Top transfer manipulator device of vertical continuous furnace
By designing a top transfer robot device for a vertical continuous furnace, the speed control motor drives the screw assembly to drive the moving arm to slide vertically and horizontally, the problem of robotic failure in high-temperature environments and inability to meet the requirements of slow and variable speed processes in the prior art is solved, and the stable operation and flexible transport of the robotic hand are achieved.
Patent Information
- Application Number
- CN202422214167.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-10
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-09-10
AI Technical Summary
In the prior art, joint arm robots are prone to failure in high temperature environments, while gantry robots cannot meet the process requirements of slow and variable speed.
A top transfer robot device for a vertical continuous furnace is designed, using a combination of a gantry, a vertical load transfer mechanism, a moving frame, a lateral load transfer mechanism and a moving arm. The speed control motor drives the screw assembly to drive the moving arm to slide vertically and horizontally, achieving flexible transport movement.
It realizes the stable operation and flexible transport of the robot in a high-temperature environment, meets the process requirements of slow and variable speed, and improves the reliability and efficiency of the equipment.
Smart Images
Figure CN223029698U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of continuous furnace transfer, and specifically relates to a top transfer manipulator device for a vertical continuous furnace. Background Technique
[0002] As an efficient heat treatment equipment, the continuous furnace is increasingly widely used in heat treatment, annealing, brazing and other processes by utilizing a long-time and stable heating process. During the operation of the continuous furnace, the boat operation manipulator is an important part of the automatic production line, which can perform precise pick-up, handling, assembly and other tasks, grab the boat from the conveyor belt or the feeding device, and accurately place it at the designated position in the furnace.
[0003] The manipulators on the current market are mainly divided into two types: one is the multi-degree-of-freedom manipulator based on the articulated arm, and the other is the gantry manipulator based on linear motion. Due to its flexible motion mode, the articulated arm manipulator can adapt to complex pick-up and placement paths and is suitable for diversified workpiece processing requirements. However, due to its complex structure and high control difficulty, it is prone to failures in the high-temperature environment of the continuous furnace. The gantry manipulator, with its advantages of simple structure, stable operation and convenient maintenance, has become the mainstream choice in the application of continuous furnaces. The gantry manipulator adopts the way of cylinder push rod, and the way of cylinder push rod has a fast running speed and cannot meet the process requirements that need to be slow and variable speed. Content of the Utility Model
[0004] The purpose of the utility model is to provide a top transfer manipulator device for a vertical continuous furnace to solve the problems raised in the above-mentioned prior art.
[0005] Provide a top transfer manipulator device for a vertical continuous furnace, including:
[0006] Gantry;
[0007] Vertical transfer mechanism, which includes a speed-regulating motor and a lead screw assembly, and the lead screw assembly rotates between the gantries under the drive of the speed-regulating motor;
[0008] Moving frame, the moving frame is fixedly connected with the trapezoidal nut on the lead screw assembly, and the moving frame slides vertically on the gantry through the transmission of the lead screw assembly;
[0009] Horizontal transfer mechanism;
[0010] A plurality of moving arms, and the plurality of moving arms slide horizontally relative to the gantry on the moving frame under the drive of the horizontal transfer mechanism.
[0011] Further, vertical guide rails are respectively arranged on both sides of the gantry, and both sides of the moving frame are respectively in sliding fit with the corresponding vertical guide rails. The vertical guide rails are used to guide the sliding of the moving frame and play a limiting role on the trapezoidal lead screw when the trapezoidal lead screw and the trapezoidal nut are in threaded fit and sliding.
[0012] Further, the vertical transfer mechanism further includes a synchronous pulley and a synchronous belt. The output shaft of the speed regulating motor and the lead screw assembly are driven by the meshing of the synchronous pulley and the synchronous belt. The transmission through the synchronous belt and the synchronous pulley can change the output direction of the output shaft of the speed regulating motor, making the layout of the speed regulating motor more flexible.
[0013] Further, the number of the moving arms is two, and the transverse transfer mechanism drives the two moving arms to slide on the moving frame asynchronously or synchronously. The two moving arms can form two driving modes, namely synchronous driving with unchanged spacing or asynchronous driving with adjustable spacing, which are respectively applied to different transfer requirements.
[0014] Further, transverse guide rails are respectively arranged between the moving frame and the two moving arms. The transverse guide rails are used for the directional sliding of the moving arms through a limiting structure, improving the running stability of the moving arms.
[0015] Further, the transverse transfer mechanism includes a mounting plate and a plurality of actuating cylinders. The actuating cylinders are fixedly connected to the moving frame through the mounting plate, and the plurality of actuating cylinders are respectively used to drive the corresponding moving arms. Each actuating cylinder is respectively used to control one moving arm, and asynchronous driving of the two moving arms can be realized.
[0016] Further, the transverse transfer mechanism includes a mounting plate and a double-acting cylinder. The double-acting cylinder is fixedly connected to the moving frame through the mounting plate, and the two output ends of the double-acting cylinder are respectively fixedly connected to the two moving arms. The output shaft of the double-acting cylinder has moving strokes in two directions. Since the distance between the two ends of the output shaft of the double-acting cylinder remains unchanged all the time, synchronous driving of the two moving arms can be realized.
[0017] Further, a drag chain groove is arranged inside the gantry, and a drag chain is arranged inside the drag chain groove. The drag chain is used to tow the air circuit pipeline of the cylinder. The drag chain groove is used to carry the drag chain. By carrying the air circuit pipeline of the cylinder through the drag chain, the pipeline can be kept stable when the cylinder follows the moving frame to run.
[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0019] The top-operating manipulator provided by this application is driven by a speed-regulating motor. The trapezoidal lead screw and trapezoidal nut are used as the transmission part to drive the moving arm to move vertically. The speed is adjustable and controllable, and the transfer process runs smoothly. The transverse transfer mechanism is the operating part arranged on the moving frame and independently mounted on the vertical transfer mechanism. It can realize the transverse movement of the moving arm, improve the flexibility of the movement of the moving arm, and the transverse transfer mechanism does not bear the load of the moving arm, ensuring the stable operation of the transverse transfer mechanism. Brief Description of the Drawings
[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present drawings or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present drawings. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.
[0021] Figure 1 It is a schematic diagram of the overall structure of the top transfer manipulator device of a vertical continuous furnace;
[0022] Figure 2 It is Figure 1 An enlarged view of area A in
[0023] Figure 3 It is schematic diagram A of the structure of the transverse transfer mechanism in this application;
[0024] Figure 4 It is schematic diagram B of the structure of the transverse transfer mechanism in this application.
[0025] In the figure: 1, gantry; 11, vertical guide rail; 2, vertical transfer mechanism; 21, speed-regulating motor; 22, screw rod assembly; 23, synchronous pulley; 24, synchronous belt; 3, moving frame; 31, transverse guide rail; 4, transverse transfer mechanism; 41, mounting plate; 42, actuating cylinder; 43, double-acting cylinder; 5, moving arm; 61, drag chain groove; 62, drag chain. Detailed Embodiments
[0026] In order to make the purpose, technical solutions and advantages of this application clearer, the following will describe and explain this application in combination with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application. Based on the embodiments provided by this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by this application.
[0027] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in such a development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing, or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.
[0028] However, there will be cases where unnecessary details are omitted. For example, there are cases where the detailed description of well-known matters is omitted and the repeated description of actually identical structures is omitted. This is to avoid the following description becoming unnecessarily lengthy and to facilitate the understanding of those skilled in the art. In addition, the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present application and are not intended to limit the subject matter recited in the claims.
[0029] Please refer to Figures 1-4 As shown, in the embodiment of the present utility model, a top transfer manipulator device of a vertical continuous furnace includes a gantry 1, a vertical transfer mechanism 2, a moving frame 3, a horizontal transfer mechanism 4, and a plurality of moving arms 5. The vertical transfer mechanism 2 includes a speed-regulating motor 21 and a lead screw assembly 22. The lead screw assembly 22 rotates between the gantries 1 driven by the speed-regulating motor 21. The moving frame 3 is fixedly connected to the trapezoidal nut on the lead screw assembly 22. The moving frame 3 slides vertically on the gantry 1 through the transmission of the lead screw assembly 22. A plurality of moving arms 5 slide horizontally relative to the gantry 1 on the moving frame 3 driven by the horizontal transfer mechanism 4.
[0030] The moving arm 5 is a structural member for transferring the boat. The gantry 1 is mounted on the top of the continuous furnace to bear the load of the boat and the upper equipment components. The speed-regulating motor 21 can adjust the speed while maintaining the output torque. When loaded, it runs slowly to ensure stable and reliable operation. When unloaded, it runs quickly to improve efficiency. The lead screw assembly 22 includes a trapezoidal lead screw and a trapezoidal nut. The trapezoidal nut on the lead screw assembly 22 is fixed to the moving frame 3. When the trapezoidal lead screw on the lead screw assembly 22 is rotated by the speed-regulating motor 21, since the rotational freedom of the moving frame 3 is restricted by the gantry 1, the trapezoidal nut moves linearly on the trapezoidal lead screw, and the trapezoidal nut synchronously drives the moving frame 3 to slide vertically along the gantry 1, and the moving frame 3 further drives the moving arms 5 to slide vertically on the gantry 1. The horizontal transfer mechanism 4 is used to drive the moving arms 5 to slide horizontally on the gantry 1 and precisely position the moving arms 5 through two-axis movement.
[0031] Vertical guide rails 11 are respectively arranged on both sides of the gantry 1, and both sides of the moving frame 3 are respectively in sliding fit with the corresponding vertical guide rails 11. The vertical guide rails 11 can limit the lateral degree of freedom of the moving frame 3 and play a guiding role for the moving frame 3, making the operation of the moving frame 3 more stable.
[0032] The vertical transfer mechanism 2 further includes a synchronous pulley 23 and a synchronous belt 24. A synchronous pulley 23 is respectively fixedly sleeved on the output shaft of the speed regulating motor 21 and one end of the trapezoidal lead screw. The synchronous belt 24 is meshed between the two synchronous pulleys 23 to transmit torque. Through the cooperation of the synchronous pulley 23 and the synchronous belt 24, the output direction of the speed regulating motor 21 can be changed, making the layout of the speed regulating motor 21 more flexible. In addition, the transmission structure of the synchronous pulley 23 and the synchronous belt 24 meets the transmission requirements of high-precision heavy loads, operates smoothly, has buffering and vibration reduction capabilities, low noise, and high transmission efficiency.
[0033] Specifically, the number of the moving arms 5 is two, and the two moving arms 5 are respectively located on both sides of the lead screw assembly 22 to balance the load of the moving frame 3. The two moving arms 5 can be set to two driving modes, namely asynchronous driving or synchronous driving. Asynchronous driving means that the two moving arms 5 are each driven by a separate power system, and the distance between the two moving arms 5 can be adjusted, with a more flexible transfer form. Synchronous driving means that the two moving arms 5 are synchronously driven by a power system, and the distance between the two moving arms 5 is fixed, with a simpler structure and more stable operation.
[0034] In one embodiment, please refer to Figure 1 、 Figure 2 and Figure 3 As shown, the lateral transfer mechanism 4 includes a mounting plate 41 and a number of actuating cylinders 42. The mounting plate 41 is fixed on the moving frame 3 and moves synchronously with the moving frame 3. The actuating cylinders 42 cooperate with the mounting plate 41 so that when the moving frame 3 moves vertically on the gantry 1, the actuating cylinders 42 can remain relatively stationary with respect to the moving arms 5, facilitating the actuating cylinders 42 to push the moving arms 5. The actuating cylinders 42 are single-acting cylinders and only have one output shaft. Therefore, at least two actuating cylinders 42 are fixed on the mounting plate 41 respectively for pushing their respective moving arms 5 to realize the asynchronous driving of the two moving arms 5.
[0035] In one embodiment, please refer to Figure 1 、 Figure 2 and Figure 4As shown in the figure, the horizontal transfer mechanism 4 includes a mounting plate 41 and a double-acting cylinder 43. Similarly, the mounting plate 41 is fixed on the moving frame 3 and moves synchronously with the moving frame 3. The double-acting cylinder 43 cooperates with the mounting plate 41 so that when the moving frame 3 moves vertically on the gantry 1, the double-acting cylinder 43 can remain relatively stationary with respect to the moving arm 5, facilitating the double-acting cylinder 43 to push the moving arm 5. The double-acting cylinder 43 has two output ends, and the output shaft has a stroke on each of the two output ends. Therefore, only one double-acting cylinder 43 can be fixed on the mounting plate 41, and the two ends of the output shaft of the double-acting cylinder 43 are respectively fixed to the two moving arms 5 to achieve synchronous driving of the two moving arms 5. The double-acting cylinder 43 can meet the functional requirements of double-sided symmetric clamping when not bearing force.
