CN107838935A - A kind of hot forming sheet metal component crawl end effector based on mechanical arm - Google Patents
A kind of hot forming sheet metal component crawl end effector based on mechanical arm Download PDFInfo
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- CN107838935A CN107838935A CN201711393784.9A CN201711393784A CN107838935A CN 107838935 A CN107838935 A CN 107838935A CN 201711393784 A CN201711393784 A CN 201711393784A CN 107838935 A CN107838935 A CN 107838935A
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- push rod
- sliding block
- crossbeam
- longeron
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- 239000012636 effector Substances 0.000 title claims abstract description 36
- 239000002184 metal Substances 0.000 title claims abstract description 32
- 238000000465 moulding Methods 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 239000007787 solid Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 9
- 210000000515 tooth Anatomy 0.000 description 26
- 238000010586 diagram Methods 0.000 description 5
- 238000007664 blowing Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003856 thermoforming Methods 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of hot forming sheet metal component crawl end effector based on mechanical arm, including Change-over frame, left crossbeam, right crossbeam, left longeron, right vertical beam, left grasping mechanism and right grasping mechanism；Change-over frame is fixedly connected with mechanical wrist, and left and right crossbeam is symmetrically packed on Change-over frame, and left-right longeron is respectively perpendicular on the crossbeam of left and right, and left-right longeron is symmetrical relative to Change-over frame；Left and right grasping mechanism is separately positioned on left-right longeron, and left and right grasping mechanism structure is identical, and both are symmetrical relative to Change-over frame；Using telescopic cylinder and push rod as driving part in the grasping mechanism of left and right, using sliding block and guide groove as guiding parts, using special chuck as hold assembly, woollen clamping tooth and drip molding clamping tooth are respectively equipped with chuck, for completing to pick and place material in different phase.The present invention can thoroughly substitute traditional-handwork operating type, can be automatically performed hot forming sheet metal component and pick and place material operation, reduce operative employee's labor intensity, improve operating efficiency and security.
Description
Technical field
The invention belongs to hot forming technical field, is grabbed more particularly to a kind of hot forming sheet metal component based on mechanical arm
Take end effector.
Background technology
, it is necessary to which mould to be first preheating to certain temperature in hot former (typically at 400 DEG C before sheet metal component hot forming
In the range of~1000 DEG C), after mould reaches design temperature, mould is opened in control, makes to be formed between blowing between mould and lower mould
Gap (generally higher than 300mm), then the plane metal plate material of normal temperature is put into mould and heated, then controls upper mould to fall, and by plane
Metal plate material hot forming.After sheet metal component hot forming, control upper mould to open at high temperature, make to form feeding between mould and lower mould
Gap, then sheet metal component is taken out from gap.Repeat the above steps, the batch production of sheet metal component can be completed.
But in above-mentioned heat pressure forming process, for the woollen blowing process and drip molding reclaiming process of sheet metal component, mesh
It is preceding still to need directly to be in poor working environment using more backward manual work mode, operative employee, and operate
Efficiency is also more low.After the quality of sheet metal component exceedes tens of kilograms even up to a hundred kilograms, woollen blowing and drip molding feeding
Several operative employee's collaborations are then needed to complete, not only labor intensity is big, and has certain danger.
Therefore, technical staff considers that technical grade mechanical arm is introduced into picking and placeing for hot forming sheet metal component expects in operation, but single
There is mechanical arm can not also realize and pick and place material operation, because not having the supporting end for being used to capture hot forming sheet metal component at present
Actuator.
The content of the invention
The problem of existing for prior art, the present invention provide a kind of hot forming sheet metal component crawl based on mechanical arm and used
End effector, traditional manual work mode can be thoroughly substituted, can be automatically performed hot forming sheet metal component picks and places material
Operation, the labor intensity of operative employee is reduced, improves operating efficiency and processing safety.
To achieve these goals, the present invention adopts the following technical scheme that：A kind of hot forming metal plate based on mechanical arm
Part crawl end effector, including Change-over frame, left crossbeam, right crossbeam, left longeron, right vertical beam, left grasping mechanism and right crawl
Mechanism；The wrist of the Change-over frame and mechanical arm is fixedly connected with, and the left crossbeam and right crossbeam are symmetrically packed on Change-over frame, described
Left longeron is vertically mounted on left crossbeam, and the right vertical beam is vertically mounted on right crossbeam, and left longeron and right vertical beam are relative to turning
It is symmetrical to connect frame；The left grasping mechanism is arranged on left longeron, and the right grasping mechanism is arranged on right vertical beam, left crawl
Mechanism is identical with right grasping mechanism structure, and both are symmetrical relative to Change-over frame.
The Change-over frame is made up of ring flange, connecting rod and U-shaped card dress block, and the ring flange passes through connecting rod with U-shaped card dress block
It is fixedly connected with；It is fixedly connected between the left crossbeam and right crossbeam and U-shaped card dress block by fastening bolt；Block is filled in the U-shaped card
Horizontal scale is provided with, and the datum mark of horizontal scale is located at the geometric center of U-shaped card dress block, is determined by horizontal scale left vertical
The relative position of beam and right vertical beam.
Left skidway hole is offered on the left crossbeam, left locking positioning bolt is installed in left skidway hole, it is described left vertical
It is connected between beam and left crossbeam by left locking positioning bolt；Right skidway hole is offered on the right crossbeam, in right skidway hole
Right locking positioning bolt is installed, is connected between the right vertical beam and right crossbeam by right locking positioning bolt.
The left grasping mechanism pushes away including the first left telescopic cylinder, the second left telescopic cylinder, the first left push rod, second left side
Bar, the first left slider, the first left chuck, the second left slider and the second left chuck；The first left telescopic cylinder and second left side are stretched
Contracting cylinder is packed on left longeron side by side, and described first left push rod one end and the piston rod of the first left telescopic cylinder are fixedly connected with, the
The one left push rod other end is fixedly connected with the first left slider, and the first left chuck is vertically installed on the first left slider, and first is left
Sliding block is arranged on left longeron, and the first left slider has the rectilinear movement free degree relative to left longeron；The second left push rod one
The piston rod with the second left telescopic cylinder is held to be fixedly connected with, the second left push rod other end is fixedly connected with the second left slider, and described second
Left chuck is vertically installed on the second left slider, and the second left slider is arranged on left longeron, and the second left slider is relative to left longeron
With the rectilinear movement free degree；The first left chuck and the second left chuck carry out crawl cooperation.
The first left guide groove and the second left guide groove are offered on the left longeron；On first left slider respectively
The first left push rod fixed cover and the first left sliding pin are provided with, passes through first left side between the first left push rod fixed cover and the first left slider
Slide bar is fixedly connected with, and the first left sliding pin has the linear slide free degree, the first left slide bar relative to the first left guide groove
There is the linear slide free degree relative to the second left guide groove；The second left push rod is respectively arranged with second left slider to consolidate
Fixed set and the second left sliding pin, it is fixedly connected with by the second left slide bar between the second left push rod fixed cover and the second left slider, described the
Two left sliding pins have the linear slide free degree relative to the second left guide groove, and the second left slide bar is relative to the first left guide groove
With the linear slide free degree.
The first left chuck height-regulating slot, the first left chuck height-regulating slot and are offered on the described first left chuck
It is connected between one left slider by the first left distance bolt；The first left woollen clamping is respectively arranged with the described first left chuck
Tooth and the first left drip molding clamping tooth, and the first left chuck lowermost end is set to crotch structure；Opened up on the described second left chuck
There is the second left chuck height-regulating slot, pass through the second left distance bolt between the second left chuck height-regulating slot and the second left slider
It is connected；The second left woollen clamping tooth and the second left drip molding clamping tooth, and second are respectively arranged with the described second left chuck
Left chuck lowermost end is set to crotch structure；Left longitudinal scale is provided with the left longeron, first is determined by left longitudinal scale
The relative position of left chuck and the second left chuck；The first left chuck scale is provided with the described first left chuck, it is left by first
Chuck scale determines the relative position of the first left chuck and the first left slider；The second left chuck is provided with the described second left chuck
Scale, the relative position of the second left chuck and the second left slider is determined by the second left chuck scale.
The right grasping mechanism pushes away including the first right telescopic cylinder, the second right telescopic cylinder, the first right push rod, second right side
Bar, the first right sliding block, the first right chuck, the second right sliding block and the second right chuck；The first right telescopic cylinder and second right side are stretched
Contracting cylinder is packed on right vertical beam side by side, and described first right push rod one end and the piston rod of the first right telescopic cylinder are fixedly connected with, the
The one right push rod other end is fixedly connected with the first right sliding block, and the first right chuck is vertically installed on the first right sliding block, and first is right
Sliding block is arranged on right vertical beam, and the first right sliding block has the rectilinear movement free degree relative to right vertical beam；The second right push rod one
The piston rod with the second right telescopic cylinder is held to be fixedly connected with, the second right push rod other end is fixedly connected with the second right sliding block, and described second
Right chuck is vertically installed on the second right sliding block, and the second right sliding block is arranged on right vertical beam, and the second right sliding block is relative to right vertical beam
With the rectilinear movement free degree；The first right chuck and the second right chuck carry out crawl cooperation.
The first right guide groove and the second right guide groove are offered on the right vertical beam；On the described first right sliding block respectively
The first right push rod fixed cover and the first right sliding pin are provided with, it is right by first between the first right push rod fixed cover and the first right sliding block
Slide bar is fixedly connected with, and the first right sliding pin has the linear slide free degree, the first right slide bar relative to the first right guide groove
There is the linear slide free degree relative to the second right guide groove；The second right push rod is respectively arranged with the described second right sliding block to consolidate
Fixed set and the second right sliding pin, are fixedly connected between the second right push rod fixed cover and the second right sliding block by the second right slide bar, and described the
Two right sliding pins have the linear slide free degree relative to the second right guide groove, and the second right slide bar is relative to the first right guide groove
With the linear slide free degree.
The first right chuck height-regulating slot, the first right chuck height-regulating slot and are offered on the described first right chuck
It is connected between one right sliding block by the first right distance bolt；The first right woollen clamping is respectively arranged with the described first right chuck
Tooth and the first right drip molding clamping tooth, and the first right chuck lowermost end is set to crotch structure；Opened up on the described second right chuck
There is the second right chuck height-regulating slot, pass through the second right distance bolt between the second right chuck height-regulating slot and the second right sliding block
It is connected；The second right woollen clamping tooth and the second right drip molding clamping tooth, and second are respectively arranged with the described second right chuck
Right chuck lowermost end is set to crotch structure；Right longitudinal scale is provided with the right vertical beam, first is determined by right longitudinal scale
The relative position of right chuck and the second right chuck；The first right chuck scale is provided with the described first right chuck, it is right by first
Chuck scale determines the relative position of the first right chuck and the first right sliding block；The second right chuck is provided with the described second right chuck
Scale, the relative position of the second right chuck and the second right sliding block is determined by the second right chuck scale.
Accessory processing has the chuck slot to make way being used cooperatively with end effector on the lower mould of mould, and in lower mould upper end
Alignment pin for carrying out guide and limit to woollen is installed on face.
Beneficial effects of the present invention：
The present invention compared with prior art, can thoroughly substitute traditional manual work mode, can be automatically performed hot pressing
The labor intensity for picking and placeing material operation, reducing operative employee of sheet metal component is shaped, improves operating efficiency and processing safety.
Brief description of the drawings
A kind of hot forming sheet metal component crawl based on mechanical arm that Fig. 1 is the present invention is illustrated with end effector structures
Figure；
Fig. 2 is the Change-over frame structural representation of the present invention；
Fig. 3 is fitting configuration schematic diagram of the left longeron with left grasping mechanism of the present invention；
Fig. 4 is I portions enlarged drawing in Fig. 3；
Fig. 5 is II portions enlarged drawing in Fig. 3；
Fig. 6 is fitting configuration schematic diagram of the right vertical beam with right grasping mechanism of the present invention；
Fig. 7 is III portions enlarged drawing in Fig. 6；
Fig. 8 is IV portions enlarged drawing in Fig. 6；
Fig. 9 is the lower mould schematic diagram for being machined with chuck slot to make way；
Figure 10 is schematic diagram when woollen blowing is carried out by the present invention；
Figure 11 is V portions enlarged drawing in Figure 10；
Figure 12 is schematic diagram when part feeding being formed by the present invention；
Figure 13 is VI portions enlarged drawing in Figure 12；
In figure, 1-Change-over frame, 11-ring flange, 12-connecting rod, 13-U-shaped card dress block, 14-fastening bolt；2-left horizontal stroke
Beam, 21-left skidway hole, 22-left locking positioning bolt；3-right crossbeam, 31-right skidway hole, 32-right locking positioning bolt；
4-left longeron, the 41-the first left guide groove, the 42-the second left guide groove；5-right vertical beam, the 51-the first right guide groove, 52-the
Two right guide grooves；6-left grasping mechanism, the 61-the first left telescopic cylinder, the 62-the second left telescopic cylinder, 63-the first left side pushes away
Bar, the 64-the second left push rod, the 65-the first left slider, the 651-the first left push rod fixed cover, the 652-the first left sliding pin, 653-
First left slide bar, the 66-the first left chuck, the 661-the first left chuck height-regulating slot, the 662-the first left distance bolt, 663-
First left woollen clamping tooth, the 664-the first left drip molding clamping tooth, the 67-the second left slider, the 671-the second left push rod are fixed
Set, the 672-the second left sliding pin, the 673-the second left slide bar, the 68-the second left chuck, the 681-the second left chuck height-regulating slot,
682-the second left distance bolt, the 683-the second left woollen clamping tooth, the 684-the second left drip molding clamping tooth；7-right gripper
Structure, the 71-the first right telescopic cylinder, the 72-the second right telescopic cylinder, the 73-the first right push rod, the 74-the second right push rod, 75-the
One right sliding block, the 751-the first right push rod fixed cover, the 752-the first right sliding pin, the 753-the first right slide bar, the 76-the first right folder
Head, the 761-the first right chuck height-regulating slot, the 762-the first right distance bolt, the 763-the first right woollen clamping tooth, 764-
First right drip molding clamping tooth, the 77-the second right sliding block, the 771-the second right push rod fixed cover, the 772-the second right sliding pin, 773-
Second right slide bar, the 78-the second right chuck, the 781-the second right chuck height-regulating slot, the 782-the second right distance bolt, 783-
Second right woollen clamping tooth, the 784-the second right drip molding clamping tooth；8-lower mould, 81-chuck slot to make way, 82-alignment pin；
9-woollen, 10-drip molding.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1~9, a kind of hot forming sheet metal component crawl end effector based on mechanical arm, including switching
Frame 1, left crossbeam 2, right crossbeam 3, left longeron 4, right vertical beam 5, left grasping mechanism 6 and right grasping mechanism 7；The Change-over frame 1 and machine
The wrist of tool arm is fixedly connected with, and the left crossbeam 2 and right crossbeam 3 are symmetrically packed on Change-over frame 1, the left right angle setting of longeron 4
On left crossbeam 2, the right vertical beam 5 is vertically mounted on right crossbeam 3, and left longeron 4 is symmetrical relative to Change-over frame 1 with right vertical beam 5
Distribution；The left grasping mechanism 6 is arranged on left longeron 4, and the right grasping mechanism 7 is arranged on right vertical beam 5, left grasping mechanism
6 is identical with the right structure of grasping mechanism 7, and both are symmetrical relative to Change-over frame 1.
The Change-over frame 1 is made up of ring flange 11, connecting rod 12 and U-shaped card dress block 13, the ring flange 11 and U-shaped card dress block
13 are fixedly connected with by connecting rod 12；Consolidated between the left crossbeam 2 and right crossbeam 3 and U-shaped card dress block 13 by the phase of fastening bolt 14
Even；Horizontal scale is provided with U-shaped card dress block 13, and the datum mark of horizontal scale is located in the geometry of U-shaped card dress block 13
The heart, the relative position of left longeron 4 and right vertical beam 5 is determined by horizontal scale.
Left skidway hole 21 is offered on the left crossbeam 2, left locking positioning bolt 22, institute are installed in left skidway hole 21
State and be connected between left longeron 4 and left crossbeam 2 by left locking positioning bolt 22；Right skidway hole 31 is offered on the right crossbeam 3,
Right locking positioning bolt 32 is installed in right skidway hole 31, passes through right locking positioning spiral shell between the right vertical beam 5 and right crossbeam 3
Bolt 32 is connected.
The left grasping mechanism 6 includes the first left telescopic cylinder 61, the second left telescopic cylinder 62, the first left push rod 63, the
Two left push rods 64, the first left slider 65, the first left chuck 66, the second left slider 67 and the second left chuck 68；Stretch on first left side
61 and second left telescopic cylinder 62 of contracting cylinder is packed on left longeron 4 side by side, and described first left one end of push rod 63 is stretched with first left side
The piston rod of contracting cylinder 61 is fixedly connected with, and the first left other end of push rod 63 is fixedly connected with the first left slider 65, the first left chuck
66 are vertically installed on the first left slider 65, and the first left slider 65 is arranged on left longeron 4, and the first left slider 65 is vertical relative to a left side
Beam 4 has the rectilinear movement free degree；Described second left one end of push rod 64 and the piston rod of the second left telescopic cylinder 62 are fixedly connected with, the
The two left other ends of push rod 64 are fixedly connected with the second left slider 67, and the second left chuck 68 is vertically installed at the second left slider 67
On, the second left slider 67 is arranged on left longeron 4, and the second left slider 67 has the rectilinear movement free degree relative to left longeron 4；Institute
State the first left 66 and second left chuck 68 of chuck and carry out crawl cooperation.
The first left 41 and second left guide groove 42 of guide groove is offered on the left longeron 4；In first left slider
The first left 651 and first left sliding pin 652 of push rod fixed cover is respectively arranged with 65, the first left push rod fixed cover 651 and first is left
It is fixedly connected between sliding block 65 by the first left slide bar 653, the first left sliding pin 652 has straight relative to the first left guide groove 41
Line free sliding degree, the first left slide bar 653 have the linear slide free degree relative to the second left guide groove 42；Described
The second left 671 and second left sliding pin 672 of push rod fixed cover, the second left push rod fixed cover 671 are respectively arranged with two left sliders 67
It is fixedly connected between the second left slider 67 by the second left slide bar 673, the second left sliding pin 672 is relative to the second left guide groove
42 have the linear slide free degree, and the second left slide bar 673 has the linear slide free degree relative to the first left guide groove 41.
