamping jaw connecting plate 4 be arranged in parallel, and are provided with the post 2 that is located by connecting for supporting described Pneumatic clamping jaw between described robot connecting plate 1 and described Pneumatic clamping jaw connecting plate 4.
Please refer to Fig. 1 and Fig. 2, be provided with support 9 below described robot connecting plate 1, described support 9 is provided with travel switch 13.
Use the robot flexibility gripping apparatus of above-mentioned adaptation many specifications hot plate punching press to adopt 2 modes clamping grabbing workpiece, and its punch steps is as follows:
S1: workpiece is transported to crawl position by rollgang after heating furnace heating, and lifting body is by workpiece jack-up;
S2: robot drives the robot flexibility gripping apparatus of described adaptation many specifications hot plate punching press to move to crawl position, and two manipulators 10 are ventilated, by Workpiece clamping;
S3: robot motion, is placed on the mould on stamping machine by the workpiece of crawl, two manipulators 10 are opened, and robot leaves;
S4: stamping machine to workpiece punch forming, and resets;
S5: the location of workpiece after robot drives flexible gripping apparatus to move to punching press, two manipulators 10 are ventilated, by Workpiece clamping;
S6: robot motion, be placed into by the workpiece after punching press in material frame, robot resets.
The robot flexibility gripping apparatus of described adaptation many specifications hot plate provided by the invention punching press and process for stamping thereof adopt the mode of 2 holding workpieces, adopt Pneumatic clamping jaw as power, solve the shortcoming that common gripping apparatus flexibility is lower, adaptability is not strong, improve production efficiency and product quality, again reduce gripping apparatus manufacturing cost; Jaw body 5 and chuck 7 adopt Split type structure, and described jaw body 5 and chuck 7 are made for exotic material, can prevent the too high generation distortion of Yin Wendu or destroy; The band guiding one-way valve that Pneumatic clamping jaw is equipped with, when can ensure that system is died suddenly, cylinder is also in clamped condition, avoids workpiece to come off, guarantees security; In addition, gripping apparatus is also equipped with two automatically controlled 3 position-5 way magnetic valve, and during the unexpected power-off of guarantee system, cylinder is in clamped condition, avoids workpiece to come off, guarantees security; Thermal insulation board 6 on gripping apparatus adopts the high temperature resistant and material of low heat conductivity, reduces heat and is delivered on pneumatic element such as manipulator 10 grade; Thermal insulation board 6 on flexible gripping apparatus can effectively protect main parts size such as manipulators 10, reduces hot spoke; The thermal insulation board be provided with between jaw body 5 and chuck 7 can reduce the heat transfer between parts.
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 (6)
1. adapt to a robot flexibility gripping apparatus for many specifications hot plate punching press, it is characterized in that, comprise two groups of Pneumatic clamping jaws, robot connecting plate, protective plate, Pneumatic clamping jaw connecting plate, main connecting plate and thermal insulation board, wherein:
The bottom of described robot connecting plate is connected with Quick change robot side, and upper end is connected to form by main connecting plate and described Pneumatic clamping jaw connecting plate the open accommodation space being provided with placing pneumatic element;
Pneumatic clamping jaw described in each comprises jaw body and is located at the chuck above described jaw body, and described two groups of Pneumatic clamping jaw symmetries are installed on described Pneumatic clamping jaw connecting plate, and is located by Pneumatic clamping jaw positioning sleeve;
The both ends of Pneumatic clamping jaw described in each are equipped with the thermal insulation board for reducing radiation, and are provided with gripper shoe between described thermal insulation board and described Pneumatic clamping jaw connecting plate;
Described Pneumatic clamping jaw is equipped with band guiding one-way valve and two automatically controlled 3 position-5 way magnetic valve;
The robot flexibility gripping apparatus of described adaptation many specifications hot plate punching press also comprises the support be located at below described robot connecting plate, and described support is provided with travel switch.
2. the robot flexibility gripping apparatus of adaptation many specifications hot plate according to claim 1 punching press, is characterized in that, described jaw body and described chuck split design, and are provided with for reducing heat conducting heat shield between described jaw body and described chuck.
3. the robot flexibility gripping apparatus of adaptation many specifications hot plate according to claim 1 punching press, is characterized in that, described jaw body is fixed on manipulator by jaw body positioning sleeve.
4. the robot flexibility gripping apparatus of adaptation many specifications hot plate according to claim 1 punching press, it is characterized in that, described robot connecting plate and described Pneumatic clamping jaw connecting plate be arranged in parallel, and are provided with the post that is located by connecting for supporting described Pneumatic clamping jaw between described robot connecting plate and described Pneumatic clamping jaw connecting plate.
