Manipulator for automatic feeding of high-temperature crucible

Abstract

The invention relates to the technical field of automatic mechanical equipment, and particularly discloses a manipulator for automatic feeding of high-temperature crucibles, which comprises a bearing arm, a clamp handle assembly, a clamping cylinder assembly, an overturning cylinder assembly, a clamp chuck assembly and a sensor module, the overturning air cylinder assembly and the clamp chuck assembly are rotationally arranged on the bearing arm, and the output end of the overturning air cylinder assembly is rotationally connected with the clamp chuck assembly. The clamping air cylinder assembly is used for driving the clamp chuck assembly to achieve the clamping action. The sensor module is arranged on the clamping air cylinder assembly, the overturning air cylinder assembly or the bearing arm and used for obtaining temperature, pressure and position information. The clamp handle assembly is integrated with a control system, the control system is electrically connected with all the assemblies and the sensor module, and operation parameters of the clamping air cylinder assembly and the overturning air cylinder assembly can be accurately regulated and controlled according to data fed back by the sensor module so as to meet the grabbing and overturning requirements of crucibles of different sizes and weights.

Description

Technical Field

[0001] The invention relates to the technical field of automated mechanical equipment, and in particular discloses a robot for automatically feeding a high-temperature crucible. Background Art

[0002] In high-temperature industries such as metallurgy and chemical engineering, automatic feeding of high-temperature crucibles is a critical step in the production process. Traditional methods for feeding high-temperature crucibles rely heavily on manual operation, which is not only inefficient but also exposes operators to harsh environments such as high temperatures and corrosion, posing significant safety risks. Furthermore, manual operation makes it difficult to ensure stable and accurate feeding, which can easily lead to crucible breakage and material spillage, impacting production quality and efficiency. While some automatic feeding robots are currently in use, they generally suffer from limited functionality and poor adaptability. For example, some robots struggle to accommodate the gripping and flipping needs of crucibles of varying sizes; some lack effective monitoring and feedback mechanisms, preventing them from precisely adjusting operating parameters based on actual operating conditions. Furthermore, most robots lack adequate heat and corrosion resistance, and their cooling systems are poorly designed, leading to equipment failures in high-temperature environments and requiring frequent maintenance that impacts production continuity. Therefore, there is an urgent need to develop a fully functional and reliable automatic feeding robot for high-temperature crucibles to meet the industry's urgent need for automated production. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, an object of the present invention is to provide a robot for automatically feeding a high-temperature crucible.

[0004] To achieve the above-mentioned purpose, the present invention provides a robot for automatic feeding of high-temperature crucibles, comprising a carrying arm, a clamp handle assembly, a clamping cylinder assembly, a flip cylinder assembly, a clamp chuck assembly, and a sensor module; the flip cylinder assembly and the clamp chuck assembly can be rotatably arranged on the carrying arm, and the output end of the flip cylinder assembly is rotatably connected to the clamp chuck assembly; the clamping cylinder assembly is used to drive the clamp chuck assembly to realize the clamping action; the sensor module is arranged on the clamping cylinder assembly, the flip cylinder assembly or the carrying arm, and is used to obtain temperature, pressure and position information; the clamp handle assembly is integrated with a control system, and the control system is electrically connected to the above-mentioned components and the sensor module, and can accurately adjust the operating parameters of the clamping cylinder assembly and the flip cylinder assembly according to the data feedback from the sensor module to adapt to the grasping and flipping requirements of crucibles of different sizes and weights.

[0005] Furthermore, the clamp handle assembly has a mounting bracket that is detachably connected to the carrying arm, and the mounting bracket is connected to a U-shaped handle that can rotate 360°. The surface of the U-shaped handle is provided with a high-temperature resistant silicone anti-slip layer. The U-shaped handle is provided with a touch display and multiple function buttons for controlling the working parameters of the manipulator and displaying real-time working status.

[0006] Furthermore, the supporting arm is provided with a detachable mounting seat, and the flip cylinder assembly is provided with a detachable supporting frame. The mounting seat and the supporting frame are rotatably connected via a mounting shaft, one end of the mounting shaft protrudes into a boss, and the other end is fixed via a cotter pin; the supporting frame has two mounting plates for installing the flip cylinder assembly, the two mounting plates are arranged in parallel and are fixed between the two mounting plates by multiple fixing rods.

[0007] Furthermore, the clamping cylinder assembly has a support frame that can be detachably mounted on the fixture chuck assembly, a telescopic cylinder arranged on the support frame, and a clamping fixture. The clamping fixture has a pressure plate connected to the output end of the telescopic cylinder. The support frame is also slidably provided with multiple guide shafts connected to the pressure plate and multiple ceramic sleeves that slide with the multiple guide shafts. A replaceable polyurethane buffer plate is provided on one side of the pressure plate for contacting the crucible, and the surface of the buffer plate is provided with an anti-slip structure.

