CN104842350A - Workpiece griping manipulator for high-temperature operation - Google Patents

Workpiece griping manipulator for high-temperature operation Download PDF

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Publication number
CN104842350A
CN104842350A CN201510267217.3A CN201510267217A CN104842350A CN 104842350 A CN104842350 A CN 104842350A CN 201510267217 A CN201510267217 A CN 201510267217A CN 104842350 A CN104842350 A CN 104842350A
Authority
CN
China
Prior art keywords
manipulator
jaw
workpiece
installing plate
hot
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.)
Pending
Application number
CN201510267217.3A
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Chinese (zh)
Inventor
蒋立军
汪孝祥
邵金金
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Original Assignee
WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd filed Critical WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Priority to CN201510267217.3A priority Critical patent/CN104842350A/en
Publication of CN104842350A publication Critical patent/CN104842350A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a workpiece griping manipulator for high-temperature operation. The workpiece griping manipulator comprises a first grip claw and a second grip claw which are opposite to each other and hinged through a rotating pin; the workpiece griping manipulator further comprises a manipulator mounting plate and a power cylinder, both the rotating pin and the power cylinder are arranged on the manipulator mounting plate, and a driving block used for driving same ends of the first grip claw and the second grip claw to move oppositely is arranged on a piston rod of the power cylinder; a cooling hole is arranged in the rotating pin, a cooling channel is arranged in the manipulator mounting plate, and a nozzle used for spraying is arranged on the manipulator mounting plate. Only one rotating hinged point is arranged on the griping manipulator, so that the manipulator is simple in structure and low in cost, a manipulator joint is less prone to being jammed or loosened, the power cylinder is away from the front half section in distance, service life of the cylinder is prolonged, and the high-temperature workpieces can be gripped stably and reliably.

