阅读说明：本技术 间接热成型加热炉垂直起降式进出料机械手 (Vertical lifting type feeding and discharging manipulator of indirect thermal forming heating furnace ) 是由 李哲 杨树彬 邢宝峰 于 2020-05-15 设计创作，主要内容包括：间接热成型加热炉垂直起降式进出料机械手属于热冲压生产线自动上下料直角坐标机器人技术领域,具体涉及间接热成型加热炉垂直起降式进出料机械手。本发明提供一种能适应双厢式加热炉的间接热成型加热炉垂直起降式进出料机械手。本发明包括框架基础,其特征在于：框架基础上设置有升降机构,升降机构上设置有回转机构,回转机构上设置有伸缩臂,伸缩臂上设置有高温货叉；所述高温货叉包括底座,底座两端设置有货叉臂；底座前部,位于两货叉臂之间设置有中间货叉,中间货叉上方设置有防护板,防护板的两端分别与两货叉臂的中部相连；底座下方设置有与伸缩臂相连的导向滑块组件。(Indirect thermoforming heating furnace VTOL formula business turn over material manipulator belongs to the automatic unloading cartesian robot technical field of going up of hot stamping line, concretely relates to indirect thermoforming heating furnace VTOL formula business turn over material manipulator. The invention provides a vertical lifting type feeding and discharging manipulator of an indirect thermal forming heating furnace, which can adapt to a double-chamber heating furnace. The invention comprises a frame foundation, which is characterized in that: a lifting mechanism is arranged on the frame foundation, a swing mechanism is arranged on the lifting mechanism, a telescopic arm is arranged on the swing mechanism, and a high-temperature fork is arranged on the telescopic arm; the high-temperature pallet fork comprises a base, and pallet fork arms are arranged at two ends of the base; a middle fork is arranged between the two fork arms at the front part of the base, a protection plate is arranged above the middle fork, and two ends of the protection plate are respectively connected with the middle parts of the two fork arms; a guide slide block component connected with the telescopic arm is arranged below the base.)

1. Indirect thermoforming heating furnace plays formula business turn over material manipulator perpendicularly, including frame basis (17), its characterized in that: a lifting mechanism (18) is arranged on the frame foundation (17), a rotary mechanism (24) is arranged on the lifting mechanism (18), a telescopic arm (19) is arranged on the rotary mechanism (24), and a high-temperature pallet fork (2) is arranged on the telescopic arm (19); the high-temperature pallet fork (2) comprises a base (3), and pallet fork arms (7) are arranged at two ends of the base (3); a middle fork (8) is arranged between the two fork arms (7) at the front part of the base (3), a protection plate (5) is arranged above the middle fork (8), and two ends of the protection plate (5) are respectively connected with the middle parts of the two fork arms (7); a guide slide block component (1) connected with a telescopic arm (19) is arranged below the base (3).

2. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 1, characterized in that: the cargo fork arm (7) comprises a supporting section bar (12) with a rectangular cross section, and an air cooling pipe (13) is arranged above the supporting section bar (12).

3. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 2, characterized in that: a connecting beam (4) is arranged above the air cooling pipe (13), an installation beam (6) is arranged at the bottom of the protection plate (5), and the installation beam (6) is in lap joint with the connecting beam (4); the length of tie-beam (4) is less than support section bar (12), and the terminal surface of tie-beam (4) forms back locating surface (15), support section bar (12) and blast pipe (13) front end are provided with preceding locating surface (14).

4. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 2, characterized in that: and an air outlet group is arranged at the end part of the air cooling pipe (13).

5. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 1, characterized in that: a middle mounting plate (10) is arranged on the middle fork (8), and a middle positioning block (9) is arranged on the upper surface of the middle mounting plate (10); heat insulation bottom plates (11) are arranged on two sides of the middle fork (8), and the end parts of the heat insulation bottom plates (11) are connected with the bottom of the mounting beam (6); the protection plate (5) is made of mirror surface stainless steel materials; the rear side of the protection plate (5), the bottom of the middle mounting plate (10) and the bottom of the heat insulation bottom plate (11) are all provided with heat insulation cotton.

6. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 1, characterized in that: the frame foundation (17) comprises four upright posts (26) which are arranged in a rectangular shape, the lifting mechanism (18) comprises a lifting frame (23), lifting servo motors (21) are arranged at two ends of the lifting frame (23), transmission shafts (33) on two sides of each lifting servo motor (21) are connected with a lifting gear, and racks matched with the lifting gears are arranged on the four upright posts (26) of the frame foundation (17).

7. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 6, characterized in that: be provided with slider sliding rail set spare (22) between frame basis (17) and crane (23), four stand (26) tops of frame basis (17) all are provided with fixed pulley (27), connect balancing weight (25) and crane (23) respectively through the wire rope both ends of fixed pulley (27).

8. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 7, characterized in that: be provided with sideslip guide rail (20) on crane (23), rotation mechanism (24) are provided with rotation seat (31) including sideslip seat (34) on sideslip seat (34), are provided with swing motor (30) of rotation seat (31) and the sideslip motor of sideslip seat (34) on sideslip seat (34), and the sideslip motor passes through the rack and pinion subassembly and links to each other with sideslip guide rail (20).

9. The vertical lifting type feeding and discharging manipulator of the indirect thermoforming heating furnace of claim 8, characterized in that: the telescopic motor (29) of the telescopic arm (19) is arranged on the rotary seat (31), the telescopic arm (19) is a double-speed telescopic arm, and a guide slide rail matched with the guide slide block assembly (1) is arranged on the double-speed telescopic arm.

Technical Field

The invention belongs to the technical field of automatic feeding and discharging rectangular coordinate robots of a hot stamping production line, and particularly relates to a vertical lifting type feeding and discharging manipulator of an indirect thermal forming heating furnace.

Background

Before, the indirect hot stamping production line is to place the work piece on the tray, roll into the roller hearth furnace from double-deck roller hearth furnace bottom one end, through the heating of roller hearth furnace, the tray area work piece rolls out from the roller hearth furnace, then the manipulator snatchs the work piece after heating and puts into punching machine punching press, and no material tray promotes, gets into double-deck roller hearth furnace upper strata and circulates and go back. In the working mode, because the roller hearth furnace has two layers, one layer is heated, the other layer is used for recovering the tray, huge energy loss exists, and because the roller hearth furnace is dozens of meters long and dozens of meters high, the investment is huge.

Under the working conditions of heavy weight (about 200 kg) of some workpieces and high working environment temperature (950 ℃), the feeding and discharging fork is often required to have higher strength and high temperature resistance. Due to the upgrade of the heating furnace, a double-layer roller hearth furnace is improved into a vertical high-rise van-type heating furnace; the two box-type heating furnaces can be arranged oppositely, and at present, a feeding and discharging manipulator which can adapt to a brand new double-box-type heating furnace is needed in the market.

Disclosure of Invention

The invention aims at the problems and provides a vertical lifting type feeding and discharging manipulator of an indirect thermal forming heating furnace, which can adapt to a double-chamber heating furnace.

In order to achieve the above purpose of the present invention, the present invention adopts the following technical scheme, and the present invention comprises a frame foundation, and is characterized in that: a lifting mechanism is arranged on the frame foundation, a swing mechanism is arranged on the lifting mechanism, a telescopic arm is arranged on the swing mechanism, and a high-temperature fork is arranged on the telescopic arm; the high-temperature pallet fork comprises a base, and pallet fork arms are arranged at two ends of the base; a middle fork is arranged between the two fork arms at the front part of the base, a protection plate is arranged above the middle fork, and two ends of the protection plate are respectively connected with the middle parts of the two fork arms; a guide slide block component connected with the telescopic arm is arranged below the base.

As a preferable scheme of the invention, the fork arm comprises a supporting section bar with a rectangular section, and an air cooling pipe is arranged above the supporting section bar.

Further, a connecting beam is arranged above the air cooling pipe, an installation beam is arranged at the bottom of the protection plate, and the installation beam and the connecting beam are mutually lapped; the length of tie-beam is less than the support section bar, and the terminal surface of tie-beam forms the back locating surface, the front end of support section bar and forced air cooling pipe is provided with preceding locating surface.

Further, the end part of the air cooling pipe is provided with an air outlet group.

