CN104723351B - A kind of robot hand manufactured for die forging - Google Patents
A kind of robot hand manufactured for die forging Download PDFInfo
- Publication number
- CN104723351B CN104723351B CN201510102700.6A CN201510102700A CN104723351B CN 104723351 B CN104723351 B CN 104723351B CN 201510102700 A CN201510102700 A CN 201510102700A CN 104723351 B CN104723351 B CN 104723351B
- Authority
- CN
- China
- Prior art keywords
- die forging
- robot hand
- web plate
- vertical flexible
- 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 present invention discloses a kind of robot hand manufactured for die forging, comprises vertical flexible unit and horizontal grip unit, and vertical flexible unit is connected in robot, and horizontal grip unit is arranged in vertical flexible unit. Vertical flexible unit can imitate staff flexibility of joint clamping materials and parts, avoids the damage or the precise decreasing that cause robot manipulating task arm upper reducer; The alternative artificial clamping materials and parts of horizontal grip unit, eliminate the potential safety hazard of manual operation, greatly improve operating environment.
Description
Technical field
The present invention relates to a kind of robot tool, in particular to a kind of robot hand manufactured for die forging, belong to automaticmachines field.
Background technology
In die forging manufactures, usually by the clamping work manually completing materials and parts, namely clamp high temperature (higher than 500 DEG C) materials and parts manually, it is placed in die cavity, hits, for die forging machine, the type of breaking into. Materials and parts divide rough forge and essence to forge according to the difference of processing request, and essence forging need to repeatedly be hit in different die cavity and be beaten, and completes from thick to the moulding process of essence. It is utilize forging die momentum crushing failure at high speed materials and parts shaping that the principle beaten is hit in die forging, hits after beating, materials and parts by reactive force the withdrawing and rebound with patrix of bed die, artificial holding workpiece, it is possible to the flexibility of swivel of hand overcomes jet power.
Industrial robot has been widely used in all trades and professions and has replaced operating worker, to save the labor cost of constantly rising. Robot manipulating task arm is the equipment of high precision, and such as robot rigidity clamping materials and parts, the reactive force generated by forging machine momentum can be delivered on the speed reduction unit of robot, causes damage or the precise decreasing of robot manipulating task arm upper reducer. Materials and parts must just be easy to die forging through heating in medium frequency to high temperature (higher than 500 DEG C), and artificial clamping materials and parts exist certain potential safety hazard, and operating environment is relatively severe.
In view of the above-mentioned defect of prior art, those skilled in the art are devoted to the industrial robot of the clamping of design optimization for materials and parts during die forging and carrying.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is a kind of robot hand manufactured for die forging of design, for clamping and the carrying of materials and parts during die forging, solve the severe problem of manual work environment on the one hand and substitute manual operation, avoid robot rigid damage on the other hand.
In order to realize above-mentioned purpose, the present invention adopts following technical scheme:
For the robot hand that die forging manufactures, comprising vertical flexible unit and horizontal grip unit, vertical flexible unit is connected in robot, and horizontal grip unit is arranged in vertical flexible unit.
Preferably, vertical flexible unit by Flange joint in robot.
Vertical flexible unit comprises the first web plate, the 2nd web plate and the first cylinder, and the first cylinder is between the first web plate and the 2nd web plate and fixes with the first web plate, and the output terminal of the first cylinder is connected with the 2nd web plate.
Preferably, the first web plate is parallel with the 2nd web plate.
Horizontal grip unit comprises anchor, the 2nd cylinder, transmission assembly, clamp assemblies, anchor is connected with the 2nd web plate of vertical flexible unit, 2nd air cylinder base is fixed on anchor, and the 2nd cylinder output terminal is connected with transmission assembly, and clamp assemblies is connected with transmission assembly.
Preferably, transmission assembly comprises T-shaped linkage assembly, the first web member, the 2nd web member, and one end of T-shaped linkage assembly is connected with the 2nd cylinder output terminal, and the other end is flexibly connected with the first web member and the 2nd web member respectively.
Preferably, transmission assembly comprises guiding axle, slide block, connection piece, fixture block, and guiding axle is arranged on anchor, and slide block set is contained on guiding axle, and connection piece is fixed on the lower end of slide block, and fixture block is fixed on connection piece one end.
More preferably, slide block, connection piece, fixture block respectively have two and symmetry.
More preferably, fixture block contacts materials and parts place and it is provided with V-type groove.