Description

A kind of workpiece grabbing manipulator for hot operation
Technical field
The present invention relates to technical field of automation equipment, especially relate to a kind of workpiece grabbing manipulator for hot operation.
Background technology
In workpiece handling and automatic loading/unloading field, the flexibility ratio of workpiece grabbing manipulator and the reliability of grabbing workpiece extremely important, at present a few class manipulators be all the pneumatic or power tool catching robots rotating node more, more owing to rotating node, make manipulator own wt comparatively large and manufacturing cost is higher.
Nor be applicable to the operating mode of the higher warm and hot forging automatic loading/unloading of temperature, because this high temperature forging variation of ambient temperature is larger, when manipulator joint is more, can because the reason of thermal deformation causes manipulator stuck or loosening, thus cause reinforced unstable, fall the situations such as material and clamping force sudden change, affect the reliability of automatic loading/unloading, seriously constrain the realization of warm and hot forging industry automation.
Summary of the invention
Not enough for prior art, technical problem to be solved by this invention is to provide a kind of workpiece grabbing manipulator for hot operation, captures the reliable and stable object of high temperature workpiece to reach.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
This is used for the workpiece grabbing manipulator of hot operation, comprise corresponding jaw I and jaw II, be hinged by shipping and reselling on another market between described jaw I and jaw II, also comprise manipulator installing plate and power cylinder, describedly to ship and resell on another market and power cylinder is all located on manipulator installing plate, the piston rod of described power cylinder is provided with for driving jaw I and jaw II with the drive block of one end relative motion; Described shipping and reselling on another market is provided with Cooling Holes, is provided with cooling duct in described manipulator installing plate, and described manipulator installing plate is provided with the nozzle for spraying.
The grasping end of described jaw I and jaw II is equipped with finger block.
Described drive block is for clamping voussoir, and the jaw I matched with clamping voussoir and jaw II are provided with extension spring with between one end.
Described manipulator installing plate is provided with for detecting the detector whether catching workpiece.
Described finger block is resistant to elevated temperatures finger block.
Described finger block is arranged on jaw I and jaw II by demountable structure.
Guide frame is provided with between described manipulator installing plate and clamping voussoir.
The present invention compared with prior art, has the following advantages:
This catching robot only has a rotating hinge contact, and structure is simple, and cost is low; The first half section of manipulator and have cooling structure between the second half section, manipulator joint is not easily stuck or loosening, can ensure that second half section temperature is not too high simultaneously, and power cylinder is far with first half segment distance, improves the service life of cylinder, and crawl high temperature workpiece is reliable and stable; Mechanical paw through high temperature resistant finger and absorption surface, thermal insulation and versatility good, the manipulator second half section has workpiece with or without measuring ability, can judge whether manipulator is clamped to workpiece, improve automaticity.
Accompanying drawing explanation
Below the content expressed by each width accompanying drawing of this description and the mark in figure are briefly described:
Fig. 1 is catching robot structural representation of the present invention.
In figure: 1. manipulator installing plate, 2. ship and resell on another market, 3. jaw I, 4. jaw II, 5. point block, 6. follower roller, 7. extension spring, 8. clamp voussoir, 9. induction rod, 10. workpiece sensing switch, 11. cylinders.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, this is used for the workpiece grabbing manipulator of hot operation, comprise manipulator installing plate 1, power cylinder, jaw I 3, jaw II 4, wherein, jaw I 3 and the corresponding setting of jaw II 4,2 to be hinged by shipping and reselling on another market between jaw I 3 and jaw II 4, shipping and reselling on another market 2 is fixed on manipulator installing plate 1 one end, can relatively rotate between two jaws.
Two jaw one end are gripping work end, and the other end of two jaws is drive end, and two jaws, by the relative motion of drive end, drive two jaw one end relative motions, realize the work of gripping workpiece.This manipulator only has a pin joint, and structure is simple.
Power cylinder is cylinder 11, and cylinder 11 is fixed on manipulator installing plate 1 other end, and the piston rod end of cylinder 11 is provided with for driving jaw I and jaw II with the drive block of one end relative motion.This drive block is clamping voussoir 8, and the jaw I matched with clamping voussoir and jaw II are with being provided with extension spring 7 between one end.The inclined-plane clamping voussoir two symmetrical contacts with two jaws respectively, and the motion of relatively being shipped and resell on another market by clamping voussoir, drives the relative motion of the drive end of two jaws, thus drives the gripping work end relative motion of two jaws.
The drive end that two jaws are corresponding is equipped with follower roller 6, and follower roller 6 contacts with clamping voussoir 8, and clamping during driving between voussoir and jaw is rolling friction, reduces to drive resistance and friction, improves stability and the reliability of work.
Guide frame is provided with between manipulator installing plate 1 and clamping voussoir 8.Guide frame comprises the gathering sill being located at manipulator installing plate 1, and gathering sill is being shipped and resell on another market and between cylinder, and the bottom of clamping voussoir is provided with the slide block suitable with gathering sill, is accurately led with coordinating of slide block by gathering sill to clamping wedge block movement.
Follower roller 6 is tangent with clamping voussoir 8, under the effect of extension spring 7, follower roller 6 keeps in touch with clamping voussoir 8, and clamping voussoir can along the gathering sill slide anteroposterior of installing plate, and clamping voussoir is connected with the piston rod of cylinder, when pushing away before cylinder, clamping work pieces, when cylinder retreats, under the effect of extension spring 7, loosen workpiece, self-return.
The grasping end of jaw I 3 and jaw II 4 is equipped with finger block 5, finger block 5 is resistant to elevated temperatures finger block.Finger block 5 is fixed by screws on jaw, can change at any time after damage, easy to maintenance.Resistant to elevated temperatures finger block by the profile manufacture of workpiece, can improve the reliability of clamping, by finger block, two jaws is not directly contacted with high temperature workpiece, improves service life and the adaptability of manipulator.
Ship and resell on another market and 2 be provided with Cooling Holes.Cooling Holes can be pore, or is connected with cooling water pipe, takes away heat by flowing through cooling water.The first half section of manipulator and Cooling Holes between the second half section, make manipulator joint not easily stuck or loosening, can ensure that second half section temperature is not too high simultaneously.
Further, in manipulator installing plate 1, be provided with cooling duct, cooling duct is connected with cooling water pipe, cooling water is flowed through in cooling duct, ensure that manipulator second half section temperature is not too high, improve the reliability of robot work, be applicable to the crawl of the higher warm and hot forging automatic loading/unloading of temperature.
Manipulator installing plate 1 is provided with the nozzle for spraying.When capturing the workpiece of high temperature by manipulator, by nozzle spray, be formed with water smoke in the workpiece surrounding of high temperature, reduce heat radiation, improve the operating environment of workman.
Manipulator installing plate 1 is provided with for detecting the detector whether catching workpiece; Wherein, detector comprises induction rod 9 and workpiece sensing switch 10, induction rod 9 is established on the piston rod, and workpiece sensing switch 10 is located on manipulator installing plate, and both positions are corresponding, by setting the displacement relation of induction rod and workpiece sensing switch, whether can catch workpiece by inspecting manipuator, and by signal feedback to control system, improve automaticity, reduce the labour intensity of workman, enhance productivity.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that design of the present invention and technical scheme are carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.