[0036] Furthermore, horizontal guide rails 31 are respectively arranged between the moving frame 3 and the two moving arms 5. The horizontal guide rails 31 can limit the degree of freedom of the moving arm 5 in the vertical direction of the gantry 1, play a guiding role for the moving arm 5, and make the operation of the moving arm 5 more stable.
[0037] A drag chain groove 61 is arranged inside the gantry 1, and a drag chain 62 is arranged inside the drag chain groove 61. The drag chain 62 is used to tow the air pipeline of the cylinder, so that when the cylinder follows the moving frame 3 to run, the gas pipeline can be kept stable, and interference with surrounding components during the movement of the pipeline can be avoided.
[0038] It should be noted that this application is not limited to the above embodiments. The above embodiments are only examples, and embodiments with the same structure and the same function and effect as the technical idea within the scope of the technical solution of this application are included in the technical scope of this application. In addition, within the scope of not departing from the main idea of this application, various deformations that can be thought of by those skilled in the art are applied to the embodiments, and other ways constructed by combining some constituent elements in the embodiments are also included in the scope of this application.
Claims
1. A top transfer manipulator device for a vertical continuous furnace, characterized in that: include: Gantry (1); A vertical transfer mechanism (2), comprising a speed regulating motor (21) and a screw assembly (22), wherein the screw assembly (22) is driven by the speed regulating motor (21) to rotate between the gantry (1); A moving frame (3), wherein the moving frame (3) is fixedly connected to a trapezoidal nut on a screw assembly (22), and the moving frame (3) slides vertically on the gantry (1) through the transmission of the screw assembly (22); Transverse transfer mechanism (4); A plurality of movable arms (5) are driven by a transverse transfer mechanism (4) to slide transversely relative to the gantry (1) on the movable frame (3).
2. The top transfer robot device of a vertical continuous furnace according to claim 1, characterized in that: Vertical guide rails (11) are respectively arranged on both sides of the gantry (1), and both sides of the moving frame (3) are respectively slidably matched with the corresponding vertical guide rails (11).
3. The top transfer robot device of a vertical continuous furnace according to claim 1, characterized in that: The vertical transfer mechanism (2) further comprises a synchronous wheel (23) and a synchronous belt (24), and transmission is performed between the output shaft of the speed regulating motor (21) and the screw rod assembly (22) through the meshing of the synchronous wheel (23) and the synchronous belt (24).
4. The top transfer robot device of a vertical continuous furnace according to claim 1, characterized in that: The number of the movable arms (5) is two, and the lateral transfer mechanism (4) drives the two movable arms (5) to slide on the movable frame (3) asynchronously or synchronously.
5. The top transfer robot device of a vertical continuous furnace according to claim 4, characterized in that: Transverse guide rails (31) are respectively arranged on the moving frame (3) and between the two moving arms (5).
6. The top transfer robot device of a vertical continuous furnace according to claim 4, characterized in that: The lateral transfer mechanism (4) comprises a mounting plate (41) and a plurality of actuator cylinders (42); the actuator cylinders (42) are fixedly connected to the moving frame (3) via the mounting plate (41); and the plurality of actuator cylinders (42) are respectively used to drive corresponding moving arms (5).
7. The top transfer robot device of a vertical continuous furnace according to claim 4, characterized in that: The lateral transfer mechanism (4) comprises a mounting plate (41) and a bidirectional cylinder (43); the bidirectional cylinder (43) is fixedly connected to the moving frame (3) via the mounting plate (41); and two output ends of the bidirectional cylinder (43) are respectively fixedly connected to two moving arms (5).
8. A top transfer robot device for a vertical continuous furnace according to any one of claims 6 or 7, characterized in that: A drag chain groove (61) is arranged in the gantry (1), a drag chain (62) is arranged in the drag chain groove (61), and the drag chain (62) is used to tow the air pipeline of the cylinder.