The invention has the beneficial effects as follows:
The present invention provides a kind of robot hand manufactured for die forging, comprises vertical flexible unit, horizontal grip unit. Vertical flexible unit can imitate staff flexibility of joint clamping materials and parts, avoids the damage or the precise decreasing that cause robot manipulating task arm upper reducer; The alternative artificial clamping materials and parts of horizontal grip unit, eliminate the potential safety hazard of manual operation, greatly improve operating environment.
Accompanying drawing explanation
The structural representation of the robot hand manufactured for die forging that Fig. 1 provides for a preferred embodiment of the present invention.
Embodiment
Embodiment is described in further detail the present invention below, and embodiment implements under premised on technical solution of the present invention, gives detailed enforcement mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Such as Fig. 1, the present invention provide a kind of for die forging manufacture robot hand, comprise vertical flexible unit 1, horizontal grip unit 2, horizontal grip unit 2 is arranged in vertical flexible unit 1, vertical flexible unit 1 by Flange joint in robot.
Vertical flexible unit 1 has a cylinder 13, and cylinder 13 is arranged on web plate 12, and web plate 12 is connected in robot by flange 11, and cylinder 13 output terminal is connected on web plate 14.
Horizontal grip unit has a cylinder 21, and cylinder 21 floor installation is on anchor 22, and anchor 22 is arranged on web plate 14; Cylinder 21 output terminal connects a connecting rod 23, connecting rod 23 connects two slide blocks 24 by web member, slide block 24 is sleeved on a guiding axle 25, guiding axle 25 is arranged on anchor 22, slide block 24 times ends fix a connecting piece 26, connection piece 26 is provided with two fixture blocks 27, and slide block 24, fixture block 27 are symmetrical installation. Fixture block 27 and materials and parts 28 contact position are provided with V-type groove.
The concrete principle of robot hand for die forging manufacture that the present embodiment provides is as follows:
Vertical flexible unit can realize moving up and down of horizontal grip unit in the vertical direction, and its active force is cylinder 13, and cylinder 13 moves, and drives web plate 14 to move up and down at vertical direction.
Horizontal grip unit can realize automatic clamping, the input of materials and parts, its active force is cylinder 21, cylinder 21 moves, drivening rod 23 moves in the horizontal direction, and then band movable slider 24 slides on guiding axle 25, and then drive two V-type fixture blocks tighten up or open, it is achieved the automatic clamping of materials and parts 28, input.
A kind of robot hand manufactured for die forging provided by the invention, comprises vertical flexible unit, horizontal grip unit. Vertical flexible unit can imitate staff flexibility of joint clamping materials and parts, avoids the damage or the precise decreasing that cause robot manipulating task arm upper reducer; The alternative artificial clamping materials and parts of horizontal grip unit, eliminate the potential safety hazard of manual operation, greatly improve operating environment.
Below the preferred embodiment of the present invention is described in detail. It is to be understood that the those of ordinary skill of this area just can make many modifications and variations according to the design of the present invention without the need to creative work. Therefore, the technical scheme that all technician in the art can be obtained by logical analysis, reasoning, or a limited experiment under this invention's idea on the basis of existing technology, all should by the determined protection domain of claim book.
Claims (8)
1. the robot hand manufactured for die forging, it is characterized in that, described robot hand comprises vertical flexible unit and horizontal grip unit, and described vertical flexible unit is connected in robot, and described horizontal grip unit is arranged in described vertical flexible unit; Described vertical flexible unit comprises the first web plate, the 2nd web plate and the first cylinder, described first cylinder is between described first web plate and described 2nd web plate and fixes with described first web plate, and the output terminal of described first cylinder is connected with described 2nd web plate.
2. according to claim 1 a kind of for die forging manufacture robot hand, it is characterised in that, described vertical flexible unit by Flange joint in robot.
3. a kind of robot hand manufactured for die forging according to claim 1, it is characterised in that, described first web plate is parallel with described 2nd web plate.
4. a kind of robot hand manufactured for die forging according to claim 1, it is characterized in that, described horizontal grip unit comprises anchor, the 2nd cylinder, transmission assembly, clamp assemblies, 2nd web plate of described anchor and described vertical flexible unit is fixed, described 2nd air cylinder base is fixed on described anchor, described 2nd cylinder output terminal is connected with described transmission assembly, and described clamp assemblies is connected with described transmission assembly.
5. a kind of robot hand manufactured for die forging according to claim 4, it is characterized in that, described transmission assembly comprises T-shaped linkage assembly, the first web member, the 2nd web member, one end of described T-shaped linkage assembly is connected with described 2nd cylinder output terminal, and the other end of described T-shaped linkage assembly is flexibly connected with described first web member and described 2nd web member respectively.
6. a kind of robot hand manufactured for die forging according to claim 4, it is characterized in that, described clamp assemblies comprises guiding axle, slide block, connection piece, fixture block, described guiding axle is arranged on described anchor, described slide block set is contained on described guiding axle, described connection piece is fixed on the lower end of described slide block, and described fixture block is fixed on described connection piece.
7. a kind of robot hand manufactured for die forging according to claim 6, it is characterised in that, described slide block, described connection piece, described fixture block respectively have two and symmetry.
8. a kind of robot hand manufactured for die forging according to claim 6, it is characterised in that, described fixture block contacts materials and parts place and is provided with V-type groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102700.6A CN104723351B (en) | 2015-03-09 | 2015-03-09 | A kind of robot hand manufactured for die forging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510102700.6A CN104723351B (en) | 2015-03-09 | 2015-03-09 | A kind of robot hand manufactured for die forging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104723351A CN104723351A (en) | 2015-06-24 |
| CN104723351B true CN104723351B (en) | 2016-06-01 |
Family
ID=53448068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510102700.6A Active CN104723351B (en) | 2015-03-09 | 2015-03-09 | A kind of robot hand manufactured for die forging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104723351B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163567B (en) * | 2017-12-30 | 2020-01-14 | 芜湖哈特机器人产业技术研究院有限公司 | Charging basket clamp |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220796C2 (en) * | 1992-06-25 | 1997-07-10 | Langenstein & Schemann Gmbh | Flexibly adjustable connection between running gear and gripping tongs of a handling device for a forging facility |
| AT396883B (en) * | 1992-08-13 | 1993-12-27 | Gfm Fertigungstechnik | CLAMPING HEAD FOR FORGING MACHINES |
| DE10060709B4 (en) * | 2000-12-07 | 2004-12-02 | Langenstein & Schemann Gmbh | Handling device for holding a forged part during the forging process |
| DE102005033767A1 (en) * | 2005-07-15 | 2007-01-18 | Müller Weingarten AG | Device for manipulating workpieces during forging, with a gripper mechanism that can be adjusted to be either pliable or rigid, comprises rollers that advance along contact surfaces to put gripper arms in the rigid position |
| CN102335714A (en) * | 2011-10-09 | 2012-02-01 | 北京机电研究所 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
| CN103381466B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN104289653B (en) * | 2014-09-15 | 2017-02-01 | 燕山大学 | Main movement mechanism of redundant drive forging operation machine |
-
2015
- 2015-03-09 CN CN201510102700.6A patent/CN104723351B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104723351A (en) | 2015-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207824443U (en) | A kind of internal clamp system | |
| CN105397447A (en) | Seal ring sleeving device with mechanical claw | |
| CN204603662U (en) | T-steel bonding machine web and wing plate positioning tool | |
| CN103465305A (en) | Package pipe cutting and perforation integral machine | |
| CN104723351B (en) | A kind of robot hand manufactured for die forging | |
| CN105479131A (en) | Equipment with automatic sealing ring sleeving function | |
| CN205703208U (en) | A kind of suspension ring erecting device being linked with Full-automatic assembling machine | |
| CN204035393U (en) | A kind of automatic stamping line clamping machine mechanical arm | |
| CN211052951U (en) | Improved welding manipulator for steel pipe furniture | |
| CN205551361U (en) | Mechanical hand of horizontal four -axis forging and pressing | |
| CN203527549U (en) | Packaging pipe cutting and punching all-in-one machine | |
| CN206153802U (en) | Welding manipulator | |
| CN201940492U (en) | Copper pipe flaring machine | |
| CN203818152U (en) | Clamping tool for automobile engine part | |
| CN208305051U (en) | A kind of Multi-station full-automatic manipulator for plastic cement products | |
| CN203887317U (en) | Upper hold-down device for sawing machine | |
| CN203266669U (en) | Inclination-preventing industrial robot | |
| CN201613325U (en) | Cogging, centering and clamping device for free forging | |
| CN107932542A (en) | A kind of apparatus and method for clamping casting | |
| CN205967137U (en) | Pipeline connects crimping tool's auxiliary device | |
| CN205629189U (en) | Mould discharge apparatus | |
| CN210189152U (en) | Clamp for numerical control vertical machining center | |
| CN210757810U (en) | Four-claw gripper device | |
| CN203665200U (en) | Automatic discharging device | |
| CN204747467U (en) | Automatic remove device of piston runner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |