|Publication number||CN104842350 A|
|Application number||CN 201510267217|
|Publication date||19 Aug 2015|
|Filing date||22 May 2015|
|Priority date||22 May 2015|
|Publication number||201510267217.3, CN 104842350 A, CN 104842350A, CN 201510267217, CN-A-104842350, CN104842350 A, CN104842350A, CN201510267217, CN201510267217.3|
|Inventors||蒋立军, 汪孝祥, 邵金金|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (13), Referenced by (1), Classifications (4), Legal Events (2)|
|External Links: SIPO, Espacenet|
技术领域 TECHNICAL FIELD
 本发明涉及自动化设备技术领域，尤其是涉及一种用于高温工作的工件抓取机械手。  The present invention relates to the field of automation technology equipment, and more particularly to a method for high-temperature operation of the workpiece gripping robot.
背景技术 Background technique
 在工件搬运和自动上下料领域，工件抓取机械手的灵活度和抓取工件的可靠性非常重要，目前在用的几类机械手都是多旋转节点的气动或电动工件抓取机械手，由于旋转节点较多，使得机械手自身重量较大且制造成本偏高。  workpiece handling and automatic loading and unloading areas, the workpiece crawling robot flexibility and reliability is very important to grab the workpiece, pneumatic or electric artifacts currently in use in several types of robot are multi-node crawler robot rotation, Due to the rotation more nodes, making the robot itself greater weight and the manufacturing cost is high.
 而且也不适用于温度较高的热锻造自动上下料的工况，因该高温锻造环境温度变化较大，机械手关节较多时，会因为热变形的原因造成机械手卡死或松动，从而导致加料不稳、掉料和夹紧力突变等情况，影响自动上下料的可靠性，严重制约了热锻造行业自动化的实现。  and is not suitable for high temperature hot forging automatic loading and unloading of the working conditions, because of the high temperature forging ambient temperature changes greatly, when the robot joints more, because of the thermal deformation causes the robot stuck or loose, so that cause feeding instability, off feed and clamping force mutations, etc., affect the reliability of automatic loading and unloading, severely restricted the hot forging industry automation implementation.
发明内容 SUMMARY OF THE INVENTION
 针对现有技术不足，本发明所要解决的技术问题是提供一种用于高温工作的工件抓取机械手，以达到抓取高温工件稳定可靠的目的。  for the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a method for high-temperature operation of the workpiece gripping manipulator, in order to achieve the purpose of stable and reliable temperature grab the workpiece.
 为了解决上述技术问题，本发明所采用的技术方案为:  In order to solve the above technical problem, technical solutions of the present invention is used as follows:
 该用于高温工作的工件抓取机械手，包括相对应的夹爪I和夹爪II，所述夹爪I和夹爪II之间通过转销相铰接，还包括机械手安装板和动力缸，所述转销和动力缸均设在机械手安装板上，所述动力缸的活塞杆上设有用于驱动夹爪I和夹爪II同一端相对运动的驱动块；所述转销上设有冷却孔，所述机械手安装板内设有冷却通道，所述机械手安装板上设有用于喷雾的喷嘴。  The workpiece used in high temperature gripping manipulator, including the corresponding jaw jaw I and II, the jaws between I and II jaws hinged by pin, further comprising a mounting plate and drive the robot cylinder, the cylinder pin and power are located in the robot mounting plate is provided for driving the jaw jaw I and II at the same end of the drive block relative movement of the power cylinder piston rod; the pin on the set cooling holes, the robot mounting plate equipped with cooling channels, the robot mounting plate provided with a nozzle for spraying.
 所述夹爪I和夹爪II的抓取端上均设有手指块。  The gripper jaws grab the end I and II are equipped with finger blocks.
 所述驱动块为夹紧楔块，与夹紧楔块相配合的夹爪I和夹爪II同一端之间设有拉伸弹費。  driving the block clamping wedge, wedge cooperating with the clamping jaws and jaw features I stretch between II bomb charges the same end.
 所述机械手安装板上设有用于检测是否抓到工件的检测器。  The manipulator mounting plate is provided for detecting whether a workpiece detector caught.
 所述手指块为耐高温的手指块。  The high temperature of the finger finger block blocks.
 所述手指块通过可拆卸结构安装在夹爪I和夹爪II上。  The finger block is mounted on a structure through removable jaw I and jaw II.
 所述机械手安装板和夹紧楔块之间设有导向结构。  The guide structure is provided between the robot mounting plate and clamping wedge.
 本发明与现有技术相比，具有以下优点:  The present invention as compared with the prior art, has the following advantages:
 本抓取机械手只有一个转动铰接点，结构简单，成本低；机械手的前半段与后半段之间有冷却结构，机械手关节不易卡死或松动，同时可保证后半段温度不过高，动力缸与前半段距离很远，提高了气缸的使用寿命，抓取高温工件稳定可靠；机械手爪经过耐高温手指与工件接触，隔热性和通用性好，机械手后半段具有工件有无检测功能，可判断机械手是否已经夹持到工件，提高自动化程度。  The crawl robot only a rotating hinge point, the structure is simple, low cost; a cooling structure between the first half and the second half robot, robot joints easy to get stuck or loose, while ensuring the latter half of the temperature too high power cylinder and the first half very far distance, improved cylinder life, grab the workpiece temperature is stable and reliable; mechanical gripper finger contact with the workpiece through high temperature, heat resistance and versatility, and half of the robot has a workpiece Have detection function, can determine whether the robot has been clamped to the workpiece, increase the degree of automation.
附图说明 Brief Description
 下面对本说明书各幅附图所表达的内容及图中的标记作简要说明:  Next, the expression of this specification and the accompanying drawings parcels figure marks a brief description:
 图1为本发明抓取机械手结构示意图。  FIG. 1 is a schematic view of the invention manipulator structure crawl.
 图中:1.机械手安装板、2.转销、3.夹爪1、4.夹爪I1、5.手指块、6.随动滚子、7.拉伸弹簧、8.夹紧楔块、9.感应杆、10.工件检测开关、11.气缸。  FIG: 1 robot mounting plate, 2 pin, 3, 4 jaw jaw I1,5 finger block, 6 follower roller, tension springs 7, 8 folders...... tight wedge, 9 sensor bar, 10 workpiece detection switch 11 cylinders.
具体实施方式 detailed description
 下面对照附图，通过对实施例的描述，对本发明的具体实施方式作进一步详细的说明。  The following reference to the drawings, through the embodiments described, a specific embodiment of the present invention will be further described in detail.
 如图1所示，该用于高温工作的工件抓取机械手，包括机械手安装板1、动力缸、夹爪I 3、夹爪II 4，其中，夹爪I 3和夹爪II 4相对应设置，夹爪I 3和夹爪II 4之间通过转销2相铰接，转销2固定在机械手安装板I 一端上，两个夹爪之间可以相对转动。  shown in Figure 1, a workpiece for high-temperature operation of the gripping robot, the robot including a mounting plate 1, the power cylinder, jaw I 3, jaw II 4, wherein the jaw jaw I 3 and II 4 setting corresponding jaws I 3 and II jaws hinged by pin 2, pin fixed to the end of the robot mounting plate I, can be relative rotation between the two jaws between 4 2.
 两个夹爪一端为夹取工件端，两个夹爪的另一端为驱动端，两个夹爪通过驱动端的相对运动，带动两个夹爪一端相对运动，实现夹取工件工作。  two jaws gripping one end of the workpiece end, the other end of the two jaws of the drive end, the two jaws by relative movement of the drive end to drive the relative movement of the two jaws at one end, to achieve a gripping piece of work. 该机械手只有一个铰接点，结构简单。 The robot is only one hinge point, a simple structure.
 动力缸为气缸11，气缸11安装固定在机械手安装板I另一端上，气缸11的活塞杆端部设有用于驱动夹爪I和夹爪II同一端相对运动的驱动块。  The power cylinder to cylinder 11, a cylinder 11 fixed on the robot mounting plate I on the other end of the piston rod end of the cylinder 11 is provided for driving the jaws I and II drive block jaws relative movement of the same end. 该驱动块为夹紧楔块8，与夹紧楔块相配合的夹爪I和夹爪II同一端之间设有拉伸弹簧7。 The drive block clamping wedge 8, with the clamping wedge mating jaw I and jaw tension spring 7 is provided between the II at the same end. 夹紧楔块两个相对称的斜面分别与两个夹爪相接触，通过夹紧楔块相对转销的运动，来驱动两个夹爪的驱动端的相对运动，从而带动两个夹爪的夹取工件端相对运动。 Clamping wedge said two opposite ramps are in contact with the two jaws, the clamping wedge by the relative motion of resellers to drive the relative movement of the drive end of the two jaws, which led to the two jaws clamp Take the workpiece side relative motion.
 在两个夹爪相对应的驱动端上均设有随动滚子6，随动滚子6与夹紧楔块8接触，驱动时夹紧楔块与夹爪之间为滚动摩擦，减小驱动阻力以及摩擦，提高工作的稳定性和可靠性。  In the two jaws corresponding drive end has a follower roller 6, a follower roller 6 in contact with the clamping wedge 8, wedge driven between the clamping jaws and rolling friction to reduce driving resistance and friction, improve the stability and reliability of the work.
