Full-automatic furnace loading and unloading all-in-one machine

Abstract

The full-automatic furnace loading and unloading all-in-one machine comprises a loading conveying device, a furnace hanging robot, a curing furnace, a furnace unloading robot and a furnace unloading distribution device, a feeding door and a discharging door are arranged on the front side and the rear side of the curing furnace correspondingly, and the loading conveying device and the furnace hanging robot are located on the front side of the curing furnace; the furnace unloading robot and the furnace unloading distributing device are located on the rear side of the curing furnace, the feeding conveying device conveys a pipe coiling mold to the curing furnace, and the furnace hanging robot hangs the pipe coiling mold on the feeding conveying device into the curing furnace through a feeding door of the curing furnace. And the furnace unloading robot takes out the cured reel pipe mold from the curing furnace and moves the cured reel pipe mold to the furnace unloading and material distributing device, and the furnace unloading and material distributing device transfers the cured reel pipe mold to the next working procedure. Feeding, furnace hanging, furnace unloading and mold transferring operation after curing of the curing furnace can be automatically achieved, the labor intensity of workers can be reduced, and the machining efficiency of the fishing rod curing process is improved.

Description

Technical Field

[0001] The invention belongs to the field of fishing gear processing equipment, and in particular relates to a fully automatic upper and lower furnace integrated machine. Background Art

[0002] Carbon fiber fishing rods, also known as carbon fishing rods, are a type of fishing rod. Compared with ordinary fiberglass fishing rods and traditional fishing rods, the advantages are good toughness and light weight. This fishing rod is made of high-tech carbon fiber composite material prepreg cloth. When using carbon fiber materials to make fishing rods, it is necessary to perform a curing operation on the shaped carbon fiber fishing rod to improve the toughness and strength of the carbon fiber fishing rod. The carbon fiber fishing rod is cured in a curing furnace. The coiling tube mold after the tape processing is placed on a transfer vehicle. The transfer vehicle is pushed to the curing furnace to manually hang the coiling tube mold in the curing furnace. After curing, the coiling tube mold is transported to the core-removing machine for core removal to obtain the rod section. At present, the automation of feeding, hanging, unloading, and transferring of molds after curing in the curing furnace is not high, which limits the processing efficiency of fishing rod production. Summary of the invention

[0003] The purpose of the present invention is to provide a fully automatic upper and lower furnace integrated machine, which can automatically realize the operations of feeding, hanging, unloading and transferring the mold after curing in the curing furnace, thereby reducing the labor intensity of workers and improving the processing efficiency of the fish rod curing process.

[0004] In order to achieve the above purpose, the technical solution adopted in this application is: The fully automatic upper and lower furnace integrated machine comprises a loading and conveying device, a furnace hanging robot, a curing furnace, a furnace unloading robot and a furnace unloading dividing device. The front and rear sides of the curing furnace are respectively provided with a feeding door and a discharging door. The loading and conveying device and the furnace hanging robot are located at the front side of the curing furnace, and the furnace unloading robot and the furnace unloading dividing device are located at the rear side of the curing furnace. The loading and conveying device conveys the pipe coiling mold to the curing furnace, and the furnace hanging robot hangs the pipe coiling mold on the loading and conveying device into the curing furnace through the curing furnace feeding door. The furnace unloading robot takes the cured pipe coiling mold out of the curing furnace and moves it to the furnace unloading dividing device, and the furnace unloading dividing device transfers the cured pipe coiling mold to the next process.

[0005] The loading and conveying device includes a feeding mechanism, a conveying mechanism, and a grabbing position lifting mechanism. The feeding mechanism conveys the pipe coiling mold of the upstream conveying line to the conveying mechanism, the conveying mechanism conveys the pipe coiling mold to the grabbing position lifting mechanism, and the grabbing position lifting mechanism lifts the pipe coiling mold on the conveying mechanism and waits for the hanging furnace robot to hang it in the curing furnace.

[0006] The unloading mechanism includes a liftable power roller, the power roller conveying the pipe rolling mold in the same direction as the pipe rolling mold conveying direction of the upstream conveying assembly line, and a loading limit plate is provided at the conveying end of the unloading mechanism to limit the end of the pipe rolling mold; the power roller rises and moves the pipe rolling mold of the upstream conveying assembly line until the end of the pipe rolling mold contacts the loading limit plate, and the power roller lowers the pipe rolling mold and transfers it to the conveying mechanism.

[0007] The conveying mechanism comprises at least two groups of conveying belts arranged in parallel and a plurality of V-shaped feeding blocks arranged on the conveying belts, and the V-shaped feeding blocks on different conveying belts respectively support the tube rolling moulds in a one-to-one correspondence.

