An automatic loading and unloading device for an inert gas protected space

Abstract

The present invention provides an automatic loading and unloading device for an inert gas protection space, which includes a frame, a handling manipulator, a tray and a horizontal roller platform. An installation seat capable of reciprocatingly moving along the X direction is provided on the frame. The handling manipulator is arranged on the installation seat and can reciprocatingly move along the Z direction. The handling manipulator includes two clamping members with variable distances and used in cooperation. The two clamping members are respectively driven by a rotating mechanism and rotate forward or reverse simultaneously. The tray is used to carry materials and is used in cooperation with the two clamping members. The horizontal roller platform is used to place the tray and is detachably connected to the handling manipulator. This device realizes the automatic loading and unloading operation in the inert gas protection space, makes the operation in the glove box more convenient, reduces the labor intensity of the operators, and improves the production efficiency in the process of metal powder preparation.

Description

Technical Field

[0001] The present invention relates to the technical field of metal powder preparation, and particularly to an automatic loading and unloading device for an inert gas protection space. Background Art

[0002] Refractory metal powder materials are widely used in fields such as 3D printing and thermal spraying, such as important components in aerospace, medical devices, industrial molds, etc. From the perspective of both technology and economic development, the preparation of refractory metal powder materials is of great importance.

[0003] When preparing refractory metal powder materials, operations need to be carried out in an inert gas environment, and glove boxes are currently the common technical means.

[0004] When processing metal powder in a glove box, the material processed by a heating furnace is loaded in a container and transported to the glove box. Technicians need to reach into the rubber gloves of the glove box by hand to unload the material in the container. After unloading the material, new material needs to be manually loaded. After loading, it is transported from the glove box to the heating furnace.

[0005] Currently, the glove box can be connected to a feeding station. When loading and unloading the material processed by the heating furnace, manually drag the container entering the glove box to a preset position in the glove box through the rubber gloves, and then unload the material in the container. After unloading, add material through the feeding station connected to the glove box. The container after adding material is then manually pushed back to the initial position where the container enters the glove box to complete the loading and unloading operation of the material in the glove box.

[0006] Due to the fixed position of the rubber gloves and the different shoulder widths and arm lengths of different operators, during the loading and unloading process of the material in the glove box, it is inconvenient to push, pull, turn, and pour the material in the container, resulting in a relatively large labor intensity for the operator during the whole process, and further leading to low production efficiency of the entire metal powder. Summary of the Invention

[0007] Aiming at the deficiencies in the prior art, the present invention provides an automatic loading and unloading device for an inert gas protection space, which solves the problem of inconvenient loading and unloading operation of the material processed by the heating furnace in the glove box in the prior art.

[0008] According to an embodiment of the present invention, there is provided an automatic loading and unloading device for an inert gas protection space, including:

[0009] A frame, on which an installation seat is provided that can reciprocate along the X direction;

[0010] Handling manipulator, the handling manipulator is arranged on a mounting seat and can reciprocate along the Z direction, the handling manipulator includes two clamping members with variable distance and used in cooperation, the two clamping members are respectively driven by a rotating mechanism and rotate forward or reverse simultaneously;

[0011] At least one tray, the tray is used to carry materials and can be clamped by the two clamping members and rotate forward or reverse with the two clamping members;

[0012] Horizontal roller platform, the horizontal roller platform is used to place the tray and is detachably connected to the handling manipulator.

[0013] Furthermore, there are multiple groups of the trays, each group of trays includes a plurality of trays stacked up and down,

[0014] Each tray is provided with two ears symmetrically extending outwards for cooperating with the two clamping members, and the upper surface of the tray is provided with a positioning pin protruding upwards, the lower bottom of the tray is provided with a positioning hole, and the positioning pins of adjacent two trays are inserted into the positioning holes;

[0015] A buffer platform for temporarily storing a plurality of trays to be transferred is further arranged on the frame.

[0016] Furthermore, the two clamping members are respectively driven by two moving mechanisms to be arranged at variable distances, and the moving mechanism is used in cooperation with the corresponding rotating mechanism,

[0017] The rotating mechanism includes a rotating gear and a limiting gear that mesh with each other and a rotating motor coaxially arranged with the rotating gear, one side of the limiting gear is fixed to the clamping member, and the rotating motor is fixed to the moving mechanism,

[0018] The moving mechanism includes a sliding seat and an upper moving electric cylinder fixed on the sliding seat, the sliding seat is slidably connected to the mounting seat along the Z direction and is fixed to the rotating motor, and the piston rod of the moving electric cylinder is arranged on the other side of the limiting gear and is coaxially rotatably connected to the limiting gear.

[0019] Furthermore, the clamping member is provided with a clamping groove for inserting the ear.

[0020] Furthermore, the mounting seat includes a gantry-shaped moving platform, the two sliding seats are connected by a connecting rod, and the two sliding seats are respectively arranged on the two vertical sections of the moving platform and are slidably arranged along the Z direction, and the horizontal section of the moving platform reciprocates along the X direction on the frame.

[0021] Furthermore, the frame includes two brackets arranged at intervals;

[0022] Each bracket includes a mounting rod extending along the X direction and a load-bearing seat for supporting the mounting rod, and a horizontal moving component is arranged on the two mounting rods and used in cooperation, the moving platform is connected to the horizontal moving component and is controlled to start and stop along the X direction by the horizontal moving component.

[0023] Further, the horizontal movement component includes an X-direction guide rail provided on one of the mounting rods, a mounting plate slidably connected to the X-direction guide rail, and a first motor driving module provided on the other mounting rod. The moving platform is fixed to the mounting plate and the first motor driving module.

[0024] Further, vertical movement components are provided on the two vertical sections of the moving platform and are used in cooperation. Both sliding seats are connected to the vertical movement components and are controlled by the vertical movement components to start and stop along the Z direction.

[0025] The vertical movement component includes a Z-direction guide rail provided on one of the vertical sections, a sliding plate slidably connected to the Z-direction guide rail, and a second motor driving module provided on the other vertical section. The two sliding seats are respectively fixed to the sliding plate and the second motor driving module.

[0026] Further, the horizontal roller platform and the handling manipulator are detachably connected through a connecting component.

[0027] The connecting component includes two connecting blocks respectively fixed to the handling manipulator and the horizontal roller platform, and a push-pull rod detachably connected to the two connecting blocks.

[0028] Among them, the connecting block has a through groove structure, and any side wall of the connecting block is fixed to the handling manipulator or the horizontal roller platform. The other side wall of the connecting block faces the other connecting block and is provided with a connecting notch. The through groove structure and the connecting notch form a T-shaped clamping groove.

[0029] Both ends of the push-pull rod are provided with connecting heads. The connecting head and the push-pull rod form a T-shaped clamping portion, and the clamping portion is inserted into the clamping groove.

[0030] Further, a trolley for assisting the movement of the horizontal roller platform is provided below the horizontal roller platform, and the horizontal roller platform is detachably connected to the trolley through a T-shaped plug inserted and pulled out.

[0031] The trolley is fixed to the frame and is provided with a plurality of guiding roller groups. Each guiding roller includes a guiding shaft arranged along the Y direction and a plurality of rolling wheels coaxially and rotatably arranged on the guiding shaft.

[0032] Principle of the present invention:

[0033] 1. The tray containing the processed materials is placed on the horizontal roller platform. The handling manipulator is connected to the horizontal roller platform and moves the horizontal roller platform to a preset working position of the frame along the X direction under the action of the mounting seat. The handling manipulator and the horizontal roller platform are unlocked.

[0034] 2. The handling manipulator moves along the X direction and the Z direction, so that the two clamping members move to the position of the tray, and the distance between the two clamping members changes for clamping the tray;

[0035] 3. The handling manipulator moves along the X direction to move the tray to the unloading station of the rack. Under the action of the rotating mechanism, the two clamping members drive the tray to flip and unload the material and then reset;

[0036] 4. The handling manipulator moves along the X direction to move the tray to the loading station of the rack and complete the loading of the material before processing (to be processed);

[0037] 5. The handling manipulator moves in the reverse X direction to move the tray above the horizontal roller platform;

[0038] 6. The handling manipulator moves in the reverse Z direction to move the tray onto the horizontal roller platform, and the distance between the two clamping members changes to separate from the tray;

[0039] 7. The handling manipulator moves along the X direction and the Z direction so that it is in a position where it can be connected to the horizontal roller platform;

[0040] 8. The handling manipulator is connected to the horizontal roller platform and moves in the reverse X direction to push the horizontal roller platform to the initial position.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] In traditional glove boxes, the operations of pushing, pulling, loading and unloading the container for loading materials in the inert gas protection space are realized by manually reaching into the rubber gloves. The handling manipulator can move in the X direction with the help of the mounting seat. At the same time, the handling manipulator can also move along the Z direction on the mounting seat, so that the clamping members can move arbitrarily in the X and Z directions within the space range, which is convenient for positioning the tray and realizing the functions of clamping, separating, flipping and resetting the tray; and the detachable connection between the handling manipulator and the horizontal roller platform, as well as the function that the handling manipulator can move along the X direction, can also realize the pushing and pulling operation of the tray; thus realizing the automatic loading and unloading operation of the device in the inert gas protection space, making the operation in the glove box more convenient, reducing the labor intensity of the operator, and improving the production efficiency in the process of preparing metal powder. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is the top view of the structure in Embodiment 1 of the present invention;

[0044] Figure 2 It is the structural schematic diagram in Embodiment 1 of the present invention (without setting the push-pull rod);

[0045] Figure 3 It is the top view of the structure in Embodiment 2 of the present invention;

[0046] Figure 4 Structural schematic diagram in Embodiment 2 of the present invention;

[0047] Figure 5 Top view of the structure in Embodiment 2 of the present invention (multiple sets of trays are provided on the buffer platform);

[0048] Figure 6 Structural schematic diagram in Embodiment 2 of the present invention (multiple sets of trays are provided on the buffer platform);

[0049] Figure 7 Structural schematic diagram of the cooperation and installation of the handling manipulator, mobile platform and vertical moving component of the present invention;

[0050] Figure 8 is Figure 7 structural schematic diagram of another perspective in;

[0051] Figure 9 Structural schematic diagram of the cooperation and installation of the clamping member, rotating mechanism and moving mechanism of the present invention;

[0052] Figure 10 Structural schematic diagram of the connecting block of the present invention;

[0053] Figure 11 Schematic diagram of the cooperation and installation of the trolley, horizontal roller platform and two push rods of the present invention;

[0054] Figure 12 Structural schematic diagram of the cooperation of the trolley and the horizontal roller platform of the present invention;

[0055] Figure 13 Structural schematic diagram of the tray of the present invention;

[0056] Figure 14 Bottom view of the structure of the tray of the present invention;

[0057] Figure 15 Structural schematic diagram of the positioning block of the present invention.

[0058] In the above-mentioned drawings: 1. Tray; 1-1. Ear; 1-2. Positioning pin; 1-3. Positioning block; 1-4. Positioning hole; 2. Handling manipulator; 2-1. Sliding seat; 2-11. Mounting part; 2-12. Connecting part; 2-2. Clamping piece; 2-3. Limiting gear; 2-4. Rotating gear; 2-5. Connecting rod; 2-6. Rotating motor; 2-7. Moving electric cylinder; 2-21. Clamping groove; 3-1. Second motor drive module; 3-2. Sliding plate; 3-3. Z-direction guide rail; 4. Horizontal moving component; 4-1. X-direction guide rail; 4-2. Mounting plate; 4-3. First motor drive module; 5. Bracket; 5-1. Mounting rod; 5-2. Load-bearing seat; 6. Trolley; 6-1. Mounting base; 6-2. Guide roller set; 6-3. T-shaped plug; 6-21. Guide shaft; 6-22. Rolling wheel; 7-1. Unloading station; 7-2. Pre-treatment material station; 7-3. Post-treatment material station; 7-4. Loading station; 7-5. Buffer platform; 7-6. Limiting plug; 8. Horizontal roller platform; 8-1. Positioning plug; 9. Moving platform; 10. Push-pull rod; 10-1. Connector; 11. Connecting block; 11-1. Connecting notch; 11-2. Through groove structure. Detailed implementation manners

[0059] The technical solutions in the present invention will be further described below with reference to the drawings and embodiments.

[0060] Embodiment 1

[0061] As Figure 1 、 2As shown, an embodiment of the present invention proposes an automatic loading and unloading device for an inert gas protection space, including a frame, a handling robot 2, at least one material tray 1 and a horizontal roller platform 8. The frame is provided with a mounting seat that can reciprocate in the X direction, and the handling robot 2 is arranged on the mounting seat and can reciprocate in the Z direction. The setting of the frame facilitates the arbitrary movement of the handling robot 2 in the X and Z directions in the air, and can imitate the push and pull of the container loaded with materials during manual operation. In order to enable the handling robot 2 to realize the flipping action of the container, the handling robot 2 includes two clamping members 2-2 with a variable distance and used in conjunction. The two clamping members 2-2 are driven by a rotating mechanism and rotate forward or reverse at the same time. At the same time, in order to cooperate with the use of the two clamping members 2-2, there is at least one material tray 1 for carrying materials and can be clamped by the two clamping members 2-2 and rotate forward or reverse with the clamping members 2-2. In order to facilitate the push-pull movement of the material tray 1 under the action of the handling robot 2, the material tray 1 is placed on a horizontal roller platform 8, and the horizontal roller platform 8 and the handling robot 2 are detachably connected. When the horizontal roller platform 8 is connected to the handling robot 2, the handling robot 2 can move along the X direction to push and pull the material tray 1, and the two clamping members 2-2 of the handling robot 2 can clamp the material tray 1. The clamped material tray 1 can be turned over and unloaded under the action of the rotating mechanism. The material tray 1 after unloading can be loaded at the feeding station of the glove box. The material tray 1 after loading can be moved and placed on the horizontal roller platform 8 under the action of the handling robot 2. The handling robot 2 pushes the horizontal roller platform 8 to move the loaded material tray 1 to the feeding station, thereby completing the unloading of the processed material in the material tray 1 and the loading of the material to be processed.

[0062] like Figure 1 , 2 As shown, in order to realize the reciprocating movement of the mounting seat along the X direction on the frame and facilitate the installation of the handling manipulator 2, the mounting seat includes a door-shaped mobile platform 9, and the handling manipulator 2 is connected to the mobile platform 9. The frame includes two brackets 5 arranged at intervals, each bracket 5 includes a mounting rod 5-1 extending along the X direction for supporting a load-bearing seat 5-2 of the mounting rod 5-1, and the two mounting rods 5-1 are provided with a horizontal moving assembly 4 for use in conjunction, and the mobile platform 9 is connected to the horizontal moving assembly 4 and controlled to start and stop along the X direction through the horizontal moving assembly 4. The horizontal moving assembly 4 includes an X-guide rail 4-1 arranged on one of the mounting rods 5-1, a mounting plate 4-2 slidably connected to the X-guide rail 4-1, and a first motor drive module 4-3 arranged on the other mounting rod 5-1, and the mobile platform 9 is fixed to the mounting plate 4-2 and the first motor drive module 4-3.

[0063] The first motor drive module 4-3 is equivalent to the existing linear motor mold or rotary motor 2-6 module. It is a commonly used device for driving the linear motion of components in the process of motorized mechanical design. For example, in the patent with the patent number CN211606304U and the name of a highly reliable drive module or the patent with the patent number CN215945851U and the name of a drive module, the technology is recorded to achieve the linear motion (X-direction movement) of the component (mounting seat) through the motor module. At the same time, the first motor drive module 4-3 can achieve automatic control through programming. The start and stop of the mobile platform 9 at any position within the controllable range in the X-direction can be achieved through the controller or single-chip microcomputer, thereby realizing the random movement of the handling manipulator 2 carried on the mobile platform 9 in the X-direction.

[0064] As Figure 7 , 8 shown, in order to achieve the arbitrary start and stop of the handling manipulator 2 in the Z-direction, vertical movement components are provided on the two vertical sections of the mobile platform 9. The vertical movement components include a Z-direction guide rail 3-3 provided on one of the vertical sections, a sliding plate 3-2 slidably connected to the Z-direction guide rail 3-3, and a second motor drive module 3-1 provided on the other vertical section. The handling manipulator 2 is fixed to the sliding plate 3-2 and the second motor drive module 3-1. The structure of the vertical movement components is similar to the structure of the horizontal movement components 4. It is a commonly used device in the process of automated equipment design that can achieve the linear reciprocating motion of components. The existence of the vertical movement components enables the handling manipulator 2 to start and stop at any position within the controllable range along the Z-direction, facilitating the clamping, flipping of the handling manipulator 2 and the material tray 1, and the detachable connection with the horizontal roller platform 8.

[0065] As Figure 7 , 8, as shown in FIGS. 9, in order to enable the handling manipulator 2 to clamp and flip the tray 1, the two clamping members 2-2 on the handling manipulator 2 are respectively driven by two moving mechanisms to be set at variable distances, and the moving mechanisms are used in cooperation with the corresponding rotating mechanisms. The rotating mechanism includes a rotating gear 2-4 and a limiting gear 2-3 that mesh with each other, and a rotating motor 2-6 coaxially arranged with the rotating gear 2-4. One side of the limiting gear 2-3 is fixed to the clamping member 2-2, the rotating motor 2-6 is fixed to the moving mechanism. The moving mechanism includes a sliding seat 2-1 and an upper moving electric cylinder 2-7 fixed on the sliding seat 2-1. The sliding seat 2-1 is slidably connected to the mounting seat along the Z direction and is fixed to the rotating motor 2-6. The piston rod of the moving electric cylinder 2-7 is arranged on the other side of the limiting gear 2-3 and is rotatably connected to the limiting gear 2-3 coaxially. To facilitate the connection between the sliding seat 2-1 and the vertical moving assembly, and to facilitate the installation of the moving mechanism and the rotating mechanism, the sliding seat 2-1 includes a mounting portion 2-11 and a connecting portion 2-12 that are connected to each other. The moving electric cylinder 2-7 and the rotating motor 2-6 are both fixed on the mounting portion 2-11, and the connecting portion 2-12 is used to connect the mounting portion 2-11 with the sliding plate 3-2 or the second motor driving module 3-1.

[0066] During use, the limiting gear 2-3 can be limited under the meshing of the rotating gear 2-4, that is, when the rotating gear 2-4 does not rotate, the limiting gear 2-3 does not rotate. And the limiting gear 2-3 and the rotating gear 2-4 have a certain tooth thickness, and the limiting gear 2-3 can also mesh with the rotating gear 2-4 when the limiting gear 2-3 moves under the action of the moving electric cylinder 2-7. Therefore, the limiting gear 2-3 can not only move under the action of the moving electric cylinder 2-7, but also rotate under the action of the rotating rotating gear 2-4, realizing the variable distance setting of the two clamping members 2-2 and the simultaneous flipping and resetting. The two clamping members 2-2 can rotate 180° or rotate one week under the drive of the rotating motor 2-6, and the rotation angle of the two clamping members 2-2 is determined according to the depth of the tray 1, so as to complete the flipping and discharging of the materials in the tray 1.

[0067] In order to enable the handling manipulator 2 to slide along the Z direction on the moving platform 9, the two sliding seats 2-1 are connected by a connecting rod 2-5 and are respectively connected to the sliding plate 3-2 and the second motor driving module 3-1, so as to realize the movement of the entire handling manipulator 2 along the Z direction on the moving platform 9.

[0068] As Figure 7 , 8 shown, the two clamping members 2-2 are arranged oppositely and used in cooperation. To facilitate the movement of the handling manipulator 2 along the X direction and not affect the layout of other components in space, the two clamping members 2-2 are arranged oppositely along the Y direction.

[0069] When the handling manipulator 2 clamps and flips the tray 1: The handling manipulator 2 moves to the position of the tray 1 under the action of the horizontal moving component 4 and the vertical moving component; the two moving electric cylinders 2-7 work simultaneously to drive the two clamping members 2-2 to move relatively to clamp the tray 1; the handling manipulator 2 clamping the tray 1 moves to the unloading station 7-1 under the action of the horizontal moving component 4 and the vertical moving component; the two rotating motors 2-6 work simultaneously to drive the two clamping members 2-2 to flip simultaneously to realize the unloading of the tray 1, and the two rotating motors 2-6 rotate in the reverse direction simultaneously to realize the reset of the clamping members 2-2 after flipping, completing the unloading of the tray 1; the handling manipulator 2 clamps the unloaded tray 1 and moves to the loading station 7-4 under the action of the horizontal moving component 4 and the vertical moving component, and automatic loading is carried out through the feeding station connected by the glove box, thereby completing the loading operation of the tray 1; the loaded tray 1 can be moved to the horizontal roller platform 8 under the action of the moving manipulator, completing the unloading and loading operations of the tray 1.

[0070] As Figure 13 , 14 shown, in order to make the cooperation between the tray 1 and the clamping members 2-2 more stable and effective, two ears 1-1 symmetrically extending outward and used in cooperation with the two clamping members 2-2 are provided on the tray 1, and a clamping groove 2-21 for inserting the ears 1-1 is formed in the clamping member 2-2. When the two clamping members 2-2 move relatively, the two clamping grooves 2-21 just sleeve outside the two ears 1-1, thereby realizing the clamping of the tray 1 by the two clamping members 2-2.

[0071] As Figure 1 , 2, as shown in Figures 9, 10, and 11, in order to enable the pushing and pulling of the horizontal roller platform 8 to be achieved by the handling manipulator 2, the horizontal roller platform 8 is detachably connected to the handling manipulator 2 through a connecting component. The connecting component includes two connecting blocks 11 respectively fixed to the handling manipulator 2 and the horizontal roller platform 8, and a push rod 10 detachably connected to the two connecting blocks 11. Among them, the connecting block 11 has a through groove structure 11-1, and any side wall of the connecting block 11 is fixed to the handling manipulator 2 or the horizontal roller platform 8. The other side wall of the connecting block 11 faces the other connecting block 11 and is provided with a connecting notch 11-1. The through groove structure 11-1 and the connecting notch 11-1 form a T-shaped clamping groove. Both ends of the push rod 10 are provided with connecting heads 10-1. The connecting head 10-1 and the push rod 10 form a T-shaped clamping portion, and the clamping portion is inserted into the clamping groove. During use, in order to make the connecting component more stable during use, the connecting components provided in the present invention are two groups arranged side by side, and the two connecting blocks 11 provided on the handling manipulator 2 are respectively arranged on the sliding seat 2-1. Then during use, the two push rods 10 are respectively clamped into the corresponding two connecting blocks 11 in sequence, and the connection between the handling manipulator 2 and the horizontal roller platform 8 can be completed. Then, under the action of the horizontal moving component 4, the handling manipulator 2 moves along the X direction to realize the pushing and pulling operation on the horizontal roller platform 8.

[0072] As Figure 1 , 2 , 11, and 12 show that in order to make it more convenient for the handling manipulator 2 to push and pull the horizontal roller platform 8, a trolley 6 for assisting the movement of the horizontal roller platform 8 is provided below the horizontal roller platform 8. The trolley 6 is fixed to the frame and is provided with a plurality of guiding roller groups 6-2. Each guiding roller includes a guiding shaft 6-21 arranged along the Y direction and a plurality of rolling wheels 6-22 coaxially and rotatably arranged on the guiding shaft 6-21. The trolley 6 is provided with a mounting base 6-1. The mounting base 6-1 is fixed to the frame, and a plurality of guiding roller groups 6-2 are arranged on the mounting base 6-1. The horizontal roller platform 8 is placed on the plurality of guiding roller groups 6-2. Through the arrangement of the plurality of guiding roller groups 6-2, the friction when the handling manipulator 2 pushes and pulls the horizontal roller platform 8 can be made smaller, the load of the handling manipulator 2 can be smaller, and the pushing and pulling of the horizontal roller platform 8 can be made more convenient.

[0073] In order to enable the horizontal roller platform 8 to be fixed to the trolley 6 when it no longer needs to be pushed and pulled, the horizontal roller platform 8 is detachably connected to the trolley 6 through a T-shaped pin 6-3 arranged in a plug-and-play manner. As Figure 6 , 7As shown in the figure, a plugging through hole is provided on the mounting base 6-1 of the lower trolley, and a jack is provided on the horizontal roller platform 8. When the plugging through hole and the jack are opposite to each other, the horizontal roller platform 8 and the trolley 6 can be locked by connecting them with a T-shaped pin 6-3; when the T-shaped pin 6-3 is pulled out, the horizontal roller platform 8 and the trolley 6 can be unlocked, and then the horizontal roller platform 8 can be moved under the action of the handling manipulator 2.

[0074] As Figure 10 , 11 shown, in order to place the tray 1 on the horizontal roller platform 8 and ensure that the tray 1 does not move when the horizontal roller platform 8 moves, a plurality of positioning pins 8-1 protruding upward are provided on the horizontal roller platform 8, and a plurality of positioning holes 1-4 are provided on the lower bottom of the tray 1. The positioning holes 1-4 are in plug-in fit with the positioning pins 8-1 to prevent the tray 1 placed on the horizontal roller platform 8 from having a relative displacement with the horizontal roller platform 8 when the horizontal roller platform 8 moves.

[0075] The setting of the trolley 6 and the horizontal roller platform 8 enables the horizontal roller platform 8 to perform two actions of pushing and pulling materials in an inert gas protection space, with a large flexible space and convenient operation.

[0076] The principle in this embodiment:

[0077] 1. The operator places the tray 1 containing the processed materials on the horizontal roller platform 8. The horizontal roller platform 8 is placed on a plurality of guiding roller groups 6-2 of the trolley 6. At this time, the horizontal roller platform 8 and the trolley 6 are in an unlocked state;

[0078] 2. The handling manipulator 2 moves to a position where it can be connected to the horizontal roller platform 8 under the action of the horizontal moving component 4 and the vertical moving component. The operator connects the handling manipulator 2 and the horizontal roller platform 8 through the push-pull rod 10;

[0079] 3. The handling manipulator 2 moves the horizontal roller platform 8 along the X direction to a preset working position of the rack under the action of the horizontal moving component 4. The operator removes the push-pull rod 10 to unlock the handling manipulator 2 and the horizontal roller platform 8, and inserts the T-shaped pin 6-3 to lock the horizontal roller platform 8 and the trolley 6;

[0080] 4. The handling manipulator 2 moves reversely along the X direction to the position of the tray 1 under the action of the horizontal moving component 4, and moves along the Z direction (upward) under the action of the vertical moving component, so that the two clamping members 2-2 are matched with the two ears 1-1 of the tray 1. The two moving electric cylinders 2-7 on the handling manipulator 2 work simultaneously, and the two clamping members 2-2 move relatively so that the two clamping grooves 2-21 are sleeved with the two ears 1-1 to clamp the tray 1;

[0081] 5. The handling manipulator 2 moves along the X direction under the action of the horizontal moving component 4 to move the clamped tray 1 to the unloading station 7-1 of the rack;

[0082] 6. The two rotating mechanisms of the handling manipulator 2 work simultaneously to drive the two clamping members 2-2 and the tray 1 to flip (180°). After the tray 1 is unloaded, it is reset (to the horizontal state);

[0083] 7. The handling manipulator 2 clamping the reset tray 1 moves along the X direction under the action of the horizontal moving component 4 to move the tray 1 to the loading station 7-4 of the rack. The feeding station of the glove box automatically unloads materials, completing the loading operation of the materials to be processed (pending processing) on the tray 1;

[0084] 8. The handling manipulator 2 clamping the loaded tray 1 moves in the reverse X direction along the horizontal moving component 4 to move the tray 1 above the horizontal roller platform 8;

[0085] 9. The handling manipulator 2 moves in the reverse Z direction (downward) under the action of the vertical moving component to place the tray 1 on the flat roller platform and insert and position it with the positioning pin 8-1 on the flat roller platform;

[0086] 10. The two clamping members 2-2 of the handling manipulator 2 increase the distance under the action of the moving electric cylinder 2-7 and separate from the two ears 1-1 of the tray 1;

[0087] 11. The handling manipulator 2 moves to a position where it can be connected to the horizontal roller platform 8 under the action of the horizontal moving component 4 and the vertical moving component. An operator sets the two push-pull rods 10 at the preset position to connect the horizontal roller platform 8 and the handling manipulator 2;

[0088] 12. The operator pulls out the T-shaped pin 6-3 to unlock the horizontal roller platform 8 and the trolley 6;

[0089] 13. The handling manipulator 2 moves in the reverse X direction along the horizontal component to push the horizontal roller platform 8 to the initial position, completing the automatic loading and unloading operation in the inert gas protection space.

[0090] In summary, in traditional glove boxes, the operations of pushing, pulling, loading, and unloading the containers for the loaded materials are achieved by manually reaching into the rubber gloves to realize the inert gas protection space. The handling manipulator 2 can move in the X direction with the help of the mounting base. At the same time, the handling manipulator 2 can also move in the Z direction on the mounting base. Furthermore, the clamping member 2-2 can move freely in the X and Z directions within the space range, facilitating the positioning of the tray 1 and realizing the functions of clamping, separating, flipping, and resetting the tray 1. The detachable connection between the handling manipulator 2 and the horizontal roller platform 8, and the function that the handling manipulator 2 can move in the X direction, can also realize the pushing and pulling operations of the tray 1. Thus, the automatic loading and unloading operation of the device in this embodiment in the inert gas protection space is realized, making the operation in the glove box more convenient, reducing the labor intensity of the operators, and improving the production efficiency in the process of metal powder preparation.

[0091] Embodiment 2

[0092] In the actual use process, the number of trays 1 is usually not one. To make the quality of the loaded and unloaded materials of this device more, and at the same time to make the unloading operation time in the glove box better match the working cycle of the heating furnace, so as to improve the utilization efficiency of the heating furnace.

[0093] In this embodiment, as Figures 3 - 6 shown, the tray 1 includes multiple groups, and each group of trays 1 includes a plurality of trays stacked up and down. As Figures 13 - 15 shown, the upper surface of the tray 1 is provided with positioning pins 1-2 protruding upward, and at least one positioning hole 1-4 is provided at the lower bottom of the tray 1. The positioning pins 1-2 of adjacent trays 1 are inserted into the positioning holes 1-4. The tray 1 is positioned through the cooperation of the positioning pins 1-2 and the positioning holes 1-4, with high positioning accuracy, and multi-layer stacking of the trays 1 can be realized. To facilitate the setting of the positioning pins 1-2 and the positioning holes 1-4, 7-shaped positioning blocks 1-3 are provided at the four corners of the tray 1, and the positioning pins 1-2 and the positioning holes 1-4 are both arranged on the corresponding positioning blocks 1-3.

[0094] As Figures 3 - 6 shown, to make the loading, unloading, and stacking of multiple groups of trays 1 in this embodiment smoother, and at the same time to cooperate with the use of the heating furnace. A buffer platform 7-5 for temporarily storing and transferring the trays 1 is provided between the two brackets 5 of the rack and between the unloading station 7-1 and the loading station 7-4. The buffer platform 7-5 is divided into a pre-treatment material station 7-2 and a post-treatment material station 7-3. The loading station 7-4 in this embodiment is also located above the buffer platform 7-5.

[0095] To facilitate the positioning of the tray 1 at the pre - processing material station 7 - 2 and the post - processing material station 7 - 3, and to facilitate the stacking of multiple trays 1, a plurality of limit pins 7 - 6 for positioning the tray 1 (the lowest placement position) are provided at both the pre - processing material station 7 - 2 and the post - processing material station 7 - 3. The limit pins 7 - 6 are inserted and matched with the positioning holes 1 - 4. The pre - processing material station 7 - 2 and the post - processing material station 7 - 3 are respectively provided with placement spaces for two groups of trays 1 to be arranged side by side, and each group of trays 1 is a plurality of trays stacked from top to bottom in sequence.

[0096] Then the operating principle of this embodiment is as follows:

[0097] 1. First, each tray 1 of the two groups of trays 1 set at the pre - processing material station 7 - 2 has been loaded with the material to be processed, and no tray 1 is placed on the post - processing material station 7 - 3.

[0098] 2. The two groups of trays 1 exported from the heating furnace are stacked on the horizontal roller platform 8 at the position shown in the figure.

[0099] 3. At this time, referring to the operations in steps 1 - 3 of Embodiment 1, the handling manipulator 2 completes the movement of the two groups of trays 1 on the horizontal roller platform 8 and the locking of the horizontal roller platform 8 and the trolley 6.

[0100] 4. The handling manipulator 2, under the action of the horizontal movement component 4 and the vertical movement component, clamps the uppermost tray 1 on the horizontal roller platform 8, then moves it to the post - processing material station 7 - 3 and releases the clamp on the tray 1 to place the tray 1 on the post - processing material station 7 - 3.

[0101] 5. Referring to step 4, repeat this process to move the two groups of trays 1 on the horizontal roller platform 8 to the post - processing material station 7 - 3 in sequence for stacking.

[0102] 6. After all the trays 1 on the horizontal roller platform 8 are unloaded, the handling manipulator 2 sequentially clamps, moves, and places the two groups of trays 1 at the pre - processing material station 7 - 2 on the horizontal roller platform 8. Repeat this process to move all the two groups of trays 1 at the pre - processing material station 7 - 2 to the horizontal roller platform 8 and complete the stacking.

[0103] 7. At this time, referring to steps 11 - 13 in Embodiment 1, the horizontal roller platform 8 is pushed to the initial position to complete the feeding operation of the tray 1 loaded with material towards the heating furnace.

[0104] 8. Then, remove the two push - pull rods 10, unlock the handling manipulator 2 and the horizontal roller platform 8, and the handling manipulator 2, under the action of the horizontal movement component 4 and the vertical movement component, moves to the position of the uppermost tray 1 at the post - processing material station 7 - 3.

[0105] 9. At this time, refer to steps 5-7 in Embodiment 1 to perform the operations of flipping and discharging the tray 1 at the uppermost position of the processed material station 7-3 and automatically loading the feeding station;

[0106] 10. Move the tray 1 after loading to the pre-processed material station 7-2 under the action of the handling manipulator 2. The two clamping members 2-2 release the clamping of the tray 1, and place the tray 1 containing the material on the pre-processed material station 7-2;

[0107] 11. Repeat steps 9 and 10 to sequentially complete the operations of moving, discharging, loading, and moving to the pre-processed material station 7-2 for stacking of the two groups of trays 1 on the processed material station 7-3, so as to complete one cycle operation in this embodiment.

[0108] In summary, the setting of multiple groups of trays 1 and the pre-processed material station 7-2 and the processed material station 7-3 in this embodiment can better match the use of the heating furnace, achieve the purpose of loading and unloading batch materials, and at the same time utilize the working time difference of the heating furnace to first send the two groups of trays 1 loaded with materials to be processed into the heating furnace, and then perform the operations of discharging and loading the trays 1 temporarily stored in the glove box one by one, saving the cycle of transporting to the heating furnace after loading and unloading inside the glove box, and improving the utilization efficiency of the heating furnace.

[0109] It should be noted that: the first motor drive module 4-3, the second motor drive module 3-1, the moving electric cylinder 2-7 (servo electric cylinder), and the rotating motor 2-6 (servo motor) can all be programmed and controlled to implement the operation steps in the above Embodiment 1 or Embodiment 2 through a control unit (PLC, single-chip microcomputer, etc.).

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An automatic loading and unloading device for an inert gas protected space, characterized in that: Comprising: A frame, on which a mounting seat is provided that can reciprocate along the X direction; A handling manipulator, which is arranged on the mounting seat and can reciprocate along the Z direction. The handling manipulator includes two clamping members with variable distances and used in cooperation. The two clamping members are respectively driven by a rotating mechanism and rotate forward or reverse simultaneously; At least one tray, which is used to carry materials and can be clamped by the two clamping members and rotate forward or reverse simultaneously with the two clamping members; A horizontal roller platform, which is used to place the tray and is detachably connected to the handling manipulator; There are multiple groups of the trays, and each group of trays includes a plurality of trays stacked up and down; Each tray is provided with two ears symmetrically extending outward for cooperation with the two clamping members. And the upper surface of the tray is provided with a positioning pin protruding upward, and the lower bottom of the tray is provided with a positioning hole. The positioning pins of adjacent two trays are inserted into the positioning holes; A buffer platform for temporarily storing multiple trays to be transferred is also provided on the frame; The two clamping members are respectively driven by two moving mechanisms to be set at variable distances, and the moving mechanisms are used in cooperation with the corresponding rotating mechanisms; The rotating mechanism includes a rotating gear and a limiting gear that mesh with each other and a rotating motor coaxially arranged with the rotating gear. One side of the limiting gear is fixed to the clamping member, and the rotating motor is fixed to the moving mechanism; The moving mechanism includes a sliding seat and an upper moving electric cylinder fixed on the sliding seat. The sliding seat is slidably connected to the mounting seat along the Z direction and is fixed to the rotating motor. The piston rod of the moving electric cylinder is arranged on the other side of the limiting gear and is coaxially rotatably connected to the limiting gear.

2. The automatic loading and unloading device for an inert gas protected space according to claim 1, characterized in that: The clamping member is provided with a clamping groove for inserting the ear.

3. The automatic loading and unloading device for an inert gas protected space according to claim 1, characterized in that: The mounting seat includes a gantry-shaped moving platform. The two sliding seats are connected by a connecting rod, and the two sliding seats are respectively arranged on the two vertical sections of the moving platform and slidably arranged along the Z direction. The horizontal section of the moving platform reciprocates along the X direction on the frame.

4. The automatic loading and unloading device for an inert gas protected space according to claim 3, characterized in that: The frame includes two brackets arranged at intervals; Each bracket includes a mounting rod extending along the X direction and a load-bearing seat for supporting the mounting rod. And horizontal moving components are provided on the two mounting rods and used in cooperation. The moving platform is connected to the horizontal moving components and is controlled to start and stop along the X direction through the horizontal moving components; 5. The automatic loading and unloading device for an inert gas protected space according to claim 4, characterized in that: The horizontal moving components include an X-direction guide rail arranged on one of the mounting rods, a mounting plate slidably connected to the X-direction guide rail, and a first motor driving module arranged on the other mounting rod. The moving platform is fixed to the mounting plate and the first motor driving module; 6. The automatic loading and unloading device for an inert gas protected space according to claim 3, characterized in that: Vertical moving components are provided on the two vertical sections of the moving platform and used in cooperation. The two sliding seats are both connected to the vertical moving components and are controlled to start and stop along the Z direction through the vertical moving components; The vertical moving components include a Z-direction guide rail arranged on one of the vertical sections, a sliding plate slidably connected to the Z-direction guide rail, and a second motor driving module arranged on the other vertical section. The two sliding seats are respectively fixed to the sliding plate and the second motor driving module; 7. An automatic loading and unloading device for an inert gas protected space according to claim 1, characterized in that: The horizontal roller platform and the handling manipulator are detachably connected through a connecting component; The connecting component includes two connecting blocks respectively fixed to the handling manipulator and the horizontal roller platform and a push-pull rod detachably connected to the two connecting blocks. Among them, the connecting block has a through groove structure, and any side wall of the connecting block is fixed to the handling manipulator or the horizontal roller platform. The other side wall of the connecting block faces another connecting block and is provided with a connecting notch. The through groove structure and the connecting notch form a T-shaped clamping groove. Both ends of the push-pull rod are provided with connecting heads. The connecting heads and the push-pull rod form a T-shaped clamping part, and the clamping part is inserted into the clamping groove.

8. An automatic loading and unloading device for an inert gas protected space according to claim 7, characterized in that: A trolley for assisting the movement of the horizontal roller platform is provided under the horizontal roller platform, and the horizontal roller platform is detachably connected to the trolley through a T-shaped pin arranged in a plug-and-play manner. The trolley is fixed to the frame and is provided with a plurality of guide roller groups. Each guide roller includes a guide shaft arranged along the Y direction and a plurality of rolling wheels coaxially and rotatably arranged on the guide shaft.

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