CN113561214A - Flexible gripping apparatus of robot that adapts to many specifications hot plate punching press - Google Patents
Flexible gripping apparatus of robot that adapts to many specifications hot plate punching press Download PDFInfo
- Publication number
- CN113561214A CN113561214A CN202110797154.8A CN202110797154A CN113561214A CN 113561214 A CN113561214 A CN 113561214A CN 202110797154 A CN202110797154 A CN 202110797154A CN 113561214 A CN113561214 A CN 113561214A
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- plate
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- hot plate
- fixed mounting
- hydraulic
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- 238000004080 punching Methods 0.000 title claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000006978 adaptation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009749 continuous casting Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention provides a robot flexible gripping apparatus suitable for stamping hot plates with multiple specifications, which belongs to the technical field of automatic assembly of industrial robots, and comprises a supporting plate, a top plate is fixedly arranged above the side surface of the supporting plate, a bottom plate is fixedly arranged below the side surface of the supporting plate, a telescopic rod is fixedly arranged on the upper surface of the top plate, the bottom end of the telescopic rod is fixedly connected to the upper surface of a fixing plate, a sucking disc is fixedly arranged on the lower surface of the top plate, and a rubber pad is fixedly arranged on the upper surface of the bottom plate, the device can grip hot plates with different thicknesses by fully automatically, so that the working efficiency is improved, the device can precisely position the hot plates by a servo motor, can grip the hot plates with different thicknesses and protect the hot plates by matching with the rubber pad and the sucking disc, prevents the hot plates from deforming in the gripping process, and can prevent the deformation of the hot plates by adjusting the length of the telescopic plate, making it suitable for hot plates of different lengths.
Description
Technical Field
The invention belongs to the technical field of automatic assembly of industrial robots, and particularly relates to a robot flexible gripping apparatus suitable for stamping of hot plates of multiple specifications.
Background
The hot plate is also called as a hot rolled plate, the hot plate uses a continuous casting plate blank or a primary rolling plate blank as a raw material, the raw material is heated by a stepping heating furnace, the raw material enters a roughing mill after being descaled by high pressure water, the roughing material enters a finishing mill after being cut at the head and at the tail, the rolling is controlled by a computer, the finished rolling is finished, namely, the hot plate is coiled by a laminar cooling and coiling machine to form a straight coil, the hot plate needs to be sent to a press machine and a mould through a gripping apparatus to be stamped, so that the hot plate generates plastic deformation or separation, and a workpiece with a required shape and size is obtained.
Aiming at the defects, the invention provides a robot flexible gripping apparatus suitable for stamping hot plates with multiple specifications.
Disclosure of Invention
The invention aims to provide a robot flexible gripping apparatus suitable for stamping of hot plates with multiple specifications, and aims to solve the problems that in the prior art, the gripping efficiency is low, the hot plates are easy to deform or damage, and the robot flexible gripping apparatus cannot be suitable for hot plates with different specifications.
In order to achieve the purpose, the invention provides the following technical scheme: the improved telescopic lifting device comprises a supporting plate, a top plate is fixedly mounted above the side face of the supporting plate, a bottom plate is fixedly mounted below the side face of the supporting plate, a sliding groove is formed in the supporting plate, a moving block is slidably mounted inside the sliding groove, a fixed plate is fixedly mounted on one side of the moving block, a telescopic rod is fixedly mounted on the upper surface of the top plate, the bottom end of the telescopic rod is fixedly connected to the upper surface of the fixed plate, a connecting device is fixedly mounted at the top end of the telescopic rod, a sucker is fixedly mounted on the lower surface of the top plate, and a rubber pad is fixedly mounted on the upper surface of the bottom plate.
Furthermore, a servo motor is fixedly installed on the upper surface of the top plate, and the output end of the servo motor is fixedly connected inside the connecting device.
Further, a side fixed mounting of bottom plate has the expansion plate, both sides fixed mounting has hydraulic telescoping rod around the expansion plate, a side fixed mounting of backup pad has hydraulic means, and hydraulic telescoping rod's one end fixed connection is in hydraulic means's a side.
Furthermore, a connecting column is fixedly mounted on one side face of the bottom plate, a first flange plate is fixedly mounted on one side face of the connecting column, a second flange plate is fixed on the first flange plate, and a mechanical arm is fixedly mounted on one side of the second flange plate through a rotating shaft.
