CN203765621U - Feeding and discharging mechanical hand of heating furnace - Google Patents
Feeding and discharging mechanical hand of heating furnace Download PDFInfo
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- CN203765621U CN203765621U CN201420179489.9U CN201420179489U CN203765621U CN 203765621 U CN203765621 U CN 203765621U CN 201420179489 U CN201420179489 U CN 201420179489U CN 203765621 U CN203765621 U CN 203765621U
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Abstract
The utility model discloses a feeding and discharging mechanical hand of a heating furnace. A feeding system of the mechanical hand is a telescopic arm with a two-stage telescopic arm structure, a second-stage telescopic arm is driven by a belt, the operating principle of the second-stage telescopic arm is similar to the pulley principle, and a first-stage telescopic arm drives the second-stage telescopic arm to move at a higher speed; an RV speed reducer serves as a rotary shaft and drives the telescopic arm to rotate, the whole telescopic arm is driven through an X-axis linear positioning system and a Z-axis linear positioning system to move in the X-axis direction and the Y-axis direction, and thus multi-degree-of-freedom movement is achieved; in addition, due to the fact that a heat preservation cover is installed outside a mechanical arm of the discharging mechanical hand of the heating furnace, the contact area between a workpiece and external cold air is smaller, and the temperature reduction amplitude of the workpiece is small, and the working efficiency is higher.
Description
Technical field
The utility model relates to field of machining, is specifically related to a kind of heating furnace loading and unloading manipulator.
Background technology
Hot press-formed technology is that plate is heated to more than 900 to degree high temperature, then transfers to rapidly on the mould with refrigerating function and form quenching, obtains a kind of technique of superhigh intensity drip molding.But, on drop stamping automatic production line, in order to prevent that the sheet material after heating from contacting rear too fast cooling with air, requirement can be shifted rapidly high temperature sheet, again because the distance between stove and accessory and punch press on production line is as much as possible little, to save the shipping time, be therefore applied to mechanical arm structure simultaneously, some action and the function of the manipulator apish hand of energy and arm, be used for capturing, carry object or operation tool by fixed routine.Manipulator is the industrial robot occurring the earliest, also be the modern machines people who occurs the earliest, it can replace people's heavy work to realize mechanization and the automation of producing, can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy; Require the mechanical arm that uses in robot will be within the scope of certain size, as far as possible little in the situation that must meeting stroke.
Although existing heating furnace loading and unloading manipulator can reach the function of loading and unloading, people are saved out from severe working environment, but existing heating furnace manipulator adopts air cylinder driven locate mode mostly, linked transmission, the single-stages such as belt drive are carried pattern, common shortcoming of ubiquity: translational speed is slow, inefficiency, be unfavorable for that the part that heats rear taking-up keeps certain temperature, especially winter, air themperature is very low, and part temperature declines fast, affects the whole work efficiency of heating furnace production line.
Due to the existence of the problems referred to above, the inventor conducts in-depth research existing manipulator technology, so that it is fast to design and manufacture the speed of service, operating efficiency is high, safety and stability, and can reduce heated components and be trapped in the manipulator of airborne time.
Utility model content
In order to overcome the problems referred to above, the inventor has carried out research with keen determination, found that, by designing a kind of telescopic arm with secondary telescopic arm structure, wherein second level telescopic arm is by belt transmission, carry out work with the principle that is similar to pulley, one-level telescopic arm drives secondary telescopic arm to move at faster speed, by RV reductor as rotating shaft, the rotation of drive telescopic arm, and drive whole telescopic arm to move along X-direction and Z-direction by X-axis straight line navigation system and Z axis straight line navigation system, realize multifreedom motion; And at the outside stay-warm case of installing of the mechanical arm of heating furnace blanking mechanical hand, workpiece and extraneous cold air are completely cut off, thereby complete the utility model.
