Quenching tank workpiece quenching handling robot

Abstract

The invention relates to a quenching tank workpiece quenching and handling robot, comprising a motor; a swing arm, one end of the swing arm is movably arranged on the output shaft of the motor, and the other end of the swing arm is movably arranged with a clamp for clamping the workpiece; a swing mechanism, the swing mechanism drives the swing arm to swing clockwise or counterclockwise; a rotating mechanism, the rotating mechanism transmits the rotational force of the motor output shaft to the clamp; when the swing mechanism drives the swing arm to swing, the rotating mechanism drives the clamp to rotate relative to the swing arm, so that the clamp is in a vertical state; the swing of the swing arm is achieved by the swing mechanism, and the adjustment of the angle of the clamp relative to the swing arm is achieved by the rotating mechanism, so that the clamp is always in a vertical state relative to the ground, and the rotating shaft and the output shaft of the motor are connected by a chain to prevent the shaking of the clamp during the movement of the swing arm.

Description

Technical Field

[0001] The invention relates to a robot for plate alignment, in particular to a robot for quenching and transporting workpieces in a quenching tank. Background Art

[0002] The quenching tank workpiece quenching handling robot is used to transport the workpiece from the pick-up station to the quenching tank. The conventional handling method is to adopt the lifting-translation handling method. The lifting is to take the workpiece, and the translation is to transport the workpiece to the quenching tank. In this way, two-axis movement is required to realize the handling of the workpiece;

[0003] The swinging handling method only requires one axis of movement to carry the workpiece. In this case, the fixture must always be in a vertical state for loading and unloading the workpiece. The conventional method is to use the weight of the fixture to hang the fixture at the end of the swing arm. This method will cause the fixture to shake slightly when the swing arm moves, and the workpiece cannot be accurately positioned and grasped.

[0004] In summary, how to keep the fixture in a vertical state and prevent it from shaking with the movement of the swing arm has become an urgent problem that our researchers need to solve. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to keep the clamp in a vertical state all the time and prevent it from shaking with the movement of the swing arm;

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention discloses a quenching tank workpiece quenching handling robot, comprising a motor; a swing arm, one end of which is movably arranged on the output shaft of the motor, and the other end of which is movably arranged with a clamp for clamping the workpiece; a swing mechanism, which drives the swing arm to swing clockwise or counterclockwise; and a rotating mechanism, which transmits the rotational force of the motor output shaft to the clamp; when the swing mechanism drives the swing arm to swing, the rotating mechanism drives the clamp to rotate relative to the swing arm, so that the clamp is in a vertical state;

[0008] One end of the swing arm is movably arranged on the motor output shaft, and the other end is movably connected to the clamp; when the swing mechanism drives the swing arm to swing with the axis of the motor output shaft as the center, the motor output shaft rotates, and the clamp is rotated relative to the swing arm through the rotating mechanism, so that the clamp is always in a vertical state relative to the ground. The clamp in the vertical state is convenient for clamping workpieces.

[0009] How to realize the movable connection between the swing arm and the motor output shaft? The present invention adopts a sleeve fixedly arranged at the end of the swing arm, and the sleeve is movably sleeved on the motor output shaft. The sleeve limits the swing arm to move axially along the motor output shaft and does not rotate with the motor output shaft.

[0010] That is to say, when the motor rotates, the sleeve does not rotate with the motor output shaft. The function of the sleeve is to provide a fulcrum for the other end of the swing arm and to limit the axial movement of the end of the swing arm along the motor output shaft.

[0011] How to realize the movable connection between the swing arm and the clamp, the present invention adopts a method in which a rotating shaft is movably provided at the other end of the swing arm, and the end of the rotating shaft is fixedly connected with the clamp;

[0012] The rotating shaft passes through the end of the swing arm and is fixedly connected with the clamp, and the rotating shaft can movably rotate with the swing arm.