Further, a fixing frame is fixedly mounted on the lower surface of the mechanical arm, a hydraulic tank is fixedly mounted on the inner bottom wall of the fixing frame, a transmission pipe is fixedly mounted on one side face of the hydraulic tank, and one end of the transmission pipe is fixedly connected to one side face of the hydraulic device.
Furthermore, a sliding plate is fixedly arranged on the upper surface of the telescopic plate.
Further, the lower fixed surface of roof installs the support column, the bottom fixed connection of support column is in the upper surface of bottom plate, fixed plate sliding connection is in the lateral surface of support column.
Furthermore, the conveying pipe is made of a hose.
Compared with the prior art, the invention has the beneficial effects that:
1. this flexible gripping apparatus of robot that adapts to many specifications hot plate punching press, at first will remove the arm, put the bottom plate below the hot plate, make the rubber pad laminate mutually with the lower surface of hot plate, then start servo motor, servo motor makes the telescopic link flexible downwards through connecting device, the telescopic link makes the fixed plate move down along spout and support column, the fixed plate of downward movement makes the sucking disc laminate with the upper surface of hot plate, thereby snatch the hot plate, the device snatchs the hot plate through full-automatic, make it improve work efficiency, and carry out accurate location through servo motor, make it snatch the hot plate of different thickness, and cooperation rubber pad and sucking disc protect the hot plate, prevent to take place to cause the condition of warping or damaging the hot plate at the in-process that snatchs.
2. This flexible gripping apparatus of robot that adapts to many specifications hot plate punching press, start hydraulic pressure jar, the inside that transmits hydraulic pressure jar's liquid medium to hydraulic means through the transmission pipe, hydraulic means makes hydraulic telescoping rod control and removes, hydraulic telescoping rod drives the expansion plate and stretches out and draws back, and reduce through the slide and produce frictional force with the hot plate lower surface, prevent to scrape the flower to the lower surface of hot plate, make it support the hot plate, the device is through the length of adjusting the expansion plate, can support the hot plate of different length, make it be applicable to the hot plate of different length, and prevent to scrape the flower to the lower surface of hot plate through the slide, make it more practical.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a second schematic perspective view of the present invention;
FIG. 3 is a schematic view of the internal perspective structure of the present invention;
fig. 4 is an enlarged schematic view of a portion a in fig. 3 according to the present invention.
In the figure: 1. a support plate; 2. a top plate; 3. a base plate; 4. a chute; 5. a moving block; 6. a fixing plate; 7. a telescopic rod; 8. a connecting device; 9. a suction cup; 10. a rubber pad; 11. a servo motor; 12. a retractable plate; 13. a hydraulic telescopic rod; 14. a hydraulic device; 15. a first flange plate; 16. a second flange plate; 17. a mechanical arm; 18. a fixed mount; 19. a hydraulic tank; 20. a conveying pipe; 21. a slide plate; 22. a support pillar; 23. connecting columns.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-4, the present invention provides the following technical solutions: including backup pad 1, the top fixed mounting of backup pad 1 side has roof 2, the below fixed mounting of backup pad 1 side has bottom plate 3, the inside of backup pad 1 is provided with spout 4, the inside slidable mounting of spout 4 has movable block 5, one side fixed mounting of movable block 5 has fixed plate 6, the last fixed surface of roof 2 installs telescopic link 7, the bottom fixed connection of telescopic link 7 is in the upper surface of fixed plate 6, 7 top fixed mounting of telescopic link have connecting device 8, the lower fixed surface of roof 2 installs sucking disc 9, the last fixed surface of bottom plate 3 installs rubber pad 10.
In the specific embodiment of the invention, firstly, the bottom plate 3 is placed below the hot plate, the rubber pad 10 is attached to the lower surface of the hot plate, the telescopic rod 7 is started, the telescopic rod 7 enables the fixing plate 6 to move downwards along the sliding chute 4 and the supporting column 22, the sucking disc 9 is attached to the upper surface of the hot plate through the fixing plate 6 moving downwards, so that the hot plate is fixed, the device can grab the hot plate through full automation, the working efficiency is improved, the servo motor 11 is used for accurately positioning, so that the hot plate with different thicknesses can be grabbed, the rubber pad 10 and the sucking disc 9 are matched to protect the hot plate, and the situation that the hot plate is deformed or damaged in the grabbing process is prevented.