Main purpose of the present utility model is to provide following aspect:
(1) a heating furnace loading and unloading manipulator, is characterized in that, this manipulator comprises,
Built-in beam 1, two termination built-in beam 1 in termination is arranged at the both sides of manipulator symmetrically, and termination built-in beam 1 comprises,
12, two columns of column are all vertically placed,
Crossbeam 11, it is horizontally placed on column top, and crossbeam is fixedly connected with column,
Cant beam 13, extends to ground from column 12 sides, supporting traverse together with column;
X-axis straight line navigation system 2, comprises X-axis girder steel 21 and driver plate, on the horizontal crossbeam that is fixed on two termination built-in beams of X-axis girder steel 21 11;
Z axis straight line navigation system 3, comprise Z axis girder steel 31, Z axis girder steel 31 vertically arranges, and be connected with X-axis straight line navigation system 2, Z axis girder steel 31 bottoms are connected with reductor installing plate 5, and reductor installing plate 5 is tabular, and intermediate position is provided with through hole, wherein, X-axis straight line navigation system 2 drives Z axis straight line navigation system 3 to move along X-direction by the mode of rack-and-pinion transmission; Z axis straight line navigation system 3 drives the reductor installing plate 5 on Z axis girder steel 31 to move along Z-direction by the mode of rack-and-pinion transmission;
Rotary system 4, comprises
Motor 41, it is arranged at the bottom of Z axis girder steel 31 inside, and motor is arranged on reductor installing plate 5,
RV reductor 42, its top is fixedly connected with reductor installing plate 5, and is connected with motor 41, the axle center of RV reductor 42 power shafts and the axis coinciding of output shaft, and with the axle center conllinear of motor 41 main shafts, and
Telescopic arm connecting plate 43, it is tabular, and top is fixed on RV reductor, and telescopic arm connecting plate 43 bottoms fixedly connect feed system 6,
Wherein, motor 41 drives telescopic arm connecting plate 43 to rotate around electric machine main shaft by RV reductor 42;
With
Feed system 6, comprises
Telescopic arm driving mechanism 61, it comprises, telescopic arm drive motors 611 and reductor 612, wherein, reductor 612 is fixed on telescopic arm connecting plate 43; Telescopic arm drive motors 611 drives by reductor 612 the telescopic arm driven wheel 613 being fixed on reductor 612; In telescopic arm connecting plate 43 bottoms, one-level slide block 614 is set,
First order telescopic arm 62, telescopic arm is set on it and drives tooth bar 621, telescopic arm drives tooth bar 621 to be meshed with telescopic arm driven wheel 613, in first order telescopic arm 62 inside, two end anchorage 622 are set, two end anchorage 622 stretching belt gears 623, described belt gear 623 in the form of a ring, belt gear comprises one section of belt 624, dock in the form of a ring at the two ends of described belt 624, the two ends of described belt 624 are all connected on telescopic arm connecting plate 43, the middle part of belt and second level telescopic arm 63 are connected, at first order telescopic arm 62 tops, two one-levels are set and slide guide rail 625, one-level slides guide rail 625 and matches with one-level slide block 614, be respectively arranged with secondary in first order telescopic arm 62 down either side and slide guide rail 626, with
Second level telescopic arm 63, it comprises secondary slide block 631, secondary slide block 631 slides guide rail 626 with secondary and matches, and is fixedly connected with holder hand 632 on the telescopic arm of the second level.
(2) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, on two sides of reductor installing plate 5, be respectively arranged with contiguous block 51, contiguous block 51 belows are provided with crashproof buffing pad 52, crashproof buffing pad 52 sides are provided with crashproof buffer head 53, described crashproof buffer head 53 is made up of soft material, is bullet-shaped; On two sides of telescopic arm connecting plate 43, be respectively arranged with collision block 431; The position relationship of collision block 431 and crashproof buffer head 53 is determined according to the anglec of rotation of telescopic arm connecting plate 43.
(3) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, the anglec of rotation of telescopic arm connecting plate 43 is 90 °.
(4) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, crashproof buffer head 53 and collision block 431 are that position height in Z-direction is identical at vertical direction.
(5) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, the left and right sides at first order telescopic arm 62 tops of feed system 6 is equipped with crashproof buffer head 53.
