CN104355109B - Heating platen handling robot system - Google Patents
Heating platen handling robot system Download PDFInfo
- Publication number
- CN104355109B CN104355109B CN201410559151.0A CN201410559151A CN104355109B CN 104355109 B CN104355109 B CN 104355109B CN 201410559151 A CN201410559151 A CN 201410559151A CN 104355109 B CN104355109 B CN 104355109B
- Authority
- CN
- China
- Prior art keywords
- transfer robot
- idler wheel
- positioning device
- workpiece
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a kind of heating platen handling robot systems, it is related to robot and carries field of automation technology.It includes rack, idler wheel pipeline, sprocket wheel shield, positioning device, transfer robot, changes rifle disk, pneumatic gripping and rickstand, rack side is disposed with transfer robot, rickstand, idler wheel pipeline is provided in rack, idler wheel pipeline is made of multiple solid idler wheels, idler wheel pipeline is connected to motor by sprocket wheel, it is provided with sprocket wheel shield above sprocket wheel, one end of idler wheel pipeline is provided with positioning device, and transfer robot is connect by changing rifle disk with pneumatic gripping.The present invention realizes positioning, crawl of the high temperature workpiece between conveying equipment and press, replaces traditional artificial loading and unloading, saves human cost, realizes automated job in heating platen forging and stamping link, and quality is stablized, and production efficiency is improved.
Description
Technical field
The present invention relates to robots to carry field of automation technology, and in particular to heating platen handling robot system.
Background technique
As the step of modernization of industry process strides forward, robot automation's handling system reaches its maturity, and robot is automatic
Application of the change system in the techniques such as cold plate punching press has been shown up prominently, but its application in heating platen production is then more fallen
Afterwards, heating platen production is primarily due to relative to cold plate punching press environment temperature is higher, workpiece surface temperature is high, workpiece thermal deformation is multiple
The influences such as miscellaneous, the difficult determination of positioning datum automate the operating condition of precision, and most of factory still uses on heating platen production link
Artificial grabbing workpiece feeding, blanking, site environment temperature is high, and general workpiece weight is again larger, for the work of site operation personnel
It is very big to make intensity, and single process is typically necessary more than two operators and carries out, it is at high cost.
Some Domestic factory is artificial using dedicated non-standard automatic haulage equipment cooperation press substitution, to reduce severe work
It is influenced brought by condition, the method solves the automation of heating platen production on certain procedures, but the opposite forging and stamping that are directed to are set
Standby designed nonstandard haulage equipment has biggish limitation, such as nonstandard haulage equipment can only be limited to the equipment of specified model
Generally cannot be general, to the more demanding of structure design, occur more difficult change after bursting problem during installation and debugging, debugs
The defects of period is longer, so designing a kind of heating platen handling robot system or necessary.
Summary of the invention
In view of the shortcomings of the prior art, object of the present invention is to be to provide a kind of heating platen transfer robot system
System realizes positioning, crawl of the high temperature workpiece between conveying equipment and press, replaces traditional artificial loading and unloading, save people
Power cost realizes automated job in heating platen forging and stamping link, and quality is stablized, and production efficiency is improved.
To achieve the goals above, the present invention is to realize by the following technical solutions: heating platen transfer robot system
System, including rack, idler wheel pipeline, sprocket wheel shield, positioning device, transfer robot, change rifle disk, pneumatic gripping and windrow
Frame, rack side are disposed with transfer robot, rickstand, idler wheel pipeline are provided in rack, idler wheel pipeline is by more
A solid idler wheel composition, idler wheel pipeline are connected to motor by sprocket wheel, and sprocket wheel shield, idler wheel conveying are provided with above sprocket wheel
One end of line is provided with positioning device, and transfer robot is connect by changing rifle disk with pneumatic gripping.
Preferably, the pneumatic gripping is mounted on the 6th shaft end of transfer robot, the 6th of transfer robot the
Axis connection has stamper, and pneumatic gripping is connected with sub-disk, and same stamper can be with more set sub-disks, between transfer robot and pneumatic gripping
Gas circuit and circuit connected by Quick bolt between stamper and sub-disk.
Preferably, the positioning device includes cylinder, sliding slot, collision block, positioning device is provided with laterally and vertically
Two sliding slots are respectively provided on every sliding slot there are two cylinder, and cylinder is in sliding fit with the sliding chute by sliding shoe, is also set on sliding shoe
It is equipped with collision block, inductive switch is provided on cylinder, inductive switch is connect by PLC with transfer robot.