[0008] The grabbing position lifting mechanism includes two groups of lifting V-shaped blocks, which are respectively connected to the lifting cylinders; the grabbing position lifting mechanism is provided with a grabbing position positioning mechanism, which includes an alignment baffle and a push rod plate arranged on the opposite side of the alignment baffle, and the push rod plate is connected to the push rod plate cylinder; an elastic push plate is provided on the push rod plate.

[0009] A film cutting mechanism is provided at the unloading mechanism, and the film cutting mechanism includes a hot melt block, a film cutting lifting mechanism for controlling the lifting and lowering of the hot melt block, and a film cutting Z-direction shifting mechanism for controlling the front and rear displacement. The hot melt block is connected to the film cutting lifting mechanism, and the film cutting lifting mechanism is connected to the film cutting Z-direction shifting mechanism.

[0010] The material unloading mechanism and the film cutting mechanism are installed on a bracket, and the bracket is connected with the material unloading lifting mechanism and the X-direction shifting mechanism.

[0011] The curing furnace includes a furnace chamber, fixed plates are provided on both sides of the upper part of the furnace chamber, both ends of the support plates are connected to the fixed plates, multiple groups of support plates are arranged in parallel, and multiple mold hanging grooves are provided on the support plates. The mold hanging grooves are stepped grooves, and the width decreases from the open end to the closed end.

[0012] The mold hanging groove is divided into a symmetrical bevel section, a middle section and a U-shaped section from the open end to the closed end. The angle between the bevel of the symmetrical bevel section and the symmetry axis is 2-5°. The width of the widest part of the symmetrical bevel section is 2.3-3 times the width of the U-shaped section, and the width of the narrowest part of the symmetrical bevel section is 2-2.7 times the width of the U-shaped section. The middle section connects the symmetrical bevel section and the U-shaped section, and the middle section is composed of two or more groups of arc surfaces.

[0013] The upper end surface corresponding to the U-shaped section is provided with a third step surface, the upper end surface corresponding to the middle section is provided with a second step surface, the upper end surface corresponding to the symmetrical inclined surface section and the outer sides of the second and third step surfaces form a first step surface, and the first step surface, the second step surface and the third step surface are all lower than the upper surface of the support plate and become lower step by step.

[0014] The fixing plate is provided with a plurality of fixing holes A, and both ends of the support plate are provided with fixing holes B. Bolts pass through the fixing holes A and the fixing holes B to connect the support plate with the fixing plate.

[0015] The feeding door and the discharging door of the furnace cavity are both sliding doors. A slider is provided at the bottom of the sliding door and is connected to a cylinder at the top. The cylinder pushes the slider to move along the sliding rail of the sliding door.

[0016] The furnace unloading robot includes a base, a robotic arm is installed on the upper end of the base, and a robotic arm mounting plate is installed on the end of the robotic arm, a gripping mechanism is arranged on the robotic arm mounting plate, and the gripping mechanism includes a fixed lower furnace clamp and a movable lower furnace clamp, the fixed lower furnace clamp is arranged on the front side of the robotic arm mounting plate, the clamping surface of the fixed lower furnace clamp is opposite to the robotic arm mounting plate and is located on the front side of the mold, and the movable lower furnace clamp can move forward and backward and its clamping surface is located on the rear side of the mold, and a plurality of V-shaped grooves are respectively arranged on the fixed lower furnace clamp and the movable lower furnace clamp, and the V-shaped grooves of the fixed lower furnace clamp and the V-shaped grooves of the movable lower furnace clamp correspond to each other and clamp different molds.

[0017] There are two fixed lower furnace clamps, which are respectively fixed on the upper part and the lower part of the manipulator mounting plate, and the movable lower furnace clamp is located between the fixed lower furnace clamps.

[0018] The movable lower furnace fixture is driven by an electric cylinder or a pneumatic cylinder to move forward and backward.

[0019] A positive electromagnet is arranged above the manipulator mounting plate, and a rod insertion reference plate is arranged at the upper and lower ends of the positive electromagnet. The rod insertion reference plate has a reference limit groove corresponding to the V-shaped groove of the movable lower furnace fixture.

[0020] The base is connected to the slide, and the slide moves along the ground rail.

[0021] The mechanical arm comprises a shoulder, an upper arm, an elbow, a lower arm and a wrist. Adjacent parts are connected via rotating joints. The shoulder is rotationally connected to the base, and the wrist is connected to the mechanical arm mounting plate.

[0022] The unloading furnace and material dividing device includes a power roller, a rod taking transverse movement device and a material receiving bracket device. The rod taking transverse movement device includes a rod taking transverse movement bottom plate and a rod taking pressure plate which can be lifted up and down. The material receiving bracket device includes a movable bracket and a V-shaped material receiving block arranged on the movable bracket. When placed, one end of the pipe coiling mold is located on the rod taking transverse movement bottom plate, and the other end is supported by the power roller. The rod taking pressure plate presses down to limit the movement of the pipe coiling mold. The rod taking transverse movement bottom plate moves along the rod taking slide rail and makes the pipe coiling mold fall into the V-shaped material receiving block on the movable bracket. The rod taking pressure plate moves up to release the limit on the pipe coiling mold, and the movable bracket moves along the bracket linear rail to transport the pipe coiling mold to the next process.