(6) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, holder hand 632 is forked, is fixed on second level telescopic arm front end, drives holder hands movement by second level telescopic arm.
(7) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, Z axis straight line navigation system 3 has two, each Z axis straight line navigation system drives a feed system 6, two feed systems are arranged side by side, feed system by being positioned at the left side by piece-holder to heating furnace, the described feed system that is positioned at the left side is heating furnace feeding manipulator, by be arranged in the right feed system take out workpiece from heating furnace, described in be positioned at the right feed system be heating furnace blanking mechanical hand.
(8) according to the heating furnace loading and unloading manipulator above-mentioned (7) Suo Shu, it is characterized in that, heating furnace blanking mechanical hand outer setting has stay-warm case 7, and stay-warm case 7 is fixed on telescopic arm connecting plate 43, does not move with telescopic arm.
(9) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, the axle center of RV reductor 42 is rotating shafts of rotary system 4.
(10) according to the heating furnace loading and unloading manipulator above-mentioned (1) Suo Shu, it is characterized in that, Z axis girder steel 31 tops of Z axis straight line navigation system are provided with counterweight cylinder 311.
The beneficial effects of the utility model are,
(1) in the utility model, using RV reductor as rotating shaft, is the kind of drive of cycloidal-pin wheel, and the axle center conllinear of the axle center of power shaft and output shaft, makes compact overall structure, and its speed reducing ratio can be accomplished very large, and volume is little, saves space;
(2) the utility model uses RV reductor, its good mechanical property, and overload capacity is strong, and shock-resistant and moment of inertia is little makes it be applicable to starting frequently and rotating occasion;
(3) motor of the present utility model is arranged on firm beam inside, makes overall structure simple, has both saved space, attractive in appearance again;
(4) telescopic arm that the utility model provides, simple in structure, operating second level telescopic arm slides along identical direction with the speed that doubles first order telescopic arm, makes the telescopic arm speed of service fast, efficiency is high, reduces high temperature sheet and is trapped in the airborne time;
(5) telescopic arm that the utility model provides, due to slide block with slide guide rail and be used in conjunction with, by rack-and-pinion transmission, has ensured the rectilinear motion of the first order and second level telescopic arm, makes this telescopic arm positioning precision high, stable and reliable for performance;
(6) the telescopic arm outer wrap that the utility model provides has stay-warm case, and the workpiece that makes to take out from heating furnace contacts less with extraneous cold air, has avoided workpiece heat to run off, and temperature reduces.
(7) the Z axis girder steel top that the utility model provides is provided with counterweight cylinder, and the gravity of Z axis self is cushioned by the reciprocating motion of counterweight cylinder;
(8) loading and unloading manipulator that the utility model provides is provided with crashproof buffer head and collision block, by being used in conjunction with of crashproof buffer head and collision block, makes overall structure safer, and the degree of wear reduces.
Brief description of the drawings:
Fig. 1 illustrates according to the main TV structure schematic diagram of the heating furnace loading and unloading manipulator of a kind of preferred embodiment of the utility model;
Fig. 2 illustrates the heating furnace loading and unloading manipulator plan structure schematic diagram according to a kind of preferred embodiment of the utility model;
Fig. 3 illustrates the heating furnace loading and unloading manipulator Z axis straight line positioning system structure schematic diagram according to a kind of preferred embodiment of the utility model;
Fig. 4 illustrates the heating furnace loading and unloading manipulator rotary system structural front view according to a kind of preferred embodiment of the utility model;
Fig. 5 illustrates the heating furnace loading and unloading manipulator rotary system structure left view according to a kind of preferred embodiment of the utility model;
Fig. 6 illustrates the heating furnace loading and unloading manipulator rotary system structure right view according to a kind of preferred embodiment of the utility model;
Fig. 7 illustrates heating furnace loading and unloading manipulator Z axis straight line navigation system, rotational structure and the feed system position relationship schematic diagram according to a kind of preferred embodiment of the utility model;
Fig. 8 illustrates the heating furnace loading and unloading manipulator feed system front view according to a kind of preferred embodiment of the utility model;
Fig. 9 illustrates the heating furnace loading and unloading manipulator feed system top view according to a kind of preferred embodiment of the utility model;
Figure 10 illustrates the heating furnace loading and unloading manipulator feed system cutaway view according to a kind of preferred embodiment of the utility model;
Figure 11 illustrates according to the heating furnace loading and unloading manipulator second level telescopic arm of a kind of preferred embodiment of the utility model and holder hand position and is related to schematic diagram.
Drawing reference numeral explanation:
1-termination built-in beam
11-crossbeam
12-column
13-cant beam
2-X axle straight line navigation system
21-X axle girder steel
3-Z axle straight line navigation system
31-Z axle girder steel
311-counterweight cylinder
4-rotary system
41-motor
42-RV reductor
43-telescopic arm connecting plate
431-collision block
5-reductor installing plate
51-contiguous block
The crashproof buffing pad of 52-
The crashproof buffer head of 53-
6-feed system
61-telescopic arm driving mechanism
611-telescopic arm drive motors
612-reductor
613-telescopic arm driven wheel
614-one-level slide block
62-first order telescopic arm
621-telescopic arm drives tooth bar
622-end anchorage
623-belt gear
624-belt
625-one-level slides guide rail
626-secondary slides guide rail
63-second level telescopic arm
631-secondary slide block
632-holds in the palm hand
7-stay-warm case
8-workpiece
Detailed description of the invention
Below by the utility model is elaborated, feature of the present utility model and advantage will become more clear, clear and definite along with these explanations.
Here special word " exemplary " means " as example, embodiment or illustrative ".Here needn't be interpreted as being better than or being better than other embodiment as " exemplary " illustrated any embodiment.Although the various aspects of embodiment shown in the drawings, unless otherwise indicated, needn't draw accompanying drawing in proportion.
One preferred embodiment in, as shown in Figure 1, Figure 2 shown in, heating furnace loading and unloading manipulator comprises, termination built-in beam 1, X-axis straight line navigation system 2, Z axis straight line navigation system 3, rotary system 4 and feed system 6.
One preferred embodiment in, as shown in Figure 1, Figure 2 shown in, termination built-in beam 1, have two, it is arranged at the both sides of heating furnace loading and unloading manipulator symmetrically, and termination built-in beam comprises, crossbeam 11, column 12 and cant beam 13, wherein, two columns are all vertically placed, and column top is fixedly connected with by crossbeam, and cant beam 13 extends to ground from column 12 sides, cant beam bottom all rest on the ground with column bottom, in same horizontal plane; Supporting traverse and whole heating furnace loading and unloading manipulator together with column.
One preferred embodiment in, as shown in Figure 1, Figure 2 shown in, X-axis straight line navigation system 2, comprises X-axis girder steel 21, on the horizontal crossbeam that is fixed on two termination built-in beams of X-axis girder steel 21 11; X-axis girder steel is provided with tooth bar and the slide rail of level, drives the Z axis straight line navigation system on it to move along slide rail by tooth bar transferring power.
One preferred embodiment in, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 7, Z axis straight line navigation system 3 comprises Z axis girder steel 31, Z axis girder steel 31 vertically arranges, and be connected with X-axis straight line navigation system 2, Z axis girder steel 31 bottoms are connected with reductor installing plate 5, and reductor installing plate 5 is tabular, intermediate position is provided with through hole, and Z axis girder steel is vertically provided with vertical tooth bar and slide rail; Wherein, X-axis straight line navigation system 2 drives Z axis straight line navigation system 3 to move along X-direction by the rack-and-pinion kind of drive; Z axis straight line navigation system 3 drives the reductor installing plate 5 on Z axis girder steel 31 to move along Z-direction by rack-and-pinion transmission; Motion is all to be coordinated and slided by slide rail and slide block, makes sliding distance accurate, stable performance.
One preferred embodiment in, as shown in Fig. 4, Fig. 5, Fig. 6, rotary system 4, comprising:
Motor 41, motor is arranged at the bottom of Z axis girder steel 31 inside; Motor is arranged on reductor installing plate 5; In the utility model, click preferred servomotor;
RV reductor 42, its top is fixedly connected with reductor installing plate 5, and is connected with motor, the axle center of RV reductor 42 power shafts and the axis coinciding of output shaft, and with the axle center conllinear of motor 41 main shafts; With
Telescopic arm connecting plate 43, it is tabular, and top is fixed on RV reductor, on telescopic arm connecting plate 43, offers bolt hole, is fixedly connected with feed system 6 by bolt hole, and feed system is positioned at the bottom of telescopic arm connecting plate;
Wherein, motor 41 drives telescopic arm connecting plate 43 to rotate around electric machine main shaft by RV reductor 42;
Rotary system compact conformation, can suddenly stop and reciprocating rotary, and described reciprocating rotary is to a direction rotation after predetermined angular, stops and counter-rotating, and rotates to after predetermined angular, stops, and to reverse rotation, repeats said process, is reciprocating rotary.
One preferred embodiment in, as shown in Fig. 7, Fig. 8, Fig. 9, Figure 10, feed system 6, comprises
Telescopic arm driving mechanism 61, it comprises, telescopic arm drive motors 611 and reductor 612, wherein, reductor is fixed on telescopic arm connecting plate 43; Telescopic arm drive motors drives the telescopic arm driven wheel 613 being fixed on reductor by reductor; Be symmetrical arranged one-level slide block 614 in telescopic arm connecting plate bottom;
First order telescopic arm 62, telescopic arm is set on it and drives tooth bar 621, telescopic arm drives tooth bar 621 to be meshed with telescopic arm driven wheel 613, in first order telescopic arm inside, two end anchorage 622 are set, two end anchorage outer setting annular belt transmission mechanisms 623, described belt gear 623 in the form of a ring, belt gear comprises one section of belt 624, dock in the form of a ring at the two ends of described belt 624, the two ends of described belt 624 are all connected on telescopic arm connecting plate 43, and the middle part of belt and second level telescopic arm 63 are connected; In first order telescopic arm top bilateral symmetry, two one-levels are set and slide guide rail 625, one-level slides guide rail 625 and matches with one-level slide block; Be respectively arranged with secondary in first order telescopic arm down either side and slide guide rail 626; With
Second level telescopic arm 63, it comprises secondary slide block 631, secondary slide block 631 slides guide rail 626 with secondary and matches, and is fixedly connected with holder hand 632 on the telescopic arm of the second level.
One preferred embodiment in, two end anchorage stretching annular belt transmission mechanisms 623.
One preferred embodiment in, as shown in Figure 11, holder hand 632 for being forked, be fixed on second level telescopic arm front end, can fix by a connecting plate, also can directly weld, holder hand, along with the motion of second level telescopic arm, because holder hand is very thin, is easy to extend into the below of workpiece 8, workpiece is lifted, carry out picking up and placing of workpiece, because holder hand is very thin, be generally used for picking up and placing of sheet part simultaneously, make to hold in the palm hand to be out of shape in order to avoid workpiece is overweight, cause danger.
One preferred embodiment in, as shown in Fig. 4, Fig. 5, Fig. 6, on two sides of reductor installing plate 5, be respectively arranged with contiguous block 51, contiguous block below is provided with crashproof buffing pad 52, crashproof buffing pad side is provided with crashproof buffer head 53, described crashproof buffer head is made up of soft material, is bullet-shaped; On two sides of telescopic arm connecting plate 43, be respectively arranged with collision block 431; The position relationship of collision block and crashproof buffer head 53 is determined according to the anglec of rotation of telescopic arm connecting plate 43, in the utility model, according to using needs, preferably 90 ° of the anglecs of rotation of telescopic arm connecting plate.
In further preferred embodiment, as shown in Fig. 4, Fig. 5, Fig. 6, the anglec of rotation can be 0-360 ° arbitrarily angled, the anglec of rotation is by programme controlled, while normally work, collision block and crashproof buffer head are inoperative; The effect of collision block and crashproof buffer head is to lose efficacy or system plays position-limiting action to rotating shaft while going wrong when program, prevents that rotating shaft end from continuing rotary collision other objects, support equipment and personal safety.
One preferred embodiment in, two collision blocks are symmetrical arranged, and all near a side of telescopic arm connecting plate; Crashproof buffer head and collision block are that position height in Z-direction is identical at vertical direction.
One preferred embodiment in, the left and right sides at first order telescopic arm 62 tops of feed system 6 is equipped with crashproof buffer head 53, prevents that the frame structure of first order telescopic arm and manipulator outside from colliding, ensure security of system, avoid simultaneously wearing and tearing.
One preferred embodiment in, as shown in Figure 7, Z axis straight line navigation system has two, each Z axis straight line navigation system drives a feed system, two feed systems are arranged side by side, the feed system by being positioned at the left side by workpiece holder to heating furnace, described in be positioned at the left side feed system be heating furnace feeding manipulator, by be arranged in the right feed system take out workpiece from heating furnace, described in be positioned at the right feed system be heating furnace blanking mechanical hand; Heating furnace blanking mechanical hand outer setting has stay-warm case 7, stay-warm case is hardware, stay-warm case is fixed on telescopic arm connecting plate, do not move with telescopic arm, when workpiece is by asking hand when taking out in heating furnace, telescopic arm shrinks, holder hand-motion workpiece enters in stay-warm case, minimizing workpiece contacts with air, slows down the decline of workpiece temperature, drives feed system to rotate to after suitable angle by rotary system, telescopic arm stretches, holder hand-motion workpiece stretches out in stay-warm case, enters next working link, completes the blanking work of heating furnace.
In further preferred embodiment, stay-warm case is the tubular structure of four sides sealing both ends opening, and entire body is made up of rustless steel material, and stay-warm case inner space is less, just meets telescopic arm and workpiece turnover.
One preferred embodiment in, RV reductor 42 reduces the output speed of motor 41 and drives the rotating shaft rotation of telescopic arm connecting plate 43 around RV reductor 42, the axle center of RV reductor 42 is rotating shafts of rotary system 4.
One preferred embodiment in, the Z axis girder steel top of Z axis straight line navigation system is provided with counterweight cylinder 311, plays the cushioning effect to Z axis self gravitation by the reciprocating motion of counterweight cylinder.
The free degree of heating furnace loading and unloading manipulator described in the utility model has four frees degree, is respectively the X-direction free degree that X-axis straight line navigation system drives; The Z-direction free degree that Z axis straight line navigation system drives; The Y direction free degree that feed system control telescopic arm feeding or contraction drive; The rotary freedom in the XY plane of RV reductor rotation of rotary system control.
X-axis straight line navigation system drives Z axis straight line navigation system to move along X-direction, Z axis straight line navigation system drives the reductor installing plate on Z axis girder steel to move along Z-direction, its operation principle is identical with the operation principle of feed system, especially identical with the operation principle of first order telescopic arm, the structural similarity of its structure and first order telescopic arm, there is no belt gear and second level telescopic arm structure on first order telescopic arm, on the basis of structure that fully understands feed system, be easy to obtain and set up X-axis straight line navigation system and Z axis straight line navigation system.
X-axis, Y-axis and Z axis in the utility model refers to a virtual direction, and as shown in Figures 1 and 2, and X-axis, Y-axis and three directions of Z axis are orthogonal for the concrete situation of its direction.
In conjunction with detailed description of the invention and exemplary example, the utility model is had been described in detail above, but these explanations can not be interpreted as restriction of the present utility model.It will be appreciated by those skilled in the art that in the situation that not departing from the utility model spirit and scope, can carry out multiple replacement of equal value, modify or improve technical solutions of the utility model and embodiment thereof, these all fall in scope of the present utility model.Protection domain of the present utility model is as the criterion with claims.
