Aerogel substrate lifting and loading device

Abstract

The present invention discloses an aerogel substrate lifting and loading device, comprising: an outer frame, an inner frame, and a lifting seat, wherein the inner frame can be slidably installed in the outer frame, a first driving mechanism is arranged between the outer frame and the inner frame, the lifting seat can be slidably installed in the inner frame, a second driving mechanism is arranged between the inner frame and the lifting seat, a grasping device is fixed on the lower part of the lifting seat, an outer frame opening is arranged at the bottom of the outer frame to enable the inner frame to extend downward from the outer frame, an inner frame opening is arranged at the bottom of the inner frame to allow the grasping device to move downward to grasp the tooling and to allow the tooling to enter the inner frame, the lifting seat and the inner frame can lift the grasped tooling into the outer frame after moving upward, and an anti-sway mechanism is arranged at the bottom of the outer frame to position the bottom of the tooling lifted into the outer frame. The aerogel substrate lifting and loading device can effectively prevent the aerogel substrate loading tooling from swinging during hoisting.

Description

Technical Field

[0001] The invention relates to the field of aerogel production equipment, and in particular to an aerogel substrate lifting and loading device. Background Art

[0002] Aerogel substrates need to go through multiple processing steps before they can be processed into aerogels. In order to improve processing efficiency, aerogel substrates are usually processed in rolls. After the aerogel substrates are rolled on the loading tooling, the loading tooling with the aerogel substrates rolled on it is usually lifted and lowered by a hook, and then hoisted into a process tank for processing. The lifting efficiency of the aerogel substrate loading tooling by the hook is low. This is because if the lifting speed is fast, the tooling is easy to swing greatly under the hook. Therefore, in order to prevent the tooling from swinging greatly and causing safety hazards, the lifting speed is slow. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an aerogel substrate lifting and loading device which can prevent the aerogel substrate loading tooling from swinging during the lifting process and enable the tooling to lift at a faster speed.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is: an aerogel substrate lifting and loading device, characterized in that it includes: an outer frame, an inner frame, and a lifting seat, the inner frame can be slidably installed in the outer frame, a first driving mechanism for driving the inner frame to move up and down is arranged between the outer frame and the inner frame, the lifting seat can be slidably installed in the inner frame, a second driving mechanism for driving the lifting seat to move up and down is arranged between the inner frame and the lifting seat, a grabbing device for grabbing aerogel substrate loading tooling is fixed on the lower part of the lifting seat, an outer frame opening that enables the inner frame to extend downward from the outer frame is arranged at the bottom of the outer frame, an inner frame opening that allows the grabbing device to move downward to grab the tooling and allows the tooling to enter the inner frame is arranged at the bottom of the inner frame, the lifting seat and the inner frame can lift the grabbed tooling into the outer frame after moving upward, and an anti-sway mechanism that can position the bottom of the tooling lifted into the outer frame is arranged at the bottom of the outer frame. Since the outer frame, the inner frame and the lifting seat are used to perform two-section lifting of the aerogel substrate loading tooling, the structure of the lifting loading device can be more compact and reliable.

[0005] Furthermore, the aforementioned aerogel substrate lifting and loading device, wherein: the structure of the anti-sway mechanism is: a sliding plate and a slide plate driving device for driving the sliding plate to move are arranged at the bottom of the outer frame, the sliding plate is across the outer frame opening, a vertical pin and a pin driving device for driving the pin to move up and down are arranged on the sliding plate, the sliding plate can be driven by the slide plate driving device to move to one side of the outer frame opening to avoid the inner frame, after the tooling is lifted into the outer frame, the sliding plate can be driven by the slide plate driving device to move to the position where the pin and the bottom positioning hole of the tooling are relative to each other, at this time, the pin can be driven by the pin driving device to insert upward into the positioning hole to position the tooling to prevent the tooling from shaking. Since the aerogel substrate loading tooling loaded with aerogel substrate can be hoisted in the outer frame, and its bottom can be positioned by the pin, the aerogel substrate loading tooling can be effectively prevented from swinging during the hoisting process, so that the hoisting movement speed can be accelerated, thereby improving production efficiency.

[0006] Furthermore, in the aforementioned aerogel substrate lifting and loading device, the slide plate driving device is two linear modules, the two linear modules are respectively installed on both sides of the bottom of the outer frame, and the slides in the two linear modules are respectively fixed to one end of the sliding plate.

[0007] Furthermore, in the aforementioned aerogel substrate lifting and loading device, the structure of the first driving mechanism is as follows: a vertically arranged first lead screw is respectively installed on the left and right sides of the outer frame, a first nut is respectively threadedly connected to the two first lead screws, the two first nuts are respectively fixed to the inner frame, and a first power mechanism for driving the two first lead screws to rotate together is installed on the top of the outer frame, and after the two first lead screws rotate, the inner frame can be driven to move up and down in the outer frame through the two first nuts.

[0008] Furthermore, in the aforementioned aerogel substrate lifting and loading device, the structure of the first power mechanism includes: a first servo motor with a brake, a first reducer with two output shafts, and two first commutators, the output shaft of the first servo motor is connected to the input shaft of the first reducer for transmission, the two output shafts on the left and right sides of the first reducer are respectively connected to the horizontal input shafts of the two first commutators for transmission, and the vertical output shafts of the two first commutators are respectively connected to the tops of the two first lead screws for transmission.

[0009] Furthermore, in the aforementioned aerogel substrate lifting and loading device, the structure of the second driving mechanism is as follows: a vertically arranged second lead screw is respectively installed on the left and right sides of the inner frame, a second nut is respectively threadedly connected to the two second lead screws, the two second nuts are respectively fixed to the lifting seat, and a second power mechanism for driving the two second lead screws to rotate together is installed on the top of the inner frame, and after the two second lead screws rotate, the two second nuts can drive the lifting seat to move up and down in the inner frame.

[0010] Furthermore, the aforementioned aerogel substrate lifting and loading device, wherein: the structure of the second power mechanism includes: a second servo motor with a brake, a second reducer with two output shafts, and two second commutators, the output shaft of the second servo motor is connected to the input shaft of the second reducer for transmission, the two output shafts on the left and right sides of the second reducer are respectively connected to the horizontal input shafts of the two second commutators for transmission, and the vertical output shafts of the two second commutators are respectively connected to the tops of the two second lead screws for transmission.

[0011] After adopting the servo motor with brake, the brake can be applied when the servo motor is not working so that the lead screw cannot rotate, thus preventing the aerogel substrate loading tooling from falling due to its own weight.

[0012] Further, the aforementioned aerogel substrate lifting and loading device, wherein: the structure of the grabbing device includes: a vertically arranged lifting tube, the upper end of the lifting tube is fixed to the lifting seat, a lifting seat is fixed on the lower end of the lifting tube, the top of the lifting seat passes through the lower end of the lifting tube and is inserted into the lifting tube, an annular seat is fixed on the bottom of the lifting seat, a cavity and a vertical rod are arranged in the lifting seat, the bottom of the cavity is open, the cavity is connected with the inner circle of the annular seat up and down, the vertical rod is vertically penetrated in the lifting seat, and the top of the vertical rod passes through the lifting seat upward The top is inserted into the hanging tube, and the bottom of the vertical rod is located in the cavity. A limit block and a first sensing block located above the limit block are arranged on the rod body of the vertical rod inserted into the hanging tube. The limit block can prevent the vertical rod from falling by abutting against the top of the hanging seat. A spring seat is arranged on the bottom of the vertical rod. A return spring is sleeved on the vertical rod between the spring seat and the hanging seat. The two ends of the return spring abut against the spring seat and the hanging seat respectively, so that the return spring can press the vertical rod downward until the limit block abuts against the top of the hanging seat, and the upper edge of the annular seat At least three lifting tongues arranged around the center of the annular seat are radially penetrated by the annular seat, each lifting tongue can pass through the inner wall of the annular seat and extend into the inner circle of the annular seat, and a lifting tongue driving mechanism for driving each lifting tongue to synchronously extend into the inner circle of the annular seat or synchronously retract into the annular seat is provided on the lifting seat, and a first upper proximity switch is penetrated on the lifting pipe, and the first sensing block on the vertical rod can trigger the first upper proximity switch after the vertical rod moves upward, and the lifting seat drives the lifting seat to move downward through the lifting pipe to grab the aerogel substrate loading tooling located below it. The lifting head of the aerogel substrate loading tooling can pass upward through the inner circle of the annular seat and extend into the cavity of the lifting seat. Then the lifting head can overcome the elastic force of the reset spring and the gravity of the vertical rod and push the vertical rod upward. When the vertical rod moves upward to the position where the first sensing block can trigger the first upper proximity switch, each lifting tongue can be synchronously inserted into the inner circle of the annular seat under the drive of the lifting tongue driving mechanism, and then synchronously inserted into the annular groove on the side wall of the lifting head. At this time, the lifting seat drives the lifting pipe to move up with the lifting seat, and then the aerogel substrate loading tooling can be lifted through each lifting tongue.

[0013] Furthermore, in the aforementioned aerogel substrate lifting and loading device, a first lower proximity switch lower than the first upper proximity switch is also provided on the lifting tube. When the lifting seat moves up to lift the aerogel substrate loading tooling, the aerogel substrate loading tooling will move downward relative to the lifting seat due to the upper and lower gaps between the lifting tongues and the annular grooves until the lifting head is placed on each lifting tongue. At this time, the first sensing block will descend together with the vertical rod to a position that can trigger the first lower proximity switch.

[0014] The first proximity switch is set to confirm that the aerogel substrate loading tooling is lifted. If the aerogel substrate loading tooling is not lifted, the vertical rod will fall to the position where the limit block abuts against the top of the lifting seat. At this time, the first proximity switch will not be triggered by the first sensing block.

[0015] Further, the aforementioned aerogel substrate lifting and loading device, wherein: a mounting plate is fixedly mounted on the middle part of the lifting seat, the mounting plate is located above the driving ring, an annular pressing plate is arranged below the mounting plate, the annular pressing plate is hollowly sleeved on the outside of the annular seat, three vertically arranged guide columns are arranged on the upper surface of the annular pressing plate, the three guide columns all pass through the mounting plate upward, three guide sleeves are arranged on the upper surface of the mounting plate, the three guide columns pass through the three guide sleeves respectively, the guide sleeves can vertically guide the annular pressing plate through the guide columns, the tops of the three guide columns are provided with bosses, and the annular pressing plate can pass through three The bosses are respectively abutted against the top of the guide sleeves and are suspended below the mounting plate. When the lifting seat drives the lifting seat downward through the lifting tube to grab the aerogel substrate loading tooling located below it, the annular pressure plate will be lifted up by the aerogel substrate loading tooling. A pressing spring is mounted on each guide column between the annular pressure plate and the mounting plate. The two ends of each pressing spring are respectively abutted against the mounting plate and the annular pressure plate, so that the annular pressure plate can elastically press the aerogel substrate loading tooling downward when it is lifted up by the aerogel substrate loading tooling, so that after the aerogel substrate loading tooling is lifted, the annular pressure plate can press the tooling to prevent the tooling from shaking.

[0016] Since the aerogel substrate loading tool can be elastically pressed after being hoisted, the shaking amplitude of the tool during hoisting will be very small, so that the aerogel substrate loading tool can be placed into the process tank more quickly and accurately for process processing, thereby greatly improving production efficiency.