[0013] In order to illustrate the specific structure of the swing mechanism, the present invention adopts a swing mechanism including a column vertically arranged on the upper end surface of the motor; one end of the cylinder is hinged on the column, and the protruding end of the cylinder is hinged with a connecting block, and the connecting block is fixed on the swing arm; when the cylinder is working, the swing arm swings in a circle with the center of the sleeve as the center;

[0014] The two ends of the cylinder are respectively hinged to the column and the connecting block, and the connecting block is fixed on the swing arm. When the cylinder is extended and retracted, the swing arm is driven to swing. The connecting block is preferably a gantry-type structure to make way for the chain of the rotating mechanism.

[0015] In order to illustrate the specific structure of the rotating mechanism, the present invention adopts a rotating mechanism including a first sprocket fixed on the output shaft of the motor, a second sprocket fixed on the rotating shaft, and a chain connecting the first sprocket and the second sprocket; when the first sprocket rotates following the output shaft of the motor, the chain drives the second sprocket to rotate and transmits the rotational force to the rotating shaft, and the rotating shaft drives the clamp to rotate relative to the swing arm.

[0016] The rotational force of the motor is transmitted to the rotating shaft by the chain. Since the rotation is fixed to the clamp, the clamp is driven to move relative to the swing arm. When the swing arm swings, the rotating mechanism adjusts the angle of the clamp, so that the clamp is always in a vertical state relative to the ground.

[0017] Beneficial effects of the invention: The invention is a quenching tank workpiece quenching and handling robot, which realizes the swing of the swing arm through a swing mechanism, and realizes the adjustment of the angle of the clamp relative to the swing arm through a rotating mechanism, so that the clamp is always in a vertical state relative to the ground, and the rotating shaft and the output shaft of the motor are connected by a chain to prevent the shaking of the clamp during the movement of the swing arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the present invention omitting the swing arm structure;

[0021] In the figure: 1-motor, 2-swing arm, 21-sleeve, 22-rotating shaft, 3-clamp, 4-swing mechanism, 41-column, 42-cylinder, 43-connecting block, 5-rotating mechanism, 51-first sprocket, 52-second sprocket, 53-chain. DETAILED DESCRIPTION

[0022] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0023] like Figure 1-2 As shown, the present invention is a quenching tank workpiece quenching handling robot, comprising a motor 1; a swing arm 2, one end of the swing arm 2 is movably arranged on the output shaft of the motor 1, and the other end of the swing arm 2 is movably arranged with a clamp 3 for clamping the workpiece; a swing mechanism 4, the swing mechanism 4 drives the swing arm 2 to swing clockwise or counterclockwise; a rotating mechanism 5, the rotating mechanism 5 transmits the rotational force of the output shaft of the motor 1 to the clamp 3; when the swing mechanism 4 drives the swing arm 2 to swing, the rotating mechanism 5 drives the clamp 3 to rotate relative to the swing arm 2, so that the clamp 2 is in a vertical state;

[0024] One end of the swing arm is movably arranged on the motor output shaft, and the other end is movably connected to the clamp; when the swing mechanism drives the swing arm to swing with the axis of the motor output shaft as the center, the motor output shaft rotates, and the clamp is rotated relative to the swing arm through the rotating mechanism, so that the clamp is always in a vertical state relative to the ground. The clamp in the vertical state is convenient for clamping workpieces.

[0025] like Figure 2 As shown, how to realize the movable connection between the swing arm and the motor output shaft, the present invention adopts a sleeve 21 fixedly provided at the end of the swing arm 2, the sleeve 21 is movably sleeved on the output shaft of the motor 1, and the sleeve 21 limits the swing arm 2 to move axially along the output shaft of the motor 1, and does not rotate with the output shaft of the motor 1;

[0026] That is to say, when the motor rotates, the sleeve does not rotate with the motor output shaft. The function of the sleeve is to provide a fulcrum for the other end of the swing arm and to limit the axial movement of the end of the swing arm along the motor output shaft.

[0027] like Figure 2 As shown, how to realize the movable connection between the swing arm and the clamp, the present invention adopts that the other end of the swing arm 2 is movably penetrated with a rotating shaft 22, and the end of the rotating shaft 22 is fixedly connected with the clamp 3;

[0028] The rotating shaft passes through the end of the swing arm and is fixedly connected with the clamp, and the rotating shaft can movably rotate with the swing arm.

[0029] like Figure 1-2As shown, in order to illustrate the specific structure of the swing mechanism, the present invention adopts a swing mechanism 4 including a column 41 vertically arranged on the upper end surface of the motor 1; one end of a cylinder 42 is hinged on the column 41, and a connecting block 43 is hinged on the extended end of the cylinder 42, and the connecting block 43 is fixed on the swing arm 2; when the cylinder 42 is working, the swing arm 2 swings with the center of the sleeve 21 as the center of the circle;

[0030] The two ends of the cylinder are respectively hinged to the column and the connecting block, and the connecting block is fixed on the swing arm. When the cylinder is extended and retracted, the swing arm is driven to swing. The connecting block is preferably a gantry-type structure to make way for the chain of the rotating mechanism.

[0031] like Figure 1-2 As shown, in order to illustrate the specific structure of the rotating mechanism, the present invention adopts a rotating mechanism 5 including a first sprocket 51 mounted on the output shaft of the motor 1, a second sprocket 52 mounted on the rotating shaft 22, and a chain 53 connecting the first sprocket 51 and the second sprocket 52; when the first sprocket 51 rotates following the output shaft of the motor 1, the chain 53 drives the second sprocket 52 to rotate and transmits the rotational force to the rotating shaft 22, and the rotating shaft 22 drives the clamp 3 to rotate relative to the swing arm 2.

[0032] The rotational force of the motor is transmitted to the rotating shaft by the chain. Since the rotation is fixed to the clamp, the clamp is driven to move relative to the swing arm. When the swing arm swings, the rotating mechanism adjusts the angle of the clamp, so that the clamp is always in a vertical state relative to the ground.

[0033] The present invention is a quenching tank workpiece quenching and handling robot, which realizes the swing of a swing arm through a swing mechanism, and realizes the adjustment of the angle of a clamp relative to the swing arm through a rotating mechanism, so that the clamp is always in a vertical state relative to the ground, and the rotating shaft and the output shaft of the motor are connected by a chain, which prevents the clamp from shaking during the movement of the swing arm.

[0034] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. Quenching tank workpiece quenching handling robot, characterized by: The invention comprises a motor (1); a swing arm (2), one end of the swing arm (2) being movably arranged on the output shaft of the motor (1), and the other end of the swing arm (2) being movably arranged with a clamp (3) for clamping a workpiece; a swing mechanism (4), the swing mechanism (4) driving the swing arm (2) to swing clockwise or counterclockwise; and a rotation mechanism (5), the rotation mechanism (5) transmitting the rotational force of the output shaft of the motor (1) to the clamp (3); when the swing mechanism (4) drives the swing arm (2) to swing, the rotation mechanism (5) drives the clamp (3) to rotate relative to the swing arm (2), so that the clamp (3) is in a vertical state; The swing mechanism (4) comprises a column (41) vertically arranged on the upper end surface of the motor (1); one end of a cylinder (42) is hingedly connected to the column (41); a connecting block (43) is hingedly connected to the protruding end of the cylinder (42); the connecting block (43) is fixed on the swing arm (2); when the cylinder (42) is working, the swing arm (2) swings with the center of the sleeve (21) as the center of the circle; The rotating mechanism (5) comprises a first sprocket (51) sleeved on the output shaft of the motor (1), a second sprocket (52) sleeved on the rotating shaft (22), and a chain (53) connecting the first sprocket (51) and the second sprocket (52); when the first sprocket (51) rotates following the output shaft of the motor (1), the chain (53) drives the second sprocket (52) to rotate and transmits the rotational force to the rotating shaft (22), and the rotating shaft (22) drives the clamp (3) to rotate relative to the swing arm (2); A sleeve (21) is fixedly provided at the end of the swing arm (2), and the sleeve (21) is movably sleeved on the output shaft of the motor (1). The sleeve (21) limits the axial movement of the swing arm (2) along the output shaft of the motor (1) and does not rotate along with the output shaft of the motor (1); A rotating shaft (22) is movably provided on the other end of the swing arm (2), and the end of the rotating shaft (22) is fixedly connected to the clamp (3).

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