The first left chuck height-regulating slot 661 is offered on the described first left chuck 66, the first left chuck is highly adjusted
It is connected between groove 661 and the first left slider 65 by the first left distance bolt 662；Set respectively on the described first left chuck 66
There is the first left 663 and first left drip molding clamping tooth 664 of woollen clamping tooth, and the first left lowermost end of chuck 66 is set to crotch knot
Structure；The second left chuck height-regulating slot 681, the second left chuck height-regulating slot 681 are offered on the described second left chuck 68
It is connected between the second left slider 67 by the second left distance bolt 682；Is respectively arranged with the described second left chuck 68
Two left 683 and second left drip molding clamping tooths 684 of woollen clamping tooth, and the second left lowermost end of chuck 68 is set to crotch structure；
The left longeron 4 is provided with left longitudinal scale, and the phase of the first left 66 and second left chuck 68 of chuck is determined by left longitudinal scale
To position；The first left chuck scale is provided with the described first left chuck 66, the first left folder is determined by the first left chuck scale
First 66 and first left slider 65 relative position；The second left chuck scale is provided with the described second left chuck 68, passes through second
Left chuck scale determines the relative position of the second left left slider 67 of chuck 68 and second.
The right grasping mechanism 7 includes the first right telescopic cylinder 71, the second right telescopic cylinder 72, the first right push rod 73, the
Two right push rods 74, the first right sliding block 75, the first right chuck 76, the second right 77 and second right chuck 78 of sliding block；Stretch on first right side
7 and second right telescopic cylinder 72 of contracting cylinder is packed on right vertical beam 5 side by side, and described first right one end of push rod 73 is right flexible with first
The piston rod of cylinder 7 is fixedly connected with, and the first right other end of push rod 73 is fixedly connected with the first right sliding block 75, and the first right chuck 76 is perpendicular
Directly it is arranged on the first right sliding block 75, the first right sliding block 75 is arranged on right vertical beam 5, and the first right sliding block 75 is relative to right vertical beam 5
With the rectilinear movement free degree；Described second right one end of push rod 74 and the piston rod of the second right telescopic cylinder 72 are fixedly connected with, and second
The right other end of push rod 74 is fixedly connected with the second right sliding block 77, and the second right chuck 78 is vertically installed on the second right sliding block 77,
Second right sliding block 77 is arranged on right vertical beam 5, and the second right sliding block 77 has the rectilinear movement free degree relative to right vertical beam 5；It is described
First right 76 and second right chuck 78 of chuck carries out crawl cooperation.
The first right 51 and second right guide groove 52 of guide groove is offered on the right vertical beam 5；In the described first right sliding block
The first right 751 and first right sliding pin 752 of push rod fixed cover is respectively arranged with 75, the first right push rod fixed cover 751 and first is right
It is fixedly connected between sliding block 75 by the first right slide bar 753, the first right sliding pin 752 has straight relative to the first right guide groove 51
Line free sliding degree, the first right slide bar 753 have the linear slide free degree relative to the second right guide groove 52；Described
The second right 771 and second right sliding pin 772 of push rod fixed cover, the second right push rod fixed cover 771 are respectively arranged with two right sliding blocks 77
It is fixedly connected between the second right sliding block 77 by the second right slide bar 773, the second right sliding pin 772 is relative to the second right guide groove
52 have the linear slide free degree, and the second right slide bar 773 has the linear slide free degree relative to the first right guide groove 51.
The first right chuck height-regulating slot 761 is offered on the described first right chuck 76, the first right chuck is highly adjusted
It is connected between groove 761 and the first right sliding block 75 by the first right distance bolt 762；Set respectively on the described first right chuck 76
There is the first right 763 and first right drip molding clamping tooth 764 of woollen clamping tooth, and the first right lowermost end of chuck 76 is set to crotch knot
Structure；The second right chuck height-regulating slot 781, the second right chuck height-regulating slot 781 are offered on the described second right chuck 78
It is connected between the second right sliding block 77 by the second right distance bolt 782；Is respectively arranged with the described second right chuck 78
Two right 783 and second right drip molding clamping tooths 784 of woollen clamping tooth, and the second right lowermost end of chuck 78 is set to crotch structure；
The right vertical beam 5 is provided with right longitudinal scale, and the phase of the first right 76 and second right chuck 78 of chuck is determined by right longitudinal scale
To position；The first right chuck scale is provided with the described first right chuck 76, the first right folder is determined by the first right chuck scale
First 76 and first right sliding block 75 relative position；The second right chuck scale is provided with the described second right chuck 78, passes through second
Right chuck scale determines the relative position of the second right 78 and second right sliding block 77 of chuck.