5. the robot flexibility gripping apparatus of adaptation many specifications hot plate according to claim 1 punching press, it is characterized in that, the both sides, front and back of described robot connecting plate and described Pneumatic clamping jaw connecting plate are provided with protective plate, and described robot connecting plate, described Pneumatic clamping jaw connecting plate, described main connecting plate and described protective plate form the airtight cavity being provided with placing pneumatic element.
6. one kind adapts to the process for stamping of many specifications hot plate, it is characterized in that, comprise the robot flexibility gripping apparatus of the adaptation many specifications hot plate punching press as described in claim 1 to any one of claim 5, and described flexible gripping apparatus adopts 2 modes clamping grabbing workpiece, its punch steps is as follows:
S1: workpiece is transported to crawl position by rollgang after heating furnace heating, and lifting body is by workpiece jack-up;
S2: robot drives the robot flexibility gripping apparatus of described adaptation many specifications hot plate punching press to move to crawl position, two manipulator ventilations, by Workpiece clamping;
S3: robot motion, be placed into by the workpiece of crawl on the mould on stamping machine, two manipulators are opened, and robot leaves;
S4: stamping machine to workpiece punch forming, and resets;
S5: the location of workpiece after robot drives flexible gripping apparatus to move to punching press, two manipulator ventilations, by Workpiece clamping;
S6: robot motion, be placed into by the workpiece after punching press in material frame, robot resets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310111130.8A CN103170984B (en) | 2013-04-01 | 2013-04-01 | Adapt to robot flexibility gripping apparatus and the process for stamping thereof of the punching press of many specifications hot plate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310111130.8A CN103170984B (en) | 2013-04-01 | 2013-04-01 | Adapt to robot flexibility gripping apparatus and the process for stamping thereof of the punching press of many specifications hot plate |
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| Publication Number | Publication Date |
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| CN103170984A CN103170984A (en) | 2013-06-26 |
| CN103170984B true CN103170984B (en) | 2015-10-07 |
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| CN201310111130.8A Expired - Fee Related CN103170984B (en) | 2013-04-01 | 2013-04-01 | Adapt to robot flexibility gripping apparatus and the process for stamping thereof of the punching press of many specifications hot plate |
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Families Citing this family (6)
| 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 |
| CN105711043B (en) * | 2016-04-05 | 2017-12-15 | 苏州盟川自动化科技有限公司 | A kind of gripping general assembly and its application method for the demoulding of washing machine door seal |
| CN107584006B (en) * | 2017-09-28 | 2024-02-06 | 宁波鑫精华轴业有限公司 | Hot punching equipment for automobile seat shaft |
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
| CN109648595B (en) * | 2019-01-14 | 2021-11-05 | 南京航空航天大学 | A terminal flexible mechanical grabbing device for industrial robot |
| CN114054567B (en) * | 2022-01-06 | 2022-04-08 | 四川腾邦科技有限公司 | Stamping equipment is used in production of generator stator steel sheet |
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| CN101905269A (en) * | 2010-07-23 | 2010-12-08 | 中国重型机械研究院有限公司 | Automatic two-wire lifting and clamping device |
| CN102126214A (en) * | 2011-03-17 | 2011-07-20 | 清华大学 | Manipulator for grabbing high-temperature steel plate spring |
| CN102285146A (en) * | 2011-08-26 | 2011-12-21 | 济南铸造锻压机械研究所有限公司 | Material taking/feeding manipulator |
| CN102430663A (en) * | 2011-10-17 | 2012-05-02 | 机械科学研究总院先进制造技术研究中心 | Flexible adjustable manipulator for catching high-temperature steel plate |
| CN203171639U (en) * | 2013-04-01 | 2013-09-04 | 长沙长泰机器人有限公司 | Flexible robot gripper adapting to multi-standard hot plate stamping |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DK0487456T3 (en) * | 1990-11-23 | 1995-01-30 | Styner & Bienz Ag | Method and apparatus for conveying a ribbon or strip, in particular for cutting blanks |
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2013
- 2013-04-01 CN CN201310111130.8A patent/CN103170984B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101905269A (en) * | 2010-07-23 | 2010-12-08 | 中国重型机械研究院有限公司 | Automatic two-wire lifting and clamping device |
| CN102126214A (en) * | 2011-03-17 | 2011-07-20 | 清华大学 | Manipulator for grabbing high-temperature steel plate spring |
| CN102285146A (en) * | 2011-08-26 | 2011-12-21 | 济南铸造锻压机械研究所有限公司 | Material taking/feeding manipulator |
| CN102430663A (en) * | 2011-10-17 | 2012-05-02 | 机械科学研究总院先进制造技术研究中心 | Flexible adjustable manipulator for catching high-temperature steel plate |
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