Preferably, the end of the idler wheel pipeline is provided with photoelectric sensor switch, photoelectric sensor switch passes through PLC
It is connect with the cylinder in positioning device.
Beneficial effects of the present invention: structurally reasonable, robot system stable and reliable operation, low energy consumption, using modularization knot
Structure, Maintenance and Repair are convenient, and dynamic autoization movement control technology improves the speed of service, easy to operate, positioning accuracy degree,
Realize positioning of the high temperature workpiece between conveying equipment and press, crawl, replace traditional artificial loading and unloading, save manpower at
This, realizes automated job in heating platen forging and stamping link, improves production efficiency.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of idler wheel pipeline and positioning device of the present invention；
Fig. 3 is the cooperation schematic diagram of cylinder of the present invention and sliding slot；
Fig. 4 is the positioning schematic diagram of high temperature workpiece of the present invention；
Fig. 5 is the structural schematic diagram of inductive switch of the present invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Referring to Fig.1-5, present embodiment uses following technical scheme: heating platen handling robot system, including machine
Frame 1, sprocket wheel shield 3, positioning device 4, transfer robot 5, changes rifle disk 6, pneumatic gripping 7 and rickstand 8 at idler wheel pipeline 2,
1 side of rack is disposed with transfer robot 5, rickstand 8, is provided with idler wheel pipeline 2 in rack 1, idler wheel pipeline 2 by
Multiple solid idler wheel compositions, idler wheel pipeline 2 are connected to motor by sprocket wheel, are provided with 3 idler wheel of sprocket wheel shield above sprocket wheel
One end of pipeline 2 is provided with positioning device 4, and transfer robot 5 is connect by changing rifle disk 6 with pneumatic gripping 7.
It is worth noting that, the positioning device 4 includes cylinder 9, sliding slot 10, collision block 11, positioning device 4 is provided with cross
To with two vertical sliding slots 10, be respectively provided on every sliding slot 10 there are two cylinder 9, cylinder 9 is sliding by sliding shoe and sliding slot 10
It is dynamic to cooperate, collision block 11 is additionally provided on sliding shoe, positioning device 4 is by three directions of cylinder 9 spatially to high temperature workpiece
13 are positioned.
It is worth noting that, the pneumatic gripping 7 is mounted on the 6th shaft end of transfer robot 5, transfer robot 5
The 6th axis connection have a stamper, pneumatic gripping 7 is connected with sub-disk, and same stamper can be with more set sub-disks, transfer robot 5 and pneumatic
Gas circuit and circuit between clamp 7 is by the Quick bolt connection between stamper and sub-disk, and pneumatic gripping 7 is according to high temperature workpiece 13
Geomery customization, when replacing pneumatic gripping 7 every time, the bolt on stamper disconnects gas circuit and circuit, while can be rapid
Replace another pneumatic gripping 7 for having sub-disk.
It is worth noting that, being provided with inductive switch 12 on the cylinder 9, inductive switch 12 passes through PLC and carrying implement
Device people 5 connects, and after confirmation high temperature workpiece 13 is accurately positioned, inductive switch 12 issues signal to transfer robot 5.
In addition, the end of the idler wheel pipeline 2 is provided with photoelectric sensor switch, photoelectric sensor switch by PLC with
Cylinder 9 in positioning device 4 connects.
Present embodiment workpiece plate reaches after assigned temperature by induction furnace in induction stove heating by high temperature workpiece 13
It is pushed out on idler wheel pipeline 2, because plate is up to thousands of degree by induction furnace heating temperature, using solid idler wheel pipeline 2
Can reduction pipeline and high temperature workpiece 13 in maximum program contact area, guarantee pipeline is indeformable in long-term use,
And temperature loss during conveying of high temperature workpiece 13 minimizes.
High temperature workpiece 13 is transported to end by idler wheel pipeline 2, by photoelectric sensor switch confirmation high temperature workpiece 13 whether to
Position sends a signal to PLC by switch after confirmation in place, and then sends a signal to solenoid valve, and solenoid valve drives after receiving signal
High temperature workpiece 13 is accurately positioned by cylinder 9 from three directions spatially, and positioning device 4 is during pushing away, pushing up workpiece
All using point contact, be first in order to ensure pick out again during minimum is reduced to the thermal loss of high temperature workpiece 13,
Secondary is because entire transportation system working efficiency is higher, and high-frequency operation makes equipment itself absorb certain heat, equipment mistake
It will affect runnability after heat, it is a kind of protection to equipment that the contact surface of equipment and workpiece, which is reduced to minimum,.