Claims (10)
1. a heating furnace loading and unloading manipulator, is characterized in that, this manipulator comprises:
Termination built-in beam (1), two termination built-in beams (1) are arranged at the both sides of manipulator symmetrically, and termination built-in beam (1) comprises,
Column (12), two columns are all vertically placed,
Crossbeam (11), it is horizontally placed on column top, and crossbeam is fixedly connected with column,
With
Cant beam (13), extends to ground, supporting traverse together with column from column (12) side;
X-axis straight line navigation system (2), comprises X-axis girder steel (21) and driver plate, on the horizontal crossbeam that is fixed on two termination built-in beams of X-axis girder steel (21) (11);
Z axis straight line navigation system (3), comprise Z axis girder steel (31), Z axis girder steel (31) vertically arranges, and be connected with X-axis straight line navigation system (2), Z axis girder steel (31) bottom is connected with reductor installing plate (5), reductor installing plate (5) is tabular, intermediate position is provided with through hole, wherein, X-axis straight line navigation system (2) drives Z axis straight line navigation system (3) to move along X-direction by the mode of rack-and-pinion transmission, Z axis straight line navigation system (3) drives the reductor installing plate (5) on Z axis girder steel (31) to move along Z-direction by the mode of rack-and-pinion transmission,
Rotary system (4), comprises,
Motor (41), it is arranged at the inner bottom of Z axis girder steel (31), and it is upper that motor is arranged on reductor installing plate (5),
RV reductor (42), its top is fixedly connected with reductor installing plate (5), and is connected with motor (41), the axle center of RV reductor (42) power shaft and the axis coinciding of output shaft, and with the axle center conllinear of motor (41) main shaft, and
Telescopic arm connecting plate (43), it is tabular, and top is fixed on RV reductor, and telescopic arm connecting plate (43) bottom is fixedly connected with feed system (6),
Wherein, motor (41) drives telescopic arm connecting plate (43) to rotate around electric machine main shaft by RV reductor (42);
With
Feed system (6), comprises,
Telescopic arm driving mechanism (61), it comprises telescopic arm drive motors (611) and reductor (612), wherein, reductor (612) is fixed on telescopic arm connecting plate (43), telescopic arm drive motors (611) drives the telescopic arm driven wheel (613) being fixed on reductor (612) by reductor (612), in telescopic arm connecting plate (43) bottom, one-level slide block (614) is set
First order telescopic arm (62), telescopic arm is set on it and drives tooth bar (621), telescopic arm drives tooth bar (621) to be meshed with telescopic arm driven wheel (613), in first order telescopic arm (62) inside, two end anchorage (622) are set, at two end anchorage (622) outer setting annular belt transmission mechanisms (623), described belt gear (623) in the form of a ring, belt gear comprises one section of belt (624), dock in the form of a ring at the two ends of described belt (624), the two ends of described belt (624) are all connected on telescopic arm connecting plate (43), the middle part of belt and second level telescopic arm (63) are connected, at first order telescopic arm (62) top, two one-levels are set and slide guide rail (625), one-level slides guide rail (625) and matches with one-level slide block (614), be respectively arranged with secondary in first order telescopic arm (62) down either side and slide guide rail (626),
With
Second level telescopic arm (63), it comprises secondary slide block (631), secondary slide block (631) slides guide rail (626) with secondary and matches, and is fixedly connected with holder hand (632) on the telescopic arm of the second level.
2. heating furnace loading and unloading manipulator according to claim 1, it is characterized in that, on two sides of reductor installing plate (5), be respectively arranged with contiguous block (51), contiguous block (51) below is provided with crashproof buffing pad (52), crashproof buffing pad (52) side is provided with crashproof buffer head (53), described crashproof buffer head (53) is made up of soft material, is bullet-shaped, on two sides of telescopic arm connecting plate (43), is respectively arranged with collision block (431).
3. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, the anglec of rotation of telescopic arm connecting plate (43) is 90 °.
4. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, crashproof buffer head (53) is identical with the position height of collision block (431) in the vertical direction.
5. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, is equipped with crashproof buffer head (53) in the left and right sides at first order telescopic arm (62) top of feed system (6).
6. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, holder hand (632) is forked, is fixed on second level telescopic arm front end, drives holder hands movement by second level telescopic arm.
7. heating furnace loading and unloading manipulator according to claim 1, it is characterized in that, Z axis straight line navigation system (3) has two, each Z axis straight line navigation system drives a feed system (6), two feed systems are arranged side by side, feed system by being positioned at the left side by piece-holder to heating furnace, the described feed system that is positioned at the left side is heating furnace feeding manipulator, by be arranged in the right feed system take out workpiece from heating furnace, described in be positioned at the right feed system be heating furnace blanking mechanical hand.
8. heating furnace loading and unloading manipulator according to claim 7, is characterized in that, heating furnace blanking mechanical hand outer setting has stay-warm case (7), and it is upper that stay-warm case (7) is fixed on telescopic arm connecting plate (43), do not move with telescopic arm.
9. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, the axle center of RV reductor (42) is the axle center of rotary system (4).
10. heating furnace loading and unloading manipulator according to claim 1, is characterized in that, is provided with counterweight cylinder (311) on Z axis girder steel (31) top of Z axis straight line navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420179489.9U CN203765621U (en) | 2014-04-14 | 2014-04-14 | Feeding and discharging mechanical hand of heating furnace |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420179489.9U CN203765621U (en) | 2014-04-14 | 2014-04-14 | Feeding and discharging mechanical hand of heating furnace |
Publications (1)
| Publication Number | Publication Date |
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| CN203765621U true CN203765621U (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420179489.9U Expired - Fee Related CN203765621U (en) | 2014-04-14 | 2014-04-14 | Feeding and discharging mechanical hand of heating furnace |
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| CN (1) | CN203765621U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476546A (en) * | 2014-11-28 | 2015-04-01 | 东莞市青麦田数码科技有限公司 | Loading/ unloading manipulator for carrying goods |
| CN104476155A (en) * | 2014-11-18 | 2015-04-01 | 十堰市华迪汽车零部件有限公司 | Automatic loading and unloading manipulator of drum type brake assembling line |
| CN104785655A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Feeding and discharging mechanical arm and device for stamping process |
| CN106180453A (en) * | 2015-04-29 | 2016-12-07 | 长城汽车股份有限公司 | Material transfer robots and sheet forming production line |
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
| CN107098170A (en) * | 2017-05-23 | 2017-08-29 | 广东昂锐机械制造有限公司 | Stacking speed mechanical arm |
| CN110549354A (en) * | 2018-05-31 | 2019-12-10 | 北新集团建材股份有限公司 | Lower-copying type mechanical grabbing clamp |
| CN114260887A (en) * | 2022-01-21 | 2022-04-01 | 太原福莱瑞达物流设备科技有限公司 | Four-shaft fork picking manipulator |
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2014
- 2014-04-14 CN CN201420179489.9U patent/CN203765621U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476155A (en) * | 2014-11-18 | 2015-04-01 | 十堰市华迪汽车零部件有限公司 | Automatic loading and unloading manipulator of drum type brake assembling line |
| CN104476546A (en) * | 2014-11-28 | 2015-04-01 | 东莞市青麦田数码科技有限公司 | Loading/ unloading manipulator for carrying goods |
| CN104785655A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Feeding and discharging mechanical arm and device for stamping process |
| CN106180453A (en) * | 2015-04-29 | 2016-12-07 | 长城汽车股份有限公司 | Material transfer robots and sheet forming production line |
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
| CN107098170A (en) * | 2017-05-23 | 2017-08-29 | 广东昂锐机械制造有限公司 | Stacking speed mechanical arm |
| CN110549354A (en) * | 2018-05-31 | 2019-12-10 | 北新集团建材股份有限公司 | Lower-copying type mechanical grabbing clamp |
| CN114260887A (en) * | 2022-01-21 | 2022-04-01 | 太原福莱瑞达物流设备科技有限公司 | Four-shaft fork picking manipulator |
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