Furthermore, a middle mounting plate is arranged on the middle fork, and a middle positioning block is arranged on the upper surface of the middle mounting plate.

Furthermore, heat insulation bottom plates are arranged on two sides of the middle fork, and the end parts of the heat insulation bottom plates are connected with the bottom of the mounting beam.

Further, the protection plate is made of mirror surface stainless steel material; the guard plate rear side, the bottom of middle part mounting panel to and the bottom of thermal-insulated bottom plate all are provided with thermal-insulated cotton.

As another preferred scheme of the invention, the frame foundation comprises four upright posts which are arranged in a rectangular shape, the lifting mechanism comprises a lifting frame, two ends of the lifting frame are respectively provided with a lifting servo motor, transmission shafts on two sides of each lifting servo motor are respectively connected with a lifting gear, and the four upright posts of the frame foundation are respectively provided with a rack which is matched with the lifting gear.

Further, a sliding block sliding rail assembly is arranged between the frame foundation and the lifting frame, fixed pulleys are arranged at the top ends of the four stand columns of the frame foundation, and the two ends of a steel wire rope passing through the fixed pulleys are respectively connected with the balancing weight and the lifting frame.

Furthermore, be provided with the sideslip guide rail on the crane, rotation mechanism includes the sideslip seat, is provided with the revolving bed on the sideslip seat, is provided with the swing motor of revolving bed and the sideslip motor of sideslip seat on the sideslip seat, and the sideslip motor passes through the rack and pinion subassembly and links to each other with the sideslip guide rail.

Furthermore, a telescopic motor of the telescopic arm is arranged on the rotary seat, the telescopic arm is a double-speed telescopic arm, and a guide sliding rail matched with the guide sliding block assembly is arranged on the double-speed telescopic arm.

The invention has the beneficial effects that: 1. the high-temperature pallet fork is driven to rotate by the swing mechanism, so that the high-temperature pallet fork is fed to the loading station, fed into the box-type heating furnace, taken out of the box-type heating furnace and fed to the unloading station; the invention has the advantages that the process takt is greatly improved, and the equipment is matched with the two-compartment type heating furnace to work, so that the space occupied by the whole production equipment is greatly saved compared with the existing indirect hot stamping production line.

2. The high-temperature fork protection plate can effectively prevent hot air in the furnace from diffusing outwards; the protective plate is made of a reflective and heat-resistant mirror surface stainless steel material, so that the protective plate has a good reflection effect on heat radiation and further prevents heat in the furnace from diffusing outwards; thereby well protecting the driving equipment (comprising electrical elements, wires, belts and other heat-labile workpieces) in the mounting seat of the driving device. Meanwhile, the high-temperature pallet fork is provided with the middle mounting plate and the heat insulation bottom plate, and the heat insulation pads are arranged on the rear side of the protection plate, the bottom of the middle mounting plate and the bottom of the heat insulation bottom plate, so that heat can be gathered on the upper part of the front end of the pallet fork to carry out heat insulation protection on the driving equipment, and long-term stable operation of the driving equipment is guaranteed.

3. The fork arm is provided with the supporting section bar with the rectangular section, and the supporting section bar is matched with the air cooling pipe, so that when the fork arm is used, cooling air can be simultaneously blown into the supporting section bar and the air cooling pipe, and a three-point air cooling structure is formed; and can make cold wind permeate whole fork inside, guarantee that the temperature of whole fork is unanimous. The whole or local deformation that the fork produced because of receiving high fever or being heated inequality effectively avoids working strength to reduce and the poor condition of rigidity takes place (because the upgrading in the art, leads to high temperature fork life low, and the air cooling time of high temperature fork only the furnace gate opens the 12 seconds of punching machine compound die in-process, consequently, current ejection of compact fork can reduce life by a wide margin when handling such operating condition).

4. The mirror surface stainless steel baffle plate protects components, and simultaneously ensures the local heat preservation function of a grabbed workpiece through the mirror surface stainless steel reflecting heat source.

5. The front positioning surface and the rear positioning surface are arranged, so that the stability and no play can be ensured when the mechanical arm carries the workpiece tray for transportation and rotation.

6. The invention arranges a transverse moving mechanism composed of components such as a transverse moving seat between the lifting mechanism and the rotary mechanism, when the invention works, the center of the rotary shaft of the rotary mechanism can be deviated to the vicinity of a heating furnace at one side, thus the equipment can increase the telescopic stroke and simultaneously reduce the influence of the tilting of the torsion force of the rotary mechanism caused by the end load as much as possible. The whole equipment is more stable and reliable, and the limit of the tail end load is improved to the maximum extent. The end load for the design of the present invention is 200 kg.

7. The invention uses the double-speed telescopic arm, can greatly improve the production efficiency, and is matched with the positioning structure of the high-temperature fork, so that the workpieces and the pallet are stably transported at high speed.

Drawings

Fig. 1 is a schematic structural diagram of a use state of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a side view of fig. 2.

Fig. 4 is a schematic structural view of the present invention with the frame base removed.

Fig. 5 is a top view of fig. 4.

Fig. 6 is a side view of fig. 4.

FIG. 7 is a schematic diagram of a high temperature fork.

FIG. 8 is a front view of a high temperature fork.

FIG. 9 is a top view of a high temperature fork.

FIG. 10 is a side view of a high temperature fork.

Fig. 11 is a partially enlarged view of fig. 7.

In the figure, 1 is a guide slide block component, 2 is a high-temperature fork, 3 is a base, 4 is a connecting beam, 5 is a protective plate, 6 is an installation beam, 7 is a fork arm, 8 is a middle fork, 9 is a middle positioning block, 10 is a middle installation plate, 11 is a heat insulation bottom plate, 12 is a support section bar, 13 is an air cooling pipe, 14 is a front positioning surface, 15 is a rear positioning surface, 16 is a box-type heating furnace, 17 is a frame foundation, 18 is a lifting mechanism, 19 is a telescopic arm, 20 is a transverse moving guide rail, 21 is a lifting servo motor, 22 is a slide block slide rail component, 23 is a lifting frame, 24 is a rotary mechanism, 25 is a counterweight block, 26 is an upright column, 27 is a fixed pulley, 28 is a tray, 29 is a telescopic motor, 30 is a rotary motor, 31 is a rotary seat, 32 is a transverse one-point impact, 33 is a transmission shaft and 34 is a transverse.

Detailed Description

The invention comprises a frame foundation 17, which is characterized in that: a lifting mechanism 18 is arranged on the frame foundation 17, a swing mechanism 24 is arranged on the lifting mechanism 18, a telescopic arm 19 is arranged on the swing mechanism 24, and a high-temperature fork 2 is arranged on the telescopic arm 19; the high-temperature pallet fork 2 comprises a base 3, and pallet fork arms 7 are arranged at two ends of the base 3; a middle fork 8 is arranged between the two fork arms 7 at the front part of the base 3, a protection plate 5 is arranged above the middle fork 8, and two ends of the protection plate 5 are respectively connected with the middle parts of the two fork arms 7; a guide slide block component 1 connected with a telescopic arm 19 is arranged below the base 3.

In a preferred embodiment of the present invention, the cargo fork arm 7 includes a support section 12 having a rectangular cross section, and an air-cooling pipe 13 is disposed above the support section 12.

Further, a connecting beam 4 is arranged above the air cooling pipe 13, an installation beam 6 is arranged at the bottom of the protection plate 5, and the installation beam 6 and the connecting beam 4 are mutually lapped; the length of the connecting beam 4 is smaller than that of the supporting section bar 12, the end face of the connecting beam 4 forms a rear positioning face 15, and the front end of the supporting section bar 12 and the front end of the air cooling pipe 13 are provided with a front positioning face 14.

Further, an air outlet group is arranged at the end part of the air cooling pipe 13.

Furthermore, a middle mounting plate 10 is arranged on the middle fork 8, and a middle positioning block 9 is arranged on the upper surface of the middle mounting plate 10.

Furthermore, heat insulation bottom plates 11 are arranged on two sides of the middle fork 8, and the end parts of the heat insulation bottom plates 11 are connected with the bottom of the mounting beam 6.

Further, the protection plate 5 is made of a mirror surface stainless steel material; the rear side of the protection plate 5, the bottom of the middle mounting plate 10 and the bottom of the heat insulation bottom plate 11 are all provided with heat insulation cotton.

