Annealing manipulator, equipment and method

Abstract

The invention belongs to the technical field of metal container heat treatment processing equipment, and particularly relates to an annealing manipulator, equipment and a method. A magnetic coupling component is arranged on each swing arm, and a magnetic driving component is arranged, so that when a grabbing mechanism rotates to a preset position, the magnetic driving component is magnetically coupled with the magnetic coupling component of the corresponding swing arm; the second driving assembly controls the magnetic driving component to drive the magnetic coupling component to rotate, and then the gripper is driven to rotate, so that torque transmission is achieved, and compared with the mode that a driving device for driving the gripper to rotate needs to be arranged on each swing arm in the prior art, torque transmission is achieved. According to the annealing manipulator, the workpiece can be transferred and rotated only by arranging one first driving assembly and one second driving assembly, so that the number of driving devices is reduced, the equipment investment cost is reduced, the equipment structure is simplified, the assembly difficulty is optimized, and the equipment applying the annealing manipulator can effectively save the cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of heat treatment equipment for metal containers, and in particular relates to an annealing robot, equipment and method. Background Art

[0002] In the existing kitchenware manufacturing field, metal utensils are typically formed using stamping and drawing processes. After forming, the workpieces require heat treatment to eliminate the internal stress caused by plastic deformation and enhance the material hardness. Current automated production lines are generally equipped with robotic arms to transfer workpieces between heat treatment and cooling stations. The robot is equipped with a swing arm for grasping the workpiece. The swing arm's gripper transfers the workpiece to the heating fixture in the annealing station. The drive device on the swing arm drives the gripper to rotate the workpiece, thereby heating the workpiece in all directions. After heat treatment, the swing arm transfers the workpiece to the cooling station for cooling. To meet the needs of continuous production, the robot is usually equipped with multiple swing arms. By controlling the rotation of the swing arms, the workpiece can be continuously transferred between the above-mentioned stations. However, due to the limitations of the existing drive layout scheme, each set of swing arms must be equipped with an independent rotation drive unit to drive the rotation of its respective gripper. This increases the number of drive components in the equipment, not only increasing manufacturing costs but also making the equipment structure more complex. Summary of the Invention

[0003] The purpose of the present invention is to overcome the disadvantage of the existing annealing robot that multiple drive devices are required to realize the transfer and rotation of the workpiece, which leads to increased costs, and to provide an annealing robot that reduces the number of drive devices by setting magnetic drive components and magnetic coupling components.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: An annealing robot comprises a gripping mechanism, a first drive assembly and a second drive assembly, including a shaft assembly and at least three swing arms arranged on the shaft assembly, each swing arm being equipped with a transmission assembly, a gripper and a rotatable magnetic coupling component, the gripper being configured to be driven to rotate by the magnetic coupling component through the transmission assembly, the first drive assembly being used to drive the gripping mechanism to rotate around the axis of the shaft assembly, the second drive assembly being equipped with a rotatable magnetic drive component, when the gripping mechanism rotates to the point where the magnetic coupling component of any swing arm is magnetically coupled with the magnetic drive component, the magnetic coupling component corresponds to the coupling end surface of the magnetic drive component, and the magnetic coupling component can be controlled by the magnetic drive component to drive the corresponding gripper to rotate.

[0005] Furthermore, a longitudinal spacing is provided between the coupling end faces of the magnetic coupling component and the magnetic drive component, and a gap is left between the magnetic coupling component and the magnetic drive component, which can prevent heat from being transferred to the drive component through the gripping mechanism during annealing, prevent the drive component from overheating and increase its service life.

[0006] Furthermore, an air slip ring is fixedly provided in the axial direction of the shaft assembly, a channel is constructed in the middle of the shaft assembly, the gripper is provided with a suction cup and an air source connector connected to the suction cup, and the pipeline connecting the air source connector passes through the channel and is connected to the air slip ring. The use of the air slip ring not only realizes the continuous supply of air source, thereby ensuring that the gripper can still work normally when the shaft assembly rotates, but also facilitates the arrangement of pipelines, making the structure simpler.

[0007] Furthermore, it also includes a mounting seat, the first drive assembly and the second drive assembly are installed on the upper side of the mounting seat, the shaft assembly passes through the mounting seat, and is configured with a driving gear located above the mounting seat for transmission connection with the first drive assembly, a bracket is fixedly provided on the upper side of the driving gear, the air slip ring includes an output part fixedly connected to the bracket for connecting to the pipeline, and an input part rotatably connected to the output part for connecting to an air source, the mounting seat is fixedly provided with a positioning member fixedly connected to the input part, and the above-mentioned air slip ring installation method has a compact structure, which effectively utilizes the longitudinal space of the mounting seat to reduce the lateral volume of the annealing robot.

[0008] Furthermore, the positioning member includes a longitudinally extending positioning frame, a longitudinally extending slot is constructed at the upper end of the positioning frame, the slot is provided with a height-adjustable positioning pin, and the positioning pin is fixedly connected to the air slip ring. The setting method of the above-mentioned positioning member has a simple structure, quick and convenient assembly, and the height-adjustable method can be adjusted according to the specifications of the air slip ring.

[0009] Furthermore, it also includes a feed module connected to the mounting seat for driving the gripping mechanism, the first drive assembly and the second drive assembly to move. The feed module is set to realize the lifting and lowering of the gripping mechanism so as to control the workpiece on the gripper to move longitudinally.

[0010] Furthermore, the transmission assembly includes a driving wheel and a driven wheel provided on the swing arm, and a transmission belt sleeved on the driving wheel and the driven wheel, the driving wheel is connected to the magnetic coupling member, the driven wheel is connected to the gripper, and a driving shaft connected to the magnetic coupling member is relatively fixedly passed through the interior of the driving wheel; The gripper also includes a driven shaft that is relatively fixed and passes through the driven wheel. One end of the driven shaft is connected to the suction cup, and the other end is connected to the air source connector. An air channel connecting the air source connector and the suction cup is constructed inside the driven shaft.

[0011] The transmission assembly has a simple transmission structure and high transmission efficiency. The gripper is arranged in such a way that the workpiece can be grasped firmly and quickly. The suction cup is used to control the switching of the air source between negative pressure and positive pressure to achieve grasping and unloading of the workpiece.

[0012] Furthermore, the magnetic coupling member, the magnetic drive member, the rotation axis of the gripper and the axis of the shaft assembly are parallel to each other. The above layout allows the annealing robot to be arranged longitudinally as a whole, reducing its lateral volume and facilitating spatial layout.

[0013] The present application also provides an annealing device, including a loading station, an annealing station, a cooling station, and the above-mentioned annealing robot, wherein three swing arms are arranged at equal angles, and the first drive component drives the swing arm to transfer between the loading station, the annealing station and the cooling station, and the magnetic drive component is configured to magnetically couple with the magnetic coupling component corresponding to the swing arm when the swing arm is transferred to the annealing station, thereby driving the gripper to rotate on the annealing station through the second drive component.

[0014] The present application also provides an annealing method using the above-mentioned annealing equipment, comprising the following steps: the gripper of any swing arm rotates to the top of the loading station and grabs the workpiece, the swing arm holding the workpiece rotates to the top of the annealing station, magnetically couples the magnetic coupling component with the magnetic drive component, and places the workpiece on the heating fixture of the annealing station, the second drive component drives the magnetic drive component to rotate and drives the gripper and the workpiece to rotate relative to the heating fixture through the magnetic coupling component to achieve heating of the workpiece, and the heated workpiece is transferred by the swing arm to the cooling station for cooling.

[0015] Each swing arm of the present application is provided with a magnetic coupling component, and by setting a magnetic drive component, when the grasping mechanism rotates to a preset position, the magnetic drive component is magnetically coupled with the magnetic coupling component of the corresponding swing arm, and the second drive component controls the magnetic drive component to drive the magnetic coupling component to rotate, and then drives the gripper to rotate, thereby realizing the transmission of torque. Compared with the method in the prior art that requires a drive device to drive the gripper to rotate in each swing arm, the present application only needs to set a first drive component and a second drive component to complete the transfer and rotation of the workpiece, which not only reduces the number of drive devices and reduces the cost of equipment investment, but also simplifies the structure of the equipment and optimizes the assembly difficulty, so that the equipment using the annealing robot can effectively save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Three-dimensional annealing robot Figure 1 ; Figure 2 Three-dimensional annealing robot Figure 2 ; Figure 3 It is a cross-sectional view of the annealing robot; Figure 4 It is a three-dimensional diagram of the annealing robot and annealing equipment; Figure 5This is a top view of the annealing robot and annealing equipment. DETAILED DESCRIPTION

[0017] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0018] See also Figures 1 to 5 This embodiment provides an overall annealing robot 100, annealing equipment and an annealing method using the annealing equipment, wherein the annealing equipment includes a loading station 6, an annealing station 7 and a cooling station 9, and the above-mentioned annealing robot 100. The annealing robot 100 is used to transfer workpieces between the above-mentioned stations. This application is suitable for annealing metal utensils, especially workpieces made of SUS201 stainless steel, such as pot bodies, kettle bodies, etc.

[0019] See also Figures 1 to 3 The annealing robot 100 includes a gripping mechanism 1, a first drive assembly 2 and a second drive assembly 3. The gripping mechanism 1 includes a shaft assembly 11 and at least three swing arms 12 arranged on the shaft assembly 11. Each swing arm 12 is equipped with a transmission assembly 15, a rotatable gripper 14, and a rotatable magnetic coupling member 13. The gripper 14 is configured to be driven to rotate by the magnetic coupling member 13 through the transmission assembly 15. The first drive assembly 2 is used to drive the gripping mechanism 1 to rotate around the axis of the shaft assembly 11. The second drive assembly 3 is equipped with a rotatable magnetic drive member 31. When the gripping mechanism 1 rotates to the point where the magnetic coupling member 13 of any swing arm 12 is magnetically coupled with the magnetic drive member 31, the magnetic coupling member 13 can be controlled by the magnetic drive member to drive the corresponding gripper 14 to rotate. When the magnetic coupling member 13 is magnetically coupled with the magnetic drive member 31, the coupling end faces 10 of the magnetic coupling member 13 and the magnetic drive member 31 correspond to each other. The arrangement of the magnetic coupling member 13 and the magnetic drive member 31 allows them to be arranged axially, thereby reducing the lateral space of the annealing robot 100, and the efficiency of axial transmission is high, ensuring the rotation effect of the gripper 14.

[0020] As a specific implementation scheme, the gripper 14 can rotate around a first rotation axis a parallel to the axis of the shaft assembly 11, the magnetic coupling member 13 can rotate around a second rotation axis b parallel to the first rotation axis a, and the magnetic drive member 31 can be rotatably arranged around a third rotation axis c parallel to the second rotation axis b in the axial direction of the magnetic coupling member 13, that is, the rotation axes of the magnetic coupling member 13, the magnetic drive member 31, the gripper 14 and the axis of the shaft assembly 11 are parallel to each other, and the magnetic drive member 31 is arranged above the magnetic coupling member 13. The above layout method can arrange the annealing robot as a whole in the longitudinal direction, reduce its lateral volume, and the rotation directions of each rotating structure are consistent, which is conducive to the spatial layout.

[0021] The magnetic coupling component 13 and the magnetic drive component 31 use materials that can be magnetically attracted to each other in the prior art, such as but not limited to the following combinations: neodymium iron boron and ordinary iron; samarium cobalt and stainless steel; neodymium iron boron / ferrite and silicon steel sheet, etc. The specific materials of the magnetic coupling component 13 and the magnetic drive component 31 are not the invention point of this application and will not be elaborated here.

[0022] The magnetic coupling described in this application refers to a contactless connection method that achieves power transmission through magnetic field interaction. In this application, when the two reach the magnetic range due to relative motion, the magnetic field force of the magnetic drive component 31 drives the magnetic coupling component 13 to rotate synchronously, thereby transmitting torque. In other words, as long as the magnetic coupling component 13 is in a state where it can be driven by the magnetic drive component 31, it is magnetically coupled. As a preferred solution, magnetic coupling occurs when the second rotation axis b coincides with the third rotation axis c. In a specific embodiment, the magnetic drive component 31 and the magnetic coupling component 13 of this application adopt the existing magnetic coupling. The so-called magnetic coupling is a device that transmits power through magnetic force. It is configured by correspondingly providing magnetically attractive components on the active rotating component and the driven rotating component, such as two mutually attractive magnets. When the active rotating component rotates, it drives the driven rotating component to rotate.

[0023] See also Figures 1 to 3 In order to prevent heat from being transferred to the magnetic drive component 31, a longitudinal distance is provided between the magnetic coupling component 13 and the coupling end surface 10 of the magnetic drive component 31, that is, the two are non-contact during this coupling, thereby preventing the heat of the workpiece from being transferred to the second drive component 3. Figures 1 to 3 As shown, the gripping mechanism 1 of this embodiment is equipped with three swing arms 12 arranged at equal angles. Each swing arm 12 is equipped with a magnetic coupling member 13. The magnetic drive member 31 is set at a base point at 0 degrees. The initial position of the gripping mechanism 1 is when one of the swing arms 12 is located at the base point. When the gripping mechanism 1 rotates 120 degrees, the magnetic coupling member 13 of the corresponding swing arm 12 can be magnetically coupled with the magnetic drive member 31. In actual application, the annealing station 7 can be set at the position of the corresponding base point. Then, each swing arm 12 that rotates to the magnetic coupling member 13 and the magnetic drive member 31 can transfer the workpiece to the annealing station 7 and drive the workpiece to rotate 360 ​​degrees for heating. The above arrangement of the magnetic drive member 31 can reduce the lateral volume of the annealing robot 100.

[0024] See also Figure 1 and Figure 2The annealing robot 100 also includes a mounting base 5. The first drive assembly 2 and the second drive assembly 3 are installed on the upper side of the mounting base 5. The two are arranged on opposite sides of the shaft assembly 11. The shaft assembly 11 passes through the mounting base 5, with a portion thereof located on the upper side of the mounting base 5 and a portion located on the lower side of the mounting base 5. It is also configured with a drive gear 112 located above the mounting base 5 for transmission connection with the first drive assembly 2. The drive gear 112 is sleeved on the outer periphery of the shaft assembly 11. The first drive assembly 2 includes a motor and a gear pair that is transmission-connected to the motor and the drive gear 112. Each swing arm 12 is arranged at a radial position of the shaft assembly 11 on the lower side of the mounting base 5. The magnetic drive component 31 extends to the lower side of the mounting base 5. The second drive assembly 3 includes a motor. When the drive gear 112 of the first drive assembly 2 drives the drive gear 112 to rotate, it drives the shaft assembly 11 to rotate, thereby realizing the rotation of the entire grasping mechanism 1.

[0025] See also Figure 3 The transmission assembly 15 includes a driving wheel 151 and a driven wheel 152 provided on the swing arm 12, and a transmission belt 153 sleeved on the driving wheel 151 and the driven wheel 152. The driving wheel 151 is connected to the magnetic coupling component 13, and the driven wheel 152 is connected to the gripper 14. The transmission structure of the above-mentioned transmission assembly 15 is simple and the transmission efficiency is high.