Accessory processing has the chuck slot to make way 81 being used cooperatively with end effector on the lower mould 8 of mould, and in lower mould 8
Alignment pin 82 for carrying out guide and limit to woollen 9 is installed on upper surface.
Illustrate the first use process of the present invention below in conjunction with the accompanying drawings：
According to the sheet metal component and the slotting position of lower mould 8 for being actually subjected to processing, to the relative position of left longeron 4 and right vertical beam 5
It is adjusted, so that four chucks (66,68,76,78) accurately can correspond with four chuck slots to make way 81 on lower mould 8；
Then the height of four chucks (66,68,76,78) is adjusted, so that four chucks (66,68,76,78) can be accurately complete
Into the clamping of woollen 9 and drip molding 10.In addition, in order that mould 8 can also match somebody with somebody with the end effector of the present invention under traditional structure
Close and use, only lower mould 8 need to simply be transformed, and corresponding four chuck slots to make way 81 are processed on lower mould 8, make
The end effector of the present invention possesses preferable versatility.
During feeding, control machinery arm moves first, end effector is moved into woollen feeding platform, and make four chucks
The correct position that (66,68,76,78) are rested on above the edge of woollen 9, after confirming that chuck will not interfere with the edge of woollen 9,
Control end effector to fall again, make woollen clamping tooth (683,684,783,784) and the edge face of woollen 9 on chuck, so
Start four telescopic cylinders (61,62,71,72) afterwards, and then woollen 9 is pressed from both sides by chuck (66,68) and chuck (76,78)
Hold, finally control end effector to move up, terminate feeding.
During feeding, control thermoforming machine to lift mould first, certain gap is formed between upper mould and lower mould 8, ensure
Then end effector insertion seam can be controlled smoothly in inserted into gap by mechanical arm by being clamped with the end effector of woollen 9
Gap, woollen 9 is moved to the surface of lower mould 8, while four chucks (66,68,76,78) want exact residence in four chucks
The top of slot to make way 81, now controls end effector to fall, and in the range of woollen 9 enters alignment pin 82, then end is held
The stopping of row device is fallen, while four chucks (66,68,76,78) accurately enter in four chuck slots to make way 81, specific such as Figure 10,
Shown in 11；Next, restarting four telescopic cylinders (61,62,71,72), release chuck (66,68) and chuck (76,78) is right
The clamping of woollen 9, woollen 9 will be fallen on lower mould 8 along alignment pin 82；Finally, control end effector lifts again, and makes four
Individual chuck (66,68,76,78) all departs from chuck slot to make way 81, then controls end effector is horizontal to remove gap, terminate on
Material.
Control thermoforming machine falls mould, the hot forming for completing woollen 9 is coordinated by upper mould and lower mould 8, now hair
Material 9 is changed into drip molding 10.
During pickup, control thermoforming machine to lift mould first, certain gap re-formed between upper mould and lower mould 8,
And ensure then end effector can control end effector inserted into gap by mechanical arm, make four smoothly in inserted into gap
Individual chuck (66,68,76,78) exact residence now controls end effector to fall above four chuck slots to make way 81, until
Four chucks (66,68,76,78) accurately enter in four chuck slots to make way 81, and on chuck shape part clamping tooth (664,684,
764th, 784) with the edge face of drip molding 10, then start four telescopic cylinders (61,62,71,72), and then by chuck (66,
68) and chuck (76,78) clamps to drip molding 10, after chuck contacts with drip molding 10, when drip molding 10 omits
Micro- stops holding action again when being deformed inward, specifically as shown in Figure 12,13；Next, control is clamped with drip molding 10 again
End effector lift, and four chucks (66,68,76,78) is all departed from chuck slots to make way 81, finally control end to hold
Row device is horizontal to remove gap, and pickup terminates.
When putting part, the movement of control machinery arm, the end effector for being clamped with drip molding 10 is moved to above part platform, ginseng
The part of putting that completion drip molding 10 is acted according to feeding acts.
Scheme in embodiment and the scope of patent protection for being not used to the limitation present invention, it is all without departing from carried out by the present invention etc.
Effect implements or change, is both contained in the scope of the claims of this case.