Specifically, a servo motor 11 is fixedly installed on the upper surface of the top plate 2, and an output end of the servo motor 11 is fixedly connected inside the connecting device 8.
In this embodiment: the servo motor 11 is started to enable the telescopic rod 7 to stretch downwards through the connecting device 8, and the servo motor 11 plays a role in providing power for the telescopic rod 7.
Specifically, a side face of the bottom plate 3 is fixedly provided with an expansion plate 12, the front side and the rear side of the expansion plate 12 are fixedly provided with hydraulic telescopic rods 13, a side face of the support plate 1 is fixedly provided with a hydraulic device 14, and one end of each hydraulic telescopic rod 13 is fixedly connected to one side face of the hydraulic device 14.
In this embodiment: hydraulic means 14 makes hydraulic telescoping rod 13 remove about, and hydraulic telescoping rod 13 drives expansion plate 12 and stretches out and draws back, through the length of adjusting expansion plate 12, can support the hot plate of different length, makes it be applicable to the hot plate of different length.
Specifically, a connecting column 23 is fixedly mounted on one side surface of the bottom plate 3, a first flange 15 is fixedly mounted on one side surface of the connecting column 23, a second flange 16 is fixed on the first flange 15, and a mechanical arm 17 is fixedly mounted on one side of the second flange 16 through a rotating shaft.
In this embodiment: the gripper is fixed to the mechanical arm 17 by fixing the first flange 15 to the second flange 16, the first flange 15 is convenient to fix, and the mechanical arm 17 is used for moving the hot plate to the stamping tool.
Specifically, a fixed frame 18 is fixedly mounted on the lower surface of the mechanical arm 17, a hydraulic tank 19 is fixedly mounted on the inner bottom wall of the fixed frame 18, a transmission pipe 20 is fixedly mounted on one side surface of the hydraulic tank 19, and one end of the transmission pipe 20 is fixedly connected to one side surface of the hydraulic device 14.
In this embodiment: the hydraulic tank 19 is started, the liquid medium in the hydraulic tank 19 is transmitted to the interior of the hydraulic device 14 through the transmission pipe 20, the hydraulic device 14 enables the hydraulic telescopic rod 13 to move left and right, and the hydraulic tank 19 plays a role in providing power for the hydraulic device 14.
Specifically, a sliding plate 21 is fixedly mounted on the upper surface of the telescopic plate 12.
In this embodiment: the slide plate 21 serves to reduce friction with the lower surface of the hot plate and prevent scratching of the lower surface of the hot plate.
Specifically, a supporting column 22 is fixedly mounted on the lower surface of the top plate 2, the bottom end of the supporting column 22 is fixedly connected to the upper surface of the bottom plate 3, and the fixing plate 6 is slidably connected to the outer side surface of the supporting column 22.
In this embodiment: the telescopic rod 7 makes the fixing plate 6 move downwards along the sliding chute 4 and the supporting column 22, and the telescopic rod 7 plays a role of supporting the fixing plate 6.
Specifically, the material of the delivery pipe 20 is a hose.
In this embodiment: the hose is arranged to support the clamp to rotate, so that the transmission pipe 20 is prevented from being broken when the gripper rotates.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
The working principle and the using process of the invention are as follows: this flexible gripping apparatus of robot that adapts to many specifications hot plate punching press is when using, at first with removal arm 17, place bottom plate 3 below the hot plate, make rubber pad 10 laminate mutually with the lower surface of hot plate, then start hydraulic pressure jar 19, transmit the inside of hydraulic pressure device 14 with the liquid medium of hydraulic pressure jar 19 through transmission pipe 20, hydraulic means 14 makes hydraulic telescoping rod 13 remove about, hydraulic telescoping rod 13 drives expansion plate 12 and stretches out and draw back, and reduce through slide 21 and produce frictional force with the hot plate lower surface, prevent to scrape the flower to the lower surface of hot plate, then start servo motor 11, servo motor 11 makes telescopic link 7 flexible downwards through connecting device 8, telescopic link 7 makes fixed plate 6 remove downwards along spout 4 and support column 22, fixed plate 6 that removes downwards makes sucking disc 9 laminate with the upper surface of hot plate, thereby snatch the hot plate.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a flexible gripping apparatus of robot of many specifications hot plate punching presses of adaptation, includes backup pad (1), its characterized in that: the utility model discloses a supporting plate for the automobile seat, including backup pad (1), top fixed mounting of backup pad (1) side has roof (2), the below fixed mounting of backup pad (1) side has bottom plate (3), the inside of backup pad (1) is provided with spout (4), the inside slidable mounting of spout (4) has movable block (5), one side fixed mounting of movable block (5) has fixed plate (6), the last fixed surface of roof (2) installs telescopic link (7), the bottom fixed connection of telescopic link (7) is in the upper surface of fixed plate (6), telescopic link (7) top fixed mounting has connecting device (8), the lower fixed surface of roof (2) installs sucking disc (9), the last fixed surface of bottom plate (3) installs rubber pad (10).
