CN104842365A - Manipulator used for griping high-temperature workpieces - Google Patents
Manipulator used for griping high-temperature workpieces Download PDFInfo
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- CN104842365A CN104842365A CN201510267203.1A CN201510267203A CN104842365A CN 104842365 A CN104842365 A CN 104842365A CN 201510267203 A CN201510267203 A CN 201510267203A CN 104842365 A CN104842365 A CN 104842365A
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- manipulator
- jaw
- high temperature
- workpiece
- capturing
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Abstract
The invention discloses a manipulator used for griping high-temperature workpieces. The manipulator comprises a first grip pawl and a second grip pawl which are opposite to each other and hinged through a rotating pin; the manipulator further comprises a manipulator mounting plate and a power cylinder, 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 pawl and the second grip pawl to move oppositely is arranged on a piston rod of the power cylinder, and a cooling hole is arranged in the rotating pin. 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
Technical field
The present invention relates to technical field of automation equipment, especially relating to a kind of manipulator for capturing high temperature workpiece.
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 manipulator for capturing high temperature workpiece, 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:
A kind of manipulator for capturing high temperature workpiece, 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.
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 robot manipulator structure schematic diagram 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 manipulator capturing high temperature workpiece, 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. one kind for capturing the manipulator of high temperature workpiece, 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.
2. as claimed in claim 1 for capturing the manipulator of high temperature workpiece, 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 capturing the manipulator of high temperature workpiece, 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 capturing the manipulator of high temperature workpiece, 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 capturing the manipulator of high temperature workpiece, it is characterized in that: described finger block is resistant to elevated temperatures finger block.
6. as claimed in claim 2 for capturing the manipulator of high temperature workpiece, 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 capturing the manipulator of high temperature workpiece, it is characterized in that: between described manipulator installing plate and clamping voussoir, be provided with guide frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510267203.1A CN104842365A (en) | 2015-05-22 | 2015-05-22 | Manipulator used for griping high-temperature workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510267203.1A CN104842365A (en) | 2015-05-22 | 2015-05-22 | Manipulator used for griping high-temperature workpieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104842365A true CN104842365A (en) | 2015-08-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510267203.1A Pending CN104842365A (en) | 2015-05-22 | 2015-05-22 | Manipulator used for griping high-temperature workpieces |
Country Status (1)
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| CN (1) | CN104842365A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171768A (en) * | 2015-09-17 | 2015-12-23 | 苏州博众精工科技有限公司 | Gripping device |
| CN105598990A (en) * | 2016-01-18 | 2016-05-25 | 苏州艾力光电科技有限公司 | Material taking gripper structure |
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN108001937A (en) * | 2017-12-26 | 2018-05-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN110936120A (en) * | 2018-09-21 | 2020-03-31 | 富鼎电子科技(嘉善)有限公司 | Automatic part assembling 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 |
| CN113524245A (en) * | 2021-07-20 | 2021-10-22 | 天润泰达智能装备(威海)有限公司 | Heavy self-locking clamping jaw clamping device |
| CN114952979A (en) * | 2022-07-11 | 2022-08-30 | 山东友谊胶粘科技有限公司 | BOPP sticky tape processing is with cutting device |
| CN116262319A (en) * | 2022-12-08 | 2023-06-16 | 浙江杭机股份有限公司 | Milling composite machining center |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171768A (en) * | 2015-09-17 | 2015-12-23 | 苏州博众精工科技有限公司 | Gripping device |
| CN105598990A (en) * | 2016-01-18 | 2016-05-25 | 苏州艾力光电科技有限公司 | Material taking gripper structure |
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN108001937A (en) * | 2017-12-26 | 2018-05-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN108001937B (en) * | 2017-12-26 | 2023-08-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN110936120A (en) * | 2018-09-21 | 2020-03-31 | 富鼎电子科技(嘉善)有限公司 | Automatic part assembling 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 |
| CN111774554B (en) * | 2019-04-03 | 2021-10-08 | 达详自动化股份有限公司 | High-temperature-resistant automatic clamping device |
| CN113524245A (en) * | 2021-07-20 | 2021-10-22 | 天润泰达智能装备(威海)有限公司 | Heavy self-locking clamping jaw clamping device |
| CN114952979A (en) * | 2022-07-11 | 2022-08-30 | 山东友谊胶粘科技有限公司 | BOPP sticky tape processing is with cutting device |
| CN116262319A (en) * | 2022-12-08 | 2023-06-16 | 浙江杭机股份有限公司 | Milling composite machining center |
| CN116262319B (en) * | 2022-12-08 | 2023-10-20 | 浙江杭机股份有限公司 | Milling composite machining center |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150819 |
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| RJ01 | Rejection of invention patent application after publication |