Claims (10)
- A kind of 1. hot forming sheet metal component crawl end effector based on mechanical arm, it is characterised in that：Including Change-over frame, a left side Crossbeam, right crossbeam, left longeron, right vertical beam, left grasping mechanism and right grasping mechanism；The wrist of the Change-over frame and mechanical arm is mutually solid Even, the left crossbeam and right crossbeam are symmetrically packed on Change-over frame, and the left longeron is vertically mounted on left crossbeam, described right vertical Beam is vertically mounted on right crossbeam, and left longeron is symmetrical relative to Change-over frame with right vertical beam；The left grasping mechanism is arranged on On left longeron, the right grasping mechanism is arranged on right vertical beam, and left grasping mechanism is identical with right grasping mechanism structure, and both phases It is symmetrical for Change-over frame.
- 2. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 1, it is special Sign is：The Change-over frame is made up of ring flange, connecting rod and U-shaped card dress block, and the ring flange passes through connecting rod phase with U-shaped card dress block It is connected；It is fixedly connected between the left crossbeam and right crossbeam and U-shaped card dress block by fastening bolt；On U-shaped card dress block Provided with horizontal scale, and the datum mark of horizontal scale is located at the geometric center of U-shaped card dress block, and left longeron is determined by horizontal scale With the relative position of right vertical beam.
- 3. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 1, it is special Sign is：Left skidway hole is offered on the left crossbeam, left locking positioning bolt, the left longeron are installed in left skidway hole It is connected between left crossbeam by left locking positioning bolt；Right skidway hole is offered on the right crossbeam, is pacified in right skidway hole Equipped with right locking positioning bolt, it is connected between the right vertical beam and right crossbeam by right locking positioning bolt.
- 4. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 1, it is special Sign is：The left grasping mechanism include the first left telescopic cylinder, the second left telescopic cylinder, the first left push rod, the second left push rod, First left slider, the first left chuck, the second left slider and the second left chuck；The first left telescopic cylinder and the second left flexible gas Cylinder is packed on left longeron side by side, and described first left push rod one end and the piston rod of the first left telescopic cylinder are fixedly connected with, and first is left The push rod other end is fixedly connected with the first left slider, and the first left chuck is vertically installed on the first left slider, the first left slider On left longeron, the first left slider has the rectilinear movement free degree relative to left longeron；Described second left push rod one end with The piston rod of second left telescopic cylinder is fixedly connected with, and the second left push rod other end is fixedly connected with the second left slider, the second left folder Head erect is arranged on the second left slider, and the second left slider is arranged on left longeron, and the second left slider has relative to left longeron Move linearly the free degree；The first left chuck and the second left chuck carry out crawl cooperation.
- 5. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 4, it is special Sign is：The first left guide groove and the second left guide groove are offered on the left longeron；On first left slider respectively The first left push rod fixed cover and the first left sliding pin are provided with, passes through first left side between the first left push rod fixed cover and the first left slider Slide bar is fixedly connected with, and the first left sliding pin has the linear slide free degree, the first left slide bar relative to the first left guide groove There is the linear slide free degree relative to the second left guide groove；The second left push rod is respectively arranged with second left slider to consolidate Fixed set and the second left sliding pin, it is fixedly connected with by the second left slide bar between the second left push rod fixed cover and the second left slider, described the Two left sliding pins have the linear slide free degree relative to the second left guide groove, and the second left slide bar is relative to the first left guide groove With the linear slide free degree.
- 6. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 4, it is special Sign is：The first left chuck height-regulating slot, the first left chuck height-regulating slot and are offered on the described first left chuck It is connected between one left slider by the first left distance bolt；The first left woollen clamping is respectively arranged with the described first left chuck Tooth and the first left drip molding clamping tooth, and the first left chuck lowermost end is set to crotch structure；Opened up on the described second left chuck There is the second left chuck height-regulating slot, pass through the second left distance bolt between the second left chuck height-regulating slot and the second left slider It is connected；The second left woollen clamping tooth and the second left drip molding clamping tooth, and second are respectively arranged with the described second left chuck Left chuck lowermost end is set to crotch structure；Left longitudinal scale is provided with the left longeron, first is determined by left longitudinal scale The relative position of left chuck and the second left chuck；The first left chuck scale is provided with the described first left chuck, it is left by first Chuck scale determines the relative position of the first left chuck and the first left slider；The second left chuck is provided with the described second left chuck Scale, the relative position of the second left chuck and the second left slider is determined by the second left chuck scale.
- 7. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 1, it is special Sign is：The right grasping mechanism include the first right telescopic cylinder, the second right telescopic cylinder, the first right push rod, the second right push rod, First right sliding block, the first right chuck, the second right sliding block and the second right chuck；The first right telescopic cylinder and the second right flexible gas Cylinder is packed on right vertical beam side by side, and described first right push rod one end and the piston rod of the first right telescopic cylinder are fixedly connected with, and first is right The push rod other end is fixedly connected with the first right sliding block, and the first right chuck is vertically installed on the first right sliding block, the first right sliding block On right vertical beam, the first right sliding block has the rectilinear movement free degree relative to right vertical beam；Described second right push rod one end with The piston rod of second right telescopic cylinder is fixedly connected with, and the second right push rod other end is fixedly connected with the second right sliding block, the second right folder Head erect is arranged on the second right sliding block, and the second right sliding block is arranged on right vertical beam, and the second right sliding block has relative to right vertical beam Move linearly the free degree；The first right chuck and the second right chuck carry out crawl cooperation.