2. The robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 1, wherein: the upper surface of roof (2) fixed surface installs servo motor (11), servo motor (11)'s output fixed connection is in the inside of connecting device (8).
3. The robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 1, wherein: a side fixed mounting of bottom plate (3) has expansion plate (12), both sides fixed mounting has hydraulic telescoping rod (13) around expansion plate (12), a side fixed mounting of backup pad (1) has hydraulic means (14), and the one end fixed connection of hydraulic telescoping rod (13) is in a side of hydraulic means (14).
4. The robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 1, wherein: a connecting column (23) is fixedly mounted on one side face of the bottom plate (3), a first flange plate (15) is fixedly mounted on one side face of the connecting column (23), a fixed second flange plate (16) of the first flange plate (15) is arranged, and a mechanical arm (17) is fixedly mounted on one side of the second flange plate (16) through a rotating shaft.
5. A robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 4, wherein: the lower fixed surface of arm (17) installs mount (18), the interior diapire fixed mounting of mount (18) has hydraulic pressure jar (19), a side fixed mounting of hydraulic pressure jar (19) has transmission pipe (20), the one end fixed connection of transmission pipe (20) is in a side of hydraulic means (14).
6. A robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 3, wherein: the upper surface of the expansion plate (12) is fixedly provided with a sliding plate (21).
7. The robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 1, wherein: the lower fixed surface of roof (2) installs support column (22), the bottom fixed connection of support column (22) is in the upper surface of bottom plate (3), fixed plate (6) sliding connection is in the lateral surface of support column (22).
8. A robotic flexible gripper that accommodates multi-gauge hot plate stamping according to claim 5, wherein: the conveying pipe (20) is made of a hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110797154.8A CN113561214A (en) | 2021-07-14 | 2021-07-14 | Flexible gripping apparatus of robot that adapts to many specifications hot plate punching press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110797154.8A CN113561214A (en) | 2021-07-14 | 2021-07-14 | Flexible gripping apparatus of robot that adapts to many specifications hot plate punching press |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113561214A true CN113561214A (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110797154.8A Pending CN113561214A (en) | 2021-07-14 | 2021-07-14 | Flexible gripping apparatus of robot that adapts to many specifications hot plate punching press |
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| Country | Link |
|---|---|
| CN (1) | CN113561214A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440898A (en) * | 2013-09-13 | 2015-03-25 | 范克健 | Intelligent robot capable of high-speed feeding and discharging |
| CN107030778A (en) * | 2017-05-30 | 2017-08-11 | 宁波市创盛园艺制品有限公司 | Flowerpot automatic punching trimming equipment |
| WO2018168030A1 (en) * | 2017-03-13 | 2018-09-20 | 株式会社 東芝 | Holding tool and holding system |
| CN112247513A (en) * | 2020-10-15 | 2021-01-22 | 潘纯 | Engineering mechanical arm convenient for mounting color steel plate |
-
2021
- 2021-07-14 CN CN202110797154.8A patent/CN113561214A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440898A (en) * | 2013-09-13 | 2015-03-25 | 范克健 | Intelligent robot capable of high-speed feeding and discharging |
| WO2018168030A1 (en) * | 2017-03-13 | 2018-09-20 | 株式会社 東芝 | Holding tool and holding system |
| CN107030778A (en) * | 2017-05-30 | 2017-08-11 | 宁波市创盛园艺制品有限公司 | Flowerpot automatic punching trimming equipment |
| CN112247513A (en) * | 2020-10-15 | 2021-01-22 | 潘纯 | Engineering mechanical arm convenient for mounting color steel plate |
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