A single-arm galvanizing robot

Abstract

The present invention discloses a single-arm galvanizing robot, which relates to the field of hot-dip galvanizing robots. The single-arm galvanizing robot includes a walking unit, a robotic arm unit, a gripper unit, and a storage unit. In this single-arm galvanizing robot, by designing transmission parts, the power hydraulic cylinder can be selectively connected to any one of the three functional parts on the gripper unit. Thus, after the storage unit is clamped by the clamping parts, it is immersed in the galvanizing bath by the robotic arm unit. Then, by using the lateral swing part and the flipping part, the entire storage unit swings up and down at both ends and rotates back and forth inside the galvanizing bath, so that the workpieces inside the storage unit can achieve low-frequency and large-amplitude movements, thereby avoiding incomplete galvanizing caused by workpiece accumulation and also avoiding the peeling off of the already formed galvanized layer due to high-frequency jitter.

Description

Technical Field

[0001] The present invention relates to the technical field of hot-dip galvanizing robots, and particularly to a single-arm galvanizing robot. Background Art

[0002] In the hot-dip galvanizing process, workpieces need to be pickled, cleaned, dried, galvanized, de-zinc slag removed, and cooled in sequence. Pickling before galvanizing is to remove impurities on the surface of the workpieces, then cleaning to remove the acid solution, and finally drying to prevent water from entering the zinc bath and causing an explosion. After galvanizing, the workpieces need to be centrifuged to remove excess zinc slag on the surface, and then cooled, so as to form a complete galvanized layer on the surface of the workpieces.

[0003] When galvanizing small workpieces, the existing technical solutions usually store them in a cage and then perform unified batch operations. In the traditional process, workers hold the cage for galvanizing, and now it is mostly replaced by a robotic arm. The most critical problem in galvanizing small workpieces is the number of workpieces galvanized at a time. If the number is small, the galvanizing operation efficiency will be low; if the number is right, the workpieces will stack on each other, and there will be no complete galvanized layer formed at the parts where the workpieces are in contact with each other. Therefore, when soaking in the zinc bath, it is necessary to use a robotic arm to drive the cage to shake, so that the workpieces move relative to each other, so that the surfaces of the workpieces can all contact the zinc solution.

[0004] When the robotic arm drives the cage to move, it needs to be bent in cooperation between the large arm and the small arm to swing back and forth. The swing frequency is high and the amplitude is small. This makes the relative displacement of the workpieces small, which is not conducive to comprehensive galvanizing. And the high-frequency swing easily causes the already adhered zinc layer to fall off. At the same time, the existing galvanizing baths are mostly rectangular, which cannot provide a space for the robotic arm to rotate and swing. Therefore, a single-arm galvanizing robot is specifically provided to adapt to the current working conditions for galvanizing operations. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a single-arm galvanizing robot, which solves the problems that when the existing robotic arm drives the cage to move, it needs to be bent in cooperation between the large arm and the small arm to swing back and forth, the swing frequency is high and the amplitude is small, which makes the relative displacement of the workpieces small, not conducive to comprehensive galvanizing, and the high-frequency swing easily causes the already adhered zinc layer to fall off. At the same time, the existing galvanizing baths are mostly rectangular, which cannot provide a space for the robotic arm to rotate and swing.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: A single-arm galvanizing robot, comprising:

[0007] A traveling unit;

[0008] A robotic arm unit, which is installed on the traveling unit and moves horizontally through the traveling unit;

[0009] The jaw unit is arranged at the end of the robotic arm unit;

[0010] The storage unit is a cylindrical cage for storing small workpieces;

[0011] The jaw unit includes;

[0012] The lateral swing member is movably installed at the end of the robotic arm unit to drive the two ends of the storage unit to swing up and down;

[0013] The clamping member is installed in the lateral swing member to clamp the storage unit;

[0014] The flipping member is installed in the lateral swing member to drive the storage unit to rotate reciprocally in the clamping member;

[0015] The transmission member is installed in the robotic arm unit, and the transmission member can be selectively connected to one of the lateral swing member, the clamping member and the flipping member for transmission.

[0016] Preferably, the traveling unit includes;

[0017] Two groups of H-beams are arranged in parallel;

[0018] Two groups of fixing plates are fixedly arranged at both ends of the H-beams;

[0019] The rack is fixedly arranged between the two groups of H-beams;

[0020] The carrier seat is slidably arranged on the two groups of H-beams, and the robotic arm unit is installed on the top of the carrier seat;

[0021] The traveling motor is fixedly installed at the bottom of the carrier seat;

[0022] The traveling gear is fixedly arranged at the output end of the traveling motor, and it meshes with the rack;

[0023] The traveling wheels are connected to the bottom of the carrier seat by bearings, and the traveling wheels roll along the inner wall of the H-beams.

[0024] Preferably, the robotic arm unit includes;

[0025] The load-bearing seat is fixedly assembled on the top of the carrier seat;

[0026] The L-shaped large arm is rotatably connected to the top of the load-bearing seat;

[0027] The middle arm is rotatably connected to the end of the L-shaped large arm;

[0028] The functional small arm is rotatably connected to the end of the middle arm, and the lateral swing member is installed at the end of the functional small arm;

[0029] Two sets of rotary hydraulic cylinders are fixedly installed at both ends of the middle arm, and the output ends of the two sets of rotary hydraulic cylinders are respectively fixedly connected to the L-shaped boom and the functional small arm.

[0030] Preferably, the lateral swing member includes;

[0031] Swing seat;

[0032] The clamping support arm is integrally formed on the front side of the swing seat, and the clamping member is installed in the clamping support arm;

[0033] The intermediate connecting member is integrally formed in the middle of the rear side of the swing seat, and the intermediate connecting member is movably connected to the functional small arm;

[0034] The anti-disengagement positioning post is fixedly arranged in the end of the functional small arm, a U-shaped groove is formed in the intermediate connecting member, and the anti-disengagement positioning post movably penetrates through the U-shaped groove;

[0035] Two sets of side arms are integrally formed at both ends of the rear side of the swing seat;

[0036] The C-shaped swing arm is rotatably connected to the functional small arm, and its two ends are respectively fixedly installed with the two sets of side arms;

[0037] The arc-shaped push arm is movably hinged to one side of the C-shaped swing arm for pushing the C-shaped swing arm to rotate.

[0038] Preferably, the clamping member includes;

[0039] Two sets of flipping jaws are rotatably arranged in the two sets of clamping support arms, and a flipping member is arranged between the two sets of flipping jaws;

[0040] The connecting rod is movably hinged to the end of the flipping jaw;

[0041] The sliding shaft is rotatably arranged in the end of the connecting rod;

[0042] The linear push rod is rotatably connected to the middle of the sliding shaft;

[0043] The clamping spring is arranged on both sides of the sliding shaft, and the clamping spring moves the sliding shaft away from the flipping jaw to make the flipping jaw clamp and close;

[0044] The arc-shaped connecting arm is fixedly arranged between the two sets of linear push rods;

[0045] The driving push rod is fixedly welded to the middle of the arc-shaped connecting arm.

[0046] Preferably, through grooves are formed on both sides of the swing seat, and the linear push rod is slidably connected in the through grooves;

[0047] A chute is formed in the clamping support arm, the sliding shaft is slidably connected in the chute, a fixed block is fixedly arranged on the outer side wall of the chute, T-shaped shafts are fixedly arranged at both ends of the sliding shaft, the T-shaped shafts movably penetrate through the fixed block, and a clamping spring is movably sleeved on the outer surface of the T-shaped shaft.

[0048] Preferably, the flipping member includes;

[0049] A flipping push rod;

[0050] A connecting fork, which is fixedly arranged at the end of the flipping push rod, and the connecting fork is movably inserted into the storage unit;

[0051] A stop shaft, which is bearing-connected in the connecting fork;

[0052] A swing-back spring, which is movably sleeved on the outer surface of the flipping push rod;

[0053] A retaining ring, which is fixedly sleeved on the outer surface of the end of the flipping push rod;

[0054] A positioning tube is fixedly welded on the outer surface of the swing seat, and the flipping push rod movably penetrates through the positioning tube.

[0055] Preferably, the storage unit includes;

[0056] A cylindrical steel cage;

[0057] An active retaining cover, which is installed at both ends of the cylindrical steel cage;

[0058] A positioning ring, which is fixedly welded on the outer walls at both ends of the cylindrical steel cage;

[0059] Support pads, which are fixedly welded at the bottoms of both ends of the cylindrical steel cage;

[0060] A driving ring, which is fixedly welded in the middle of the cylindrical steel cage;

[0061] An inclined swing arm, which is fixedly welded on the outer wall of the driving ring.

[0062] Preferably, the top end of the inclined swing arm is bent vertically upward, and a connecting groove is formed inside it, and the stop shaft is movably inserted into the connecting groove;

[0063] An arc-shaped limiting groove is formed inside the flipping jaw, and the positioning ring is rotatably arranged in the arc-shaped limiting groove;

[0064] The driving push rod and the flipping push rod are symmetrically arranged on both sides of the outer wall of the functional small arm. Anti-disengagement grooves are formed in the middle of the driving push rod and the flipping push rod. A positioning pin is fixedly arranged in the middle of the C-shaped swing arm, and both ends of the positioning pin movably penetrate through the two groups of anti-disengagement grooves;

[0065] The ends of the arc-shaped push arm, the driving push rod, and the flipping push rod are connected to the transmission member.

[0066] Preferably, the transmission member includes;

[0067] A power hydraulic cylinder, which is fixedly arranged in the functional forearm;

[0068] A selection disk, which is slidably connected in the functional forearm;

[0069] A servo motor, which is coaxially fixed on the selection disk, and the output end of the servo motor is fixedly connected to the output end of the power hydraulic cylinder;

[0070] A top shaft, which is eccentrically and fixedly arranged on the outer wall of the selection disk;

[0071] Two sets of transmission connection blocks, which are respectively slidably arranged in the outer side wall of the functional forearm, and the outer ends of the two sets of transmission connection blocks are respectively opposite to the driving push rod and the flipping push rod;

[0072] A sliding connection block, which is slidably arranged in the middle of the functional forearm, and the sliding connection block is movably hinged to the arc-shaped push arm;

[0073] Three sets of return springs, which are respectively arranged on one side of the two sets of transmission connection blocks and the sliding connection block;

[0074] Three sets of docking heads, which are respectively fixedly welded to the other sides of the two sets of transmission connection blocks and the sliding connection block;

[0075] The three sets of the docking heads are distributed in a circular array with the selection disk as the center, and the top shaft can be selectively and movably inserted into one set of the docking heads.

[0076] The present invention discloses a single-arm galvanizing robot, and the beneficial effects thereof are as follows:

[0077] 1. After the cylindrical steel cage is clamped by the clamping member, the cylindrical steel cage is successively fed into the pickling tank, the cleaning tank, and the galvanizing tank by the robotic arm unit and the traveling unit for rust removal and galvanizing operations. During the operation, the two ends of the cylindrical steel cage are driven to swing up and down by the lateral swinging member, and the cylindrical steel cage is driven to rotate back and forth by the flipping member, so that the cylindrical steel cage swings and rolls greatly and at a low frequency inside the rectangular galvanizing tank, thereby enabling the workpieces inside the cylindrical steel cage to move effectively, avoiding the situation of incomplete galvanized layer caused by workpiece stacking, and also avoiding the shedding of the already formed galvanized layer caused by high-frequency shaking.

[0078] 2. The single-arm galvanizing robot is provided with a transmission part, which is respectively connected to the driving push rod and the flip push rod through two transmission connecting blocks, and is movably hinged with the arc push arm through a group of sliding connecting blocks. At the same time, a group of docking joints are respectively provided on the surfaces of the two transmission connecting blocks and the sliding connecting blocks. The three docking joints are arranged in a circular array. When in use, the selection plate is driven to rotate by a servo motor, so that the top shaft can be selectively plugged with any group of docking joints, so that a single power hydraulic cylinder acts on the three functional components in the clamping claw unit, thereby reducing the configuration of the driving parts, reducing the equipment cost, and reducing the load of the functional forearm.

[0079] 3. The single-arm galvanizing robot presses down the middle arm while slowly lifting the functional arm, so that the functional arm remains in a vertical state and is pressed down, so that the flipping claw moves to the outer surface of the positioning ring, and then the power hydraulic cylinder contracts. At this time, under the action of the clamping spring, the flipping claw automatically clamps the positioning ring, and as the functional arm is pressed down vertically, the connecting fork moves toward the inclined swing arm, so that the blocking shaft enters the connecting groove, completing the transmission connection between the flipping part and the storage unit, thereby realizing fully automatic clamping and connection. When unloading, as the flipping claw is opened, the functional arm moves up, and the flipping part and the storage unit are actively separated, no manual operation is required, with a high degree of automation, and more safety and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0081] Figure 1 It is a schematic diagram of the overall front structure of the present invention;

[0082] Figure 2 It is a schematic diagram of the overall side structure of the present invention;

[0083] Figure 3 This is a schematic diagram of the structure of the mechanical arm unit of the present invention;

[0084] Figure 4 It is a front structural schematic diagram of the clamping jaw unit and the material storage unit of the present invention;

[0085] Figure 5 It is a schematic diagram of the side structure of the clamping jaw unit and the material storage unit of the present invention;

[0086] Figure 6 It is a schematic diagram of the structure of the lateral swinging member of the present invention;

[0087] Figure 7Cross-sectional view of the top surface of the lateral swing member of the present invention;

[0088] Figure 8 Schematic structural diagram of the clamping member, flipping member and storage unit of the present invention;

[0089] Figure 9 Schematic structural diagram of the outer surface of the storage unit of the present invention;

[0090] Figure 10 Schematic structural diagram of the outer surface of the clamping member of the present invention;

[0091] Figure 11 Exploded view of partial structures of the flipping member and the storage unit of the present invention;

[0092] Figure 12 Cross-sectional view of the internal structure of the functional small arm of the present invention;

[0093] Figure 13 Schematic side view of the functional small arm of the present invention;

[0094] Figure 14 Schematic structural diagram of the outer surface of the docking head of the present invention.

[0095] In the figure:

[0096] 1. Traveling unit; 11. H-beam; 12. Fixed plate; 13. Rack; 14. Carrier seat; 15. Traveling motor; 16. Traveling gear; 17. Traveling wheel;

[0097] 2. Manipulator unit; 21. Load-bearing seat; 22. L-shaped large arm; 23. Middle arm; 24. Functional small arm; 25. Rotary hydraulic cylinder;

[0098] 3. Claw unit; 31. Lateral swing member; 311. Swing seat; 312. Clamping support arm; 313. Intermediate link; 314. Anti-disengagement positioning post; 315. Side arm; 316. C-shaped swing arm; 317. Arc-shaped push arm; 318. Through groove; 319. Slide groove; 3110. Positioning pin; 3111. Positioning tube; 32. Clamping member; 321. Flipping claw; 322. Arc-shaped limiting groove; 323. Connecting rod; 324. Sliding shaft; 325. Linear push rod; 326. T-shaped shaft; 327. Fixed block; 328. Clamping spring; 329. Arc-shaped connecting arm; 3210. Driving push rod; 33. Flipping member; 331. Flipping push rod; 332. Connecting fork; 333. Stop shaft; 334. Return swing spring; 335. Stop ring; 34. Transmission member; 341. Power hydraulic cylinder; 342. Selection disc; 343. Servo motor; 344. Top shaft; 345. Transmission connection block; 346. Sliding connection block; 347. Return spring; 348. Docking head; 35. Anti-disengagement groove;

[0099] 4. Storage unit; 41. Cylindrical steel reinforcement cage; 42. Movable cover; 43. Positioning ring; 44. Support cushion block; 45. Driving ring; 46. Tilted swing arm; 47. Connecting groove. Detailed implementation manners

[0100] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0101] By providing a single-arm galvanizing robot in the embodiments of the present application, the problems are solved that when the existing robotic arm drives the cage to move, it needs to be bent by the cooperation between the large arm and the small arm to swing back and forth, with a high swing frequency and a small amplitude. This results in a small relative displacement between workpieces, which is not conducive to comprehensive galvanizing, and the high-frequency swing easily causes the already adhered zinc layer to fall off. At the same time, most of the existing galvanizing tanks are rectangular and cannot provide a rotating and swinging space for the robotic arm.

[0102] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0103] The embodiments of the present invention disclose a single-arm galvanizing robot.

[0104] As shown in the attached Figure 1-14 It includes a traveling unit 1, and the traveling unit 1 includes two groups of H-shaped steels 11, two groups of fixing plates 12, a rack 13, a carrier 14, a traveling motor 15, a traveling gear 16 and traveling wheels 17; the two groups of H-shaped steels 11 are arranged in parallel; the two groups of fixing plates 12 are fixedly arranged at both ends of the H-shaped steels 11; the rack 13 is fixedly arranged between the two groups of H-shaped steels 11; the carrier 14 is slidably arranged on the two groups of H-shaped steels 11, and the robotic arm unit 2 is installed on the top of the carrier 14; the traveling motor 15 is fixedly installed at the bottom of the carrier 14; the traveling gear 16 is fixedly arranged at the output end of the traveling motor 15 and meshes with the rack 13; the traveling wheels 17 are connected to the bottom of the carrier 14 by bearings, and the traveling wheels 17 roll along the inner wall of the H-shaped steels 11.

[0105] The robotic arm unit 2 is installed on the traveling unit 1 and moves horizontally through the traveling unit 1;

[0106] The robotic arm unit 2 includes a load-bearing seat 21, an L-shaped large arm 22, a middle arm 23, a functional small arm 24, and two sets of rotary hydraulic cylinders 25. The load-bearing seat 21 is fixedly assembled on the top of the carrier seat 14; the L-shaped large arm 22 is rotatably connected to the top of the load-bearing seat 21; the middle arm 23 is rotatably connected to the end of the L-shaped large arm 22; the functional small arm 24 is rotatably connected to the end of the middle arm 23, and a lateral swing member 31 is installed at the end of the functional small arm 24; the two sets of rotary hydraulic cylinders 25 are fixedly installed at both ends of the middle arm 23, and the output ends of the two sets of rotary hydraulic cylinders 25 are respectively fixedly connected to the L-shaped large arm 22 and the functional small arm 24.

[0107] The jaw unit 3 is arranged at the end of the robotic arm unit 2; the material storage unit 4 is an overall cylindrical cage for storing small workpieces;

[0108] The jaw unit 3 includes a lateral swing member 31, a clamping member 32, a flipping member 33, and a transmission member 34.

[0109] The lateral swing member 31 is movably installed at the end of the robotic arm unit 2 for driving the two ends of the material storage unit 4 to swing up and down; the clamping member 32 is installed in the lateral swing member 31 for clamping the material storage unit 4; the flipping member 33 is installed in the lateral swing member 31 for driving the material storage unit 4 to rotate reciprocally in the clamping member 32; the transmission member 34 is installed in the robotic arm unit 2, and the transmission member 34 can selectively be in transmission connection with one of the lateral swing member 31, the clamping member 32, and the flipping member 33.

[0110] The lateral swing member 31 includes a swing seat 311, a clamping support arm 312, a middle coupling member 313, an anti-disengagement positioning post 314, two sets of side arms 315, a C-shaped swing arm 316, and an arc-shaped push arm 317; the clamping support arm 312 is integrally formed on the front side of the swing seat 311, and the clamping member 32 is installed in the clamping support arm 312; the middle coupling member 313 is integrally formed in the middle of the rear side of the swing seat 311, and the middle coupling member 313 is movably connected to the functional small arm 24; the anti-disengagement positioning post 314 is fixedly arranged in the end of the functional small arm 24, a U-shaped groove is formed in the middle coupling member 313, and the anti-disengagement positioning post 314 movably penetrates through the U-shaped groove; the two sets of side arms 315 are integrally formed at both ends of the rear side of the swing seat 311; the C-shaped swing arm 316 is rotatably connected to the functional small arm 24, and its two ends are respectively fixedly installed with the two sets of side arms 315, and the arc-shaped push arm 317 is movably hinged to one side of the C-shaped swing arm 316 for pushing the C-shaped swing arm 316 to rotate.

[0111] The clamping member 32 includes two sets of flipping jaws 321, a connecting rod 323, a sliding shaft 324, a linear push rod 325, a clamping spring 328, an arc-shaped connecting arm 329, and a driving push rod 3210. The two sets of flipping jaws 321 are rotatably arranged in the two sets of clamping support arms 312, and the flipping member 33 is arranged between the two sets of flipping jaws 321; the connecting rod 323 is movably hinged to the end of the flipping jaw 321; the sliding shaft 324 is rotatably arranged at the end of the connecting rod 323; the linear push rod 325 is rotatably connected to the middle of the sliding shaft 324; the clamping springs 328 are arranged on both sides of the sliding shaft 324. The clamping springs 328 move the sliding shaft 324 away from the flipping jaw 321, causing the flipping jaw 321 to clamp and close; the arc-shaped connecting arm 329 is fixedly arranged between the two linear push rods 325; the driving push rod 3210 is fixedly welded to the middle of the arc-shaped connecting arm 329.

[0112] Through slots 318 are formed on both sides of the swing seat 311, and the linear push rod 325 is slidably connected in the through slots 318; a sliding slot 319 is formed in the clamping support arm 312, and the sliding shaft 324 is slidably connected in the sliding slot 319. A fixing block 327 is fixedly arranged on the outer side wall of the sliding slot 319. T-shaped shafts 326 are fixedly arranged at both ends of the sliding shaft 324. The T-shaped shafts 326 movably penetrate through the fixing block 327, and the clamping springs 328 are movably sleeved on the outer surface of the T-shaped shafts 326.

[0113] The flipping member 33 includes a flipping push rod 331, a connecting fork 332, a stop shaft 333, a return swing spring 334, and a stop ring 335. The connecting fork 332 is fixedly arranged at the end of the flipping push rod 331, and the connecting fork 332 is movably inserted into the storage unit 4; the stop shaft 333 is connected to the connecting fork 332 by a bearing; the return swing spring 334 is movably sleeved on the outer surface of the flipping push rod 331; the stop ring 335 is fixedly sleeved on the outer surface of the end of the flipping push rod 331. A positioning tube 3111 is fixedly welded to the outer surface of the swing seat 311, and the flipping push rod 331 movably penetrates through the positioning tube 3111.

[0114] The storage unit 4 includes a cylindrical steel reinforcement cage 41, a movable retaining cover 42, a positioning ring 43, a support cushion block 44, a driving ring 45, and an inclined swing arm 46. The movable retaining cover 42 is installed at both ends of the cylindrical steel reinforcement cage 41, and the positioning ring 43 is fixedly welded to the outer walls of both ends of the cylindrical steel reinforcement cage 41; the support cushion blocks 44 are fixedly welded to the bottoms of both ends of the cylindrical steel reinforcement cage 41; the driving ring 45 is fixedly welded to the middle of the cylindrical steel reinforcement cage 41, and the inclined swing arm 46 is fixedly welded to the outer wall of the driving ring 45. The top end of the inclined swing arm 46 is bent vertically upward, and a connecting groove 47 is formed inside it. The stop shaft 333 is movably inserted into the connecting groove 47;

[0115] An arc-shaped limiting groove 322 is provided inside the flipping jaw 321, and the positioning ring 43 is rotatably arranged in the arc-shaped limiting groove 322; the driving push rod 3210 and the flipping push rod 331 are symmetrically arranged on both sides of the outer wall of the functional small arm 24. Anti-slip grooves 35 are provided in the middle of the driving push rod 3210 and the flipping push rod 331. A positioning pin 3110 is fixedly arranged in the middle of the C-shaped swing arm 316, and both ends of the positioning pin 3110 movably penetrate through the two anti-slip grooves 35; the ends of the arc-shaped push arm 317, the driving push rod 3210 and the flipping push rod 331 are connected to the transmission member 34.

[0116] The transmission member 34 includes a power hydraulic cylinder 341, a selection disk 342, a servo motor 343, a top shaft 344, two transmission connection blocks 345, a sliding connection block 346, three return springs 347 and three docking heads 348;

[0117] The power hydraulic cylinder 341 is fixedly arranged in the functional small arm 24;

[0118] The selection disk 342 is slidably connected in the functional small arm 24;

[0119] The servo motor 343 is coaxially fixed on the selection disk 342, and the output end of the servo motor 343 is fixedly connected to the output end of the power hydraulic cylinder 341; the top shaft 344 is eccentrically fixedly arranged on the outer wall of the selection disk 342; the two transmission connection blocks 345 are respectively slidably arranged in the outer side wall of the functional small arm 24, and the outer ends of the two transmission connection blocks 345 are respectively opposite to the driving push rod 3210 and the flipping push rod 331; the sliding connection block 346 is slidably arranged in the middle of the functional small arm 24, and the sliding connection block 346 is movably hinged to the arc-shaped push arm 317; the three return springs 347 are respectively arranged on one side of the two transmission connection blocks 345 and the sliding connection block 346; the three docking heads 348 are respectively fixedly welded to the other side of the two transmission connection blocks 345 and the sliding connection block 346; the three docking heads 348 are annularly arranged around the selection disk 342 as the axis, and the top shaft 344 can selectively and movably insert into one of the docking heads 348.

[0120] Working principle: When the device is in use, it needs to cooperate with a dedicated material storage unit 4. By setting multiple material storage units 4, workers place workpieces at both ends inside the cylindrical steel cage 41, and then close the movable baffle 42. At this time, the cylindrical steel cage 41 is placed on the designated loading station through the support cushion block 44. At this time, the walking unit 1 is started, so that the walking motor 15 drives the walking gear 16 to rotate, so that the walking gear 16 meshes with the rack 13, so that the entire carrier 14 moves along the H-beam 11 to the loading station;

[0121] At this time, by starting the robotic arm unit 2, the middle arm 23 is driven by the rotary hydraulic cylinder 25 to flip downward, so that the functional small arm 24 is vertically downward and directly opposite to the cylindrical steel cage 41;

[0122] At this time, the servo motor 343 is started to drive the selection disk 342 to rotate at the output end of the power hydraulic cylinder 341, so that the top shaft 344 is aligned with the transmission connection block 345 at the end of the driving push rod 3210. At this time, the power hydraulic cylinder 341 is started to drive the top shaft 344 to insert into the docking head 348 on the outer wall of the transmission connection block 345, and thus push the transmission connection block 345 to move forward. At this time, the transmission connection block 345 abuts against the driving push rod 3210 and pushes the driving push rod 3210 to move forward. The driving push rod 3210 drives the two linear push rods 325 to move forward through the arc connecting arm 329. The linear push rod 325 pushes the sliding shaft 324 to slide, so that the connecting rods 323 on both sides push the flipping gripper 321 to flip and open. At this time, the clamping spring 328 and the return spring 347 at the front end of the transmission connection block 345 are compressed;

[0123] Then the middle arm 23 presses down, and at the same time the functional small arm 24 slowly lifts up, so that the functional small arm 24 presses down while maintaining a vertical state, so that the flipping gripper 321 moves to the outer surface of the positioning ring 43. Then the power hydraulic cylinder 341 contracts. At this time, under the action of the clamping spring 328, the flipping gripper 321 automatically clamps the positioning ring 43, so that the positioning ring 43 is located inside the arc-shaped limiting groove 322. At the same time, the return spring 347 pushes the transmission connection block 345 to reset. At this time, the clamping operation is completed. Then the middle arm 23 and the functional small arm 24 are lifted to lift the cylindrical steel reinforcement cage 41 and the small workpieces inside, and move them. The manipulator unit 2 drives the storage unit 4 to enter the pickling tank, cleaning tank and drying bin in sequence for rust removal, cleaning and drying operations, and then enters the galvanizing tank for galvanizing;

[0124] And in the above process, as the functional small arm 24 presses down vertically, the connecting fork 332 moves towards the inclined swing arm 46, causing the blocking shaft 333 to enter the inside of the connecting groove 47, completing the transmission connection between the flipping member 33 and the material storage unit 4. During the pickling, cleaning, and galvanizing processes, by starting the servo motor 343, the top shaft 344 is aligned with the transmission connection block 345 at the end of the flipping push rod 331. At this time, the power hydraulic cylinder 341 is started to push the flipping push rod 331 forward. At this time, as the blocking shaft 333 moves downward and continuously extends into the inside of the connecting groove 47, the top end of the inclined swing arm 46 flips outward, thereby driving the entire cylindrical steel cage 41 to rotate inside the arc-shaped limiting groove 322. In this embodiment, the rotation amplitude is designed to be 60 degrees. When the flipping push rod 331 moves forward, the return spring 334 is compressed. When the flipping is in place, the output end of the power hydraulic cylinder 341 contracts. At this time, the return spring 334 drives the flipping push rod 331 to move backward. At this time, under the cooperation of the blocking shaft 333 and the connecting groove 47, the inclined swing arm 46 is pulled to flip inward, thereby driving the cylindrical steel cage 41 to rotate in the reverse direction. By controlling the telescopic speed and telescopic amount of the power hydraulic cylinder 341, the rotation frequency and speed of the cylindrical steel cage 41 can be controlled, realizing low-speed and large-amplitude rotation, which is more conducive to the slow displacement of the workpieces inside the cylindrical steel cage 41, ensuring the pickling and galvanizing effects;

[0125] Meanwhile, during the galvanizing operation, the servo motor 343 can also be started to align the top shaft 344 with the sliding connection block 346. At this time, the power hydraulic cylinder 341 is started to push the sliding connection block 346 forward. The sliding connection block 346 drives the arc-shaped push arm 317 to move. The other end of the arc-shaped push arm 317 pushes the C-shaped swing arm 316 to rotate, thereby causing the two side arms 315 to drive the swing seat 311 to tilt to one side. At this time, the intermediate connecting member 313 moves on the outer surface of the anti-detachment positioning post 314. At this time, the return spring 347 at the end of the sliding connection block 346 is compressed. Then the power hydraulic cylinder 341 contracts. At this time, the return spring 347 pushes the sliding connection block 346 to move back. At this time, the swing seat 311 swings back. And in this process, both the driving push rod 3210 and the flipping push rod 331 rotate around the positioning pin 3110 through the anti-detachment grooves 35 on their surfaces. Thus, during galvanizing, the entire cylindrical steel cage 41 is driven by the swing seat 311 to swing up and down at both ends, causing the workpieces inside it to shake further. Cooperating with the flipping member 33, the workpieces inside the entire cylindrical steel cage 41 can be effectively galvanized, avoiding galvanizing dead angles caused by workpiece stacking.

[0126] After galvanizing is completed, the cylindrical steel cage 41 is placed at the blanking station by the robotic arm unit 2. At this time, the flipping jaws 321 open, and then the middle arm 23 is slowly lifted and the functional small arm 24 is retracted, causing the functional small arm 24 to vertically move upward and away from the outer surface of the cylindrical steel cage 41.

[0127] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A single-arm galvanizing robot, characterized in that: include; Walking unit (1); A mechanical arm unit (2), which is mounted on the walking unit (1) and moves laterally through the walking unit (1); A clamping claw unit (3), which is arranged at the end of the mechanical arm unit (2); The material storage unit (4) is a cylindrical cage body and is used to store small workpieces; The clamping jaw unit (3) comprises: A transverse swinging member (31) is movably mounted on the end of the mechanical arm unit (2) and is used to drive the two ends of the material storage unit (4) to swing up and down; A clamping member (32) installed in the transverse swinging member (31) and used for clamping the material storage unit (4); A turning member (33) installed in the transverse swing member (31) and used to drive the material storage unit (4) to reciprocate in the clamping member (32); A transmission member (34) installed in the mechanical arm unit (2), wherein the transmission member (34) can be selectively connected to one of the lateral swing member (31), the clamping member (32) and the flip member (33) for transmission; The mechanical arm unit (2) comprises: A load-bearing seat (21) fixedly mounted on the top of the carrier (14); An L-shaped arm (22) rotatably connected to the top of the load-bearing seat (21); A middle arm (23) rotatably connected to the end of the L-shaped upper arm (22); A functional small arm (24) is rotatably connected to the end of the middle arm (23), and the lateral swing member (31) is installed at the end of the functional small arm (24); Two sets of rotary hydraulic cylinders (25) are fixedly mounted at both ends of the middle arm (23), and the output ends of the two sets of rotary hydraulic cylinders (25) are respectively fixedly connected to the L-shaped upper arm (22) and the functional lower arm (24); The lateral swinging member (31) comprises: Swing seat (311); A clamping support arm (312) which is integrally formed on the front side of the swing seat (311), and the clamping member (32) is installed in the clamping support arm (312); A middle connecting piece (313) is integrally formed at the middle portion of the rear side of the swing seat (311), and the middle connecting piece (313) is movably connected to the functional small arm (24); An anti-slip positioning column (314) is fixedly arranged at the end of the functional small arm (24), a U-shaped groove is provided in the middle connecting piece (313), and the anti-slip positioning column (314) movably passes through the U-shaped groove; Two sets of side arms (315) are integrally formed at two ends of the rear side of the swing seat (311); A C-shaped swing arm (316) is rotatably connected to the functional small arm (24), and its two ends are respectively fixedly mounted to the two sets of side arms (315); An arc-shaped push arm (317) is movably hinged to one side of the C-shaped swing arm (316) and is used to push the C-shaped swing arm (316) to rotate; The clamping member (32) comprises: Two groups of flipping clamps (321) are rotatably disposed in the two groups of clamping support arms (312), and the flipping member (33) is disposed between the two groups of flipping clamps (321); A connecting rod (323) movably hinged to the end of the flip clamp (321); A sliding shaft (324) rotatably disposed in the end of the connecting rod (323); A linear push rod (325) rotatably connected to the middle portion of the sliding shaft (324); A clamping spring (328) is arranged on both sides of the sliding shaft (324), and the clamping spring (328) pushes the sliding shaft (324) to move away from the flip clamping claw (321), so that the flip clamping claw (321) is clamped and closed; The arc-shaped connecting arm (329) is fixedly disposed between the two sets of linear push rods (325); A driving push rod (3210) fixedly welded to the middle portion of the arc-shaped connecting arm (329); The flip member (33) comprises: Flip Pushrod (331); A connecting fork (332) is fixedly arranged at the end of the flip push rod (331), and the connecting fork (332) is movably plugged into the material storage unit (4); A stopper shaft (333), a bearing of which is connected to the connecting fork (332); A swing-back spring (334) movably sleeved on the outer surface of the flip push rod (331); A retaining ring (335) is fixedly sleeved on the outer surface of the end of the flip push rod (331); A positioning tube (3111) is fixedly welded to the outer surface of the swing seat (311), and the flip push rod (331) movably penetrates the positioning tube (3111); The material storage unit (4) comprises a positioning ring (43), a driving ring (45) and an inclined swing arm (46); the positioning ring (43) is fixedly welded to the outer walls at both ends of the cylindrical steel cage (41); the driving ring (45) is fixedly welded to the middle of the cylindrical steel cage (41); and the inclined swing arm (46) is fixedly welded to the outer wall of the driving ring (45); The top end of the tilting swing arm (46) is bent vertically upward, and a connecting groove (47) is provided inside the tilting swing arm, and the blocking shaft (333) is movably inserted into the connecting groove (47); An arc-shaped limiting groove (322) is provided inside the flip clamp (321), and the positioning ring (43) is rotatably disposed in the arc-shaped limiting groove (322); The driving push rod (3210) and the flip push rod (331) are symmetrically arranged on both sides of the outer wall of the functional small arm (24); the middle parts of the driving push rod (3210) and the flip push rod (331) are provided with anti-slip grooves (35); the middle part of the C-shaped swing arm (316) is fixedly provided with a positioning pin (3110); the two ends of the positioning pin (3110) movably penetrate the two groups of anti-slip grooves (35); The ends of the arc-shaped push arm (317), the driving push rod (3210) and the flip push rod (331) are connected to the transmission member (34).

2. A single-arm galvanizing robot according to claim 1, characterized in that: The walking unit (1) comprises: Two sets of H steels (11) arranged in parallel; Two sets of fixing plates (12) fixedly disposed at both ends of the H-steel (11); A rack (13) fixedly disposed between the two sets of H-steels (11); A carrier (14) is slidably mounted on two sets of H-steel (11), and a robotic arm unit (2) is mounted on top of the carrier (14); A travel motor (15) fixedly mounted on the bottom of the carrier (14); A travel gear (16) which is fixedly arranged at the output end of the travel motor (15) and meshes with the rack (13); A running wheel (17) has a bearing connected to the bottom of the carrier (14), and the running wheel (17) rolls along the inner wall of the H-steel (11).

3. A single-arm galvanizing robot according to claim 2, characterized in that: Both sides of the swing seat (311) are provided with through grooves (318), and the linear push rod (325) is slidably connected in the through grooves (318); A slide groove (319) is provided in the clamping support arm (312), and the sliding shaft (324) is slidably connected in the slide groove (319). A fixing block (327) is fixedly provided on the outer wall of the slide groove (319), and T-shaped shafts (326) are fixedly provided at both ends of the sliding shaft (324). The T-shaped shaft (326) movably passes through the fixing block (327), and the clamping spring (328) is movably sleeved on the outer surface of the T-shaped shaft (326).

4. A single-arm galvanizing robot according to claim 3, characterized in that: The material storage unit (4) further comprises: Cylindrical steel cage (41); Movable covers (42) are mounted on both ends of the cylindrical steel cage (41); The support pads (44) are fixedly welded to the bottoms of both ends of the cylindrical steel cage (41).

5. A single-arm galvanizing robot according to claim 4, characterized in that: The transmission member (34) comprises: A power hydraulic cylinder (341) fixedly disposed in the functional arm (24); A selection plate (342) slidably connected in the functional arm (24); A servo motor (343) is coaxially fixed on the selection plate (342), and an output end of the servo motor (343) is fixedly connected to an output end of the power hydraulic cylinder (341); A top shaft (344) is eccentrically fixed to the outer wall of the selection plate (342); Two sets of transmission connection blocks (345) are respectively slidably disposed in the outer side walls of the functional small arm (24), and the outer ends of the two sets of transmission connection blocks (345) are respectively facing the driving push rod (3210) and the flip push rod (331); A sliding connection block (346) is slidably disposed in the middle of the functional small arm (24), and the sliding connection block (346) is movably hinged to the arc-shaped push arm (317); Three groups of return springs (347) are respectively arranged on one side of the two groups of transmission connection blocks (345) and the sliding connection block (346); Three sets of butt joints (348) are respectively fixedly welded to the other sides of the two sets of transmission connection blocks (345) and the sliding connection blocks (346); The three groups of docking joints (348) are distributed in a ring array with the selection plate (342) as the axis, and the top shaft (344) can be selectively movably plugged into a group of docking joints (348).

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