As another preferred scheme of the present invention, the frame foundation 17 includes four upright posts 26 arranged in a rectangular shape, the lifting mechanism 18 includes a lifting frame 23, two ends of the lifting frame 23 are both provided with a lifting servo motor 21, transmission shafts 33 on two sides of the lifting servo motor 21 are both connected with a lifting gear, and four upright posts 26 of the frame foundation 17 are both provided with racks matched with the lifting gear.

Further, a sliding block sliding rail assembly 22 is arranged between the frame foundation 17 and the lifting frame 23, fixed pulleys 27 are arranged at the top ends of four upright posts 26 of the frame foundation 17, and two ends of a steel wire rope passing through the fixed pulleys 27 are respectively connected with the balancing weight 25 and the lifting frame 23.

Furthermore, a transverse moving guide rail 20 is arranged on the lifting frame 23, the rotating mechanism 24 comprises a transverse moving seat 34, a rotating seat 31 is arranged on the transverse moving seat 34, a rotating motor 30 of the rotating seat 31 and a transverse moving motor of the transverse moving seat 34 are arranged on the transverse moving seat 34, and the transverse moving motor is connected with the transverse moving guide rail 20 through a gear rack assembly.

The rotary motor 30 can control the rotation of the rotary seat 31 through an output shaft and a gear assembly.

Furthermore, the telescopic motor 29 of the telescopic arm 19 is arranged on the rotary seat 31, the telescopic arm 19 is a double-speed telescopic arm, and a guide slide rail matched with the guide slide block assembly 1 is arranged on the double-speed telescopic arm.

The double speed telescopic arm can use the following patent numbers: CN201620255371.9, name: the structure of a double-speed telescopic positioning system.

When the invention is used, the lifting servo motor 21 of the lifting mechanism 18 acts to drive the lifting gear to rotate through the transmission shaft 33, and the lifting gear is matched with the rack on the upright post 26 to realize the lifting of the lifting frame 23. The lifting frame 23 moves to the height of a feeding mechanical arm (not shown), the high-temperature fork 2 extends out, and a pallet 28 of a workpiece is placed on the high-temperature fork 2 by the feeding mechanical arm; the high-temperature fork 2 is withdrawn, the rotary motor 30 of the rotary mechanism 24 acts to drive the high-temperature fork 2 to rotate 90 degrees, and the lifting mechanism 18 moves the high-temperature fork 2 to the designated position of the box-type heating furnace 16; the transverse moving motor acts to drive the transverse moving seat 34 to move towards the box-type heating furnace 16; at the same time, the telescopic motor 29 is operated, and the double-speed telescopic arm is operated to quickly feed the workpiece tray 28 into the box-type heating furnace 16; the high-temperature pallet fork 2 is retracted, the slewing mechanism 24 rotates 180 degrees, the lifting mechanism 18 sends the high-temperature pallet fork 2 to the designated position of the van-type heating furnace 16 on the other side, the high-temperature pallet fork 2 extends out, and the heated workpiece tray 28 is taken out; the high-temperature fork 2 is withdrawn, the slewing mechanism 24 rotates by 90 degrees, the lifting mechanism 18 acts, the high-temperature fork 2 is conveyed to a stamping feeding manipulator (not shown) for discharging, and after discharging is completed, the high-temperature fork returns to the initial state.

In the using process of the invention, cooling air can be blown into the air cooling pipe 13 and the fork arm 7 simultaneously; the cooling air in the air-cooled pipe 13 cools the air-cooled pipe 13, and then is blown out from the air hole group to cool the whole heated part of the invention.

Because the front end of the fork arm 7 is closed, and the fork arm 7 is only provided with one opening at the rear end, cooling air enters the fork arm 7 and returns and is discharged from the opening of the fork arm 7 after cooling the fork arm 7, so that the temperature of the fork arm 7 is greatly reduced, the strength of the fork arm 7 is ensured, and the fork arm 7 is prevented from being deformed due to the strength reduction after being heated; a cooling air blowing pipe (not shown) can be used, the blowing pipe is directly inserted into the fork arm 7, cooling air is blown out from the innermost part of the fork arm 7 and then is discharged from the opening of the fork arm 7, and the cooling effect can be further improved.

It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.