[0017] Furthermore, in the aforementioned aerogel substrate lifting and loading device, a pressure sensor is installed on the mounting plate, and the pressure sensor is located above a guide column, and the guide column can press the pressure sensor as the annular pressure plate is lifted by the aerogel substrate loading tooling.

[0018] Furthermore, the aforementioned aerogel substrate lifting and loading device, wherein: the structure of the lifting tongue driving mechanism is: a driving ring and a pinion are arranged above the annular seat, the driving ring can be rotatably mounted on the lifting seat, a circle of teeth is arranged on the outer ring of the driving ring, the pinion and the teeth on the outer ring of the driving ring are meshed for transmission, and a gear driving device for driving the pinion to rotate is also arranged on the mounting plate, and an arc-shaped driving groove corresponding to each lifting tongue one by one is arranged on the lower surface of the driving ring, a driving block is fixed on each lifting tongue, and a long strip of avoidance notch arranged along the radial direction of the annular seat corresponding to each driving block one by one is arranged on the upper surface of the annular seat, and the driving block is located at the avoidance notch The avoidance gap is used to avoid the driving block, so that the driving block can move radially inward and outward along the annular seat. An axially vertically arranged circular wheel is installed on each driving block, and each circular wheel is inserted into the arc driving groove corresponding to the lifting tongue where it is located. After the driving ring is driven by the gear driving device to rotate forward with each arc driving groove, each arc driving groove can drive each lifting tongue to extend synchronously into the inner circle of the annular seat along the radial direction of the annular seat by pushing each circular wheel. Then, after the driving ring is driven by the gear driving device to rotate reversely with each arc driving groove, each arc driving groove can drive each lifting tongue to retract synchronously into the annular seat along the radial direction of the annular seat by pushing each circular wheel.

[0019] Furthermore, the aforementioned aerogel substrate lifting and loading device, wherein: a pin rod that can pass through the mounting plate downward and a pin rod driving device for driving the pin rod to move up and down are also provided on the mounting plate, a pin hole is provided on the driving ring, after the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head of the aerogel substrate loading tooling, the pin rod can be inserted into the pin hole under the drive of the pin rod driving device to lock the driving ring; the pin rod driving device is a two-way cylinder with two ends of a piston rod extending out of the two ends of the cylinder body respectively, the two-way cylinder is arranged vertically, one end of the two-way cylinder is fixed to the pin rod, and a second sensing block is fixed to the other end of the two-way cylinder, a second upper proximity switch and a second lower proximity switch lower than the second upper proximity switch are also installed on the mounting plate, after the pin rod is inserted downward into the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second lower proximity switch, after the pin rod moves upward and pulls out of the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second upper proximity switch.

[0020] Furthermore, the aforementioned aerogel substrate lifting and loading device, wherein: a third proximity switch and a fourth proximity switch are installed on the mounting plate, and a third sensing block is installed on the upper surface of the driving ring, and after the driving ring drives each lifting tongue to insert into the annular groove on the side wall of the lifting head, the third sensing block will trigger the third proximity switch, and after the driving ring drives each lifting tongue to retract into the annular seat, the third sensing block will trigger the fourth proximity switch.

[0021] The advantages of the present invention are as follows: the aerogel substrate lifting and loading device can hoist the aerogel substrate loading tooling loaded with aerogel substrate in the outer frame and can position the bottom of the tooling, so that the aerogel substrate loading tooling can be effectively prevented from swinging during the lifting process, so that the lifting movement speed can be faster, which can greatly improve the production efficiency; the grabbing device can realize automatic and rapid grabbing of the aerogel substrate loading tooling without the assistance of workers, and since a plurality of lifting tongues are used to lift the aerogel substrate loading tooling, the aerogel substrate loading tooling can be reliably lifted; in addition, in the process of placing the aerogel substrate loading tooling into the process tank, since the aerogel substrate loading tooling is elastically pressed, the aerogel substrate loading tooling can be prevented from shaking, so that the aerogel substrate loading tooling can be placed into the process tank more quickly, more accurately and more safely for process processing, which can greatly improve the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the aerogel substrate lifting and loading device of the present invention for lifting an aerogel substrate loading tool.

[0023] Figure 2 It is a schematic structural diagram of the aerogel substrate lifting and loading device of the present invention after the aerogel substrate loading tooling is lifted.

[0024] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0025] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the grasping device from one perspective is shown in FIG.

[0026] Figure 5 for Figure 1 A schematic diagram of the stereoscopic structure of the gripping device from another perspective is shown in FIG.

[0027] Figure 6 for Figure 1 Schematic diagram of the cross-sectional structure of the grabbing device when it does not grab the tooling.

[0028] Figure 7 for Figure 1 Schematic diagram of the cross-sectional structure of the grabbing device grabbing the tooling shown in FIG.

[0029] Figure 8 for Figure 6 Schematic diagram of the structure of the annular seat, drive ring and pinion shown in .

[0030] Fig. 9 for Figure 8 Schematic diagram of the structure of the drive ring shown in .

[0031] Fig.10 for Figure 8 Schematic diagram of the structure of the annular seat shown in . DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with specific embodiments and drawings.

[0033] like Figure 1 , Figure 2 , Figure 3 As shown, the aerogel substrate lifting and loading device comprises: an outer frame 13, an inner frame 14, and a lifting seat 15. The inner frame 14 is installed in the outer frame 13 so as to be slidable up and down through a linear guide rail. A first driving mechanism for driving the inner frame 14 to move up and down is arranged between the outer frame 13 and the inner frame 14. The lifting seat 15 is installed in the inner frame 14 so as to be slidable up and down through a linear guide rail. A second driving mechanism for driving the lifting seat 15 to move up and down is arranged between the inner frame 14 and the lifting seat 15. A lifting seat 15 is fixed at the bottom thereof with a gripping mechanism. A grabbing device 16 for taking the aerogel substrate loading tool 9 is provided at the bottom of the outer frame 13 with an outer frame opening 132 that enables the inner frame 14 to extend downward from the outer frame 13, and an inner frame opening 142 that allows the grabbing device 16 to move downward to grab the tool and allows the tool to enter the inner frame 14 is provided at the bottom of the inner frame 14. After the lifting seat 15 and the inner frame 14 move upward, the grabbed tool can be lifted into the outer frame 13, and an anti-sway mechanism that can position the bottom of the tool lifted into the outer frame 13 is provided at the bottom of the outer frame 13.

[0034] In this embodiment, the structure of the anti-sway mechanism is as follows: a sliding plate 17 and a slide plate driving device for driving the sliding plate 17 to move are arranged at the bottom of the outer frame 13, the sliding plate 17 spans the outer frame opening 132, and the two ends of the sliding plate 17 are respectively installed with the bottom of the outer frame 13 through linear guide rails, and a vertical pin shaft 19 and a pin shaft driving device 191 for driving the pin shaft 19 to move up and down are arranged on the sliding plate 17. In this embodiment, the pin shaft driving device 191 is a cylinder, and the sliding plate 17 can be driven by the slide plate driving device to move to one side of the outer frame opening 132 to avoid the inner frame 14. After the tooling is lifted into the outer frame 13, the sliding plate 17 can be driven by the slide plate driving device to move to a position where the pin shaft 19 and the positioning hole 93 at the bottom of the tooling are opposite to each other up and down. At this time, the pin shaft 19 can be driven by the pin shaft driving device 191 to be inserted upward into the positioning hole 93 to position the tooling to prevent the tooling from shaking. The aerogel substrate on the aerogel substrate loading tool 9 is not shown in the figure.

[0035] The slide plate driving device is two linear modules 18 , which are respectively mounted on two sides of the bottom of the outer frame 13 , and the slides in the two linear modules 18 are respectively fixed to one end of the sliding plate 17 .

[0036] The structure of the first driving mechanism is as follows: a vertically arranged first lead screw 131 is installed on the left and right sides of the outer frame 13 through bearings respectively, and a first nut is threadedly connected to each of the two first lead screws 131, and the two first nuts are respectively fixed to the inner frame 14, and a first power mechanism for driving the two first lead screws 131 to rotate together is installed on the top of the outer frame 13. After the two first lead screws 131 rotate, they can drive the inner frame 14 to move up and down in the outer frame 13 through the two first nuts.

[0037] The structure of the first power mechanism includes: a first servo motor 133 with a brake, a first reducer 134 with two output shafts, and two first commutators 135. The output shaft of the first servo motor 133 is connected to the input shaft of the first reducer 134 for transmission, the two output shafts on the left and right sides of the first reducer 134 are respectively connected to the horizontal input shafts of the two first commutators 135 for transmission, and the vertical output shafts of the two first commutators 135 are respectively connected to the tops of the two first lead screws 131 for transmission.

[0038] The structure of the second driving mechanism is as follows: a vertically arranged second lead screw 141 is installed on the left and right sides of the inner frame 14 through bearings respectively, and a second nut is threadedly connected to each of the two second lead screws 141, and the two second nuts are respectively fixed to the lifting seat 15, and a second power mechanism for driving the two second lead screws 141 to rotate together is installed on the top of the inner frame 14. After the two second lead screws 141 rotate, they can drive the lifting seat 15 to move up and down in the inner frame 14 through the two second nuts.

[0039] The structure of the second power mechanism includes: a second servo motor with a brake, a second reducer 144 with two output shafts, and two second commutators 145. The output shaft of the second servo motor is connected to the input shaft of the second reducer 144 for transmission, and the two output shafts on the left and right sides of the second reducer 144 are respectively connected to the horizontal input shafts of the two second commutators 145 for transmission, and the vertical output shafts of the two second commutators 145 are respectively connected to the tops of the two second lead screws 141 for transmission.

[0040] Since the aerogel substrate loading tool 9 loaded with the aerogel substrate can be hoisted in the outer frame 13 and its bottom can be positioned by the pin 19, the aerogel substrate loading tool 9 can be effectively prevented from swinging during the hoisting process, so that the hoisting movement speed can be accelerated, thereby improving production efficiency.

[0041] In addition, since the outer frame 13, the inner frame 14 and the lifting seat 15 are used to lift the aerogel substrate loading tool 9 in two sections, the structure of the lifting loading device can be more compact and reliable.

[0042] The commutator is an existing device. The commutator in this embodiment can convert the horizontal input rotation torque into the vertical output rotation torque.

[0043] Since the aerogel substrate loading tool 9 loaded with the aerogel substrate is very heavy, the suspended aerogel substrate loading tool 9 is prone to fall due to its own weight, and the lead screw will be rotated when falling. Therefore, after adopting a servo motor with a brake, the brake can be applied when the servo motor is not working to prevent the lead screw from rotating, thereby preventing the aerogel substrate loading tool 9 from falling due to its own weight.

[0044] In order to cooperate with the grabbing device, a lifting head 91 needs to be provided on the top of the aerogel substrate loading tool 9 , and a circle of annular grooves 92 also need to be provided on the side wall of the lifting head 91 .

[0045] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, the structure of the grabbing device includes: a vertically arranged hanging tube 1, the upper end of the hanging tube 1 is fixed to the lifting seat, a hanging seat 2 is fixed on the lower end of the hanging tube 1, the top of the hanging seat 2 passes through the lower end of the hanging tube 1 and is inserted into the hanging tube 1. In this embodiment, the top of the hanging seat 2 is threadedly connected to the lower end of the hanging tube 1, and is threadedly connected to the cap on the top of the hanging seat 2 and tightened. An annular seat 3 is fixed to the bottom of the hanging seat 2, and a cavity 22 and a vertical rod 21 are provided in the hanging seat 2. The bottom of the cavity 22 is open, and the cavity 22 is connected to the inner circle of the annular seat 3 from top to bottom. The vertical rod 21 is vertically penetrated in the hanging seat 2, and the vertical rod 21 is The top of the vertical rod 21 is upwardly passed through the top of the hanging seat 2 and inserted into the hanging pipe 1. The bottom of the vertical rod 21 is located in the cavity 22. A limit block 23 and a first sensing block 24 located above the limit block 23 are arranged on the rod body of the vertical rod 21 inserted into the hanging pipe 1. The limit block 23 can prevent the vertical rod 21 from falling by abutting against the top of the hanging seat 2. A spring seat 25 is arranged on the bottom of the vertical rod 21. A return spring 26 is sleeved on the vertical rod 21 between the spring seat 25 and the hanging seat 2. The two ends of the return spring 26 are respectively abutted against the spring seat 25 and the hanging seat 2, so that the return spring 26 can press the vertical rod 21 downward until the limit block 23 is abutted against the hanging seat. 2, four lifting tongues 31 arranged around the center of the annular seat 3 are uniformly penetrated along the radial direction of the annular seat 3, each lifting tongue 31 can pass through the inner wall of the annular seat 3 and extend into the inner circle of the annular seat 3, a lifting tongue driving mechanism for driving each lifting tongue 31 to synchronously extend into the inner circle of the annular seat 3 or to synchronously retract into the annular seat 3 is provided on the lifting seat 2, a horizontally arranged first upper proximity switch 11 is penetrated on the lifting pipe 1, and the first sensing block 24 on the vertical rod 21 can trigger the first upper proximity switch 11 after the vertical rod 21 moves upward, and the lifting seat drives the lifting seat 2 to move downward through the lifting pipe 1 to grab the aerogel substrate located below it When the material loading tool 9 is used, the lifting head 91 of the aerogel substrate loading tool 9 can pass through the inner circle of the annular seat 3 upward and extend into the lifting seat cavity 22, and then the lifting head 91 can overcome the elastic force of the reset spring 26 and the gravity of the vertical rod 21 to push the vertical rod 21 upward. When the vertical rod 21 moves upward to the position where the first sensing block 24 can trigger the first upper proximity switch 11, each lifting tongue 31 can be synchronously inserted into the inner circle of the annular seat 3 under the drive of the lifting tongue driving mechanism, and then synchronously inserted into the annular groove 92 on the side wall of the lifting head 91. At this time, the lifting seat drives the lifting pipe 1 to move up with the lifting seat 2, and then the aerogel substrate loading tool 9 can be lifted through each lifting tongue 31.

[0046] like Figure 4As shown, in this embodiment, a first lower proximity switch 12 arranged horizontally lower than the first upper proximity switch 11 is also provided on the hoisting tube 1. When the hoisting seat 2 moves upward to hoist the aerogel substrate loading tooling 9, the aerogel substrate loading tooling 9 will move downward relative to the hoisting seat 2 due to the upper and lower gaps between the hoisting tongues 31 and the annular grooves 92, until the hoisting head 91 rests on each hoisting tongue 31, at which time the first sensing block 24 will drop with the vertical rod 21 to a position that can trigger the first lower proximity switch 12. The first lower proximity switch 12 is provided to confirm that the aerogel substrate loading tooling 9 is hoisted. If the aerogel substrate loading tooling 9 is not hoisted, the vertical rod 21 will fall to a position where the limit block 23 abuts against the top of the hoisting seat 2, and at this time the first lower proximity switch 12 will not be triggered by the first sensing block 24.

[0047] When the grabbing device puts down the lifted aerogel substrate loading tooling 9, only after the aerogel substrate loading tooling 9 touches the ground and lifts the vertical rod 21 to the first sensing block 24 to trigger the first upper proximity switch 11, and upper and lower gaps appear between each lifting tongue 31 and the annular groove 92, each lifting tongue 31 will be driven by the lifting tongue driving mechanism to synchronously retract into the annular seat 3, because only after the upper and lower gaps appear between the lifting tongue 31 and the annular groove 92, the lifting tongue 31 will not be pressed by the lifting head 92 and can be successfully retracted.

[0048] like Figure 6 , Figure 7As shown, the structure of the lifting tongue driving mechanism is as follows: a mounting plate 4 is fixedly mounted on the middle part of the lifting seat 2, a driving ring 5 and a pinion 6 are arranged between the mounting plate 4 and the annular seat 3, the driving ring 5 is rotatably mounted on the lifting seat 2, a circle of teeth is arranged on the outer ring of the driving ring 5, the pinion 6 and the teeth on the outer ring of the driving ring 5 are meshed for transmission, a gear driving device for driving the pinion 6 to rotate is arranged on the mounting plate 4, in this embodiment, the gear driving device is a motor, an arcuate driving groove 51 corresponding to each lifting tongue 31 is arranged on the lower surface of the driving ring 5, a driving block 32 is fixed on each lifting tongue 31, and a long strip-shaped avoidance notch 33 corresponding to each driving block 32 and arranged radially along the annular seat 3 is arranged on the upper surface of the annular seat 3, and the driving block 32 is located in the avoidance notch 33 The avoidance gap 33 is used to avoid the driving block 32, so that the driving block 32 can move radially inward and outward along the annular seat 3. An axially vertically arranged circular wheel 34 is installed on each driving block 32. Each circular wheel 34 is inserted into the arc driving groove 51 corresponding to the lifting tongue 31 where it is located. After the driving ring 5 rotates forward with each arc driving groove 51 driven by the motor, each arc driving groove 51 can drive each lifting tongue 31 to extend synchronously into the inner circle of the annular seat 3 along the radial direction of the annular seat 3 by pushing each circular wheel 34. Then, after the driving ring 5 rotates reversely with each arc driving groove 51 driven by the motor, each arc driving groove 51 can drive each lifting tongue 31 to retract synchronously into the annular seat 3 along the radial direction of the annular seat 3 by pushing each circular wheel 34. In order to reduce friction, the circular wheel 34 is usually set as a rotatable wheel.

[0049] An annular pressing plate 7 is arranged below the mounting plate 4. The annular pressing plate 7 is hollowly sleeved on the outside of the annular seat 3. Three vertically arranged guide columns 71 are evenly arranged on the upper surface of the annular pressing plate 7. The three guide columns 71 all pass through the mounting plate 4 upward. Three guide sleeves 72 are arranged on the upper surface of the mounting plate 4. The three guide columns 71 pass through the three guide sleeves 72 respectively. The guide sleeves 72 can vertically guide the annular pressing plate 7 through the guide columns 71. Bosses 73 are arranged on the tops of the three guide columns 71. The annular pressing plate 7 can be suspended on the lower surface of the mounting plate 4 through the three bosses 73 respectively resting against the tops of the guide sleeves 72. When the lifting seat drives the lifting seat 2 to move downward through the lifting pipe 1 to grab the aerogel substrate loading tooling 9 located below it, the annular pressure plate 7 will be lifted up by the aerogel substrate loading tooling 9, and each guide column 71 between the annular pressure plate 7 and the mounting plate 4 is equipped with a pressing spring 74, and the two ends of each pressing spring 74 are respectively against the mounting plate 4 and the annular pressure plate 7, so that the annular pressure plate 7 can elastically press the aerogel substrate loading tooling 9 downward when lifted up by the aerogel substrate loading tooling 9, so that after the aerogel substrate loading tooling 9 is lifted, the annular pressure plate 7 can press the tooling to prevent the tooling from shaking. Since the aerogel substrate loading tooling 9 can be elastically pressed after being lifted, the shaking amplitude of the tooling during lifting will be very small, so that the aerogel substrate loading tooling 9 can be placed into the process tank more quickly and accurately for process processing, thereby greatly improving production efficiency.

[0050] A pressure sensor 75 is installed on the mounting plate 4. The pressure sensor 75 is located above a guide column 71. The guide column 71 can press the pressure sensor 75 as the annular pressure plate 7 is lifted by the aerogel substrate loading tool 9. In this embodiment, a vertical stud is threadedly connected to the top of the guide column 71 that presses the pressure sensor 75. After the guide column 71 rises, it presses the pressure sensor 75 through the stud. The height of the stud can be adjusted by rotating the stud, thereby adjusting the pressure of the stud on the pressure sensor 75. During grasping, if the pressure value detected by the pressure sensor 75 is not within the set range, it indicates that the aerogel substrate loading tool 9 is raised or the grasping device is lowered too low or the grasping device is not lowered into place. At this time, it is necessary to stop the machine for inspection.

[0051] A pin rod that can pass through the mounting plate 4 downward and a pin rod driving device 8 for driving the pin rod to move up and down are also provided on the mounting plate 4. A pin hole 52 is provided on the driving ring 5. After the driving ring 5 drives each lifting tongue 31 to be inserted into the annular groove 92 on the side wall of the lifting head 91 of the aerogel substrate loading tooling 9, the pin rod can be driven by the pin rod driving device 8 to be inserted into the pin hole 52 to lock the driving ring 5. After such a setting, the tooling can be reliably lifted. In actual production, a plurality of pin holes 52 can be evenly provided, which can facilitate the installation of the driving ring 5 on the one hand, and on the other hand, after the driving ring 5 drives each lifting tongue 31 to retreat into the annular seat 3, the pin rod can be driven by the pin rod driving device 8 to be inserted into another pin hole 52 to lock the driving ring 5.

[0052] The pin rod driving device 8 is a two-way cylinder with two ends of a piston rod extending out of the two ends of the cylinder body respectively. The two-way cylinder 8 is arranged vertically, one end of the two-way cylinder 8 is fixed to the pin rod, and a second sensing block 81 is fixed to the other end of the two-way cylinder 8. A second upper proximity switch 82 and a second lower proximity switch 83 lower than the second upper proximity switch 82 are also installed on the mounting plate 4. The second upper proximity switch 82 and the second lower proximity switch 83 are both arranged horizontally. After the pin rod is inserted downward into the pin hole 52 under the drive of the two-way cylinder 8, the second sensing block 81 will trigger the second lower proximity switch 83. After the pin rod is moved upward and pulled out of the pin hole 52 under the drive of the two-way cylinder 8, the second sensing block 81 will trigger the second upper proximity switch 82. This arrangement can be used to monitor whether the pin rod is inserted into or pulled out of the pin hole.

[0053] A third proximity switch 84 and a fourth proximity switch 85 are also installed on the mounting plate 4. The third and fourth proximity switches 84 and 85 are arranged vertically downward. A third sensing block 86 is installed on the upper surface of the driving ring 5. After the driving ring 5 drives each lifting tongue 31 to be inserted into the annular groove 92 on the side wall of the lifting head 91, the third sensing block 86 will trigger the third proximity switch 84. After the driving ring 5 drives each lifting tongue 31 to retract into the annular seat 3, the third sensing block 86 will trigger the fourth proximity switch 85. This arrangement can be used to monitor whether the driving ring 5 is rotated into place.

Claims

1. An aerogel substrate lifting and loading device, characterized in that: include: An outer frame, an inner frame, and a lifting seat. The inner frame can be slidably installed in the outer frame, and a first driving mechanism for driving the inner frame to move up and down is arranged between the outer frame and the inner frame. The lifting seat can be slidably installed in the inner frame, and a second driving mechanism for driving the lifting seat to move up and down is arranged between the inner frame and the lifting seat. A grabbing device for grabbing aerogel substrate loading tooling is fixed on the lower part of the lifting seat. An outer frame opening that enables the inner frame to extend downward from the outer frame is arranged at the bottom of the outer frame. An inner frame opening that allows the grabbing device to move downward to grab the tooling and allows the tooling to enter the inner frame is arranged at the bottom of the inner frame. After the lifting seat and the inner frame are moved upward, the grabbed tooling can be lifted into the outer frame. , an anti-sway mechanism is provided at the bottom of the outer frame to position the bottom of the tooling lifted into the outer frame; the structure of the grabbing device includes: a vertically arranged lifting tube, the upper end of the lifting tube is fixed to the lifting seat, a lifting seat is fixed to the lower end of the lifting tube, the top of the lifting seat passes upward through the lower end of the lifting tube and is inserted into the lifting tube, an annular seat is fixed to the bottom of the lifting seat, a cavity and a vertical rod are provided in the lifting seat, the bottom of the cavity is open, the cavity is connected with the inner circle of the annular seat up and down, the vertical rod is vertically penetrated in the lifting seat, the top of the vertical rod passes upward through the top of the lifting seat and is inserted into the lifting tube, the bottom of the vertical rod is located in the cavity, and a limit block and a limit block located on the rod body of the vertical rod inserted into the lifting tube are provided. The first sensing block of the square, the limit block can prevent the vertical rod from falling by abutting against the top of the lifting seat, a spring seat is arranged on the bottom of the vertical rod, and a return spring is mounted on the vertical rod between the spring seat and the lifting seat, and the two ends of the return spring are respectively abutted against the spring seat and the lifting seat, so that the return spring can press the vertical rod downward until the limit block abuts against the top of the lifting seat, and at least three lifting tongues arranged around the center of the annular seat are penetrated on the annular seat along the radial direction of the annular seat, and each lifting tongue can pass through the inner ring wall of the annular seat and extend into the inner circle of the annular seat, and a lifting tongue driving mechanism for driving each lifting tongue to synchronously extend into the inner circle of the annular seat or synchronously retract into the annular seat is arranged on the lifting seat, and a first upper proximity switch is penetrated on the lifting tube. , the first sensing block on the vertical rod can trigger the first upper proximity switch after the vertical rod moves upward. When the lifting seat drives the lifting seat to move downward through the lifting tube to grab the aerogel substrate loading tooling located below it, the lifting head of the aerogel substrate loading tooling can pass upward through the inner circle of the annular seat and extend into the cavity of the lifting seat. Then the lifting head can overcome the elastic force of the return spring and the gravity of the vertical rod and push the vertical rod upward. When the vertical rod moves upward to the position where the first sensing block can trigger the first upper proximity switch, each lifting tongue can be synchronously inserted into the inner circle of the annular seat and then synchronously inserted into the annular groove on the side wall of the lifting head under the drive of the lifting tongue driving mechanism. At this time, the lifting seat drives the lifting tube to move up with the lifting seat and can lift the aerogel substrate loading tooling through each lifting tongue.

2. The aerogel substrate lifting and loading device according to claim 1, characterized in that: The structure of the anti-sway mechanism is as follows: a sliding plate and a slide plate driving device for driving the sliding plate to move are arranged at the bottom of the outer frame, the sliding plate spans the outer frame opening, and a vertical pin shaft and a pin shaft driving device for driving the pin shaft to move up and down are arranged on the sliding plate. The sliding plate can be driven by the slide plate driving device to move to one side of the outer frame opening to avoid the inner frame. After the tooling is lifted into the outer frame, the sliding plate can be driven by the slide plate driving device to a position where the pin shaft and the positioning hole at the bottom of the tooling are relative to each other up and down. At this time, the pin shaft can be driven by the pin shaft driving device to be inserted upward into the positioning hole to position the tooling to prevent the tooling from shaking.

3. The aerogel substrate lifting and loading device according to claim 2, characterized in that: The slide plate driving device is two linear modules, which are respectively installed on both sides of the bottom of the outer frame, and the slides in the two linear modules are respectively fixed to one end of the sliding plate.

4. An aerogel substrate lifting and loading device according to claim 1, 2 or 3, characterized in that: The structure of the first driving mechanism is as follows: a vertically arranged first lead screw is installed on the left and right sides of the outer frame respectively, a first nut is threadedly connected to the two first lead screws respectively, the two first nuts are respectively fixed to the inner frame, and a first power mechanism for driving the two first lead screws to rotate together is installed on the top of the outer frame. After the two first lead screws rotate, they can drive the inner frame to move up and down in the outer frame through the two first nuts.

5. The aerogel substrate lifting and loading device according to claim 4, characterized in that: The structure of the first power mechanism includes: a first servo motor with a brake, a first reducer with two output shafts, and two first commutators. The output shaft of the first servo motor is connected to the input shaft of the first reducer for transmission, the two output shafts on the left and right sides of the first reducer are respectively connected to the horizontal input shafts of the two first commutators for transmission, and the vertical output shafts of the two first commutators are respectively connected to the tops of the two first lead screws for transmission.

6. An aerogel substrate lifting and loading device according to claim 1, 2 or 3, characterized in that: The structure of the second driving mechanism is as follows: a vertically arranged second lead screw is installed on the left and right sides of the inner frame respectively, a second nut is threadedly connected to the two second lead screws respectively, the two second nuts are respectively fixed to the lifting seat, and a second power mechanism for driving the two second lead screws to rotate together is installed on the top of the inner frame. After the two second lead screws rotate, they can drive the lifting seat to move up and down in the inner frame through the two second nuts.

7. The aerogel substrate lifting and loading device according to claim 6, characterized in that: The structure of the second power mechanism includes: a second servo motor with a brake, a second reducer with two output shafts, and two second commutators. The output shaft of the second servo motor is connected to the input shaft of the second reducer for transmission, the two output shafts on the left and right sides of the second reducer are respectively connected to the horizontal input shafts of the two second commutators for transmission, and the vertical output shafts of the two second commutators are respectively connected to the tops of the two second lead screws for transmission.

8. The aerogel substrate lifting and loading device according to claim 1, characterized in that: A first lower proximity switch lower than the first upper proximity switch is also provided on the lifting tube. When the lifting seat moves upward to lift the aerogel substrate loading tooling, the aerogel substrate loading tooling will move downward relative to the lifting seat due to the upper and lower gaps between the lifting tongues and the annular grooves until the lifting head rests on each lifting tongue. At this time, the first sensing block will descend together with the vertical rod to a position that can trigger the first lower proximity switch.

9. The aerogel substrate lifting and loading device according to claim 1, characterized in that: A mounting plate is fixedly mounted on the middle part of the hanging seat, and an annular pressing plate is arranged below the mounting plate. The annular pressing plate is hollowly mounted on the outer side of the annular seat, and three vertically arranged guide columns are arranged on the upper surface of the annular pressing plate. The three guide columns all pass through the mounting plate upwards, and three guide sleeves are arranged on the upper surface of the mounting plate. The three guide columns pass through the three guide sleeves respectively, and the guide sleeves can vertically guide the annular pressing plate through the guide columns. Bosses are arranged on the tops of the three guide columns, and the annular pressing plate can be suspended on the mounting plate by the three bosses respectively leaning against the tops of the guide sleeves. Under the plate, when the lifting seat drives the lifting seat to move downward through the lifting tube to grab the aerogel substrate loading tooling located below it, the annular pressure plate will be lifted up by the aerogel substrate loading tooling, and each guide column between the annular pressure plate and the mounting plate is equipped with a pressing spring, and the two ends of each pressing spring are respectively against the mounting plate and the annular pressure plate, so that the annular pressure plate can elastically press the aerogel substrate loading tooling downward when it is lifted up by the aerogel substrate loading tooling, so that after the aerogel substrate loading tooling is lifted, the annular pressure plate can press the tooling to prevent the tooling from shaking.

10. The aerogel substrate lifting and loading device according to claim 9, characterized in that: A pressure sensor is installed on the mounting plate. The pressure sensor is located above a guide column. The guide column can press the pressure sensor as the annular pressure plate is lifted up by the aerogel substrate loading tooling.

11. The aerogel substrate lifting and loading device according to claim 1, characterized in that: The structure of the lifting tongue driving mechanism is as follows: a driving ring and a pinion are arranged above the annular seat, the driving ring can be rotatably mounted on the lifting seat, a circle of teeth is arranged on the outer ring of the driving ring, the pinion and the teeth on the outer ring of the driving ring are meshed for transmission, and a gear driving device for driving the pinion to rotate is also provided, an arc-shaped driving groove corresponding to each lifting tongue one by one is provided on the lower surface of the driving ring, a driving block is fixed on each lifting tongue, and a long strip-shaped avoidance notch corresponding to each driving block one by one and arranged along the radial direction of the annular seat is provided on the upper surface of the annular seat, the driving block is located in the avoidance notch, and the avoidance notch is used to avoid the driving Block, so that the driving block can move radially inward and outward along the annular seat, an axially vertically arranged circular wheel is installed on each driving block, each circular wheel is inserted into the arc driving groove corresponding to the lifting tongue where it is located, and after the driving ring is driven by the gear driving device to rotate forward with each arc driving groove, each arc driving groove can drive each lifting tongue to extend synchronously into the inner circle of the annular seat along the radial direction of the annular seat by pushing each circular wheel, and then after the driving ring is driven by the gear driving device to rotate reversely with each arc driving groove, each arc driving groove can drive each lifting tongue to retract synchronously into the annular seat along the radial direction of the annular seat by pushing each circular wheel.

12. The aerogel substrate lifting and loading device according to claim 11, characterized in that: A mounting plate is fixedly mounted on the middle part of the lifting seat, and the mounting plate is located above the driving ring. A pin rod that can pass through the mounting plate downward and a pin rod driving device for driving the pin rod to move up and down are also arranged on the mounting plate. A pin hole is arranged on the driving ring. After the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head of the aerogel substrate loading tooling, the pin rod can be inserted into the pin hole under the drive of the pin rod driving device to lock the driving ring; the pin rod driving device is a two-way cylinder with two ends of a piston rod extending out of the two ends of the cylinder body respectively, the two-way cylinder is arranged vertically, one end of the two-way cylinder is fixed to the pin rod, and a second sensing block is fixed to the other end of the two-way cylinder. A second upper proximity switch and a second lower proximity switch lower than the second upper proximity switch are also installed on the mounting plate. After the pin rod is inserted downward into the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second lower proximity switch. After the pin rod moves upward and pulls out of the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second upper proximity switch.

13. The aerogel substrate lifting and loading device according to claim 11, characterized in that: A mounting plate is fixedly mounted on the middle part of the lifting seat, and the mounting plate is located above the driving ring. A third proximity switch and a fourth proximity switch are mounted on the mounting plate. A third sensing block is mounted on the upper surface of the driving ring. After the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head, the third sensing block will trigger the third proximity switch. After the driving ring drives each lifting tongue to retract into the annular seat, the third sensing block will trigger the fourth proximity switch.

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