[0008] Furthermore, the clamp chuck assembly has two U-shaped plates arranged in parallel and a fixing clamp arranged on the U-shaped plates. The two U-shaped plates are fixed by a U-shaped connecting piece. The closed ends of the U-shaped structures of the two U-shaped plates are rotatably connected to the bearing arms, and the clamping cylinder assembly and the fixing clamp are respectively installed on both sides of the open ends; a plurality of polyurethane pads are provided at the closed end of the U-shaped structure, and the plurality of polyurethane pads are arranged in a U shape. An elastic component is provided on the U-shaped plate close to the clamping cylinder assembly, and the free end of the elastic component is in contact with the polyurethane pad. The elastic component has a rubber column arranged on the U-shaped plate and a telescopic spring sleeved on the rubber column. One end of the telescopic spring is fixed to the U-shaped plate or the rubber column, and the other end is used to contact the polyurethane pad.

[0009] Furthermore, the fixing fixture is a high-temperature resistant polyurethane plate, and one side of the fixing fixture used to abut against the crucible protrudes into an arc-shaped plate structure, and the protruding surface of the fixing fixture is provided with a plurality of through holes arranged linearly.

[0010] Furthermore, a rotating connector is provided at the output end of the flip cylinder assembly, one end of the rotating connector is a linear connection portion connected to the flip cylinder assembly, and the other end is an annular rotating portion; the clamp chuck assembly is fixedly connected to the fixed shaft, and the fixed shaft and the annular rotating portion are rotationally connected via a fixed bearing, and the fixed shaft is provided with a fixed shaft section for installing the fixed bearing, the shaft diameter of the fixed shaft section is smaller than the shaft diameter of the fixed shaft at both axial ends of the fixed shaft section, and the inner ring of the fixed bearing is axially limited by the fixed shaft.

[0011] Furthermore, a coating module is provided on the outside of the carrying arm, which includes a high-temperature resistant metal base layer, a ceramic insulation layer, and a corrosion-resistant fluorocarbon resin surface layer, which are arranged on the carrying arm from the inside to the outside. The total thickness of the coating is 0.3-0.5 mm, wherein the ceramic insulation layer is made of zirconium oxide-based ceramic material, and the metal base layer is made of nickel-based alloy.

[0012] Furthermore, the sensor module includes a pressure sensor arranged on the clamp chuck assembly for monitoring the clamping force, a temperature sensor arranged on the carrying arm for monitoring the ambient temperature, an angle sensor arranged at each rotating connection for monitoring the position of the manipulator, and an infrared ranging sensor arranged on the fixed clamp for detecting the position and posture of the crucible. The data of the multiple sensors are all transmitted wirelessly to the control system.

[0013] Furthermore, the cooling module includes a cooling ring arranged on the carrying arm, the cooling ring is connected to the carrying arm through a cooling bracket, the cooling bracket is hollow inside and is respectively connected to the carrying arm and the cooling ring, the carrying arm is connected to the external coolant tank through an internal pipe, and the annular surface of the cooling ring facing the fixture chuck assembly is provided with a plurality of cooling nozzles arranged in a circular array, and the cooling nozzles are in a circular trumpet-shaped amplifying structure from the inside to the outside of the cooling ring.

[0014] Beneficial effects of the present invention:

[0015] (1) Intelligent and efficient feeding: The clamping cylinder assembly works in conjunction with the fixture chuck assembly to accurately grasp crucibles of different sizes and weights. The flip cylinder assembly enables flexible flipping. Combined with the sensor module to obtain temperature, pressure, and position information, the control system accurately adjusts operating parameters based on feedback data to achieve fully automatic adaptive feeding. The circulating cooling system constructed by the cooling module cools and cleans the robot through specially designed cooling nozzles, ensuring stable operation of the robot in high-temperature environments and ensuring continuous and efficient automatic feeding operations.

[0016] (2) Reliable and safe protection: The coating module's high-temperature resistant metal base, ceramic insulation layer, and corrosion-resistant fluorocarbon resin surface effectively resist high temperatures and corrosion. The clamp handle assembly supports remote control, allowing operators to stay away from high-temperature and dangerous areas, ensuring personal safety while avoiding the impact of human operational errors on the automatic feeding process, ensuring a safe and reliable feeding process.

[0017] (3) Flexible and convenient operation and maintenance: Each component adopts a detachable connection design, such as the clamp handle, load-bearing arm and flip cylinder assembly, which facilitates quick installation, disassembly and maintenance, reduces downtime, and ensures the efficient operation of the automatic feeding production line. The U-shaped handle can rotate 360 ​​degrees, and the touch screen and function buttons are intuitively controlled. Combined with wireless data transmission, it realizes convenient human-computer interaction, greatly improving the flexibility of automatic feeding operation and equipment utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a partially exploded schematic diagram of a manipulator for automatically feeding a high-temperature crucible according to the present invention;

[0019] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0020] Figure 3 It is a partial exploded schematic diagram of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the clamp chuck assembly of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the clamping cylinder assembly of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the clamp handle assembly of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the cooling module of the present invention;

[0025] Figure 8 Schematic diagram of the structure of the coating module of the present invention.

[0026] The reference numerals include: 1, carrying arm; 11, mounting seat; 2, clamp handle assembly; 21, mounting frame; 22, U-shaped handle; 23, silicone anti-slip layer; 24, touch screen; 25, function button; 3, flip cylinder assembly; 31, carrying frame; 32, mounting shaft; 33, boss; 34, cotter pin; 35, mounting plate; 36, fixing rod; 37, rotating connection; 38, linear connection part; 39, annular rotating part; 4, clamping cylinder assembly; 41, support frame; 42, telescopic cylinder; 43, clamping clamp Tools; 44. Guide shaft; 45. Ceramic sleeve; 46. Buffer plate; 47. Pressure plate; 5. Clamp chuck assembly; 51. U-shaped plate; 52. Fixing fixture; 53. U-shaped connector; 54. Spacer; 55. Elastic component; 551. Rubber column; 552. Telescopic spring; 56. Fixed shaft; 57. Fixed shaft segment; 6. Cooling module; 61. Cooling ring; 62. Cooling bracket; 63. Cooling nozzle; 7. Coating module; 71. High-temperature resistant metal bottom layer; 72. Ceramic insulation layer; 73. Corrosion-resistant fluorocarbon resin surface layer. DETAILED DESCRIPTION

[0027] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] See also Figures 1 to 6As shown, a robot for automatic feeding of high-temperature crucibles of the present invention comprises a carrying arm 1, a clamp handle assembly 2, a clamping cylinder assembly 4, a flip cylinder assembly 3, a clamp chuck assembly 5, and a sensor module; the flip cylinder assembly 3 and the clamp chuck assembly 5 can be rotatably arranged on the carrying arm 1, and the output end of the flip cylinder assembly 3 is rotatably connected to the clamp chuck assembly 5; the clamping cylinder assembly 4 is used to drive the clamp chuck assembly 5 to realize the clamping action; the sensor module is arranged on the clamping cylinder assembly, the flip cylinder assembly or the carrying arm 1, and is used to obtain temperature, pressure and position information; the clamp handle assembly 2 is integrated with a control system, and the control system is electrically connected to the above-mentioned components and the sensor module, and can accurately adjust the operating parameters of the clamping cylinder assembly 4 and the flip cylinder assembly 3 according to the data feedback from the sensor module to adapt to the grasping and flipping requirements of crucibles of different sizes and weights.

[0029] In actual use, from the perspective of functional implementation, the clamping cylinder assembly 4 cooperates with the clamp chuck assembly 5 to accurately complete the crucible clamping action and can reliably grasp crucibles of different sizes and weights; the flipping cylinder assembly 3 realizes the rotation of the crucible, meeting the requirements of crucible flipping under high-temperature conditions, ensuring the smooth progress of material transportation and processing operations. In terms of monitoring and control, the sensor module is integrated into each component and the carrying arm 1 to monitor temperature, pressure and position information in real time. It can promptly sense the state changes during the grasping and flipping of the crucible and provide accurate data for the control system; the control system integrated into the clamp handle assembly 2 accurately adjusts the operating parameters of the clamping cylinder assembly 4 and the flipping cylinder assembly 3 according to the sensor feedback data, realizing adaptive operation, improving the flexibility and reliability of the robot, and avoiding grasping failure or equipment damage due to differences in crucible specifications.

[0030] This integrated and intelligent design improves the efficiency and stability of automatic feeding of high-temperature crucibles, reduces the risks of manual operation, and enhances production safety and automation levels. It can be widely used in high-temperature operation fields such as metallurgy and chemical industry, providing reliable equipment support for automated production in related industries.

[0031] Specifically, the clamp handle assembly 2 has a mounting bracket 21 that is detachably connected to the carrying arm 1. The mounting bracket 21 is connected to a U-shaped handle 22 that can rotate 360°. The surface of the U-shaped handle 22 is provided with a high-temperature resistant silicone anti-slip layer 23. The U-shaped handle 22 is provided with a touch display screen 24 and multiple function buttons 25 for controlling the working parameters of the manipulator and displaying real-time working status.

[0032] During actual use, the mounting bracket 21 is detachably connected to the carrying arm 1, which facilitates the quick separation of the handle assembly during equipment maintenance, inspection, or component replacement, reduces maintenance difficulty and time costs, and facilitates transportation and storage. The U-shaped handle can rotate 360°, allowing the operator to flexibly adjust the handle angle according to their own position and operating habits, significantly improving operational convenience and comfort, and effectively reducing fatigue caused by long-term operation. The high-temperature resistant silicone anti-slip layer 23 on the surface of the handle can, on the one hand, resist damage to the operator's hands caused by high-temperature environments, and on the other hand, increases the friction when holding, preventing misoperation due to hand slippage during operation, and ensuring safe and reliable operation.

[0033] The setting of the touch screen 24 and the function button 25 realizes the intuitive adjustment of the working parameters of the robot and the visual display of the real-time working status. The operator can quickly and conveniently control and monitor the robot accurately, which greatly improves the operating efficiency, enhances the convenience and intelligence of human-computer interaction, and helps to carry out the automatic feeding of high-temperature crucibles efficiently and stably.

[0034] The clamp handle assembly 2 can be removed and installed externally, expanding its use cases and operational flexibility. When not mounted on the carrier arm 1, the operator can perform remote control away from high-temperature and hazardous areas, effectively avoiding threats to personal safety from hazardous factors such as high temperatures and splashing in the working environment, and ensuring the safety and health of the operator. External mounting eliminates the positional limitations of the carrier arm 1, allowing the operator to place the control terminal in a more appropriate location based on actual needs. Whether observing the work site or adjusting parameters, the operator can find a more comfortable and efficient operating position, optimizing the operating experience.

[0035] Specifically, the supporting arm 1 is provided with a detachable mounting seat 11, and the flip cylinder assembly 3 is provided with a detachable supporting frame 31. The mounting seat 11 and the supporting frame 31 are rotatably connected via a mounting shaft 32. One end of the mounting shaft 32 protrudes into a boss 33, and the other end is fixed via a cotter pin 34; the supporting frame 31 has two mounting plates 35 for installing the flip cylinder assembly 3. The two mounting plates 35 are arranged in parallel and are fixed between the two mounting plates 35 by multiple fixing rods 36.

[0036] In actual use, the detachable mounting base 11 on the supporting arm 1 and the detachable supporting frame 31 of the flip cylinder assembly 3 make the installation, disassembly and maintenance of the two more convenient, and facilitate the rapid separation of components during equipment maintenance, reduce the difficulty of maintenance, shorten downtime, and improve equipment utilization. The mounting base 11 and the supporting frame 31 are rotatably connected via the mounting shaft 32, and the fixing method of the boss 33 at one end and the cotter pin 34 at the other end not only ensures the stability of the connection, can reliably support the load of the flip cylinder assembly 3 during operation, but also facilitates disassembly and assembly, and can be easily operated when the flip angle needs to be adjusted or components need to be replaced. The two parallel mounting plates 35 of the supporting frame 31 are combined with the structural design of multiple fixing rods 36 to provide a stable installation foundation for the flip cylinder assembly 3, effectively enhance its installation reliability, reduce problems such as operation shaking and component wear caused by structural instability, ensure the stable operation of the flip cylinder assembly 3, and thus ensure the accuracy and reliability of the flipping action of the entire manipulator, improve the efficiency and stability of the flipping operation during the automatic feeding of the high-temperature crucible, and extend the service life of the equipment.

[0037] Specifically, the clamping cylinder assembly 4 has a support frame 41 that is detachably mounted on the fixture chuck assembly 5, a telescopic cylinder 42 arranged on the support frame 41, and a clamping fixture 43. The clamping fixture 43 has a pressure plate 47 connected to the output end of the telescopic cylinder 42. The support frame 41 is also slidably provided with a plurality of guide shafts 44 connected to the pressure plate 47, and a plurality of ceramic sleeves 45 that slide with the plurality of guide shafts 44. A replaceable polyurethane buffer plate 46 is provided on one side of the pressure plate 47 for contacting the crucible, and the surface of the buffer plate 46 is provided with an anti-slip structure.

[0038] In actual use, the detachable support frame 41 facilitates the disassembly and maintenance of the clamping cylinder assembly 4 and the clamping chuck assembly 5, reducing the difficulty and time cost of equipment maintenance, and also facilitating the replacement and upgrading of parts. The telescopic cylinder 42 is matched with the clamping fixture 43, and the crucible is reliably clamped by the pressure plate 47, providing a stable and strong clamping force to ensure that crucibles of different sizes and weights do not slip during the grasping and transportation process. The sliding fit between the guide shaft 44 and the ceramic sleeve 45 not only ensures the smoothness and accuracy of the movement of the pressure plate 47, reduces the clamping deviation caused by shaking, but also utilizes the good high temperature resistance and wear resistance of ceramics to improve the service life of the components under high temperature conditions.

[0039] The replaceable polyurethane buffer plate 46 effectively cushions the impact of clamping on the crucible, preventing damage to the crucible surface. Its anti-slip surface structure also increases friction, further enhancing clamping stability. This design balances the dual requirements of clamping strength and crucible protection, making the clamping cylinder assembly 4 more adaptable to automatic feeding of high-temperature crucibles, improving operational safety and equipment reliability, and reducing the risk of production failures caused by clamping problems.

[0040] Specifically, the clamp chuck assembly 5 has two U-shaped plates 51 arranged in parallel and a fixing clamp 52 arranged on the U-shaped plate 51. The two U-shaped plates 51 are fixed by a U-shaped connector 53. The closed end of the U-shaped structure of the two U-shaped plates 51 is rotatably connected to the carrying arm 1, and the clamping cylinder assembly 4 and the fixing clamp 52 are respectively installed on both sides of the open end; the closed end of the U-shaped structure is provided with a plurality of polyurethane pads 54, and the plurality of polyurethane pads 54 are arranged in a U shape. An elastic component 55 is provided on the U-shaped plate 51 close to the clamping cylinder assembly 4, and the free end of the elastic component 55 is in conflict with the polyurethane pad 54. The elastic component 55 has a rubber column 551 arranged on the U-shaped plate 51 and a telescopic spring 552 sleeved on the rubber column 551. One end of the telescopic spring 552 is fixed to the U-shaped plate 51 or the rubber column 551, and the other end is used to conflict with the polyurethane pad 54.

[0041] In actual use, two parallel U-shaped plates are fixed together by U-shaped connectors, forming a stable frame structure. This provides a reliable mounting base for components such as the clamping cylinder assembly 4 and the fixing fixture 52, ensuring that the entire fixture chuck assembly 5 remains stable and resists deformation during the grasping and flipping of the crucible. The U-shaped plates are rotatably connected to the support arm 1, and the flip cylinder assembly 3 realizes flexible flipping movements, meeting the requirements of feeding high-temperature crucibles at different angles.

[0042] The multiple polyurethane pads 54 and elastic components 55 at the closed end effectively cushion the impact of the rotational connection between the clamp chuck assembly 5 and the support arm 1, reducing wear and extending component life. Furthermore, the elasticity and anti-slip properties of the polyurethane pads 54 enhance the stability of the rotational connection, preventing shaking or displacement during operation. The combination of the rubber column 551 and the telescopic spring 552 in the elastic component 55 gives the pads 54 adaptive adjustment capabilities, allowing them to flexibly adjust the cushioning force based on actual stress conditions, ensuring excellent cushioning protection under various operating conditions, improving the reliability and safety of the manipulator's operation, and ensuring the efficient and stable automatic feeding of high-temperature crucibles.

[0043] Specifically, the fixing fixture 52 is a high-temperature resistant polyurethane plate, and one side of the fixing fixture 52 used to contact the crucible protrudes into an arc-shaped plate structure, and a plurality of through holes arranged linearly are provided on the protruding surface of the fixing fixture 52.

[0044] During actual use, it protrudes into an arc-shaped plate structure, which can fit tightly with the surface of the crucible, greatly increasing the contact area, providing more uniform clamping force, effectively avoiding damage to the crucible due to local uneven force, and ensuring the integrity of the crucible during grasping, flipping and transportation; with the elasticity of the polyurethane material, it can adapt to crucibles of different sizes, expand the scope of application of the robot, reduce the frequency of replacing the clamp due to differences in crucible specifications, and improve work efficiency.

[0045] The design of multiple through holes arranged linearly on the surface, on the one hand, reduces the weight of the fixing fixture 52 itself, reduces the load on the carrying arm 1 and other components, and is conducive to the stable operation of the equipment; on the other hand, in a high-temperature environment, the through holes can promote air circulation, accelerate heat dissipation, prevent the fixture from being deformed or its performance degraded due to excessive heating due to long-term high-temperature operation, and enhance high-temperature resistance; at the same time, the through holes can also play a certain buffering role when clamping the crucible, further improving the protection effect of the crucible, ensuring that the manipulator can complete the crucible feeding task safely, reliably and efficiently under high-temperature and complex working conditions, and reducing the probability of production accidents.