After idler wheel pipeline 2 is completed to the accurate positioning of high temperature workpiece 13, inductive switch 12 passes through PLC control system pair
Transfer robot 5 issues signal, and notice transfer robot 5 grabs high temperature workpiece 13, and transfer robot 5 is by being mounted on the 6th axis
7 grabbing workpiece of pneumatic gripping of end, confirmation workpiece step up rear transfer robot 5 and start to act, by optimal path by high temperature
Workpiece 13 is carried on the mold of press, and then high temperature workpiece 13 is put into mold by transfer robot 5, robot 5 to be handled
After exiting die cavity completely, i.e., signal is issued to press, notice press driving carries out forging operation to workpiece, at this time transfer robot
5 wait by press, and after press opens mold, transfer robot 5 immediately enters die cavity and takes out the workpiece completed the process, are put into
On rickstand 8.
Rickstand 8 can disposably place multi-disc workpiece, and the workpiece completed the process is placed on windrow by each transfer robot 5
On frame 8 can transfer robot 5 increment is added in program so that next transfer robot 5 is just put when placing workpiece
It sets in the surface of previous workpiece, equipment interferes when avoiding reruning every time to same position, the above actuation cycle
Reciprocal operation is counted after placing workpiece every time on windrow 8 by control system, after piling the workpiece of specified quantity on rickstand
Whole system sends signal, shows that rickstand 8 has been expired with indicator light, notifies operator's feeding and replaces empty rickstand 8.
The main configuration of present embodiment and feature are as follows: 1, a set of roller type pipeline, reduce and high temperature workpiece
13 contact area, and high temperature workpiece 13 is quickly reached into positioning device 4.
2, a set of accurate positioning device 4 can be pushed away from three directions spatially, be pushed up, and high temperature workpiece 13 is close to fixed
Position origin, it is ensured that precision when transfer robot 5 grabs, positioning device 4 depends on idler wheel pipeline 2, in plant produced mistake
When Cheng Zhong, replacement new varieties workpiece or workpiece update, only need to be according to the position that the outer dimension of new workpiece adjusts holding device
Can, debugging is convenient.
3, pneumatic gripping 7 can be customized according to the geomery of workpiece, and when replacing pneumatic gripping 7, bolt on stamper is by gas
Road and circuit disconnect, meanwhile, rapidly replacement enables the pneumatic gripping 7 for having sub-disk, simple and convenient.
4, ABB robot system, can be Mean operation 80000 hours, reliable and stable, structurally reasonable, power of motor
Small, energy consumption reduces by 30%；Modular construction, maintenance are overhauled convenient and efficient；Dynamic autoization movement control technology enables each axis always
It is run with peak acceleration, the speed of service improves 25%；Impact force is reduced to 30% by six axis Intelligent anti-collision technologies, and can be quick
Restore；It is easy to operate using full-color screen formula teaching machine；Robot working radius reaches 2550mm, and repetitive positioning accuracy is high.
Present embodiment provides a kind of automatic production method with certain versatility heating platen forging and stamping link,
It realizes positioning, crawl, blowing and blanking of the high temperature workpiece between conveying equipment and press, replaces traditional manual type, save
Human cost has been saved, has realized automated job in heating platen forging and stamping link, quality is stablized, and production efficiency is improved.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. heating platen handling robot system, which is characterized in that including rack (1), idler wheel pipeline (2), sprocket wheel shield
(3), positioning device (4), transfer robot (5), change rifle disk (6), pneumatic gripping (7) and rickstand (8), rack (1) side according to
It is secondary to be provided with transfer robot (5), rickstand (8), be provided with idler wheel pipeline (2) in rack (1), idler wheel pipeline (2) by
Multiple solid idler wheel compositions, idler wheel pipeline (2) are connected to motor by sprocket wheel, are provided with sprocket wheel shield (3) above sprocket wheel,
One end of idler wheel pipeline (2) is provided with positioning device (4), and transfer robot (5) is by changing rifle disk (6) and pneumatic gripping (7)
Connection；The positioning device (4) includes cylinder (9), sliding slot (10), collision block (11), and positioning device (4) is provided with lateral and perpendicular
To two sliding slots (10), be respectively provided on every sliding slot (10) there are two cylinder (9), cylinder (9) passes through sliding shoe and sliding slot
(10) it is slidably matched, collision block (11) is additionally provided on sliding shoe.
2. heating platen handling robot system according to claim 1, which is characterized in that pneumatic gripping (7) peace
Mounted in the 6th shaft end of transfer robot (5), the 6th axis connection of transfer robot (5) has stamper, pneumatic gripping (7) connection
There is sub-disk, same stamper can be with more set sub-disks, and gas circuit and circuit between transfer robot (5) and pneumatic gripping (7) pass through mother
Quick bolt connection between disk and sub-disk.
3. heating platen handling robot system according to claim 1, which is characterized in that be arranged on the cylinder (9)
Have inductive switch (12), inductive switch (12) is connect by PLC with transfer robot (5).
4. heating platen handling robot system according to claim 1, which is characterized in that the idler wheel pipeline (2)
End be provided with photoelectric sensor switch, photoelectric sensor switch is connect by PLC with the cylinder (9) in positioning device (4).
5. heating platen handling robot system according to claim 1, which is characterized in that operating method is, first basis
The type and outer dimension of workpiece adjust position of the cylinder (9) on sliding slot (10) on positioning device (4), and to positioning
Collision block (11) on device (4) is replaced accordingly, is adjusted positioning device (4) and is opened equipment, idler wheel pipeline (2) one afterwards
It is straight in operating status；After the high temperature workpiece (13) that induction furnace heats is come out of the stove, end is delivered to idler wheel pipeline (2) transmission
Whether in place by photoelectric sensor switch detection high temperature workpiece (13) end sends signal to PLC afterwards in place, and then drive positioning
Cylinder (9) on device (4), positioning device (4) carry out high temperature workpiece (13) by three directions of cylinder (9) spatially
Positioning；After confirming that completion is accurately positioned via positioning device (4) in high temperature workpiece (13), by the inductive switch on cylinder (9)
(12) signal is issued, transfer robot (5) comes to grab high temperature workpiece (13) after the signal for receiving positioning device (4), carries
High temperature workpiece (13) are sent into press after robot (5) confirmation crawl, transfer robot (5) exits compressor operation area, sends
Signal forges and presses workpiece to press, press；During press forging and stamping, transfer robot (5), which stays in by press, awaits orders,
Press forging and stamping finish, and send a signal to transfer robot (5), and transfer robot (5), which enters in press, takes the workpiece pressed
Out, the workpiece after taking-up is placed on rickstand (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559151.0A CN104355109B (en) | 2014-10-21 | 2014-10-21 | Heating platen handling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559151.0A CN104355109B (en) | 2014-10-21 | 2014-10-21 | Heating platen handling robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104355109A CN104355109A (en) | 2015-02-18 |
| CN104355109B true CN104355109B (en) | 2019-01-29 |
Family
ID=52522456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410559151.0A Active CN104355109B (en) | 2014-10-21 | 2014-10-21 | Heating platen handling robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104355109B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397821B (en) * | 2015-12-02 | 2017-08-25 | 上海君屹工业自动化股份有限公司 | A kind of bus valve island module and its quick Activiation method |
| CN105486231A (en) * | 2015-12-31 | 2016-04-13 | 苏州紫金港智能制造装备有限公司 | Large-scale sprocket tooth-form automatic measurement device based on machine vision |
| CN105856934B (en) * | 2016-05-16 | 2018-05-04 | 广东金弘达自动化科技股份有限公司 | A kind of wire connection terminal carves handling equipment |
| CN106904432B (en) * | 2017-02-15 | 2020-09-04 | 安得智联科技股份有限公司 | Automatic material placing device |
| CN107253329B (en) * | 2017-07-26 | 2023-08-29 | 福建省国巨智能科技有限公司 | Sole trademark automatic vulcanization line |
| CN108167294B (en) * | 2018-01-25 | 2023-10-31 | 深圳市固诺泰科技有限公司 | Automatic production line for dispensing, threading and arranging wires and maintaining pressure |
| CN111136532B (en) * | 2020-01-02 | 2021-08-24 | 中车青岛四方机车车辆股份有限公司 | Automatic polishing device and polishing method |
| CN112792251B (en) * | 2020-12-21 | 2023-07-14 | 北京航星机器制造有限公司 | Automatic unloading system that goes up of high temperature |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837064A (en) * | 2011-09-21 | 2012-12-26 | 南通天华和睿科技创业有限公司 | Adjustable positioning device for board production line |
