JP6625391B2 - 加熱炉へのワーク搬出入装置 - Google Patents
加熱炉へのワーク搬出入装置 Download PDFInfo
- Publication number
- JP6625391B2 JP6625391B2 JP2015203652A JP2015203652A JP6625391B2 JP 6625391 B2 JP6625391 B2 JP 6625391B2 JP 2015203652 A JP2015203652 A JP 2015203652A JP 2015203652 A JP2015203652 A JP 2015203652A JP 6625391 B2 JP6625391 B2 JP 6625391B2
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- JP
- Japan
- Prior art keywords
- work
- fork
- heating furnace
- thermal expansion
- mounting surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0006—Details, accessories not peculiar to any of the following furnaces
- C21D9/0018—Details, accessories not peculiar to any of the following furnaces for charging, discharging or manipulation of charge
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0006—Details, accessories not peculiar to any of the following furnaces
- C21D9/0025—Supports; Baskets; Containers; Covers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B5/00—Muffle furnaces; Retort furnaces; Other furnaces in which the charge is held completely isolated
- F27B5/06—Details, accessories, or equipment peculiar to furnaces of these types
- F27B5/12—Arrangement of devices for charging
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B5/00—Muffle furnaces; Retort furnaces; Other furnaces in which the charge is held completely isolated
- F27B5/06—Details, accessories, or equipment peculiar to furnaces of these types
- F27B5/13—Arrangement of devices for discharging
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/0024—Charging; Discharging; Manipulation of charge of metallic workpieces
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/0025—Charging or loading melting furnaces with material in the solid state
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D2003/0034—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D2003/0034—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities
- F27D2003/0046—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities comprising one or more movable arms, e.g. forks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Crystallography & Structural Chemistry (AREA)
- Thermal Sciences (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Physics & Mathematics (AREA)
- Manipulator (AREA)
- Furnace Charging Or Discharging (AREA)
Description
12 コイル材
14 ロボット
14A 搬入用ロボット
14B 搬出用ロボット
16 操作リンク機構
16A 搬入用の操作リンク機構
16B 搬出用の操作リンク機構
18 フォーク
18A 搬入用のフォーク
18B 搬出用のフォーク
20 加熱炉
22 プレス機
24 上型
26 下型
28 連結部材
30 フォーク形成部材
32 ワーク載置面(上面)
34 対面(下面)
36 棚
38 加熱源
40 セラミック断熱塗料(断熱材)
42 上部部材
44 下部部材
50 溶接
Claims (3)
- ワークを加熱する加熱炉と、該加熱炉に前記ワークを搬出入するロボットとを備え、前記ロボットの操作リンク機構の先端部には長尺形状のフォーク形成部材を複数本並行に配列された状態として構成されるフォークを備え、該フォークの上面にワークを載置してワークを加熱炉に搬出入する加熱炉へのワーク搬出入装置であって、
前記フォークを構成するフォーク形成部材は、長手方向に直交する断面が四角形とされており、該四角形におけるワークを載置するワーク載置面と該ワーク載置面の対面との長手方向の熱膨張を等しくする熱膨張均等手段が当該フォーク形成部材の構成自体として備えられており、
前記熱膨張均等手段は、前記フォーク形成部材の前記ワーク載置面の少なくともワークを載置する箇所に断熱材を配設した構成であり、
前記熱膨張均等手段は、前記断面が四角形のフォーク形成部材の、前記ワーク載置面の対面及び両側面を除く、前記ワーク載置面の全面に断熱材を配設した構成である加熱炉へのワーク搬出入装置。 - 請求項1に記載の加熱炉へのワーク搬出入装置であって、
前記ワーク載置面に配設する断熱材はセラミック断熱塗料である加熱炉へのワーク搬出入装置。 - 請求項1又は請求項2に記載の加熱炉へのワーク搬出入装置であって、
前記フォーク形成部材は中空のパイプ形状に形成されている加熱炉へのワーク搬出入装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015203652A JP6625391B2 (ja) | 2015-10-15 | 2015-10-15 | 加熱炉へのワーク搬出入装置 |
EP16855507.6A EP3363605B1 (en) | 2015-10-15 | 2016-10-14 | Apparatus for loading workpieces into/out of heating furnace |
CN201680059804.6A CN108136598B (zh) | 2015-10-15 | 2016-10-14 | 针对加热炉的工件搬出搬入装置 |
PCT/JP2016/080480 WO2017065254A1 (ja) | 2015-10-15 | 2016-10-14 | 加熱炉へのワーク搬出入装置 |