- 8. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 7, it is special Sign is：The first right guide groove and the second right guide groove are offered on the right vertical beam；On the described first right sliding block respectively The first right push rod fixed cover and the first right sliding pin are provided with, it is right by first between the first right push rod fixed cover and the first right sliding block Slide bar is fixedly connected with, and the first right sliding pin has the linear slide free degree, the first right slide bar relative to the first right guide groove There is the linear slide free degree relative to the second right guide groove；The second right push rod is respectively arranged with the described second right sliding block to consolidate Fixed set and the second right sliding pin, are fixedly connected between the second right push rod fixed cover and the second right sliding block by the second right slide bar, and described the Two right sliding pins have the linear slide free degree relative to the second right guide groove, and the second right slide bar is relative to the first right guide groove With the linear slide free degree.
- 9. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 7, it is special Sign is：The first right chuck height-regulating slot, the first right chuck height-regulating slot and are offered on the described first right chuck It is connected between one right sliding block by the first right distance bolt；The first right woollen clamping is respectively arranged with the described first right chuck Tooth and the first right drip molding clamping tooth, and the first right chuck lowermost end is set to crotch structure；Opened up on the described second right chuck There is the second right chuck height-regulating slot, pass through the second right distance bolt between the second right chuck height-regulating slot and the second right sliding block It is connected；The second right woollen clamping tooth and the second right drip molding clamping tooth, and second are respectively arranged with the described second right chuck Right chuck lowermost end is set to crotch structure；Right longitudinal scale is provided with the right vertical beam, first is determined by right longitudinal scale The relative position of right chuck and the second right chuck；The first right chuck scale is provided with the described first right chuck, it is right by first Chuck scale determines the relative position of the first right chuck and the first right sliding block；The second right chuck is provided with the described second right chuck Scale, the relative position of the second right chuck and the second right sliding block is determined by the second right chuck scale.
- 10. a kind of hot forming sheet metal component crawl end effector based on mechanical arm according to claim 1, it is special Sign is：Accessory processing has the chuck slot to make way being used cooperatively with end effector on the lower mould of mould, and in lower mould upper end Alignment pin for carrying out guide and limit to woollen is installed on face.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393784.9A CN107838935B (en) | 2017-12-21 | 2017-12-21 | Mechanical arm-based end effector for grabbing hot-press forming sheet metal part |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393784.9A CN107838935B (en) | 2017-12-21 | 2017-12-21 | Mechanical arm-based end effector for grabbing hot-press forming sheet metal part |
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| Publication Number | Publication Date |
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| CN107838935A true CN107838935A (en) | 2018-03-27 |
| CN107838935B CN107838935B (en) | 2024-04-05 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0443295A1 (en) * | 1990-02-23 | 1991-08-28 | GebràDer Sulzer Aktiengesellschaft | Gripper, robot provided with such a gripper and its application |
| DE29604809U1 (en) * | 1996-03-15 | 1996-05-23 | MAN Gutehoffnungshütte AG, 46145 Oberhausen | Adjustable crossbar |
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN105364920A (en) * | 2014-07-29 | 2016-03-02 | 沈阳众拓机器人设备有限公司 | A high temperature pickup manipulator |
| CN207747060U (en) * | 2017-12-21 | 2018-08-21 | 沈阳航空航天大学 | A kind of hot forming sheet metal component crawl end effector based on mechanical arm |
-
2017
- 2017-12-21 CN CN201711393784.9A patent/CN107838935B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0443295A1 (en) * | 1990-02-23 | 1991-08-28 | GebràDer Sulzer Aktiengesellschaft | Gripper, robot provided with such a gripper and its application |
| DE29604809U1 (en) * | 1996-03-15 | 1996-05-23 | MAN Gutehoffnungshütte AG, 46145 Oberhausen | Adjustable crossbar |
| CN105364920A (en) * | 2014-07-29 | 2016-03-02 | 沈阳众拓机器人设备有限公司 | A high temperature pickup manipulator |
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN207747060U (en) * | 2017-12-21 | 2018-08-21 | 沈阳航空航天大学 | A kind of hot forming sheet metal component crawl end effector based on mechanical arm |
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| CN107838935B (en) | 2024-04-05 |
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