CN206417604U - Robot charge apparatus and system - Google Patents
Robot charge apparatus and system Download PDFInfo
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- CN206417604U CN206417604U CN201720033247.2U CN201720033247U CN206417604U CN 206417604 U CN206417604 U CN 206417604U CN 201720033247 U CN201720033247 U CN 201720033247U CN 206417604 U CN206417604 U CN 206417604U
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Abstract
The utility model provides a kind of robot charge apparatus and system, is related to technical field of automation equipment.The robot charge device includes device support body, load bearing board, lowering or hoisting gear, pusher and robot.It is provided with robot for coordinating conveyer belt and capturing the crawl section of the workpiece on the conveyer belt.Compared with prior art, the robot charge apparatus structure is simple and practical, the robot and conveyer belt of setting are engaged, the robot is piled up the workpiece grabbing on conveyer belt on load bearing board by the crawl section, and load bearing board is raised or lowered to by predeterminated position by lowering or hoisting gear, then the load bearing board for carrying workpiece is pushed in sintering furnace by pusher.The automation loading and unloading that the robot charge device realizes workpiece grabbing, piles up and push, improve crawl efficiency, and the crawl section can be captured to the workpiece of different model, improve the precision of crawl.
Description
Technical field
The utility model is related to technical field of automation equipment, in particular to a kind of robot charge device and
System.
Background technology
On industrial products production line, it usually needs target workpiece is captured, so that workpiece enters next process.
At present, most this kind of production line is manual work, is realized by operator and captures and pile up.For example, by steel die cast
Powder metallurgy blank workpiece be put into sintered in sintering furnace feeding operation.Concrete operations are substantially：Operator needs will transmission
Take various sizes of blank at random to pile up on load bearing board, the load bearing board for having piled up blank is then pushed into sintering
In stove.Also there is the upper material process to blank workpiece by robot realization in the prior art, but this kind of robot can only be in straight line
Guide rail cathetus moves operation, leakage easily occurs and grabs workpiece, and crawl efficiency is low.
Therefore, how a kind of handling equipment that can be captured and pile up automatically is provided, can either be improved to above and below workpiece
The efficiency of material, disclosure satisfy that a table apparatus serves multiple service objects, it has also become those skilled in the art's urgent need to resolve again
Technology.
Utility model content
In order to overcome above-mentioned deficiency of the prior art, the utility model provides a kind of simple in construction, crawl efficiency high
Robot charge apparatus and system, to solve the problems such as crawl efficiency is low, leakiness is grabbed in the prior art.
For robot charge device, the utility model preferred embodiment provides a kind of robot charge device,
For the workpiece for coordinating conveyer belt to capture and transporting on the conveyer belt, the robot charge device includes：
Device support body；
It is arranged on the load bearing board of the conveyer belt side；
Being arranged on is used for the lowering or hoisting gear for adjusting the load bearing board height on described device support body；
At least one, which is arranged on the conveyer belt side, is used on the workpiece grabbing on the conveyer belt to load bearing board
Robot；
Being arranged on described device support body is used to the load bearing board and its workpiece of carrying pushing to sintering furnace
Pusher；
The crawl section for capturing the workpiece is provided with the robot.
In preferred embodiment of the present utility model, above-mentioned robot charge device also includes being arranged on described device frame
It is used for the pedestal for placing the robot on body, is formed between the pedestal and described device support body and is available for the load bearing board to lead to
The push channel crossed；The robot includes the first horn and the second horn, and one end and the pedestal of first horn turn
Dynamic connection, the other end is rotated with second horn and is connected, and the other end of second horn is provided with the crawl section, described
The rotation junction of first horn and the pedestal is provided with the first motor, and first motor passes through the first transmission mechanism
It is connected with second horn, to drive second horn to be rotated relative to first horn.
In preferred embodiment of the present utility model, above-mentioned first transmission mechanism is belt pulley.
In preferred embodiment of the present utility model, above-mentioned lowering or hoisting gear includes being used for driving the of load bearing board lifting
Two motor, the accommodating structure for placing the load bearing board, and for second motor and the appearance of being connected
Put the second transmission mechanism of structure.
In preferred embodiment of the present utility model, above-mentioned pusher includes：Drive cylinder, with the drive cylinder phase
The piston and delivery device of cooperation, one end of the delivery device are connected with the piston drive, and the other end is housed with described
The load bearing board in structure coordinates, and the load bearing board is pushed in the sintering furnace.
In preferred embodiment of the present utility model, above-mentioned crawl section is electromagnetic adsorption mechanism.
In preferred embodiment of the present utility model, multiple rollers for movement are provided with said apparatus support body.
In preferred embodiment of the present utility model, the robot charge device also includes：
Reached for detecting the workpiece after predeterminated position, the sensor of generation crawl signal；
For the timer for the duration data for recording the robot grabbing workpiece；
It is connected with the robot, lowering or hoisting gear and pusher, controls the robot to grab according to the crawl signal
Take or discharge the workpiece, control lowering or hoisting gear is raised or lowered to predeterminated position when the duration data are equal to preset duration
Afterwards, the pusher is controlled to push controller of the load bearing board for carrying the workpiece into the sintering furnace.
In preferred embodiment of the present utility model, above-mentioned artificial two of machine, two robots are arranged on described
The same side of conveyer belt, the workpiece is transmitted on the conveyer belt in two-column parallel, and one of them described robot crawl is leaned on
The workpiece of the nearly robot side, another the described described workpiece of robot crawl away from the robot side.
For robot charge system, preferred embodiment of the present utility model also provides a kind of robot charge system
System, the robot charge system includes sintering furnace and above-mentioned robot charge device, and the fire door of the sintering furnace goes out
Be provided with the device mounting table being engaged with the robot charge device, the robot charge device by screw or
Bolt is fixedly installed on described device mounting table.
The utility model provides a kind of robot charge apparatus and system, and the robot charge device includes device
Support body, load bearing board, lowering or hoisting gear, pusher and robot.It is provided with robot for coordinating conveyer belt and capturing
The crawl section of workpiece on the conveyer belt.Compared with prior art, the robot charge apparatus structure is simple and practical, sets
Robot and conveyer belt be engaged.Workpiece grabbing on conveyer belt is piled up and is holding burning by the robot by the crawl section
On plate, and load bearing board is raised or lowered to by predeterminated position by lowering or hoisting gear, workpiece then will be carried by pusher
Load bearing board push in sintering furnace, the automation loading and unloading for realize workpiece grabbing, piling up and pushing, improve crawl effect
Rate, the precision of crawl is improved by the crawl section.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, the utility model cited below particularly compared with
Good embodiment, and coordinate appended accompanying drawing, it is described in detail below.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will use below required in embodiment
Accompanying drawing be briefly described.It should be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
The front view structure view for the robot charge device that Fig. 1 provides for the utility model first embodiment.
The plan structure view for the robot charge device that Fig. 2 provides for the utility model first embodiment.
The front view structure shape of robot in the robot charge device that Fig. 3 provides for the utility model first embodiment
State schematic diagram.
Another state of the front view structure for the robot charge device that Fig. 4 provides for the utility model first embodiment is shown
It is intended to.
The plan structure view for the robot charge device that Fig. 5 provides for the utility model second embodiment.
Icon：100- robot charge devices；110- device support bodys；120- load bearing boards；130- lowering or hoisting gears；131-
Two motor；132- accommodating structures；The transmission mechanisms of 133- second；140- robots；141- crawl sections；142- pedestals；143-
One horn；The horns of 144- second；The motor of 145- first；The transmission mechanisms of 146- first；150- pushers；151- driving gas
Cylinder；152- pistons；153- delivery devices；160- workpiece；170- conveyer belts；180- sintering furnaces；181- fire doors.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe.Obviously, described embodiment is only a part of embodiment of the present utility model, rather than all
Embodiment.The component for the utility model embodiment being generally described and illustrated herein in the accompanying drawings can be matched somebody with somebody with a variety of
Put to arrange and design.
Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based on reality of the present utility model
Example is applied, the every other embodiment that those skilled in the art are obtained on the premise of creative work is not made is belonged to
The scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
, it is necessary to explanation in description of the present utility model, term " in ", " on ", " under ", " level ", " interior ", " outer "
Orientation or position relationship Deng instruction are that, based on orientation shown in the drawings or position relationship, or the utility model product is used
When the orientation usually put or position relationship, be for only for ease of description the utility model and simplify and describe, rather than indicate or
Specific orientation must be had, with specific azimuth configuration and operation by implying the device or element of meaning, therefore it is not intended that
To limitation of the present utility model.In addition, term " first ", " second " etc. be only used for distinguish description, and it is not intended that indicate or
Imply relative importance.
In addition, the term such as term " level ", " vertical " is not offered as requiring part abswolute level or pendency, but can be slightly
Low dip.It is not that the expression structure must be complete as " level " only refers to its direction with respect to more level for " vertical "
Full level, but can be slightly tilted.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " is set in description of the present utility model
Put ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection.Can be mechanical connection or electric connection.Can be joined directly together, the indirect phase of intermediary can also be passed through
Even, can be the connection of two element internals.For the ordinary skill in the art, it can understand above-mentioned with concrete condition
Concrete meaning of the term in the utility model.
First embodiment：
Fig. 1 is refer to, is the front view structure shape for the robot charge device 100 that the utility model first embodiment is provided
State schematic diagram.The present embodiment provides a kind of robot charge device 100, for coordinating conveyer belt 170 to capture and transporting the biography
Send the workpiece 160 on band 170.Preferably, the workpiece 160 that the robot charge device 100 is captured is that can be inhaled by magnet
Attached metal works, such as, and the blank smelted by steel powder.
Incorporated by reference to referring to Figures 1 and 2, in the present embodiment, the robot charge device 100 can include device frame
Body 110, load bearing board 120, lowering or hoisting gear 130, pusher 150 and robot 140.The lowering or hoisting gear 130 and described push away
Device 150 is sent to be arranged on described device support body 110, the load bearing board 120 is located on the lowering or hoisting gear 130.At least
One robot 140 is arranged on described device support body 110, in the present embodiment, and the number of the robot 140 can be with
For one.Crawl section 141 is provided with the robot 140, the crawl section 141 is used to capture to be transmitted on conveyer belt 170
Workpiece 160, after the workpiece 160 is captured, be additionally operable to pile up the workpiece 160 in the load bearing board 120 in predeterminated position
On.
In the present embodiment, multiple rollers for movement are provided with described device support body 110.Described device support body
110 can be one piece of platy structure for being used to carry the robot 140, lowering or hoisting gear 130 and pusher 150, in the plate
The roller is provided with shape structure, facilitates the movement of the robot charge device 100, so that the robot charge
Device 100 pushes to other sintering furnaces 180, realizes the material process up and down to other sintering furnaces 180, and material process can be managed above and below this
Xie Wei：Workpiece 160 on conveyer belt 170 is placed on load bearing board 120, the load bearing board of the workpiece 160 then will be carried
120 push in sintering furnace 180.
Specifically, other sintering furnaces 180 are previously provided with the device for adapting to each height of fire door 181 at fire door 181
Mounting table, described device mounting table is used to place the robot charge device 100, so that the robot charge device
100 push entrance height and each height of fire door 181 are engaged, and then load bearing board 120 is pushed to each sintering furnace
In 180.Multiple pillars for being used to support the platy structure can be provided with the platy structure, the roller is rollably set
Put in the bottom of each pillar.It can also be fixed on described device support body 110 by screw or bolt with charging floor, with
Ensure that described material process up and down is normally carried out.
The load bearing board 120 is arranged on the side for the conveyer belt 170 being engaged with the robot 140, it is preferable that its position
The side that the conveyer belt 170 prolongs the initiating terminal on direction of transfer can be located at by putting.The load bearing board 120 may be, but not limited to,
Zirconium oxide holds ceramic burning-resisting board and aluminum oxide ceramic bearing burning plate etc., is not specifically limited herein.The lowering or hoisting gear 130 is used for
The load bearing board 120 is risen or fallen, the load bearing board 120 is located at default height and position.The pusher 150 and institute
State lowering or hoisting gear 130 and robot 140 is engaged, to realize automation loading and unloading work that workpiece 160 is captured, piles up and pushed
Sequence.
In the first embodiment, the robot charge device 100 can also include being used to place the robot 140
Pedestal 142, be formed between the pedestal 142 and described device support body 110 be available for the load bearing board 120 to pass through push lead to
Road.Wherein, one piece of load bearing board 120 is at least placed with the lowering or hoisting gear 130, the load bearing board 120 is in the side stacked
Formula is piled up on the lowering or hoisting gear 130.The block number of the load bearing board 120 of placement can be set according to real needs situation.Than
Such as, the block number of the load bearing board 120 can be two pieces or three pieces etc., here, the block number placed to load bearing board 120 is not done specifically
Limit.
Specifically, the pedestal 142 and the load bearing board 120 are respectively positioned on the same side of the conveyer belt 170, the pedestal
142 are located at the end on the direction of transfer of conveyer belt 170.The pedestal 142 can be used to place the machine to be a kind of by one piece
The panel of people 140 and four are used to support the structure that the support column of the panel is constituted, and the pedestal 142 is arranged on described device frame
On body 110.By four support columns, panel and described device support body 110, formation can pass through for the load bearing board 120
Push channel.When the workpiece 160 carried on the load bearing board 120, which is piled up, needs push to walk, such as, pile up workpiece
160 duration reach it is default the need for push duration when, the lowering or hoisting gear 130 will decline the position of the load bearing board 120,
The height of the load bearing board 120 is set to be engaged with the height of the passage, then the push by being engaged with lowering or hoisting gear 130
Device 150, will pile up the load bearing board 120 of the workpiece 160 and pushes to burning via the push channel by pusher 150
In freezing of a furnace 180.
In the present embodiment, the lowering or hoisting gear 130 can be located under the pedestal 142, and match with the pedestal 142
Close, the through hole risen or fallen for the lowering or hoisting gear 130 offered on the pedestal 142 so that load bearing board 120 can rise or
Drop to default position.The lowering or hoisting gear 130 can also be located on described device support body 110 and away from the pedestal 142
One end, as shown in Figure 1.Here, the position set to the lowering or hoisting gear 130 and pusher 150 is not especially limited.
The lowering or hoisting gear 130, pusher 150 and the three of robot 140 are engaged, can realize the crawl to workpiece 160, pile up with
And the position of push function is within protection domain.
In the present embodiment, the robot charge device 100 can also include controller, sensor and timing
Device.The sensor is connected with the controller, for detecting that the workpiece 160 reaches generation crawl signal after predeterminated position.
The timer is connected with the controller, the duration data for recording the grabbing workpiece 160 of robot 140.The control
Device processed is connected with the robot 140, lowering or hoisting gear 130 and pusher 150, with according to the crawl signal controlling machine device people
140 crawls discharge the workpiece 160, control lowering or hoisting gear 130 to be raised or lowered to predeterminated position according to the duration data,
The load bearing board 120 for controlling the push of pusher 150 to carry the workpiece 160 always according to the duration data burns to described
In freezing of a furnace 180.
Specifically, the controller can be the embedded controller of ARC5 series, and the sensor can be a kind of right
The sensor of photaesthesia, such as fibre optical sensor, the timer can be a kind of clock circuits.The controller passes through default
Program language realize control to the robot 140, lowering or hoisting gear 130 and pusher 150, described program language includes
But JAVA program languages, c programming language or sql like language are not limited to, is not specifically limited herein.
When the transmission of conveyer belt 170 has workpiece 160, it can be provided with the side of the conveyer belt 170 described for monitoring
The optical information of workpiece 160 and generate crawl signal fibre optical sensor.Wherein, the optical information is it is to be understood that the workpiece
160 in moving process, and the fibre optical sensor is received when passing through when there is workpiece 160 by detecting area with no workpiece 160
Optical signal be different optical signals, two kinds of signals will be obtained after being handled via fibre optical sensor.One of which is to have workpiece
160 signal by being produced during fibre optical sensor, i.e. crawl signal, it is another to be passed for no workpiece 160 by the optical fiber
During sensor, and the signal produced, it can be understood as not working signal, i.e., when not working signal occurs for described fibre optical sensor, control
Device processed does not work, not grabbing workpiece 160 of robot 140.
After the controller receives crawl signal, by the grabbing workpiece 160 of control machine people 140, and according to default
Described program language, makes the robot 140 pile up the workpiece 160 on the load bearing board 120.Every piece of load bearing board 120 to
It can stack less and pile up one layer of workpiece 160, the number of maximum workpiece 160 that every piece of load bearing board 120 is piled up can phase
Together, every layer of number of maximum workpiece 160 piled up can also be identical.Complete the unit time put of each workpiece 160, i.e.
It can be phase to the duration (unit time) of the workpiece 160 has been piled up that grabbing workpiece 160 is controlled since the robot 140
With.Unit time needed for piling up full one piece of load bearing board 120 is properly termed as pushing duration.When the push of timer record
During Shi Changwei preset durations, the controller will control the lowering or hoisting gear 130 to drop to what is be engaged with the push channel
Highly, then, the controller will control the pusher 150, push carry the load bearing board 120 of the workpiece 160 to
In the sintering furnace 180.The preset duration can be set according to real needs, it is preferable that the preset duration is push
Duration.
Specifically, the quantity for the workpiece 160 that the preset duration can be piled up according to specific every piece of load bearing board 120
And set.Such as, the robot 140 is piled up in the load bearing board 120 from execution grasping movement is started to by the workpiece 160
Unit interval used is one second, and ten workpiece 160 have only been piled up on the load bearing board 120, then default duration can
Think ten seconds or more than ten seconds, preferably when a length of ten seconds.
Fig. 3 is refer to, is the robot in the robot charge device 100 that the utility model first embodiment is provided
140 front view structure view.In the present embodiment, the robot 140 can include the first horn 143, the second machine
The transmission mechanism 146 of arm 144 and first.One end of first horn 143 rotates with the pedestal 142 and is connected, the other end and institute
State the second horn 144 and rotate connection, the other end of second horn 144 is provided with the crawl section 141, first horn
143 and the rotation junction of the pedestal 142 be provided with the first motor 145, first motor 145 passes through the first transmission
Mechanism 146 is connected with second horn 144, to drive second horn 144 relative to 143 turns of first horn
It is dynamic.Preferably, first motor is servomotor.The crawl section 141 can be electromagnetic adsorption mechanism, to adsorb different shaped
Number the workpiece 160, it is necessary to which explanation, its workpiece 160 is can be by the blank of magnet adsorption.
Specifically, first motor 145 can use servomotor, and be controlled by the controller.When the control
When device processed receives the crawl signal, the controller is watched according to the crawl signal and the control of described program language
Motor rotation is taken, the servomotor can be connected by the first transmission mechanism 146 with second horn 144, so that
Second horn 144 can be rotated relative to the first horn 143；Crawl section 141 is located at the top of conveyer belt 170, then pass through
The workpiece 160 is adsorbed in controller control electromagnetic adsorption mechanism, completes grasping movement and piles up the workpiece 160 of crawl default
Load bearing board 120 on.First transmission mechanism 146 can be belt pulley.The robot 140 can be a kind of plane articulation
Humanoid robot, also known as SCARA (Selective Compliance Assembly Robot Arm, SCARA) humanoid robot.
Refer to Fig. 4, in the present embodiment, the lowering or hoisting gear 130 include the second motor 131, accommodating structure 132 with
And second transmission mechanism 133.Second motor 131 is used to drive the load bearing board 120 to rise or fall, and by the control
Device control processed.The accommodating structure 132 can be a kind of platy structure, such as, steel plate or plank etc., the accommodating structure 132
For placing the load bearing board 120.Second transmission mechanism 133 can be a kind of threaded shaft, the accommodating structure 132
The threaded portion (such as, screwed hole) being engaged with the thread spindle is provided with side.One end of the threaded shaft and motor
Rotating shaft connection, the other end is connected with by the threaded portion with the accommodating structure 132.Can be by controlling the second motor
131 rotatings, realize the lifting of the load bearing board 120.For example, second motor 131 is rotated forward, second motor
131 drive the thread spindle to rotate, and rise or fall the accommodating structure 132 by the threaded portion, and then make to be placed on
Load bearing board 120 on the accommodating structure 132, which is realized, to be risen or fallen.
In the present embodiment, the pusher 150 includes：Drive cylinder 151, it is engaged with the drive cylinder 151
Piston 152 and delivery device 153.One end of the delivery device 153 is connected with the piston 152, the other end with
The load bearing board 120 on the accommodating structure 132 coordinates, and the load bearing board 120 is pushed in the sintering furnace 180.
Specifically, when the lowering or hoisting gear 130 drops to the predeterminated position that can push the load bearing board 120, the driving
Cylinder 151 just expands, and before the drive cylinder 151 expansion, the delivery device 153 is in the state pushed in advance, the shape
State can be understood as the delivery device 153 and the load bearing board 120 pushed in advance is located in same level, as shown in Figure 4.So that
Piston 152 and the delivery device 153 are moved to the direction of fire door 181 of sintering furnace 180, meanwhile, the delivery device 153 will
The load bearing board 120 of the superiors is pushed into sintering furnace 180, the load bearing board 120 has namely piled up holding for the workpiece 160
Burn plate 120.After the load bearing board 120 is pushed in sintering furnace 180, the drive cylinder 151 just shrinks, and makes the piston
152 and delivery device 153 be in original position.
Second embodiment：
It refer to Fig. 5, the plan structure state for the robot charge device 100 that the utility model second embodiment is provided
Schematic diagram.The shape and structure that has of robot charge device 100 and the technique effect of realization that second embodiment is provided and the
It is similar that one embodiment is provided, and difference is, the number of the robot 140 set in second embodiment is two, makes to grab
The efficiency of workpiece 160 is taken further to improve.
Specifically, the transmission belt can be divided into close to the interior road of the side of load bearing board 120 and be held away from described
Burn the outer course of the side of plate 120, it can be understood as, the conveyer belt 170 is made up of the interior road and outer course.Close to the lifting dress
The robot 140 for putting 130 sides captures the workpiece 160 on interior road, and piles up on the first layer of the load bearing board 120.
The lowering or hoisting gear 130 and pusher 150 are engaged, and the load bearing board 120 that first layer is piled up into certain quantity of workpiece 160 is pushed away
The predetermined position delivered to, the predeterminated position piles up workpiece 160 the second of the load bearing board 120 for another robot 140
On layer.Wherein, another robot 140 captures the workpiece 160 on the outer course.
The utility model also provides a kind of robot charge system, and the robot charge system includes above-mentioned implementation
Robot charge device 100 and sintering furnace 180 in example, the fire door 181 of the sintering furnace 180 go out to be provided with and the machine
The device mounting table that device people handling equipment 100 is engaged, the robot charge device 100 is fixed by screw or bolt
It is arranged on described device mounting table.
The system suitable for crawl powder metallurgy blank workpiece 160, especially can by the metal works of magnet adsorption,
Such as, the blank smelted by steel powder.The system can realize the crawl of the workpiece 160, pile up and push certainly
Dynamicization loading and unloading, improve the efficiency for capturing the workpiece 160.
In summary, the utility model provides a kind of robot charge apparatus and system.The robot charge dress
Put including device support body, load bearing board, lowering or hoisting gear, pusher and robot.It is provided with and is passed for coordinating in robot
Send band and capture the crawl section of the workpiece on the conveyer belt.Compared with prior art, the robot charge apparatus structure letter
Single practical, the robot and conveyer belt of setting are engaged, and the workpiece on conveyer belt is grabbed by the crawl section by the robot
Code fetch is placed on load bearing board, and load bearing board is raised or lowered into predeterminated position by lowering or hoisting gear, then passes through pusher
The load bearing board for carrying workpiece is pushed in sintering furnace.The robot charge device realize workpiece grabbing, pile up with
And the automation loading and unloading pushed, crawl efficiency is improved, the crawl section can capture to the workpiece of different model, carry
The high precision of crawl.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of robot charge device, it is characterised in that for coordinating conveyer belt to capture and transporting on the conveyer belt
Workpiece, the robot charge device includes：
Device support body；
It is arranged on the load bearing board of the conveyer belt side；
Being arranged on is used for the lowering or hoisting gear for adjusting the load bearing board height on described device support body；
At least one, which is arranged on the conveyer belt side, is used for the machine on the workpiece grabbing on the conveyer belt to load bearing board
People；
Being arranged on is used for the push that the workpiece of the load bearing board and its carrying is pushed to sintering furnace on described device support body
Device；
The crawl section for capturing the workpiece is provided with the robot.
2. robot charge device according to claim 1, it is characterised in that the robot charge device is also wrapped
Include to be arranged on and be used for the pedestal for placing the robot on described device support body, formed between the pedestal and described device support body
There is the push channel for being available for the load bearing board to pass through；The robot includes the first horn and the second horn, first horn
One end and the pedestal rotate and be connected, the other end is connected with second horn rotation, and the other end of second horn is set
The crawl section is equipped with, the rotation junction of first horn and the pedestal is provided with the first motor, first electricity
Motivation is connected by the first transmission mechanism and second horn, to drive second horn relative to first machine
Arm is rotated.
3. robot charge device according to claim 2, it is characterised in that first transmission mechanism is belt
Wheel.
4. robot charge device according to claim 1, it is characterised in that the lowering or hoisting gear includes being used to drive
The second motor, the accommodating structure for placing the load bearing board of the load bearing board lifting, and it is described for being connected
Second transmission mechanism of the second motor and the accommodating structure.
5. robot charge device according to claim 4, it is characterised in that the pusher includes：Driving gas
Cylinder, the piston and delivery device being engaged with the drive cylinder, one end of the delivery device connect with the piston drive
Connect, the other end coordinates with the load bearing board on the accommodating structure, and the load bearing board is pushed in the sintering furnace.
6. robot charge device according to claim 1, it is characterised in that the crawl section is electromagnetic adsorption machine
Structure.
7. robot charge device according to claim 1, it is characterised in that be provided with described device support body multiple
Be used for mobile roller.
8. robot charge device according to claim 1, it is characterised in that also include：
Reached for detecting the workpiece after predeterminated position, the sensor of generation crawl signal；
For the timer for the duration data for recording the robot grabbing workpiece；
Be connected with the robot, lowering or hoisting gear and pusher, according to the crawl signal control robot crawl or
The workpiece is discharged, control lowering or hoisting gear is raised or lowered to after predeterminated position when the duration data are equal to preset duration,
The pusher is controlled to push controller of the load bearing board for carrying the workpiece into the sintering furnace.
9. robot charge device according to claim 1, it is characterised in that artificial two of the machine, two institutes
The same side that robot is arranged on the conveyer belt is stated, the workpiece is transmitted on the conveyer belt in two-column parallel, wherein one
The individual robot crawl is close to the workpiece of the robot side, and another described robot crawl is away from the machine
The workpiece of people side.
10. a kind of robot charge system, it is characterised in that including in any one in sintering furnace and claim 1-9
Described robot charge device, the fire door of the sintering furnace, which goes out, is provided with what is be engaged with the robot charge device
Device mounting table, the robot charge device is fixedly installed on described device mounting table by screw or bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720033247.2U CN206417604U (en) | 2017-01-11 | 2017-01-11 | Robot charge apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720033247.2U CN206417604U (en) | 2017-01-11 | 2017-01-11 | Robot charge apparatus and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206417604U true CN206417604U (en) | 2017-08-18 |
Family
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542328A (en) * | 2017-01-11 | 2017-03-29 | 威海新北洋正棋机器人股份有限公司 | Robot charge device and control method |
| CN109605217A (en) * | 2019-01-31 | 2019-04-12 | 广东拓斯达科技股份有限公司 | A kind of charging and discharging mechanism and grinding apparatus |
| CN110817407A (en) * | 2019-11-08 | 2020-02-21 | 济南大学 | Automatic feeding and discharging vehicle used in metal sintering process |
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2017
- 2017-01-11 CN CN201720033247.2U patent/CN206417604U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542328A (en) * | 2017-01-11 | 2017-03-29 | 威海新北洋正棋机器人股份有限公司 | Robot charge device and control method |
| CN109605217A (en) * | 2019-01-31 | 2019-04-12 | 广东拓斯达科技股份有限公司 | A kind of charging and discharging mechanism and grinding apparatus |
| CN109605217B (en) * | 2019-01-31 | 2024-05-28 | 广东拓斯达科技股份有限公司 | Go up unloading mechanism and equipment of polishing |
| CN110817407A (en) * | 2019-11-08 | 2020-02-21 | 济南大学 | Automatic feeding and discharging vehicle used in metal sintering process |
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