| CN102909284A (en) * | 2012-10-31 | 2013-02-06 | 山东丽鹏股份有限公司 | Fully-automatic positioning device for stamping plate |
| CN203018628U (en) * | 2013-01-21 | 2013-06-26 | 长沙长泰机器人有限公司 | Robot flexible stamping workpiece carrying system based on vision system |
| CN103230997A (en) * | 2013-04-01 | 2013-08-07 | 安徽安簧机械股份有限公司 | Production device and production technology for non-quenched and tempered steel forge piece automatic forging |
| CN203781334U (en) * | 2014-03-19 | 2014-08-20 | 南京创维平面显示科技有限公司 | General online TV positioning mechanical device |
| CN104044186A (en) * | 2014-05-15 | 2014-09-17 | 太仓北新建材有限公司 | Punching system for boards |
| CN204197976U (en) * | 2014-10-21 | 2015-03-11 | 上海思尔特机器人科技有限公司 | Heating platen handling robot system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS612608A (en) * | 1984-06-14 | 1986-01-08 | Nissan Motor Co Ltd | Conveyor for carrying car batteries |
-
2014
- 2014-10-21 CN CN201410559151.0A patent/CN104355109B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837064A (en) * | 2011-09-21 | 2012-12-26 | 南通天华和睿科技创业有限公司 | Adjustable positioning device for board production line |
| CN102909284A (en) * | 2012-10-31 | 2013-02-06 | 山东丽鹏股份有限公司 | Fully-automatic positioning device for stamping plate |
| CN203018628U (en) * | 2013-01-21 | 2013-06-26 | 长沙长泰机器人有限公司 | Robot flexible stamping workpiece carrying system based on vision system |
| CN103230997A (en) * | 2013-04-01 | 2013-08-07 | 安徽安簧机械股份有限公司 | Production device and production technology for non-quenched and tempered steel forge piece automatic forging |
| CN203781334U (en) * | 2014-03-19 | 2014-08-20 | 南京创维平面显示科技有限公司 | General online TV positioning mechanical device |
| CN104044186A (en) * | 2014-05-15 | 2014-09-17 | 太仓北新建材有限公司 | Punching system for boards |
| CN204197976U (en) * | 2014-10-21 | 2015-03-11 | 上海思尔特机器人科技有限公司 | Heating platen handling robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104355109A (en) | 2015-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104355109B (en) | Heating platen handling robot system | |
| CN201192711Y (en) | Automatic numerically-controlled lathe | |
| CN103594266B (en) | Car bulb rotary switch shrapnel contact automatic assembly line and method of work thereof | |
| CN202291115U (en) | Feeding and pick-up device for punching machine | |
| CN104117855A (en) | Full-automatic continuous production line of annular forgings | |
| CN205437966U (en) | Numerical control charging -discharging of machine tool robot system | |
| CN102820060B (en) | Fully automatic on-line programming device and its programming method | |
| CN204197976U (en) | Heating platen handling robot system | |
| CN207668421U (en) | High temperature forging robot system | |
| CN106825135A (en) | A kind of machine for press-bending metal sheet | |
| CN103447408A (en) | Mechanical arm | |
| CN210305424U (en) | Automatic punching press assembly line | |
| CN209632134U (en) | A kind of equipment of automatic processing cushion block | |
| CN208800705U (en) | A kind of punching production mechanism with robot handling system | |
| CN208391617U (en) | A kind of pull-down broaching machine automatic loading and unloading device | |
| CN106697921A (en) | Automatic feeding machine for solar frame production robot | |
| CN109821682B (en) | Automatic spraying device with assembling and disassembling functions | |
| CN217703411U (en) | High-efficient automatically clamped mechanism of material | |
| CN202683822U (en) | Manipulator device | |
| CN202748620U (en) | Full automatic on-line burning device | |
| CN202824659U (en) | Hot- pressing sintering machine | |
| CN206218801U (en) | A kind of duplexing displacement material automation equipment | |
| CN208929074U (en) | Totally enclosed type spade production automation formation system | |
| CN208945033U (en) | A kind of robot charge system of workpiece punching press, forging and stamping and punching | |
| CN206505987U (en) | A kind of automatic concordant battery conveying line of achievable battery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170719 Address after: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Applicant after: Xiamen Aerospace Robot System Co., Ltd. Address before: 201603, Shanghai, Sheshan Town, 401 new home road, 5, a layer of Songjiang District Applicant before: SHANGHAI SIERT ROBOT TECHNOLOGY CO., LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |