An Adaptive Grabbing End Effector with Flashing Links in Forging Environment
An end effector and flashing technology, which is applied in the direction of manufacturing tools, forging/pressing/hammer devices, forging/pressing/hammering machinery, etc., can solve the constraints of forging automation, intelligence level of automobile connecting rods, and the inability of robots to grasp There are problems such as flash connecting rods and affecting the life of the hydraulic cylinder, so as to ensure the movement accuracy and stability, reduce the volume of the gripper, and improve the life of the gripper.
Active Publication Date: 2022-01-11
JARI AUTOMATION CO LTD CHINA
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Problems solved by technology
However, during the forging process of the automotive connecting rod, the robot may not be able to grab the connecting rod with flash because the workpiece may be tilted when it is pushed out of the pre-forging die or the final forging die. This is a huge obstacle, which seriously restricts the automation and intelligence level of the automotive connecting rod forging industry
In addition, the existing clamping method of forged workpieces uses hydraulic pressure to drive the gripping method, and the gripping friction between the gripping and the workpiece is used to achieve clamping. Large, affecting the life of the hydraulic cylinder
Method used
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Embodiment approach
[0021] As an embodiment, the guide mechanism includes a guide rod 8, a guide rod limit guide sleeve 7, and a buffer spring 14; a plurality of guide rod limit guide sleeves 7 are fixed on the robot installation substrate 1; the guide rod A guide rod 8 is arranged inside the limit guide sleeve 7; the guide rod 8 passes through the guide rod limit guide sleeve 7 and the buffer spring 14 and is fixed on the downward pressure heat shield 13. The upper end of the guide rod 8 is provided with a limit ring for limiting the axial position of the guide rod 8 and the guide rod limit guide sleeve 7 . During normal operation, the flattening cylinder receives the control signal command, drives the flattening connecting rod 6 to rotate around the center of rotation, cooperates with the movement mechanism of the guide rod 8 and the guide sleeve 7, and realizes the controllable reciprocating movement of the lower pressing plate 11 up and down, thereby moving the belt The flash connecting rod 1...
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The invention discloses an adaptive grasping end effector with a flash connecting rod in a forging environment, which includes a robot mounting substrate, a flattening mechanism, and a clamping mechanism; the flattening mechanism assembly includes a flattening drive mechanism, a mounting seat, and a connecting hinge Axis, connecting hinge base, flattening connecting rod, rotating central axis base, pressing down motion hinge base, pressing down heat shield, lower pressing plate; mounting seat, rotating central shaft base fixed on the robot installation substrate The flattening drive mechanism is fixed on the mounting seat; the push rod of the flattening drive mechanism is connected to the base of the connecting hinge shaft; The base of the moving hinge shaft is rotatably connected; the base of the moving hinge shaft for pressing down is fixed to the pressing heat insulation plate, and the pressing heat insulating plate is fixed to the lower pressing plate; a guiding mechanism is provided between the robot installation base plate and the pressing heat insulating plate; The clamping mechanism is used for the centering of the connecting rod, that is, the lifting of the bottom flash. The invention realizes reliable positioning and grasping of forgings.
Description
technical field [0001] The invention belongs to the technical field of automatic forging of automobile connecting rods, in particular to an adaptive grabbing end effector with flashing connecting rods in forging environment. Background technique [0002] With the development of automation technology, due to factors such as poor working environment, high risk and high labor intensity in the forging industry, the traditional manual forging production line is gradually being replaced by the robot automatic production line. getting bigger. However, during the forging process of the automotive connecting rod, the robot may not be able to grab the connecting rod with flash because the workpiece may be tilted when it is pushed out of the pre-forging die or the final forging die. This is a huge obstacle, which seriously restricts the level of automation and intelligence in the automotive connecting rod forging industry. In addition, the existing clamping method of forged workpiece...
Claims
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IPC IPC(8): B25J15/00B25J15/08B21J13/10
CPCB25J15/00B25J15/08B21J13/10
Inventor 陈伟浩贾志雄张彬卞绍顺刘勇王强周鹏中陆宗学王占光徐丹
Owner JARI AUTOMATION CO LTD CHINA