[0026] See also Figure 1 and Figure 3 The gripper 14 includes a driven shaft 141 and a suction cup 142. The driven shaft 141 passes through the driven wheel 152 relatively fixedly, one end of which is connected to the suction cup 142, and the other end is provided with an air source connector 143. The internal structure has an air duct 144 connecting the air source connector 143 and the suction cup 142. The setting method of the gripper 14 can grasp the workpiece firmly and quickly, and the use of the suction cup 142 can realize the grasping and unloading of the workpiece by controlling the switching of the air source between negative pressure and positive pressure.

[0027] See also Figure 3 A driving shaft 154 connected to the magnetic coupling component 13 is relatively fixedly passed through the interior of the driving wheel 151 .

[0028] See also Figures 1 to 3 An air slip ring 4 is fixedly provided in the axial direction of the shaft assembly 11. A channel 111 is constructed in the middle of the shaft assembly 11. The pipeline 145 connecting the air source connector 143 passes through the channel 111 and is connected to the air slip ring 4. The use of the air slip ring 4 not only realizes the continuous supply of air source, thereby ensuring that the gripper 14 can still work normally when the shaft assembly 11 rotates, but also facilitates the arrangement of the pipeline 145, making the structure more concise.

[0029] See also Figures 1 to 3As a specific arrangement for the air slip ring 4, a bracket 113 is fixedly mounted above the drive gear 112. The air slip ring 4 includes an output portion 41 fixedly connected to the bracket 113 for connection to the pipeline 145, and an input portion 42 rotatably connected to the output portion 41 for connection to a gas source. A gas source port 421 is provided on the side of the input portion 42 for connection to the gas source, and the gas source port 421 is connected to the gas source via an air pipe. A positioning member 43 is fixedly mounted on the mounting base 5, fixedly mounted to the input portion 42. This arrangement for mounting the air slip ring 4 is compact, effectively utilizing the longitudinal space of the mounting base 5 to reduce the lateral volume of the annealing robot 100.

[0030] See also Figure 2 and Figure 3 In a specific embodiment, the positioning member 43 includes a longitudinally extending positioning frame 431, with a longitudinally extending slot 432 formed at its upper end. A height-adjustable positioning pin 433 is secured to the slot 432 and fixedly connected to the air slip ring 4. The positioning member 43 is simple in structure, quick and easy to assemble, and its height can be adjusted to suit the specifications of the air slip ring 4. For example, the height of the positioning pin 433 can be adjusted along the slot 432 to ensure connection with the positioning hole 434 of the input portion 42 of the air slip ring 4, depending on the specific specifications of the air slip ring 4.

[0031] After the magnetic drive component 31 and the magnetic coupling component 13 are magnetically coupled, the second drive component 3 drives the magnetic coupling component 13 to rotate through the magnetic drive component 31, thereby driving the driven wheel 152 to rotate through the driving wheel 151 and the transmission belt 153, thereby realizing the rotation of the gripper 14, and the air source connector 143 will remain stationary relative to the gripper 14 when the gripper 14 rotates, ensuring that the pipeline 145 connecting the air slip ring 4 and the air source connector 143 will not rotate, and when the first drive component 2 drives the shaft component 11 to rotate, the pipeline 145 will rotate along with the entire gripping mechanism 1 together with the air slip ring 4, the bracket 113, and the drive gear 112, thereby ensuring the continuous supply of air source when the gripper 14 rotates and the gripping mechanism 1 rotates.

[0032] See also Figure 1 As a specific setting method, it also includes a feed module 8 connected to the mounting seat 5 for driving the linear movement of the grasping mechanism 1, the first drive component 2 and the second drive component 3. The feed module of the present application can adopt an existing drive mechanism, such as a screw slider drive mechanism, which is specifically used to drive the grasping mechanism 1, the first drive component 2 and the second drive component 3 to move longitudinally, thereby driving the workpiece to move longitudinally, for example, lowering the workpiece to the heating jig 71 of the annealing station 7, so that the workpiece is heated by the heating jig 71.

[0033] See also Figure 4 and Figure 5 The annealing equipment includes a loading station 6, an annealing station 7, a cooling station 9 and the above-mentioned annealing robot 100. Three swing arms 12 are arranged at equal angles. The first driving component 2 drives the swing arm 12 to transfer between the loading station 6, the annealing station 7 and the cooling station 9. The magnetic driving component 31 is configured to magnetically couple with the magnetic coupling component 13 corresponding to the swing arm 12 when the swing arm 12 is transferred to the annealing station 7, thereby driving the gripper 14 to rotate on the annealing station 7 through the second driving component 3.

[0034] The following provides an annealing method using the above-mentioned annealing equipment. The loading station 6 loads the workpiece, and any swing arm 12 rotates to the top of the loading station 6 and grabs the workpiece. The swing arm 12 holding the workpiece rotates to the top of the annealing station 7, and its corresponding magnetic coupling component 13 is magnetically coupled with the magnetic drive component 31, and the workpiece is placed on the heating fixture 71 of the annealing station 7. Specifically, the mounting seat 5 is controlled to descend by the feed module 8, thereby driving the entire grasping mechanism 1 to descend and place the workpiece on the heating fixture 71. Subsequently, the second drive component 3 drives the magnetic drive component 31 to rotate and drives the gripper 14 and The workpiece rotates relative to the heating fixture 71 to achieve 360-degree uniform heating of the workpiece. Subsequently, the feed module 8 controls the mounting seat 5 to rise to separate the workpiece from the heating fixture 71. The swing arm 12 continues to rotate to the cooling station 9, and transfers the heated workpiece to the cooling station 9 for unloading, and cools it at the cooling station. Then, the swing arm 12 rotates again to the loading station 6 to grab a new workpiece, and the cycle continues. The principles of the other two swing arms 12 are the same as those of the above-mentioned swing arms 12. By analogy, the automated annealing process of the workpiece can be realized, wherein the rotation of the above-mentioned swing arm 12 is achieved by driving the shaft assembly 11 to rotate through the first drive assembly 3.

[0035] Each swing arm 12 of the present application is provided with a magnetic coupling component 13, and by setting a magnetic drive component 31, when the grasping mechanism 1 rotates to a preset position, the magnetic drive component 31 is magnetically coupled with the magnetic coupling component 13 corresponding to a swing arm 12, and the second drive component 3 controls the magnetic drive component 31 to drive the magnetic coupling component 13 to rotate, and then drives the gripper 14 to rotate, thereby realizing the transmission of torque. Compared with the method in the prior art that requires a drive device to drive the gripper 14 to rotate in each swing arm 12, the present application only needs to set a first drive component 2 and a second drive component 3 to complete the transfer and rotation of the workpiece, which not only reduces the number of drive devices and reduces the cost of equipment investment, but also simplifies the structure of the equipment and optimizes the assembly difficulty, so that the equipment using the annealing robot 100 can effectively save costs.

[0036] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. Annealing robot, characterized in that, include: A gripping mechanism (1) comprises a shaft assembly (11), at least three swing arms (12) arranged on the shaft assembly (11), each swing arm (12) being provided with a transmission assembly (15), a gripper (14), and a rotatable magnetic coupling member (13), wherein the gripper (14) is configured to be driven to rotate by the magnetic coupling member (13) via the transmission assembly (15); A first driving assembly (2) is used to drive the axis of the shaft assembly (11) of the grasping mechanism (1) to rotate; The second drive assembly (3) is provided with a rotatable magnetic drive component (31). When the gripping mechanism (1) rotates to the point where the magnetic coupling component (13) of any swing arm (12) is magnetically coupled with the magnetic drive component (31), the magnetic coupling component (13) corresponds to the coupling end face (10) of the magnetic drive component (14), and the magnetic coupling component (13) can be controlled by the magnetic drive component (31) to drive the corresponding gripper (14) to rotate.

2. The annealing robot according to claim 1, characterized in that: A longitudinal distance is provided between the magnetic coupling component (13) and the coupling end surface (10) of the magnetic driving component (31).

3. The annealing robot according to claim 1, characterized in that: An air slip ring (4) is fixedly provided in the axial direction of the shaft assembly (11), a channel (111) is constructed in the middle of the shaft assembly (11), the gripper (14) is provided with a suction cup (142) and an air source connector (143) connected to the suction cup (142), and a pipeline connected to the air source connector (143) passes through the channel (111) and is connected to the air slip ring (4).

4. The annealing robot according to claim 3, characterized in that: The invention also includes a mounting seat (5), wherein the first drive assembly (2) and the second drive assembly (3) are mounted on the upper side of the mounting seat (5), the shaft assembly (11) passes through the mounting seat (5), and is provided with a drive gear (112) located above the mounting seat (5) for transmission connection with the first drive assembly (2), a bracket (113) is fixedly provided on the upper side of the drive gear (112), the gas slip ring (4) includes an output portion (41) fixedly connected to the bracket (113) for connecting to the pipeline, and an input portion (42) rotatably connected to the output portion (41) for connecting to an air source, and the mounting seat (5) is fixedly provided with a positioning member (43) fixedly connected to the input portion (42).

5. The annealing robot according to claim 4, characterized in that: The positioning member (43) includes a longitudinally extending positioning frame (431), the upper end of the positioning frame (431) is configured with a longitudinally extending slot (432), the slot (432) is provided with a height-adjustable positioning pin (433), and the positioning pin (433) is fixedly connected to the air slip ring (4).

6. The annealing robot according to claim 4, characterized in that: It also includes a feeding module (8) connected to the mounting seat (5) for driving the gripping mechanism (1), the first driving assembly (2) and the second driving assembly (3) to move.

7. The annealing robot according to claim 3, characterized in that: The transmission assembly (15) comprises a driving wheel (151) and a driven wheel (152) provided on the swing arm (12), and a transmission belt (153) sleeved on the driving wheel (151) and the driven wheel (152); the driving wheel (151) is connected to the magnetic coupling component (13); the driven wheel (152) is connected to the gripper (14); and a driving shaft (154) connected to the magnetic coupling component (13) is relatively fixedly passed through the interior of the driving wheel (151); The gripper (14) further comprises a driven shaft (141) which is relatively fixedly passed through the driven wheel (152), one end of the driven shaft (141) being connected to the suction cup (142) and the other end being connected to the air source connector (143), and an air passage (144) connecting the air source connector (143) and the suction cup (142) is internally structured therein.

8. The annealing robot according to claim 1, characterized in that: The magnetic coupling component (13), the magnetic drive component (31), the rotation axis of the gripper (14), and the axis of the shaft assembly (11) are parallel to each other.

9. Annealing equipment, characterized in that, The invention comprises a loading station (6), an annealing station (7), a cooling station (9), and an annealing robot (100) according to any one of claims 1 to 8, wherein three swing arms (12) are arranged at equal angles, the first drive component (2) drives the swing arm (12) to transfer between the loading station (6), the annealing station (7) and the cooling station (9), and the magnetic drive component (31) is configured to magnetically couple with the magnetic coupling component (13) corresponding to the swing arm (12) when the swing arm (12) is transferred to the annealing station (7), thereby driving the gripper (14) to rotate on the annealing station (7) through the second drive component (3).

10. An annealing method using the annealing equipment according to claim 9, characterized in that: The following steps are involved: The gripper (14) of any swing arm (12) rotates to the top of the loading station (6) and grabs the workpiece; The swing arm (12) holding the workpiece is rotated to the top of the annealing station (7), so that the magnetic coupling component (13) is magnetically coupled with the magnetic driving component (31), and the workpiece is placed on the heating fixture of the annealing station (7). The second driving component (3) drives the magnetic driving component (31) to rotate, thereby driving the gripper (14) and the workpiece to rotate relative to the heating fixture (71) through the magnetic coupling component (13); The heated workpiece is transferred by the swing arm (12) to the cooling station (9) for cooling.

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