Auxiliary feeding and discharging equipment for hydrogen cylinder heat treatment furnace

Abstract

The application provides a hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment, which comprises a turnover mechanism, a carrying mechanism and a control system. The turnover mechanism comprises a frame base, a turnover support and a first servo electric push cylinder. The carrying mechanism comprises an X-axis assisting arm, a Z-axis assisting arm, an end picker and a plurality of stand columns. The control system is used for controlling the turnover mechanism and the carrying mechanism. The application can realize automatic loading and unloading, turnover and information transmission of the hydrogen cylinder, realize machine replacement, and the hydrogen cylinder feeding and discharging position is accurate, safe and stable.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of auxiliary feeding and discharging equipment, in particular to auxiliary feeding and discharging equipment for a hydrogen cylinder heat treatment furnace. BACKGROUND

[0002] At present, export and part of domestic inner tank products need to be delivered in a T6 heat treatment state, according to the characteristics of the closed ends and long length of the inner tank, a conventional deep pit quenching heat treatment + box type aging treatment technical scheme is adopted, the equipment foundation manufacturing difficulty is great, and the cost is generally more than 1 million yuan; the inner tank has large water buoyancy, and the performance of the upper half is not easy to guarantee; according to the maximum loading capacity of 9 pieces, the whole process needs at least 20 hours, the efficiency is low, and the temperature needs to be repeatedly reduced to room temperature and then raised, so the electricity cost is extremely high. Therefore, the hanging type continuous heat treatment is adopted, and after one-time heating, continuous quenching + aging is realized to realize the production efficiency of 0.5-1 piece / hour.

[0003] However, the hook of the hanging type heat treatment furnace is 4.8 m away from the ground, and manual feeding and discharging is extremely difficult or even impossible to complete, and the necessity of construction mainly has the following points: 1, the inner tank has a two-end arc-shaped bottom sealing structure and a long length, manual operation is difficult to select the lifting point and the lifting tool is not easy to stably hold; 2, the inner tank is easy to shake when vertically hung and transferred, and is easy to collide to cause damage to personnel, equipment and products, and manual operation of holding the inner tank under the hook violates the safety operation requirements; 3, the hanging pin and the hook are small in size, need to be observed nearby, and manual operation needs high-altitude operation and needs to have an exploring action, so the safety risk is great. SUMMARY

[0004] In view of the above prior art, the application provides auxiliary feeding and discharging equipment for a hydrogen cylinder heat treatment furnace.

[0005] The application provides auxiliary feeding and discharging equipment for a hydrogen cylinder heat treatment furnace, which comprises:

[0006] A turnover mechanism, the turnover mechanism comprises a frame base, a turnover support and a first servo electric push cylinder, the frame base is fixed on the ground, the turnover support is at least ninety degrees turnably connected with the frame base, and both ends of the first servo electric push cylinder are connected with the turnover support and the frame base through hinge supports respectively, an X-direction displacement mechanism is arranged on the turnover support and can linearly slide along the length direction of the turnover support, a Z-direction displacement mechanism is arranged on the X-direction displacement mechanism and can linearly slide along the vertical direction of the X-direction displacement mechanism, a first hook is arranged on the Z-direction displacement mechanism, and a plurality of holding assemblies and a plurality of supporting rollers are arranged below the first hook on the turnover support.

[0007] The carrying mechanism comprises an X-axis assisting arm, a Z-axis assisting arm, an end picker and a plurality of columns; the X-axis assisting arm is fixed on the columns; the Z-axis assisting arm is vertically arranged on the X-axis assisting arm and can linearly slide along the length direction and width direction of the X-axis assisting arm; the end picker is arranged on the Z-axis assisting arm and comprises a mounting bracket, wherein a second hook is arranged on the mounting bracket and a holding clamp is arranged below the second hook on the mounting bracket.

[0008] The control system is used for controlling the turnover mechanism and the carrying mechanism.

[0009] Preferably, the upper end of the frame base is provided with a limiting plate, and limiting blocks are arranged at both ends of the limiting plate, and a plurality of adjusting washers are arranged between the limiting blocks and the limiting plate.

[0010] Preferably, the Z-direction displacement mechanism is driven by a second servo electric push cylinder, and is used for adjusting the position of the first hook along the radial direction of the workpiece; the X-direction displacement mechanism is driven by a gas cylinder, and is used for pushing the Z-direction displacement mechanism together with the workpiece to a specified position along the axial direction of the workpiece and limiting the workpiece.

[0011] Preferably, the supporting roller is made of unpowered nylon or polyurethane rubber-coated roller.

[0012] Preferably, the supporting roller is a V-shaped roller.

[0013] Preferably, the holding assembly comprises two mirror-image arranged pressing plates, and the two pressing plates are connected with the turnover support through a hinge four-link mechanism, the hinge four-link mechanism adopts a gas cylinder as a drive, and is used for driving the pressing plates to press the workpiece, and the outer surface of the pressing plate is provided with a polyurethane block.

[0014] Preferably, the X-axis assisting arm comprises a cross beam framework, the lower end of the cross beam framework is fixedly connected with the columns, the upper end of the cross beam framework is provided with an X-axis linear guide rail, and an X-axis sliding plate is arranged on the X-axis linear guide rail.

[0015] Preferably, the two ends of the X-axis linear guide rail are provided with electrical soft limiting and mechanical elastic buffering.

[0016] Preferably, the Z-axis assisting arm comprises a Z-axis support, the Z-axis support is provided with a Z-axis linear guide rail, and a Z-axis driving mechanical system is installed on the X-axis sliding plate.

[0017] Preferably, the two ends of the Z-axis linear guide rail are provided with electrical soft limiting and mechanical elastic buffering.

[0018] Compared with the prior art, the hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment provided by the application has the following beneficial effects: the carrying assisting arm is provided with X and Z two movement directions, and the load is not less than 200 kg; the assisting arm and the turnover support can meet the diameter and length requirements of different models of products, and the feeding and discharging carrying process is safe, stable and risk-free; the mechanical body structure is solid, the body structure is reasonably designed, has sufficient static and dynamic stiffness, good reliability and durability, and is suitable for mass production; the hydrogen cylinder can be automatically loaded and unloaded, turned over and information transmitted, and the machine can replace the person, and the hydrogen cylinder feeding and discharging position is accurate.

[0019] In addition, the device is a fixed device, which needs to be used with a heat treatment furnace, and cannot be shared with the same device of the 2# production line in terms of factory layout. Therefore, in order to meet the heat treatment production requirements of the inner container product, the device needs to be provided. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of an embodiment of the application.

[0021] Figure 2 is a structural schematic diagram of a turnover mechanism in an embodiment of the application.

[0022] Figures 3-4 are partial structural schematic diagrams of a turnover mechanism in an embodiment of the application.

[0023] Figure 5 is a structural schematic diagram of an end gripper in an embodiment of the application.

[0024] In the figure: 1, turnover mechanism; 11, frame base; 111, limiting plate; 112, limiting block; 12, turnover support; 121, holding assembly; 122, V-shaped roller; 13, first servo electric push cylinder; 14, hinged support; 15, X-direction displacement mechanism; 16, Z-direction displacement mechanism; 161, first hook; 2, carrying mechanism; 21, X-axis assisting arm; 22, Z-axis assisting arm; 23, end gripper; 231, mounting support; 232, second hook; 233, holding clamp jaw; 24, stand column. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, purposes and effects realized by the application easy to understand, the application is further described below in combination with specific diagrams. EMBODIMENT

[0026] A hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment is a hanging heat treatment furnace auxiliary equipment, which mainly completes the feeding and discharging functions of inner container products with a length of 4 m or less, as shown in Figures 1-5 , including a turnover mechanism 1, a carrying mechanism 2 and a control system.

[0027] Wherein, as shown in Figures 1-4 The frame base 11 is fixed on the ground and is made of a square tube of 80X80Xt6 standard Q235 material after annealing after welding, can be adjusted in length in the horizontal direction, and the upper end of the frame base 11 is fixed with a limiting plate 111, both ends of the limiting plate 111 are provided with limiting blocks 112, and a plurality of adjusting shims are arranged between the limiting blocks 112 and the limiting plate 111.

[0028] The overturning support 12 is made of a square tube of 80X80Xt6 standard Q235 material after annealing after welding, and is connected with the frame base 11 at an angle of 90 degrees, both ends of the first servo electric push cylinder 13 are connected with the overturning support 12 and the frame base 11 through hinge supports 14 respectively, forming a hinge four-bar linkage mechanism, so as to realize automatic overturning of the overturning support 12, the servo motor power of the first servo electric push cylinder 13 is 4KW, and the electric cylinder thrust is 20KN.

[0029] The top of the overturning support 12 is provided with an X-direction displacement mechanism 15, the X-direction displacement mechanism 15 can slide linearly along the length direction of the overturning support 12, the X-direction displacement mechanism 15 is provided with a Z-direction displacement mechanism 16, the Z-direction displacement mechanism 16 can slide linearly along the vertical direction of the X-direction displacement mechanism 15, the Z-direction displacement mechanism 16 is provided with a first hook 161, and the overturning support 12 is uniformly provided with two holding assemblies 121 and a plurality of V-shaped rollers 122 below the first hook 161. The Z-direction displacement mechanism 16 is driven by a second servo electric push cylinder, is used for adjusting the position of the first hook 161 along the radial direction of the workpiece, so as to match workpieces of different diameters, adopts a 25mm linear guide rail, and two groups of ball slides are used for bearing the weight of the entire workpiece; the X-direction displacement mechanism 15 is driven by a gas cylinder, is used for pushing the Z-direction displacement mechanism 16 together with the workpiece to a specified position along the axial direction of the workpiece, and limiting the workpiece, adopts a 30mm linear guide rail, and two groups of ball slides can bear an overturning torque of 566.5275Nm; the V-shaped roller 122 can be made of unpowered nylon or polyurethane coated roller, so as to prevent scratching the surface of the aluminum alloy inner container.

[0030] The holding assembly 121 comprises two mirror arranged pressing plates, both of which are connected with the turnover support 12 through a hinge four-link mechanism, the hinge four-link mechanism adopts a 50 cylinder diameter 85mm stroke air cylinder as a drive for driving the pressing plates to press the workpiece, the outer surface of the pressing plate is provided with a polyurethane block to prevent indentation on the surface of the workpiece, and the pneumatic actuator is connected to a pneumatic three-way piece (air filter + oil mist separation + pressure regulating valve) through a control element solenoid valve, while a speed regulating valve is connected to the cylinder inlet and outlet holes, the pressure regulating valve is used to control the cylinder output force, and the speed regulating valve is used to control the air flow rate. In addition, considering the convenience of device wiring, the turnover support 12 is provided with a Moore communication module, and wire slots are arranged around the turnover support 12, and the cables are provided with quick plug connectors.

[0031] The initial state of the turnover support 12 is a horizontal state, which is placed on the limiting plate 111 and limited by the limiting block 112, the inner container of the gas cylinder is placed on the first hook 161 and the V-shaped rollers 122 by the crown block, a round pin with a positioning groove is inserted into the bottle mouth by the operator, then the worker presses the button, the X-direction (axial direction of the inner container of the gas cylinder) displacement mechanism 15 limits the inner container of the gas cylinder and the pin at the bottle mouth in the axial direction, the operator retreats to the safety area, after one-key starting on the touch screen, the holding assembly 121 on the turnover support 12 presses the inner container, and the turnover support 12 starts to turn over.

[0032] Among them, as shown in Figure 1 The carrying mechanism 2 is established on the basis of the rectangular X, Z coordinate system, through the analysis and processing of various input (various sensors, buttons, etc.) signals by the industrial controller (PLC, motion control), a certain logical judgment is made, and the execution command is issued to each output element (relay, motor driver, indicator light, etc.), the joint motion between the X and Z axes is completed, and a complete set of full-automatic operation process is realized.

[0033] The carrying mechanism 2 comprises an X-axis assisting arm 21, a Z-axis assisting arm 22, an end picker 23 and three columns 24. The columns 24 are welded by three groups of profiles and rib plates. The X-axis assisting arm 21 is fixed to the top of the three columns 24, and comprises a beam skeleton, the lower end of which is fixedly connected with the three columns 24, and the upper end of which is provided with an X-axis linear guide rail, and the X-axis linear guide rail is provided with an X-axis slide plate. The beam skeleton is processed by annealing after welding of Q235 standard profiles and Q345 steel plates with a thickness of 20 mm on the bottom surface and the side surface, the bottom surface is a supporting installation surface of the columns 24, and the side surface is a linear guide rail and a rack installation processing surface. The X-axis assisting arm 21 is provided with a transmission mode of an 8-level precision straight tooth hardened gear rack, a 45 mm specification linear guide rail bears and guides, the X-axis slide plate is provided with a driving system, the system adopts a 3KW absolute value encoder servo motor, and the servo motor and the driving gear are connected through a precision planetary reducer. In addition, both ends of the X-axis linear guide rail are provided with electrical soft limit (sensor) and mechanical elastic buffer (polyurethane) limit double protection, which can ensure that the equipment will not be damaged due to accidental impact in the use process.

[0034] The Z-axis assisting arm 22 is vertically installed on the X-axis slide plate of the X-axis assisting arm 21, and can slide linearly along the length direction and the width direction of the X-axis assisting arm 21 through the X-axis slide plate. The Z-axis assisting arm 22 comprises a Z-axis support, the side opposite to the X-axis slide plate of the Z-axis support is provided with a Z-axis linear guide rail, the Z-axis support adopts a Q235 material rectangular tube as a main body, and a 15 mm thick Q345 material steel plate is annealed after welding to process a linear guide rail and a rack installation surface. The Z-axis assisting arm 22 is provided with a transmission mode of an 8-level precision straight tooth hardened gear rack, a 35 mm specification linear guide rail bears and guides, a Z-axis driving mechanical system is installed on the X-axis slide plate, adopts a 3KW absolute value encoder servo motor, and the servo motor and the driving gear are connected through a precision planetary reducer. In addition, the Z-axis linear guide rail is provided with electrical soft limit (sensor) and mechanical elastic buffer (polyurethane) limit double protection, which can ensure that the equipment will not be damaged due to accidental impact in the use process.

[0035] As Figure 5As shown, the end picker 23 is fixed to the side of the Z-axis booster arm 22 opposite the X-axis slide, and the end picker 23 comprises a mounting bracket 231, which is composed of a rectangular tube and a steel plate and is welded and annealed by a machine, the top of the mounting bracket 231 is provided with a second hook 232, and the bottom is provided with a holding clamp 233. The second hook 232 can be adjusted in multiple positions on the mounting bracket 231 to match the holding position of the inner liner of different lengths (1m-2m). The holding clamp 233 adopts centering clamping, which is driven by two groups of cylinders connected to the same electromagnetic valve, and the optical axis is supported and guided by a linear bearing. In addition, the material of the end picker 23 in contact with the gas cylinder adopts replaceable polyurethane pads, so as not to damage the surface of the workpiece.

[0036] The control system is used to control the overturning mechanism 1 and the carrying mechanism 2. The control system is composed of a Siemens S7-1200 PLC and a V90 servo drive system, is responsible for the action flow control of the whole device, communicates with the heat treatment furnace in a Profinet communication mode, and uses a hard-wired mode for safety signals. The control system operation interface (HMI) is a Siemens TP900, which selects the working mode: manual operation, semi-automatic operation, running parameter setting, workpiece model selection, and device running state and alarm information prompt. All pneumatic control valves in the system are double-electric-control pilot-type three-position five-way middle-seal valves. The signal lines of the magnetic switch, mechanical switch, and laser emission sensor on the overturning bracket 12 are connected to a Moore IO module, and the number of signal interfaces is determined according to the actual situation. The main control electrical cabinet adopts a brand of Fimit, and the low-voltage control elements in the cabinet adopt Schneider (domestic) or similar brands to ensure stable operation of the device. The emergency stop safety system of the device uses a safety relay to ensure safe operation of the device.

[0037] The embodiment also has a safety protection system, which is mainly used for protection measures when the booster arm is feeding or discharging. The mechanical arm and the running area of the overturning bracket are sealed by a profile frame protective net (the mesh is moderate to ensure that a hand cannot enter), a safety door and a door lock are arranged on the protective net, the safety door button is provided with three function buttons of emergency stop, application entry, and reset, and a grating is arranged at the heat treatment feeding and discharging passage. When a person intrudes during the feeding and discharging work, the device is stopped. A three-color lamp is arranged on the fence to prompt the running state of the device: normal running of the booster arm and the overturning bracket, waiting of the device, and fault of the device. A 40*40 profile is used as the main frame, the color is yellow, the height is 2000mm, the grid is black, and the grid size is 40mm*40mm. The protective fence can be completely disassembled by using special tools, which is convenient for large equipment to enter the production line for maintenance. A safety protective net is arranged above the booster arm to avoid damage to personnel and equipment caused by falling of the workpiece.

[0038] The working process of the embodiment is as follows:

[0039] S1, device state confirmation: the carrying mechanism 2 is in a safe position (servo feedback), the first hook 161 is in a position corresponding to the diameter specification of the gas cylinder (servo feedback), the turnover support 12 is in a horizontal position (servo + proximity sensor feedback), the holding assembly 121 on the turnover support 12 is opened (magnetic switch feedback), and the state of the workpiece is empty (laser emission sensor feedback), and the fence three-color light shows yellow, waiting for loading;

[0040] S2, manually place the workpiece (inner container + pin) on the appropriate position of the several V-shaped rollers 122 of the turnover table, press the button, and the X-direction displacement mechanism 15 limits the gas cylinder inner container and the pin at the bottle mouth in the axial direction and feeds back the in-position signal (mechanical switch + cylinder stroke magnetic switch feedback);

[0041] S3, the operator retreats to a safe area, after starting one key on the touch screen, the holding assembly 121 is pressed down to fix the workpiece (magnetic switch feedback), and the turnover support 12 is turned over to a 90° position (servo + proximity switch feedback);

[0042] S4, the power arm is started to the interface of the turnover support 12 (the position is taught for the first time by a debugging personnel), the second hook 232 on the end picker 23 is in position (mechanical switch feedback on the end picker hook part), the holding jaw 233 holds the inner container (cylinder magnetic switch feedback), and the holding assembly 121 is released (magnetic switch feedback);

[0043] S5, the power arm leaves the turnover support 12 to a safe position (the position is taught for the first time by a debugging personnel), and the turnover support 12 returns to a horizontal position (servo + proximity switch feedback);

[0044] S6, the power arm delivers the workpiece to a loading position of the heat treatment furnace (servo feedback);

[0045] S7, the power arm hangs the workpiece on the hook of the loading position of the heat treatment furnace (the position is taught for the first time by a debugging personnel), the loading position detects that the state of the workpiece is present (laser emission sensor feedback), after a delay of 5 seconds, the power arm is detached and returns to a safe position (servo feedback);

[0046] S8, the unloading process is opposite to the above steps except the first step.

[0047] The above is only an embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structure, direct or indirect application in other related technical fields, is also within the patent protection range of the present application.

Claims

1. A hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment, characterized in that, The utility model relates to a kind of frame and the automatic control system of workpiece, including: Turnover mechanism; The turnover mechanism includes frame base, turnover support and first servo electric push cylinder;The frame base is fixed on ground, the turnover support is at least ninety degrees with the frame base overturnable connection, the both ends of the first servo electric push cylinder are connected with the turnover support and frame base respectively by hinged support;X direction displacement mechanism is equipped on the turnover support, the X direction displacement mechanism can linearly slide along the length direction of the turnover support, Z direction displacement mechanism is equipped on the X direction displacement mechanism, the Z direction displacement mechanism can linearly slide along the vertical direction of the X direction displacement mechanism, first hook is equipped on the Z direction displacement mechanism, a plurality of holding components and a plurality of support rollers are equipped on the turnover support below the first hook;The support roller is made of unpowered nylon or polyurethane rubber coating roller;The support roller is V-shaped roller;The holding component includes two mirror image arranged pressing plate, two the pressing plate is connected with turnover support by hinged four-link mechanism, the hinged four-link mechanism uses cylinder as drive, for driving the pressing plate to workpiece is compressed tightly, the outer surface of the pressing plate is equipped with polyurethane block; Carrying mechanism;The carrying mechanism includes X-axis force arm, Z-axis force arm, end pick-up and a plurality of stand;The X-axis force arm is fixed on the plurality of stand;Z-axis force arm is vertically arranged on the X-axis force arm, and the Z-axis force arm can linearly slide along the length direction and width direction of the X-axis force arm;The end pick-up is arranged on the Z-axis force arm, and the end pick-up includes mounting bracket, second hook is arranged on the mounting bracket, and holding jaw is arranged below the second hook on the mounting bracket; Control system;For the turnover mechanism and carrying mechanism are controlled.

2. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment of claim 1, wherein, The upper end of the frame base is equipped with limit plate, the both ends of the limit plate are equipped with limit block, and a plurality of adjusting washers are arranged between the limit block and the limit plate.

3. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment according to claim 1 or 2, characterized in that, The Z direction displacement mechanism is driven by second servo electric push cylinder, for adjusting the position of the first hook along the radial of workpiece;The X direction displacement mechanism is driven by cylinder, for pushing Z direction displacement mechanism along with workpiece to specified position along the axial of workpiece, and limiting workpiece.

4. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment according to claim 1 or 2, characterized in that, The X-axis force arm includes crossbeam framework, the lower end of the crossbeam framework is fixedly connected with the plurality of stand, X-axis linear guide rail is arranged on the upper end of the crossbeam framework, and X-axis slide plate is arranged on the X-axis linear guide rail.

5. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment of claim 4, wherein, The both ends of the X-axis linear guide rail are equipped with electrical soft limit and mechanical elastic buffer.

6. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment according to claim 1 or 2, characterized in that, The Z-axis force arm includes Z-axis support, Z-axis linear guide rail is arranged on the Z-axis support, and Z-axis driving mechanical system is installed on the X-axis slide plate.

7. The hydrogen cylinder heat treatment furnace auxiliary feeding and discharging equipment of claim 6, wherein, The both ends of the Z-axis linear guide rail are equipped with electrical soft limit and mechanical elastic buffer.

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