Claims (7)

1. the workpiece grabbing manipulator for hot operation, comprise corresponding jaw I and jaw II, be hinged by shipping and reselling on another market between described jaw I and jaw II, it is characterized in that: also comprise manipulator installing plate and power cylinder, describedly to ship and resell on another market and power cylinder is all located on manipulator installing plate, the piston rod of described power cylinder is provided with for driving jaw I and jaw II with the drive block of one end relative motion; Described shipping and reselling on another market is provided with Cooling Holes, is provided with cooling duct in described manipulator installing plate, and described manipulator installing plate is provided with the nozzle for spraying.
2. as claimed in claim 1 for the workpiece grabbing manipulator of hot operation, it is characterized in that: the grasping end of described jaw I and jaw II is equipped with finger block.
3. as claimed in claim 1 for the workpiece grabbing manipulator of hot operation, it is characterized in that: described drive block is for clamping voussoir, and the jaw I matched with clamping voussoir and jaw II are provided with extension spring with between one end.
4. as claimed in claim 1 for the workpiece grabbing manipulator of hot operation, it is characterized in that: described manipulator installing plate is provided with for detecting the detector whether catching workpiece.
5. as claimed in claim 2 for the workpiece grabbing manipulator of hot operation, it is characterized in that: described finger block is resistant to elevated temperatures finger block.
6. as claimed in claim 2 for the workpiece grabbing manipulator of hot operation, it is characterized in that: described finger block is arranged on jaw I and jaw II by demountable structure.
7. as claimed in claim 3 for the workpiece grabbing manipulator of hot operation, it is characterized in that: between described manipulator installing plate and clamping voussoir, be provided with guide frame.
CN201510267217.3A 2015-05-22 2015-05-22 Workpiece griping manipulator for high-temperature operation Pending CN104842350A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510267217.3A CN104842350A (en) 2015-05-22 2015-05-22 Workpiece griping manipulator for high-temperature operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510267217.3A CN104842350A (en) 2015-05-22 2015-05-22 Workpiece griping manipulator for high-temperature operation

Publications (1)

Publication Number Publication Date
CN104842350A true CN104842350A (en) 2015-08-19

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538335A (en) * 2016-02-22 2016-05-04 上海理工大学 Flavoring and casing detachable multi-functional gripper for laboratories
CN106003664A (en) * 2016-07-29 2016-10-12 苏州高通机械科技有限公司 Special manipulator for bottle preform
CN106424697A (en) * 2016-09-27 2017-02-22 苏州欣苏诚铸造机械有限公司 Precise positioning mechanism for casting
CN109203487A (en) * 2018-09-03 2019-01-15 安徽省太湖泽泓塑业有限公司 A kind of plastic products hot air welding rapid cooling clamping device
CN111774554A (en) * 2019-04-03 2020-10-16 达详自动化股份有限公司 High-temperature-resistant automatic clamping device

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EP0950475A2 (en) * 1998-04-16 1999-10-20 Festo AG & Co Fluid actuated gripper
US6305697B1 (en) * 1998-11-23 2001-10-23 Joseph John Tebbe Clamping jaw device
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CN102581197A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator used for hot forging production line
CN203045828U (en) * 2013-01-18 2013-07-10 立本集团有限公司 Clamping mechanism of automatic pipe cutter
CN103770101A (en) * 2012-10-22 2014-05-07 田兆福 Operation mechanism for sorting of industrial high-heat treatment work-pieces
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN203649278U (en) * 2013-12-26 2014-06-18 中国重汽集团济南动力有限公司 Cooling device for forging line loading manipulator
CN203843140U (en) * 2014-05-27 2014-09-24 苏州小鹰铸造装备有限公司 Die casting product taking mechanism
CN203919074U (en) * 2014-06-06 2014-11-05 温州左岸品牌设计推广有限公司 Band is from the manipulator of cooling elasticity paw function
CN203973554U (en) * 2014-06-06 2014-12-03 温州职业技术学院 Enhancement mode manipulator based on from cooling paw
CN203994560U (en) * 2014-06-23 2014-12-10 亿和精密工业(苏州)有限公司 A kind of manipulator feeding tool
CN104308064A (en) * 2014-10-17 2015-01-28 济南奥图自动化工程有限公司 Novel steel rail conveying manipulator
CN204604325U (en) * 2015-05-22 2015-09-02 芜湖陀曼精机科技有限公司 For the workpiece grabbing manipulator of hot operation

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU975391A1 (en) * 1981-06-01 1982-11-23 Проектно-Конструкторское Технологическое Бюро По Вагонам Gripping device
EP0950475A2 (en) * 1998-04-16 1999-10-20 Festo AG & Co Fluid actuated gripper
US6305697B1 (en) * 1998-11-23 2001-10-23 Joseph John Tebbe Clamping jaw device
CN2728727Y (en) * 2004-07-30 2005-09-28 华寿庆 Mechanical cripping device
CN202192571U (en) * 2011-07-28 2012-04-18 儒拉玛特自动化技术(苏州)有限公司 Auxiliary jig used for assembling shock absorber bracket
CN202270914U (en) * 2011-11-02 2012-06-13 济钢集团重工机械有限公司 Mechanical arm of manipulator
CN102581197A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator used for hot forging production line
CN103770101A (en) * 2012-10-22 2014-05-07 田兆福 Operation mechanism for sorting of industrial high-heat treatment work-pieces
CN203045828U (en) * 2013-01-18 2013-07-10 立本集团有限公司 Clamping mechanism of automatic pipe cutter
CN203649278U (en) * 2013-12-26 2014-06-18 中国重汽集团济南动力有限公司 Cooling device for forging line loading manipulator
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN203843140U (en) * 2014-05-27 2014-09-24 苏州小鹰铸造装备有限公司 Die casting product taking mechanism
CN203919074U (en) * 2014-06-06 2014-11-05 温州左岸品牌设计推广有限公司 Band is from the manipulator of cooling elasticity paw function
CN203973554U (en) * 2014-06-06 2014-12-03 温州职业技术学院 Enhancement mode manipulator based on from cooling paw
CN203994560U (en) * 2014-06-23 2014-12-10 亿和精密工业(苏州)有限公司 A kind of manipulator feeding tool
CN104308064A (en) * 2014-10-17 2015-01-28 济南奥图自动化工程有限公司 Novel steel rail conveying manipulator
CN204604325U (en) * 2015-05-22 2015-09-02 芜湖陀曼精机科技有限公司 For the workpiece grabbing manipulator of hot operation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538335A (en) * 2016-02-22 2016-05-04 上海理工大学 Flavoring and casing detachable multi-functional gripper for laboratories
CN106003664A (en) * 2016-07-29 2016-10-12 苏州高通机械科技有限公司 Special manipulator for bottle preform
CN106424697A (en) * 2016-09-27 2017-02-22 苏州欣苏诚铸造机械有限公司 Precise positioning mechanism for casting
CN109203487A (en) * 2018-09-03 2019-01-15 安徽省太湖泽泓塑业有限公司 A kind of plastic products hot air welding rapid cooling clamping device
CN111774554A (en) * 2019-04-03 2020-10-16 达详自动化股份有限公司 High-temperature-resistant automatic clamping device

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Application publication date: 20150819