[0046] Specifically, the output end of the flip cylinder assembly 3 is provided with a rotating connecting member 37, one end of the rotating connecting member 37 is a linear connecting portion 38 connected to the flip cylinder assembly 3, and the other end is an annular rotating portion 39; the clamp chuck assembly 5 is fixedly connected to the fixed shaft 56, and the fixed shaft 56 and the annular rotating portion 39 are rotationally connected via a fixed bearing, and the fixed shaft 56 is provided with a fixed shaft section 57 for installing the fixed bearing, and the shaft diameter of the fixed shaft section 57 is smaller than the shaft diameter of the fixed shaft 56 at both axial ends of the fixed shaft section 57, and the inner ring of the fixed bearing is axially limited by the fixed shaft 56.

[0047] In actual use, the linear connection portion 38 of the rotating connector 37 is securely connected to the tilting cylinder assembly 3, ensuring efficient power transmission. The annular rotating portion 39 provides a flexible connection interface for the rotation of the clamp chuck assembly 5. The fixed shaft 56 and the annular rotating portion 39 are rotatably connected via a fixed bearing. The low-friction characteristics of the bearing enable the clamp chuck assembly 5 to perform a smooth and precise tilting motion, effectively reducing mechanical wear and extending the service life of the equipment.

[0048] The design of fixed shaft section 57 with a smaller diameter than the shaft diameters at both ends cleverly creates an axial limit for the inner ring of the fixed bearing, preventing axial movement of the bearing during operation, ensuring the stability of the connection structure and making the flipping action more reliable. This design can withstand the heavy loads generated during the flipping of the high-temperature crucible, ensuring that the clamp chuck assembly 5 can still accurately complete the flipping operation according to the control system instructions under complex working conditions. This improves the accuracy and stability of the flipping action during the automatic feeding of the high-temperature crucible, avoids flipping failures caused by connection structure problems, and provides strong support for the continuity and reliability of automated production.

[0049] Specifically, a coating module 7 is provided on the outside of the carrying arm 1. The coating module 7 includes a high-temperature resistant metal base layer 71, a ceramic insulation layer 72, and a corrosion-resistant fluorocarbon resin surface layer 73, which are arranged on the carrying arm 1 from the inside to the outside. The total thickness of the coating is 0.3-0.5 mm, wherein the ceramic insulation layer 72 is made of zirconium oxide-based ceramic material, and the metal base layer is made of nickel-based alloy.

[0050] In actual use, the high-temperature-resistant metal base layer 71, made of a nickel-based alloy, thanks to its excellent high-temperature strength, oxidation resistance, and thermal fatigue resistance, can tightly adhere to the surface of the support arm 1, enhancing the substrate's high-temperature resistance, effectively resisting erosion by high-temperature environments, and improving the substrate's stability and durability. The ceramic insulation layer 72, made of a zirconia-based ceramic material, has low thermal conductivity and high thermal insulation properties, significantly reducing the transmission of high temperatures to the support arm 1, lowering the substrate temperature and preventing material performance degradation and structural deformation caused by high temperatures. It also acts as a buffer for thermal stress, protecting the substrate from thermal shock damage.

[0051] The corrosion-resistant fluorocarbon resin surface layer 73 provides a protective outer layer for the manipulator. Its chemically stable properties effectively resist corrosion from various chemicals, including acids and alkalis, and its smooth surface resists adhesion, making it easy to clean and maintain. The 0.3-0.5mm total thickness ensures the coating's protective properties without excessively increasing the manipulator's weight, ensuring uncompromising flexibility and operability. This significantly extends the manipulator's service life in harsh environments like high temperatures and corrosion, reduces maintenance costs, and ensures the long-term stability of automatic high-temperature crucible feeding.

[0052] Specifically, the sensor module includes a pressure sensor arranged on the clamp chuck assembly 5 for monitoring the clamping force, a temperature sensor arranged on the carrying arm 1 for monitoring the ambient temperature, an angle sensor arranged at each rotating connection for monitoring the position of the manipulator, and an infrared ranging sensor arranged on the fixed clamp 52 for detecting the position and posture of the crucible. The data of the multiple sensors are all transmitted wirelessly to the control system.

[0053] In actual use, a pressure sensor installed on the clamp chuck assembly 5 can accurately monitor the clamping force in real time, ensuring that the crucible will neither slip due to insufficient clamping force nor be damaged due to excessive pressure during the grasping process, thus achieving reliable clamping and protection of the crucible. The temperature sensor on the support arm 1 can capture the ambient temperature in real time. When the temperature is abnormal, it will provide timely feedback to help the control system adjust its operating strategy to prevent high temperatures from damaging the robot components and ensure stable operation of the equipment under high-temperature conditions. Angle sensors are deployed at each rotating joint to accurately monitor the position and rotation angle of each robot component, ensuring the precise execution of actions such as flipping and moving, and improving the accuracy of feeding.

[0054] An infrared ranging sensor mounted on fixture 52 can quickly detect the crucible's position and posture, allowing for early determination of its placement and correct posture, providing reliable data support for subsequent operations. All sensor data is wirelessly transmitted to the control system, reducing the complexity and potential risk of wiring failures. This enables efficient data transmission and real-time processing, enabling the control system to rapidly respond and precisely control the operation of the manipulator's components. This significantly improves the manipulator's automation, efficiency, and reliability, while reducing the need for manual intervention and the risk of operational errors.

[0055] Specifically, the cooling module 6 includes a cooling ring 61 arranged on the carrying arm 1, and the cooling ring 61 is connected to the carrying arm 1 through a cooling bracket 62. The cooling bracket 62 is hollow inside and is connected to the carrying arm 1 and the cooling ring 61 respectively. The carrying arm 1 is connected to the external coolant tank through an internal pipeline. The annular surface of the cooling ring 61 facing the fixture chuck assembly 5 is provided with a plurality of cooling nozzles 63 arranged in a circular array, and the cooling nozzles 63 are in a circular trumpet-shaped amplification structure from the inside to the outside of the cooling ring 61.

[0056] In actual use, the cooling ring 61 provided on the support arm 1 is securely connected via the cooling bracket 62. The hollow design of the cooling bracket 62 cleverly opens up a coolant flow path, connecting to the internal pipes of the support arm 1 and the external coolant tank, thus constructing a complete circulating cooling system to ensure that the coolant can be continuously and stably delivered to key parts. The cooling ring 61 is arranged with a circular array of cooling nozzles 63 on the annular surface facing the fixture chuck assembly 5, and the nozzles are in the shape of a circular trumpet amplification structure. This design allows the coolant to be sprayed out with a larger coverage area and a more even distribution, effectively reducing the temperature of the fixture chuck assembly 5 and surrounding components during high-temperature operation, preventing problems such as material performance degradation and component deformation caused by overheating, and extending the service life of the equipment.

[0057] Furthermore, the coolant spray removes impurities such as high-temperature dust and debris that may adhere to component surfaces, providing a cleansing effect and reducing the risk of wear and failure caused by impurity accumulation. Through its efficient heat dissipation and cleaning capabilities, the cooling module 6 ensures the robot maintains stable operation in high-temperature environments, improving its reliability and continuous operation, and providing a solid foundation for the smooth operation of high-temperature crucible automatic feeding operations.

[0058] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot for automatically feeding high-temperature crucibles, characterized by: The invention comprises a carrying arm (1), a clamp handle assembly (2), a clamping cylinder assembly (4), a flip cylinder assembly (3), a clamp chuck assembly (5), and a sensor module; the flip cylinder assembly (3) and the clamp chuck assembly (5) are both rotatably arranged on the carrying arm (1), and the output end of the flip cylinder assembly (3) is rotatably connected to the clamp chuck assembly (5); the clamping cylinder assembly (4) is used to drive the clamp chuck assembly (5) to achieve a clamping action; the sensor module is arranged on the clamping cylinder assembly (4), the flip cylinder assembly (3) or the carrying arm (1) and is used to obtain temperature, pressure and position information; the clamp handle assembly (2) is integrated with a control system, and the control system is electrically connected to the above-mentioned components and the sensor module, and can accurately adjust the operating parameters of the clamping cylinder assembly (4) and the flip cylinder assembly (3) according to the data fed back by the sensor module, so as to adapt to the requirements of grabbing and flipping crucibles of different sizes and weights.

2. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The clamp handle assembly (2) has a mounting frame (21) detachably connected to the carrying arm (1); the mounting frame (21) is connected to a U-shaped handle (22) that can rotate 360 ​​degrees; the surface of the U-shaped handle (22) is provided with a high-temperature resistant silicone anti-slip layer (23); the U-shaped handle (22) is provided with a touch screen (24) and a plurality of function buttons (25) for controlling the working parameters of the manipulator and displaying the real-time working status.

3. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The carrying arm (1) is provided with a detachable mounting seat (11), and the tilting cylinder assembly (3) is provided with a detachable carrying frame (31). The mounting seat (11) and the carrying frame (31) are rotatably connected via a mounting shaft (32). One end of the mounting shaft (32) protrudes into a boss (33), and the other end is fixed via a cotter pin (34). The carrying frame (31) has two mounting plates (35) for mounting the tilting cylinder assembly (3). The two mounting plates (35) are arranged in parallel and fixed between the two mounting plates (35) via a plurality of fixing rods (36).

4. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The clamping cylinder assembly (4) comprises a support frame (41) detachably mounted on the clamping chuck assembly (5), a telescopic cylinder (42) arranged on the support frame (41), and a clamping fixture (43); the clamping fixture (43) comprises a pressing plate (47) connected to the output end of the telescopic cylinder (42); the support frame (41) is also slidably provided with a plurality of guide shafts (44) connected to the pressing plate (47), and a plurality of ceramic sliding sleeves (45) that slide with the plurality of guide shafts (44); a replaceable polyurethane buffer plate (46) is provided on one side of the pressing plate (47) for contacting the crucible, and a non-slip structure is provided on the surface of the buffer plate (46).

5. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The clamping head assembly (5) comprises two U-shaped plates (51) arranged in parallel, and a fixing clamp (52) arranged on the U-shaped plates (51). The two U-shaped plates (51) are fixed by a U-shaped connecting piece (53). The closed ends of the U-shaped structures of the two U-shaped plates (51) are rotatably connected to the bearing arm (1), and the clamping cylinder assembly (4) and the fixing clamp (52) are respectively installed on both sides of the open ends. The closed ends of the U-shaped structures are provided with a plurality of polyurethane pads (54), and the plurality of polyurethane pads (54) are U-shaped. The invention relates to a clamping cylinder assembly (4) having a U-shaped plate (51) and an elastic component (55). The elastic component (55) has a free end that contacts a polyurethane pad (54). The elastic component (55) comprises a rubber column (551) arranged on the U-shaped plate (51) and a telescopic spring (552) sleeved on the rubber column (551). One end of the telescopic spring (552) is fixed to the U-shaped plate (51) or the rubber column (551), and the other end is used to contact the polyurethane pad (54).

6. The robot for automatically feeding a high-temperature crucible according to claim 5, characterized in that: The fixing fixture (52) is a high-temperature resistant polyurethane plate, and the fixing fixture (52) is used to contact one side of the crucible and protrude into an arc-shaped plate-like structure, and the protruding surface of the fixing fixture (52) is provided with a plurality of through holes arranged linearly.

7. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The output end of the flip cylinder assembly (3) is provided with a rotating connecting piece (37), one end of the rotating connecting piece (37) is a linear connecting portion (38) connected to the flip cylinder assembly (3), and the other end is an annular rotating portion (39); the clamping head assembly (5) is fixedly connected to the fixed shaft (56), and the fixed shaft (56) and the annular rotating portion (39) are rotatably connected via a fixed bearing, and the fixed shaft (56) is provided with a fixed shaft section (57) for mounting the fixed bearing, the shaft diameter of the fixed shaft section (57) is smaller than the shaft diameter of the fixed shaft (56) at both axial ends of the fixed shaft section (57), and the inner ring of the fixed bearing is axially limited by the fixed shaft (56).

8. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: A coating module (7) is provided on the outer side of the carrying arm (1), and the coating module (7) comprises a high-temperature resistant metal bottom layer (71), a ceramic heat-insulating layer (72), and a corrosion-resistant fluorocarbon resin surface layer (73) which are sequentially arranged on the carrying arm (1) from the inside to the outside, and the total thickness of the coating is 0.3-0.5 mm, wherein the ceramic heat-insulating layer (72) is made of a zirconium oxide-based ceramic material, and the metal bottom layer is made of a nickel-based alloy.

9. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The sensor module comprises a pressure sensor arranged on the clamping head assembly (5) for monitoring the clamping force, a temperature sensor arranged on the carrying arm (1) for monitoring the ambient temperature, an angle sensor arranged at each rotating connection for monitoring the position of the manipulator, and an infrared ranging sensor arranged on the fixed clamp (52) for detecting the position and posture of the crucible. The data of the multiple sensors are all transmitted to the control system via wireless transmission.

10. The robot for automatically feeding a high-temperature crucible according to claim 1, characterized in that: The cooling module (6) includes a cooling ring (61) arranged on the carrying arm (1), the cooling ring (61) is connected to the carrying arm (1) through a cooling bracket (62), the cooling bracket (62) is hollow inside and is connected to the carrying arm (1) and the cooling ring (61) respectively, the carrying arm (1) is connected to the external coolant tank through an internal pipe, and the annular surface of the cooling ring (61) facing the fixture chuck assembly (5) is provided with a plurality of cooling nozzles (63) arranged in a circular array, and the cooling nozzles (63) are in a circular trumpet-shaped amplification structure from the inside to the outside of the cooling ring (61).

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