[0023] As a preferred method, a support cylinder is provided at the initial end of the rod taking transverse movement device, and a plurality of limit rings are separately arranged on the support cylinder, and the support cylinder can move along the rod taking slide rail; a flexible pad is provided at the position where the rod taking transverse movement bottom plate supports the tube rolling mold.

[0024] The beneficial effects of the present invention are as follows: the loading and conveying device is connected with the previous process to convey the pipe coil mold to the curing furnace and prepare it for the furnace hanging robot to grab it. The furnace hanging robot can grab the pipe coil mold of the loading and conveying device and hang it in the hanging mold groove in the curing furnace. After curing, the furnace unloading robot grabs the pipe coil mold and removes it from the hanging mold groove and places it on the furnace unloading and dividing device. The furnace unloading and dividing device automatically conveys the pipe coil mold to the next process. The entire equipment can realize the assembly line operation of loading and unloading the curing furnace with high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0026] Figure 1 It is a schematic diagram of the structure of a fully automatic upper and lower furnace integrated machine for fishing rods.

[0027] Figure 2 It is a schematic diagram of the structure of the feeding and conveying device.

[0028] Figure 3 It is a schematic diagram of the structure of the feeding and conveying device (the frame is omitted).

[0029] Figure 4 It is a schematic diagram of the unloading mechanism.

[0030] Figure 5 It is a schematic diagram of the lifting mechanism at the grabbing position.

[0031] Figure 6 and Figure 7 This is the overall structure diagram of the suspended curing furnace (sliding door omitted).

[0032] Figure 8 It is a schematic diagram of the connection between the support plate and the fixed plate.

[0033] Fig. 9 This is a partial enlarged view of the support plate (top view).

[0034] Fig.10 It is a schematic diagram of the support plate hanging mold.

[0035] Fig.11 This is a schematic diagram of the coordination between the furnace unloading robot and the furnace unloading rail.

[0036] Fig.12 This is the structural diagram of the furnace unloading robot.

[0037] Fig.13 This is a structural diagram of the robot mounting plate.

[0038] Fig.14 This is a partial picture of the front end of the hanging furnace robot.

[0039] Fig.15 It is a structural schematic diagram of the furnace unloading and material dividing device.

[0040] Fig.16 It is a schematic diagram of the structure of the furnace unloading and material distribution device (the frame is omitted).

[0041] Fig.17 This is a schematic diagram of the rod transverse movement device.

[0042] Fig.18 Schematic diagram of the material receiving bracket device.

[0043] 1 loading and conveying device, 2 furnace hanging robot, 3 furnace hanging rail, 4 curing furnace, 5 furnace unloading robot, 6 furnace unloading rail, 7 furnace unloading material dividing device, 8 pipe coiling mold.

[0044] 11 feeding frame, 12 unloading mechanism, 121 power roller, 122 roller driving device, 13 feeding limit plate, 14 film cutting mechanism, 141 hot melt block, 142 film cutting lifting mechanism, 143 film cutting Z-direction shifting mechanism, 15 unloading lifting mechanism, 151 cylinder A, 16X-direction shifting mechanism, 161 slider A, 162 slide rail A, 163 pushing cylinder, 17 conveying mechanism, 171 conveyor belt, 172 V-shaped feeding block, 173 motor, 174 coupling, 175 conveyor pulley, 18 grabbing position lifting mechanism, 181 lifting V-shaped block, 182 lifting cylinder, 19 grabbing position positioning mechanism, 191 alignment baffle, 192 push rod plate, 193 elastic push plate, 194 push rod plate cylinder, 110 bracket.

[0045] 21 hanging furnace clamp bottom plate 21, hanging furnace clamp 22, 221 clamp claw 221, 222 claw cylinder.

[0046] 41 furnace cavity, 42 fixing plate, 421 fixing hole A, 43 supporting plate, 431 die hanging groove, 4311 inclined surface section, 4312 middle section, 43121 arc surface, 4313 U-shaped section, 4314 first step surface, 4315 second step surface, 4316 third step surface, 432 fixing hole B, 44 slider, 45 sliding door rail, 46 cylinder.

[0047] 51 base, 52 robot arm, 521 shoulder, 522 upper arm, 523 elbow, 524 lower arm, 525 wrist, 53 robot mounting plate, 54 grasping mechanism, 541 fixed lower furnace fixture, 5411 V-shaped groove, 542 movable lower furnace fixture, 5421 V-shaped groove, 543 electric cylinder, 55 positive positioning electromagnet, 56 rod insertion reference plate, 561 reference limit groove, 57 slide.

[0048] 71 material distribution frame, 72 power roller, 73 rod taking transverse movement device, 731 rod taking transverse movement bottom plate, 732 rod taking pressure plate, 733 pressure plate cylinder, 734 cylinder mounting plate, 735 flexible pad, 736 transverse movement slider, 74 rod taking slide rail, 75 supporting cylinder, 751 limiting ring, 76 material receiving bracket device, 761 moving bracket, 762 V-shaped material receiving block, 77 bracket linear rail, 78 synchronous belt.

[0049] 81 positioning joint, 82 limiting surface, 8a thick tube rolling mould, 8b thin tube rolling mould. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] like Figure 1As shown, the fully automatic upper and lower furnace integrated machine for fishing rods of the present invention comprises a loading and conveying device 1, a furnace hanging robot 2, a curing furnace 4, a furnace unloading robot 5 and a furnace unloading and dividing device 7. The curing furnace 4 is respectively provided with a feeding door and a discharging door on the front and rear sides. The loading and conveying device 1 and the furnace hanging robot 2 are located on the front side of the curing furnace 4, and the furnace unloading robot 5 and the furnace unloading and dividing device 7 are located on the rear side of the curing furnace 4. The loading and conveying device 1 conveys the rod section after being wrapped with a belt to the curing furnace 4, and the furnace hanging robot 2 hangs the rod section on the loading and conveying device 1 into the curing furnace 4 through the feeding door of the curing furnace 4, and the furnace unloading robot 5 takes the cured rod section out from the discharging door of the curing furnace 4 and moves it to the furnace unloading and dividing device 7, and the furnace unloading and dividing device 7 transfers the cured rod section to the next process.

[0053] See also Figure 2-Figure 5 The loading and conveying device 1 includes a loading frame 11 and a unloading mechanism 12, a conveying mechanism 17 and a grabbing position lifting mechanism 18 arranged on the loading frame 11. The unloading mechanism 12 conveys the pipe rolling mold of the upstream conveying line to the conveying mechanism 17, and the conveying mechanism 17 conveys the pipe rolling mold to the grabbing position lifting mechanism 18. The grabbing position lifting mechanism 18 lifts the pipe rolling mold on the conveying mechanism 17 and waits for the furnace loading robot to hang it in the curing furnace 4.

[0054] See also Figure 4 The unloading mechanism 12 includes a power roller 121 that can be raised and lowered. The power roller 121 conveys the pipe roll mold in the same direction as the pipe roll mold conveying direction of the upstream conveying line. A loading limit plate 13 is provided at the conveying end of the unloading mechanism 12 to limit the end of the pipe roll mold. When the power roller 121 rises, it can move the pipe roll mold of the upstream conveying line to the end of the pipe roll mold to contact the loading limit plate 13. The power roller 121 lowers the pipe roll mold and transfers it to the conveying mechanism 17. The conveying mechanism 17 conveys the pipe roll mold to the grabbing position lifting mechanism 18. The power roller 121 is driven to rotate by a roller driving device 122. The roller driving device 122 can adopt a belt transmission method. The main shaft of the power roller 121 is connected to the pulley A, the main shaft of the driving motor is connected to the pulley B, and the belt is set on the pulley A and the pulley B. In this embodiment, there are two groups of unloading mechanisms 12. The two power rollers 121 support the pipe roll mold stably, meeting the requirements of unloading and conveying the pipe roll mold.

[0055] The unloading mechanism 12 is provided with a film cutting mechanism 14, which includes a hot melt block 141, a film cutting lifting mechanism 142 for controlling the lifting and lowering of the hot melt block 141, and a film cutting Z-direction shifting mechanism 143 for controlling the front and rear displacement, wherein the hot melt block 141 is connected to the film cutting lifting mechanism 142, and the film cutting lifting mechanism 142 is connected to the film cutting Z-direction shifting mechanism 143. The film cutting lifting mechanism 142 can be implemented by a cylinder, and the film cutting Z-direction shifting mechanism 143 can be implemented by a linear module or an electric rod.

[0056] The material unloading mechanism 12 and the film cutting mechanism 14 are installed on the bracket 110, and the bracket 110 is connected with the material unloading lifting mechanism 15 and the X-direction shifting mechanism 16. The material unloading lifting mechanism 15 includes a cylinder A151, and the X-direction shifting mechanism 16 includes a slider A161 and a slide rail A162 arranged in the X direction. The cylinder A151 is connected with the slider A161, and the slider A161 can be driven by the push cylinder 163 to move left and right along the slide rail A162, thereby driving the cylinder A151 to move left and right.

[0057] The conveying mechanism 17 includes at least two sets of conveyor belts 171 arranged in parallel and a plurality of V-shaped feeding blocks 172 arranged on the conveyor belts 171. The V-shaped feeding blocks 172 on different conveyor belts 171 support the pipe rolling molds one by one. The conveyor belt wheels 175 of different conveyor belts 171 are connected via a coupling 174, and a motor 173 drives one set of conveyor belt wheels to rotate.

[0058] See also Figure 5 The grabbing position lifting mechanism 18 includes two groups of lifting V-shaped blocks 181, and the lifting V-shaped blocks 181 are connected to the lifting cylinders 182 respectively. The lifting cylinders 182 drive the lifting V-shaped blocks 181 to move up and down, and the lifting V-shaped blocks 181 lift the tube rolling mold on the corresponding V-shaped feeding block 172 and separate it from the V-shaped feeding block 172, waiting for the upper furnace manipulator to grab it. The grabbing position lifting mechanism 18 is provided with a grabbing position positioning mechanism 19, and the grabbing position positioning mechanism 19 includes an alignment baffle 191 and a push rod plate 192 arranged on the opposite side of the alignment baffle 191, and the push rod plate 192 is connected to the push rod plate cylinder 194. The push plate cylinder pushes the push rod plate 192 to move, and pushes the tube rolling mold on the grabbing position lifting mechanism 18 to move toward the alignment baffle 191, and the hanging end of the tube rolling mold is aligned with the alignment baffle 191, so as to ensure that the upper furnace manipulator can accurately position it when grabbing it, and reduce the grabbing error. An elastic push plate 193 is provided on the push rod plate 192. The elastic push plate 193 has a certain elastic space to meet the simultaneous alignment requirements of the different tube rolling molds.

[0059] The number of unloading mechanisms 12 corresponds to the number of upstream conveying lines, and the number of grabbing position lifting mechanisms 18 and grabbing position positioning mechanisms 19 usually matches the number of curing furnaces 4, so that the furnace hanging robot 2 can grab the coiled tube mold nearby to perform furnace hanging operations.

[0060] See also Figure 6-Figure 10 The curing furnace 4 includes a furnace chamber 41, and fixed plates 42 are provided on both sides of the upper part of the furnace chamber 41. The two ends of the support plate 43 are connected to the fixed plates 42. The fixed plates 42 support the two ends of the support plate 43. The multiple groups of support plates 43 are arranged in parallel. The support plate 43 is provided with a plurality of mold hanging grooves 431. The mold hanging grooves 431 are stepped grooves, and the width decreases from the open end to the closed end. The hanging end of the coiling mold has a positioning section 81 and a limit surface 82, see Figure 6 The limiting surface 82 is located above the positioning joint 81 and its radius is greater than the radius of the positioning joint 81. When hanging, the positioning joint 81 is pushed from the open end of the mold hanging groove 431, and the limiting surface 82 is limited by the upper end surface of the mold hanging groove 431.

[0061] See also Fig. 9 and Fig.10 The mold hanging groove 431 is divided into a symmetrical inclined surface section 4311, a middle section 4312 and a U-shaped section 4313 from the open end to the closed end. The angle between the inclined surface of the symmetrical inclined surface section 4311 and the symmetry axis o is 2-5°. The widest width of the symmetrical inclined surface section 4311 is 2.3-3 times the width of the U-shaped section 4313, and the narrowest width of the symmetrical inclined surface section 4311 is 2-2.7 times the width of the U-shaped section 4313. The middle section 4312 connects the symmetrical inclined surface section 4311 and the U-shaped section 4313. The middle section 4312 is composed of two or more groups of arcuate surfaces 43121. The upper end surface corresponding to the U-shaped section 4313 is provided with a third step surface 4316, and the upper end surface corresponding to the middle section 4312 is provided with a second step surface 4315. The upper end surface corresponding to the symmetrical inclined surface section 4311 and the outer sides of the second step surface 4315 and the third step surface 4316 form a first step surface 314. The first step surface 314, the second step surface 4315 and the third step surface 4316 are all lower than the upper surface of the support plate 43 and gradually become lower. The symmetrical inclined surface section 4311 is suitable for hanging the thick tube rolling mold 8a, and its limiting surface 82 is limited and matched with the first step surface 314; the U-shaped section 4313 is suitable for hanging the thin tube rolling mold 8b, and its limiting surface 82 is matched with the third step surface 4316. The tube rolling mold between the thick tube rolling mold 8a and the thin tube rolling mold 8b can be hung in the middle section 4312, and its limiting surface 82 is matched with the second step surface 4315. The middle section 4312 is composed of two or more groups of arc-shaped surfaces 43121, which provide the best matching surface for the tube rolling mold in this section.

[0062] See also Figure 8 The fixing plate 42 is provided with a plurality of fixing holes A421, and the two ends of the support plate 43 are provided with fixing holes B432, and bolts pass through the fixing holes A421 and the fixing holes B432 to connect the support plate 43 with the fixing plate 42. The support plate 43 and the fixing plate 42 are easy to process and easy to assemble.

[0063] The furnace chamber 41 is provided with sliding doors at the feeding end and the discharging end, respectively. A slider 44 is provided below the sliding door and connected to a cylinder 46 at the top. The cylinder 46 pushes the slider 44 to move along the sliding door rail 45. When hanging, the feeding end sliding door is opened, and the furnace hanging robot 2 hangs the tube coiling mold from back to front in sequence; after curing, the discharging end sliding door is opened, and the furnace unloading robot 5 takes out the tube coiling mold in sequence.

[0064] The curing furnace 4 has a reasonable structural design, can be applied to a wide range of coiling tube mould sizes, is easy to hang and unload, is easy to implement standardised flow operations, and improves the efficiency of fishing rod processing.

[0065] like Fig.11 , Fig.12 and Fig.13 As shown, the furnace unloading robot 5 includes a base 51, a robot arm 52 is installed on the upper end of the base 51, and a robot mounting plate 53 is installed on the end of the robot arm 52, a gripping mechanism 54 is arranged on the robot mounting plate 53, and the gripping mechanism 54 includes a fixed lower furnace clamp 541 and a movable lower furnace clamp 542, the fixed lower furnace clamp 541 is arranged on the front side of the robot mounting plate 53, the clamping surface of the fixed lower furnace clamp 541 is opposite to the robot mounting plate 53 and is located on the front side of the mold, and the movable lower furnace clamp 542 can move forward and backward and its clamping surface is located on the rear side of the mold, and a plurality of V-shaped grooves are respectively arranged on the fixed lower furnace clamp 541 and the movable lower furnace clamp 542, and the V-shaped groove 5411 of the fixed lower furnace clamp 541 and the V-shaped groove 5421 of the movable lower furnace clamp 542 correspond to each other and clamp different molds. There are two fixed lower furnace fixtures 541, which are fixed on the upper and lower parts of the manipulator mounting plate 53 respectively, and the movable lower furnace fixture 542 is located between the fixed lower furnace fixtures 541. The movable lower furnace fixture 542 is driven by the electric cylinder 43 or the air cylinder to move forward and backward. After the robot arm 52 drives the grasping mechanism 54 to reach the grasping position, the movable lower furnace fixture 542 moves forward to approach the mold, and cooperates with the fixed lower furnace fixture 541 to clamp the coiling mold.

[0066] The manipulator mounting plate 53 is provided with one or more gripping mechanisms 54. The gripping mechanism 54 shown in this embodiment has five V-shaped grooves on its fixed lower furnace fixture 541 and movable lower furnace fixture 542, respectively. The manipulator mounting plate 53 is provided with two gripping mechanisms 54, which can grip 10 molds at the same time, and has high gripping efficiency.

[0067] A positioning electromagnet 55 is provided above the manipulator mounting plate 53, and a plunger reference plate 56 is provided at the upper and lower ends of the positioning electromagnet 55. The plunger reference plate 56 has a reference limit groove 561 corresponding to the V-shaped groove of the movable lower furnace fixture 542. The positioning electromagnet 55 can absorb the metal mold to make it straight for the grasping mechanism 54 to clamp it.

[0068] The robot arm 52 includes a shoulder 521, an upper arm 522, an elbow 523, a lower arm 524 and a wrist 525. The adjacent parts are connected via a rotating joint. The shoulder 521 is rotatably connected to the base 51, and the wrist 525 is connected to the robot mounting plate 53. The base 51 is connected to a slide 57, and the slide 57 moves along the furnace unloading rail. The robot arm 52 is composed of multiple sections, and the adjacent sections can rotate, and the operation flexibility is high. The slide 57 moves along the furnace unloading rail to drive the furnace unloading robot 5 to move, and perform furnace unloading operations on different positions and different curing furnaces 4.

[0069] The furnace hanging robot 2 moves along the furnace hanging rail 3. The base and mechanical arm of the furnace hanging robot 2 are the same as those of the furnace unloading robot 5, but the structure of the grasping part is different. Fig.14 The furnace hanging fixture bottom plate 21 is connected to the upper end of the robot arm, and a furnace hanging fixture 22 is arranged on the furnace hanging fixture bottom plate 21. The furnace hanging fixture 22 includes two sets of upper and lower fixture claws 221, and the fixture claws 221 are controlled to open and close by the claw cylinder 222. Two sets of furnace hanging fixtures 22 are arranged on the left and right sides of the furnace hanging fixture bottom plate 21 to simultaneously grab two coiling molds for furnace hanging operation.

[0070] like Fig.15 and Fig.16 As shown, the furnace unloading and material distribution device 7 includes a power roller 72, a rod taking transverse movement device 73 and a material receiving bracket device 76 arranged on a material distribution frame 71. The rod taking transverse movement device 73 includes a rod taking transverse movement bottom plate 731 and a rod taking pressure plate 732 that can be lifted up and down. The rod taking pressure plate 732 is connected to a pressure plate cylinder 733. The pressure plate cylinder 733 is fixed on a cylinder mounting plate 734. The pressure plate cylinder 733 drives the rod taking pressure plate 732 to move up and down. The rod taking transverse movement bottom plate 731 is provided with a flexible pad 735 at the position supporting the tube rolling mold. The flexible pad 735 can be made of flexible materials such as silicone and rubber. The power roller 72 can be driven to rotate by a belt, and the power roller 72 drives the tube rolling mold to move toward the rod taking pressure plate 732 to ensure that the tube rolling mold is located below the rod taking pressure plate 732. A transverse sliding block 736 is provided below the rod-taking transverse bottom plate 731. The transverse sliding block 736 cooperates with the rod-taking slide rail 74 and moves along the rod-taking slide rail 74 driven by the synchronous belt 8. The material receiving bracket device 76 includes a mobile bracket 761 and a V-shaped material receiving block 762 arranged on the mobile bracket 761. When placed, one end of the tube rolling mold is located on the rod-taking transverse bottom plate 731, and the other end is supported by the power roller 72. The rod-taking pressure plate 732 presses down to limit the movement of the tube rolling mold. The rod-taking transverse bottom plate 731 moves along the rod-taking slide rail 74 and makes the tube rolling mold fall into the V-shaped material receiving block 762 on the mobile bracket 761. The rod-taking pressure plate 732 moves up to release the limit on the tube rolling mold. The mobile bracket 761 moves along the bracket linear rail 77 to transport the tube rolling mold to the next process.

[0071] In this embodiment, a support cylinder 75 is provided at the initial end of the displacement of the rod-taking transverse displacement device 73. A plurality of limiting rings 751 are separately provided on the support cylinder 75. The limiting rings 751 axially separate the support cylinder 75 into a plurality of coiling mold placement areas. The figure shows five placement areas for placing five coiling molds. The support cylinder 75 is provided on the bottom plate of the support cylinder 75. The bottom plate of the support cylinder 75 is connected to a slider. The slider moves along the rod-taking slide rail 74. The position of the support cylinder 75 can be adjusted according to the length of the coiling mold.

[0072] In this embodiment, the bracket linear rail 77 is perpendicular to the rod taking slide rail 74. There are two sets of material receiving bracket devices 76, which are respectively arranged on both sides of the rod taking slide rail 74, and correspondingly, two sets of rod taking pressure plates 732 are arranged on the rod taking transverse movement bottom plate 731. The rod taking transverse movement device 73 can simultaneously transport two sets of tube rolling molds to the material receiving bracket devices 76, and the two sets of material receiving bracket devices 76 will distribute the tube rolling molds to the two core stripping machines.

[0073] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. Fully automatic upper and lower furnace integrated machine, characterized by: The present invention comprises a loading and conveying device, a furnace hanging robot, a curing furnace, a furnace unloading robot and a furnace unloading dividing device, wherein a feeding door and a discharging door are respectively arranged on the front and rear sides of the curing furnace, the loading and conveying device and the furnace hanging robot are located at the front side of the curing furnace, and the furnace unloading robot and the furnace unloading dividing device are located at the rear side of the curing furnace, the loading and conveying device conveys the pipe coiling mould to the curing furnace, the furnace hanging robot hangs the pipe coiling mould on the loading and conveying device into the curing furnace through the feeding door of the curing furnace, the furnace unloading robot takes the cured pipe coiling mould out of the curing furnace and moves it to the furnace unloading dividing device, and the furnace unloading dividing device transfers the cured pipe coiling mould to the next process; fixed plates are arranged on both sides of the upper part of the furnace cavity of the curing furnace, both ends of the support plates are connected to the fixed plates, and a plurality of support plates are arranged in parallel, a plurality of hanging mould grooves are arranged on the support plates, and the hanging mould grooves are stepped grooves, and the width decreases from the open end to the closed end.

2. The fully automatic upper and lower furnace integrated machine according to claim 1, characterized in that: The mold hanging groove is divided into a symmetrical inclined surface section, a middle section and a U-shaped section from the open end to the closed end. The upper end surface corresponding to the U-shaped section is provided with a third step surface, and the upper end surface corresponding to the middle section is provided with a second step surface. The upper end surface corresponding to the symmetrical inclined surface section and the outer sides of the second and third step surfaces form a first step surface. The first step surface, the second step surface and the third step surface are all lower than the upper surface of the support plate and become lower step by step.

3. The fully automatic upper and lower furnace integrated machine according to claim 2, characterized in that: The angle between the inclined surface of the symmetrical inclined surface section and the symmetry axis is 2-5°, the width of the widest part of the symmetrical inclined surface section is 2.3-3 times the width of the U-shaped section, and the width of the narrowest part of the symmetrical inclined surface section is 2-2.7 times the width of the U-shaped section. The middle section connects the symmetrical inclined surface section and the U-shaped section, and the middle section is composed of two or more groups of arc surfaces.

4. The fully automatic upper and lower furnace integrated machine according to any one of claims 1 to 3, characterized in that: The loading and conveying device includes a feeding mechanism, a conveying mechanism, and a grabbing position lifting mechanism. The feeding mechanism conveys the pipe coiling mold of the upstream conveying line to the conveying mechanism, the conveying mechanism conveys the pipe coiling mold to the grabbing position lifting mechanism, and the grabbing position lifting mechanism lifts the pipe coiling mold on the conveying mechanism to wait for the hanging furnace robot to grab it.

5. The fully automatic upper and lower furnace integrated machine according to claim 4, characterized in that: The unloading mechanism includes a liftable power roller, and the power roller conveys the pipe rolling mold in the same direction as the conveying direction of the pipe rolling mold of the upstream conveying line. A loading limit plate is provided at the conveying end of the unloading mechanism to limit the end of the pipe rolling mold; the power roller rises and moves the pipe rolling mold of the upstream conveying line until the end of the pipe rolling mold contacts the loading limit plate, and the power roller lowers the pipe rolling mold and transfers it to the conveying mechanism; the grabbing position lifting mechanism includes two groups of lifting V-shaped blocks, and the lifting V-shaped blocks are respectively connected to the lifting cylinders; a grabbing position positioning mechanism is provided at the grabbing position lifting mechanism, and the grabbing position positioning mechanism includes an alignment baffle and a push rod plate arranged on the opposite side of the alignment baffle, and the push rod plate is connected to the push rod plate cylinder; an elastic push plate is provided on the push rod plate.

6. The fully automatic upper and lower furnace integrated machine according to claim 4, characterized in that: A film cutting mechanism is provided at the unloading mechanism, and the film cutting mechanism includes a hot melt block, a film cutting lifting mechanism for controlling the lifting and lowering of the hot melt block, and a film cutting Z-direction shifting mechanism for controlling the front and rear displacement. The hot melt block is connected to the film cutting lifting mechanism, and the film cutting lifting mechanism is connected to the film cutting Z-direction shifting mechanism.

7. The fully automatic upper and lower furnace integrated machine according to claim 1, characterized in that: The furnace unloading robot includes a base, a robotic arm is installed on the upper end of the base, and a robotic arm mounting plate is installed on the end of the robotic arm, a gripping mechanism is arranged on the robotic arm mounting plate, and the gripping mechanism includes a fixed lower furnace clamp and a movable lower furnace clamp, the fixed lower furnace clamp is arranged on the front side of the robotic arm mounting plate, the clamping surface of the fixed lower furnace clamp is opposite to the robotic arm mounting plate and is located on the front side of the mold, the movable lower furnace clamp can move forward and backward and its clamping surface is located on the rear side of the mold, the fixed lower furnace clamp and the movable lower furnace clamp are respectively provided with a plurality of V-shaped grooves, the V-shaped grooves of the fixed lower furnace clamp and the V-shaped grooves of the movable lower furnace clamp correspond to each other to clamp different molds; there are two fixed lower furnace clamps, which are respectively fixed on the upper and lower parts of the robotic arm mounting plate, and the movable lower furnace clamp is located between the fixed lower furnace clamps.

8. The fully automatic upper and lower furnace integrated machine according to claim 7, characterized in that: A positive electromagnet is arranged above the manipulator mounting plate, and a rod insertion reference plate is arranged at the upper and lower ends of the positive electromagnet. The rod insertion reference plate has a reference limit groove corresponding to the V-shaped groove of the movable lower furnace fixture.

9. The fully automatic upper and lower furnace integrated machine according to any one of claims 1 to 3, characterized in that: The unloading furnace and material dividing device includes a power roller, a rod taking transverse movement device and a material receiving bracket device. The rod taking transverse movement device includes a rod taking transverse movement bottom plate and a rod taking pressure plate which can be lifted up and down. The material receiving bracket device includes a movable bracket and a V-shaped material receiving block arranged on the movable bracket. When placed, one end of the pipe coiling mold is located on the rod taking transverse movement bottom plate, and the other end is supported by the power roller. The rod taking pressure plate presses down to limit the movement of the pipe coiling mold. The rod taking transverse movement bottom plate moves along the rod taking slide rail and makes the pipe coiling mold fall into the V-shaped material receiving block on the movable bracket. The rod taking pressure plate moves up to release the limit on the pipe coiling mold, and the movable bracket moves along the bracket linear rail to transport the pipe coiling mold to the next process.

10. The fully automatic upper and lower furnace integrated machine according to claim 9, characterized in that: A supporting cylinder is provided at the initial end of the rod taking transverse shifting device, on which a plurality of limiting rings are arranged separately, and the supporting cylinder can move along the rod taking slide rail; a flexible pad is provided at the position where the rod taking transverse shifting bottom plate supports the tube rolling mould.

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