US15/768,641 US11224976B2 (en) | 2015-10-15 | 2016-10-14 | Apparatus for loading/unloading workpieces into/from furnace |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015203652A JP6625391B2 (ja) | 2015-10-15 | 2015-10-15 | 加熱炉へのワーク搬出入装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017074643A JP2017074643A (ja) | 2017-04-20 |
JP6625391B2 true JP6625391B2 (ja) | 2019-12-25 |
Family
ID=58518222
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015203652A Active JP6625391B2 (ja) | 2015-10-15 | 2015-10-15 | 加熱炉へのワーク搬出入装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11224976B2 (ja) |
EP (1) | EP3363605B1 (ja) |
JP (1) | JP6625391B2 (ja) |
CN (1) | CN108136598B (ja) |
WO (1) | WO2017065254A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7048281B2 (ja) * | 2017-12-01 | 2022-04-05 | 株式会社Subaru | ロボットハンド |
WO2019239700A1 (ja) * | 2018-06-15 | 2019-12-19 | 日鉄テックスエンジ株式会社 | ワーク搬送部材、ワーク搬送装置、および、熱処理装置 |
MX2021013548A (es) | 2019-06-04 | 2021-12-10 | Nippon Steel Corp | Unidad de transporte de pieza de trabajo, equipo de prensado en caliente, metodo de transporte de pieza de trabajo y metodo de prensado en caliente. |
CN110587635A (zh) * | 2019-08-02 | 2019-12-20 | 湖南海纳赋能科技有限公司 | 一种用于寄存柜中的智能存储机械手 |
JP7390702B2 (ja) | 2019-10-02 | 2023-12-04 | 株式会社九州日昌 | 加熱装置 |
CN111531579B (zh) * | 2020-05-15 | 2024-01-30 | 沈阳众拓机器人设备有限公司 | 间接热成型加热炉垂直起降式进出料机械手 |
CN111531578B (zh) * | 2020-05-15 | 2023-05-02 | 沈阳众拓机器人设备有限公司 | 间接热成型加热炉悬臂式进出料机械手 |
CN111517253A (zh) * | 2020-05-15 | 2020-08-11 | 沈阳众拓机器人设备有限公司 | 高温货叉 |
Family Cites Families (14)
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US5445486A (en) * | 1992-03-29 | 1995-08-29 | Tokyo Electron Sagami Limited | Substrate transferring apparatus |
JPH06204316A (ja) * | 1992-12-28 | 1994-07-22 | Mitsubishi Electric Corp | 耐熱ロボットハンド |
JP2001079790A (ja) * | 1999-09-09 | 2001-03-27 | Fanuc Ltd | ロボットハンド |
JP5142471B2 (ja) * | 2006-02-08 | 2013-02-13 | 光洋サーモシステム株式会社 | 熱処理炉用ロボットアーム装置 |
JP4571089B2 (ja) * | 2006-03-28 | 2010-10-27 | 株式会社フューチャービジョン | 基板支持部材、基板焼成炉、基板搬送装置および基板処理方法 |
WO2008059815A1 (fr) * | 2006-11-14 | 2008-05-22 | Ulvac, Inc. | Dispositif d'introduction de rotation, dispositif de transfert de substrat, appareil de traitement à vide |
WO2008120294A1 (ja) * | 2007-03-02 | 2008-10-09 | Daihen Corporation | 搬送装置 |
JP4287889B2 (ja) * | 2007-06-07 | 2009-07-01 | 国立大学法人東北大学 | 基板搬送装置 |
JP5449876B2 (ja) * | 2008-08-28 | 2014-03-19 | 東京応化工業株式会社 | 搬送装置 |
US8529136B2 (en) * | 2009-03-30 | 2013-09-10 | Wafertech, Llc | High temperature ball bearing |
JP5527075B2 (ja) * | 2010-02-12 | 2014-06-18 | 東京エレクトロン株式会社 | 搬送機構 |
JP4591624B1 (ja) * | 2010-03-12 | 2010-12-01 | 株式会社安川電機 | 産業用ロボット |
JP5522181B2 (ja) * | 2012-01-26 | 2014-06-18 | 株式会社安川電機 | 搬送ロボット |
JP5637635B2 (ja) | 2012-10-09 | 2014-12-10 | 東亜工業株式会社 | 多段式加熱炉システム |
-
2015
- 2015-10-15 JP JP2015203652A patent/JP6625391B2/ja active Active
-
2016
- 2016-10-14 CN CN201680059804.6A patent/CN108136598B/zh active Active
- 2016-10-14 EP EP16855507.6A patent/EP3363605B1/en active Active
- 2016-10-14 WO PCT/JP2016/080480 patent/WO2017065254A1/ja active Application Filing
- 2016-10-14 US US15/768,641 patent/US11224976B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US11224976B2 (en) | 2022-01-18 |
EP3363605B1 (en) | 2020-12-02 |
JP2017074643A (ja) | 2017-04-20 |
CN108136598A (zh) | 2018-06-08 |
CN108136598B (zh) | 2021-09-03 |
EP3363605A1 (en) | 2018-08-22 |
EP3363605A4 (en) | 2019-03-13 |
US20180304476A1 (en) | 2018-10-25 |
WO2017065254A1 (ja) | 2017-04-20 |
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