 机械手安装板I和夹紧楔块8之间设有导向结构。  The guide structure is provided between 8 robot mounting plate I and clamping wedge. 导向结构包括设在机械手安装板I的导向槽，导向槽位于转销与气缸之间，夹紧楔块的下部设有与导向槽相适配的滑块，通过导向槽与滑块的配合对夹紧楔块运动准确导向。 The guide structure comprises a mounting plate provided on the manipulator I of the guide groove, the guide groove is located between the pin and the cylinder, the lower part of the clamping wedge is provided with a guide groove adapted slider, and the slider guide groove by the mating of clamping wedge movement accurate guide.
 随动滚子6与夹紧楔块8相切，在拉伸弹簧7的作用下，随动滚子6与夹紧楔块8保持接触，夹紧楔块可沿安装板的导向槽前后滑动，夹紧楔块与气缸的活塞杆相连，气缸前推时，夹紧工件，气缸后退时，在拉伸弹簧7的作用下，放松工件，自动回位。  follower roller 6 and the clamping wedge 8 tangent, under tension spring 7 follower roller 6 is held in contact with the clamping wedge 8, the clamping wedge along the mounting plate guide front and rear pockets slide, the clamping wedge is connected with the piston rod, while pushing the front cylinder, clamp the workpiece, the cylinder is retracted, under the tension spring 7, relaxation workpiece, automatic back.
 夹爪I 3和夹爪II 4的抓取端上均设有手指块5，手指块5为耐高温的手指块。  I 3 jaw and jaw II crawling on terminal 4 are equipped with a finger block 5, block 5 is a high temperature fingers finger blocks. 手指块5通过螺钉固定在夹爪上，损坏后可随时进行更换，维修方便。 Finger block 5 by screws on the clamp jaws, it can always be replaced after damage, easy maintenance. 耐高温的手指块可按工件的外形制造，提高夹紧的可靠性，通过手指块使得两个夹爪不与高温工件直接接触，提高了机械手的使用寿命和适应性。 High temperature finger blocks manufactured according to the shape of the workpiece, to improve the reliability of the clamping, by a finger block such that the two jaws are not in direct contact with the high temperature part, increases the service life of the robot and adaptability.
 转销2上设有冷却孔。  2 pin provided with cooling holes. 冷却孔可为气孔，或者与冷却水管相连，通过流经冷却水带走热量。 Cooling holes may be holes, or connected with the cooling water, cooling water flowing through the heat away. 机械手的前半段与后半段之间冷却孔，使机械手关节不易卡死或松动，同时可保证后半段温度不过高。 Between the first half and second half of the cooling hole robot, so the robot is not easy to get stuck or loose joints, while ensuring the latter half of the temperature too high.
 进一步的，在机械手安装板I内设有冷却通道，冷却通道与冷却水管相连，冷却通道内流经冷却水，保证机械手后半段温度不过高，提高机械手工作的可靠性，适用于温度较高的热锻造自动上下料的抓取。  Further, in the robot mounting plate I come with cooling channels, cooling channels and cooling water pipe connected to the cooling water flowing through the cooling passage, ensure that the temperature half of the robot is not too high, to improve the reliability of the robot work for high temperature hot forging automatic loading and unloading of the crawl.
 机械手安装板I上设有用于喷雾的喷嘴。 With a nozzle for spraying on the  The robot mounting plate I. 通过机械手抓取高温的工件时，通过喷嘴喷雾，在高温的工件四周形成有水雾，降低热辐射，改善工人的操作环境。 When the temperature of the workpiece by the robot to crawl through the spray nozzle, the workpiece is formed around the high-temperature water mist to reduce the heat radiation, improve workers operating environment.
 机械手安装板I上设有用于检测是否抓到工件的检测器；其中，检测器包括感应杆9和工件检测开关10，感应杆9设在活塞杆上，工件检测开关10设在机械手安装板上，两者的位置相对应，通过设定感应杆与工件检测开关的位移关系，可检测机械手是否抓到工件，并将信号反馈给控制系统，提高自动化程度，降低工人的劳动强度，提高生产效率。  robot mounting plate provided with means for detecting whether or not I caught on workpiece detector; wherein the detector comprises a sensing lever detection switch 9 and the workpiece 10, sensing lever 9 is provided on the piston rod, the workpiece detection switch 10 provided in the manipulator mounting plate, corresponding to the position of both, by setting the relationship between the sensor bar and the workpiece displacement detection switch can detect whether a robot caught the workpiece, and the signal back to the control system to improve the degree of automation, reduce labor intensity, Increase productivity.
 上面结合附图对本发明进行了示例性描述，显然本发明具体实现并不受上述方式的限制，只要采用了本发明的构思和技术方案进行的各种非实质性的改进，或未经改进将本发明的构思和技术方案直接应用于其它场合的，均在本发明的保护范围之内。 Binding  The above figures present invention has been exemplary description, the present invention is clearly not limited to the specific implementation of the above-described manner, as long as the use of concepts and technical solutions of the present invention to improve a variety of non-substantive, or improved the concept and technical solution of the present invention is directly applied to other situations, it is within the scope of the invention.
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