CN214720022U - Feeding end effector with automatic centering function - Google Patents
Feeding end effector with automatic centering function Download PDFInfo
- Publication number
- CN214720022U CN214720022U CN202022874956.8U CN202022874956U CN214720022U CN 214720022 U CN214720022 U CN 214720022U CN 202022874956 U CN202022874956 U CN 202022874956U CN 214720022 U CN214720022 U CN 214720022U
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- China
- Prior art keywords
- centering
- quick
- guide rail
- main beam
- change mechanism
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- Expired - Fee Related
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- 239000012636 effector Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 239000000463 material Substances 0.000 claims abstract description 39
- 238000004519 manufacturing process Methods 0.000 claims abstract description 11
- 238000009413 insulation Methods 0.000 claims description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 abstract description 11
- 238000003856 thermoforming Methods 0.000 abstract description 5
- 238000007599 discharging Methods 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
A feeding end effector with an automatic centering function comprises a centering material grabbing mechanism, a main beam and a quick-change mechanism; the centering material grabbing mechanisms are installed at one end of the main beam, and the number of the centering material grabbing mechanisms is consistent with the number of the die cavities of the part molds on the thermal forming production line; the other end of the main beam is provided with a quick-change mechanism; the quick-change mechanism is assembled with an actuating mechanism of the feeding robot. The utility model has the characteristics of degree of automation is high, the commonality is strong, has solved the well-defined operation of hot plate material work piece and has relied on the heating furnace well-defined problem of device completely, can put down the circumstances that the device breaks down well in the heating furnace and realize going on smoothly to finished piece mould material loading operation by roller-hearth furnace ejection of compact platform, has reached the purpose of guaranteeing thermoforming production line equipment operation beat uniformity.
Description
Technical Field
The utility model relates to a loading attachment, especially an end effector with automatic well-centering function of accomplishing by roller-hearth furnace discharge platform to finished piece mould material loading operation in the metal finished piece thermoforming technology.
Background
At present, in a general metal part thermal forming process, a discharging table of a roller-hearth heating furnace has a plate centering function, and a feeding end pick-up of a part mould only needs to convey a hot plate with a fixed position to the center of the part mould. Because the material loading end effector does not have the automatic centering function, the centering operation of the hot plate is completely completed by depending on the heating furnace centering device, and when the heating furnace centering device breaks down, the material loading end effector is difficult to complete the operation of grabbing and conveying the hot plate, thereby seriously influencing the running beat of the hot forming production line equipment.
SUMMERY OF THE UTILITY MODEL
The utility model provides a material loading end effector with automatic well function of deciding is put forward aims at setting up well-defined material grabbing mechanism in the material loading end effector at a system mould, solves well-defined operation and relies on the heating furnace well-defined problem of device completely, reaches and decides the device in the heating furnace well-defined under the condition that breaks down, can go on smoothly, guarantee the purpose of the uniformity of thermoforming production line equipment operation beat to finished piece mould material loading operation by roller-hearth furnace discharge platform.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a feeding end effector with an automatic centering function comprises a centering material grabbing mechanism, a main beam and a quick-change mechanism; the centering material grabbing mechanisms are installed at one end of the main beam, and the number of the centering material grabbing mechanisms is consistent with the number of the die cavities of the part molds on the thermal forming production line; the other end of the main beam is provided with a quick-change mechanism; the quick-change mechanism is assembled with an actuating mechanism of the feeding robot.
The material loading end effector with the automatic centering function is characterized in that the centering material grabbing mechanism consists of two parts which are arranged left and right, and a first guide rail cylinder, a second guide rail cylinder, a first centering gripper, a second centering gripper and a fixing plate assembly are arranged in each part; a first guide rail cylinder and a second guide rail cylinder are arranged on the fixed plate component; the first guide rail cylinder and the second guide rail cylinder are arranged in an opposite mode, a first centering gripper is arranged at the tail end of the telescopic arm of the first guide rail cylinder, and a second centering gripper is arranged at the tail end of the telescopic arm of the second guide rail cylinder.
In the feeding end effector with the automatic centering function, the fixing plate assembly is provided with a heat insulation bottom plate; the first fixed middle gripper and the second fixed middle gripper are both provided with two groups of clamping jaws, and the distance between the two groups of clamping jaws is larger than the width of the heat insulation bottom plate.
According to the feeding end effector with the automatic centering function, the main beam is made of aluminum alloy sections with regular quadrilateral sections.
In the feeding end effector with the automatic centering function, the quick-change mechanism comprises a clamping flange, a connecting plate and a quick-change connector; two groups of clamping flanges are arranged along the axial direction of the main beam, and the quick-change mechanism is assembled with the main beam through the two groups of clamping flanges; the connecting plate is fixed on the top surfaces of the two groups of clamping flanges; the quick-change connector is fixed in the middle of the connecting plate, and the quick-change mechanism is connected with the feeding robot through the quick-change connector.
In the feeding end effector with the automatic centering function, the quick-change mechanism further comprises an L-shaped heat insulation plate; and the L-shaped heat insulation plate is fixedly assembled with the bottom surfaces of the two groups of clamping flanges.
The utility model relates to a feeding end effector with automatic centering function, which can drive two sets of centering grippers to close or open through two sets of guide rail cylinder telescopic arms of a centering gripping mechanism, and realizes automatic centering and clamping of hot plates under the synchronous control of the two sets of guide rail cylinders; the utility model can realize the switching of the hot plate end pickers with different specifications by assembling the main beam with the automatic feeding robot actuating mechanism through the quick change mechanism; the girder body of the utility model adopts the regular quadrilateral aluminum profile with four mounting surfaces, which is convenient for the arrangement and assembly of the fixed plate component and the air pressure pipeline mounting seat on the girder body, and in addition, the aluminum profile can also reduce the weight of the end effector, thereby avoiding the problem of large load of the robot; the fixing plate component in the centering material grabbing mechanism of the utility model is provided with the heat insulation bottom plate, and the influence of the heat radiation of the high-temperature plate on the guide rail cylinder and the gas circuit thereof is avoided through the heat insulation effect of the heat insulation bottom plate; the utility model discloses accessible robot program controls linking up each other of each action, has guaranteed the uniformity of material loading action and production line beat. In a word, the utility model has the characteristics of degree of automation is high, the commonality is strong, has solved the problem that the well centering operation of hot plate material work piece relied on the device well centering of heating furnace completely, can well go on to finished piece mould material loading operation by roller hearth furnace ejection of compact platform under the condition that the device breaks down well centering of heating furnace, has reached the purpose of guaranteeing thermoforming production line equipment operation beat uniformity.
Drawings
Fig. 1 is a schematic structural view of a feeding end effector with an automatic centering function according to the present invention;
FIG. 2 is a schematic view of a centering grapple mechanism (one side);
FIG. 3 is a view from direction K of FIG. 2;
FIG. 4 is a schematic view of a quick-change mechanism;
fig. 5 is a schematic view of the working state of the present invention.
The list of labels in the figure is:
1. the centering grabbing mechanism comprises 1-1 parts of a centering grabbing mechanism, 1-2 parts of a first guide rail cylinder, 1-3 parts of a second guide rail cylinder, 1-4 parts of a first centering gripper, 1-5 parts of a fixed plate assembly and a second centering gripper;
2. a main beam;
3. 3-1 parts of a quick-change mechanism, 3-2 parts of a clamping flange, 3-3 parts of a connecting plate, 3-4 parts of a quick-change connector and an L-shaped heat insulation plate;
4. heating the plate material;
5. a roller hearth furnace discharging platform.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the feeding end effector with automatic centering function of the present invention includes a centering material grabbing mechanism 1, a main beam 2 and a quick change mechanism 3; the centering material grabbing mechanisms 1 are installed at one end of the main beam 2, and the number of the centering material grabbing mechanisms is consistent with the number of the die cavities of a workpiece die on a thermal forming production line; the main beam 2 is made of an aluminum alloy section with a square cross section, and the other end of the main beam 2 is provided with a quick change mechanism 3; the quick-change mechanism 3 is assembled with an actuating mechanism of the feeding robot.
Referring to fig. 1, 2 and 3, the material loading end effector with automatic centering function of the present invention has a centering material grasping mechanism 1 comprising two parts arranged from left to right, each of which is provided with a first guide rail cylinder 1-1, a second guide rail cylinder 1-2, a first centering gripper 1-3, a second centering gripper 1-5 and a fixing plate assembly 1-4; the fixed plate assembly 1-4 is provided with a heat insulation bottom plate, and a first guide rail cylinder 1-1 and a second guide rail cylinder 1-2 are arranged on the fixed plate assembly 1-4; the first guide rail cylinder 1-1 and the second guide rail cylinder 1-2 are arranged in a reverse direction, a first centering gripper 1-3 is arranged at the tail end of a telescopic arm of the first guide rail cylinder 1-1, and a second centering gripper 1-5 is arranged at the tail end of a telescopic arm of the second guide rail cylinder 1-2; the first fixed middle gripper 1-3 and the second fixed middle gripper 1-5 are both provided with two groups of clamping jaws, and the distance between the two groups of clamping jaws is larger than the width of the heat insulation bottom plate.
Referring to fig. 1 and 4, in the loading end effector with the automatic centering function of the present invention, the quick-change mechanism 3 includes a clamping flange 3-1, a connecting plate 3-2, a quick-change joint 3-3 and an L-shaped heat insulation plate 3-4; two groups of clamping flanges 3-1 are arranged along the axial direction of the main beam 2, and the quick change connector 3-3 is assembled with the main beam 2 through the two groups of clamping flanges 3-1; the connecting plate 3-2 is fixed on the top surfaces of the two groups of clamping flanges 3-1; the quick-change connector 3-3 is fixed in the middle of the connecting plate 3-2, and the quick-change mechanism 3 is connected with the feeding robot through the quick-change connector 3-3; the L-shaped heat insulation plate 3-4 is fixedly assembled with the bottom surfaces of the two groups of clamping flanges 3-1.
Referring to fig. 1 to 5, the utility model provides a material loading end effector with automatic well function of deciding, its embodiment is accomplished by roller hearth furnace discharge platform 5 to finished piece mould material loading operation's end effector with automatic well function of deciding on the automobile body spare part die forging production line, it uses with the cooperation of automatic material loading robot, in this embodiment, thermoforming mould is a mould two-chamber structure on the production line, correspondingly in girder 2-1 one end installation decide material mechanism 1 divide into about two sets of, each is decided material mechanism 1 of grabbing all including controlling two parts of arranging in the group. As shown in fig. 5, the operation steps of the centering material grabbing mechanism 1 are as follows: firstly, the end effector with the centering function reaches a grabbing position above a discharging table 5 of a roller-hearth furnace under the control of a robot, at the moment, a first centering gripper 1-3 and a second centering gripper 1-5 are in an open state, when two high-temperature heat plates 4 are quickly rolled out from a hearth of a heating furnace to reach a set position of the discharging table 5 of the roller-hearth furnace, the first centering gripper 1-3 and the second centering gripper 1-5 are closed to accurately position the heat plates 4 under the driving of telescopic arms of two groups of guide rail cylinders, and the two high-temperature heat plates 4 are clamped through the matching of the two groups of clamping jaws; after the centering clamping action of the high-temperature heat plates 4 is finished, the lower end pick-up is controlled by a robot program to quickly move into a die cavity of the die, then the grippers in the two sets of centering clamping mechanisms 1 are respectively and simultaneously opened under the driving of corresponding cylinders, so that the two high-temperature heat plates 4 can simultaneously and accurately fall into the die cavity; the feeding end pick with the automatic centering function returns to the initial position quickly under the control of the robot to complete a working cycle.
The utility model discloses well decide tongs can cooperate with the guide rail cylinder of different models, make it match with the hot plate material of different outer fringe shapes and sizes.
Claims (6)
1. A feeding end effector with an automatic centering function is characterized by comprising a centering material grabbing mechanism (1), a main beam (2) and a quick-change mechanism (3); the centering material grabbing mechanism (1) is installed at one end of the main beam (2), and the number of the centering material grabbing mechanisms is consistent with the number of the die cavities of a part mould on a thermal forming production line; the other end of the main beam (2) is provided with a quick-change mechanism (3); the quick-change mechanism (3) is assembled with an actuating mechanism of the feeding robot.
2. The material loading end effector with the automatic centering function according to claim 1, wherein the centering material grabbing mechanism (1) is composed of two parts arranged left and right, and a first guide rail cylinder (1-1), a second guide rail cylinder (1-2), a first centering gripper (1-3), a second centering gripper (1-5) and a fixed plate assembly (1-4) are arranged in each part; a first guide rail cylinder (1-1) and a second guide rail cylinder (1-2) are arranged on the fixed plate component (1-4); the first guide rail air cylinder (1-1) and the second guide rail air cylinder (1-2) are arranged in a reverse mode, a first centering gripper (1-3) is installed at the tail end of a telescopic arm of the first guide rail air cylinder (1-1), and a second centering gripper (1-5) is installed at the tail end of a telescopic arm of the second guide rail air cylinder (1-2).
3. The loading end-effector with automatic centering function according to claim 2, characterized in that said fixed plate assembly (1-4) is provided with a heat insulating bottom plate; the first centering hand grip (1-3) and the second centering hand grip (1-5) are both provided with two groups of clamping jaws, and the distance between the two groups of clamping jaws is greater than the width of the heat insulation bottom plate.
4. A loading end-effector with automatic centring function according to claim 1, 2 or 3, characterised in that the main beam (2) is made of aluminium alloy section with a square section.
5. The loading end-effector with automatic centering function according to claim 4, characterized in that said quick-change mechanism (3) comprises a clamping flange (3-1), a connecting plate (3-2) and a quick-change joint (3-3); two groups of clamping flanges (3-1) are axially arranged along the main beam (2), and the quick-change mechanism (3) is assembled with the main beam (2) through the two groups of clamping flanges (3-1); the connecting plate (3-2) is fixed on the top surfaces of the two groups of clamping flanges (3-1); the quick-change connector (3-3) is fixed in the middle of the connecting plate (3-2), and the quick-change mechanism (3) is connected with the feeding robot through the quick-change connector (3-3).
6. The loading end-effector with automatic centering function according to claim 5, characterized in that said quick-change mechanism (3) further comprises L-shaped heat-insulating plates (3-4); the L-shaped heat insulation plate (3-4) is fixedly assembled with the bottom surfaces of the two groups of clamping flanges (3-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022874956.8U CN214720022U (en) | 2020-12-04 | 2020-12-04 | Feeding end effector with automatic centering function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022874956.8U CN214720022U (en) | 2020-12-04 | 2020-12-04 | Feeding end effector with automatic centering function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214720022U true CN214720022U (en) | 2021-11-16 |
Family
ID=78618999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022874956.8U Expired - Fee Related CN214720022U (en) | 2020-12-04 | 2020-12-04 | Feeding end effector with automatic centering function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214720022U (en) |
-
2020
- 2020-12-04 CN CN202022874956.8U patent/CN214720022U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |