Transfer device, annealing robot and installation

Abstract

This utility model belongs to the technical field of metal container heat treatment processing equipment, specifically a transfer device, an annealing robot, and equipment. By setting a magnetic coupling component in each swing arm and a magnetic drive component, when the gripping mechanism rotates to a preset position, the magnetic drive component magnetically couples with the magnetic coupling component of the corresponding swing arm. The second drive component controls the magnetic drive component to drive the magnetic coupling component to rotate, which in turn drives the gripper to rotate, realizing the transmission of torque. Compared with the prior art, which requires a drive device to drive the gripper to rotate in each swing arm, this application only needs to set a first drive component and a second drive component to complete the transfer and rotation of the workpiece. This not only reduces the number of drive devices and the cost of equipment investment, but also simplifies the structure of the equipment, optimizes the assembly difficulty, and enables the equipment using this transfer device to effectively save costs.

Description

Technical Field

[0001] This utility model belongs to the technical field of heat treatment equipment for metal containers, specifically a transfer device, an annealing robot and equipment. Background Technology

[0002] Traditional kitchenware, such as cookware, is formed by stretching and stamping metal sheets. After pressing, the workpieces need to be annealed to eliminate internal stress and increase hardness. Existing automated production lines generally use robotic arms to transfer workpieces between the annealing and cooling stations. The robotic arm is equipped with a swing arm for gripping the workpiece. The gripper of the swing arm transfers the workpiece to the heating fixture at the annealing station, and the drive device on the swing arm drives the gripper to rotate the workpiece, thereby heating the workpiece from all directions. Then the swing arm swings to transfer the workpiece to the cooling station for cooling. In order to meet the needs of continuous production, the robotic arm is usually equipped with multiple swing arms. By controlling the rotation of the swing arms, the workpiece can be continuously transferred between the above stations. Each swing arm needs to be equipped with a drive device to drive the gripper to rotate, which increases the number of drive devices, thereby increasing equipment costs and making the equipment structure more complex. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of existing annealing robots that require multiple drive devices to achieve workpiece transfer and rotation, which increases costs. This invention provides a transfer device that reduces the number of drive devices by setting up magnetic drive components and magnetic coupling components.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A transfer device includes a gripping mechanism, a first drive assembly, and a second drive assembly. The gripping mechanism comprises a shaft assembly and at least one swing arm disposed on the shaft assembly. Each swing arm is equipped with a gripper rotatable about a first rotation axis and a magnetic coupling member rotatable about a second rotation axis parallel to the first rotation axis. The magnetic coupling member is drively connected to the gripper via a transmission assembly, and the rotation of the gripper is responsive to the magnetic coupling member. The first drive assembly drives the gripping mechanism to rotate about the axis of the shaft assembly. The second drive assembly is equipped with a rotatable magnetic drive member. When the gripping mechanism rotates to the point where the magnetic drive member is magnetically coupled to the magnetic coupling member of one of the swing arms, the magnetic coupling member can be manipulated by the magnetic drive member to drive the corresponding gripper to rotate.

[0006] Furthermore, the magnetic drive component is rotatably disposed in the axial direction of the magnetic coupling component about a third rotation axis parallel to the second rotation axis, and a longitudinal gap is provided between the coupling end faces of the magnetic coupling component and the magnetic drive component. The arrangement of the magnetic drive component can reduce the lateral volume of the transfer device.

[0007] Furthermore, the transmission assembly includes a driving wheel and a driven wheel disposed on the swing arm, and a transmission belt sleeved on the driving wheel and the driven wheel. The driving wheel is connected to a magnetic coupling member, and the driven wheel is connected to the gripper. The transmission structure of the above transmission assembly is simple and the transmission efficiency is high.

[0008] Furthermore, the gripper includes a driven shaft and a suction cup. The driven shaft passes through the driven wheel relatively fixedly, with one end connected to the suction cup and the other end equipped with an air source connector. The internal structure has an air passage connecting the air source connector and the suction cup. The gripper is designed to grip the workpiece stably and quickly. Furthermore, by using a suction cup, the gripper can grip and unload the workpiece by controlling the air source to switch between negative and positive pressure.

[0009] Furthermore, a drive shaft connected to the magnetic coupling member is fixedly inserted through the interior of the drive wheel.

[0010] Furthermore, the shaft assembly is fixedly provided with an air slip ring in the axial direction, and a channel is constructed in the middle of the shaft assembly. The pipeline connecting the air source connector passes through the channel and connects 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.

[0011] Furthermore, it also includes a mounting base, on which the first drive assembly and the second drive assembly are mounted. The shaft assembly passes through the mounting base and is configured with a drive gear located above the mounting base for transmission connection with the first drive assembly. A bracket is fixedly provided on the upper side of the drive gear. The air slip ring includes an output part fixedly connected to the bracket for connection with the pipeline and an input part rotatably connected to the output part for connection with an air source. The mounting base is fixedly provided with a positioning member fixedly connected to the input part. The above-mentioned air slip ring mounting method has a compact structure and effectively utilizes the longitudinal space of the mounting base to reduce the lateral volume of the transfer device.

[0012] Furthermore, it also includes a feed module connected to the mounting base for driving the gripping mechanism, the first drive component, and the second drive component to move linearly, for example, driving the workpiece to lift and lower so that the workpiece can be loaded and unloaded at the corresponding workstation.

[0013] This application also provides an annealing robot, including the aforementioned transfer device.

[0014] This application also provides an annealing device, including a loading station, an annealing station, a cooling station, and the aforementioned transfer device. Three swing arms are arranged at equal angular intervals. A first driving component drives the swing arms to transfer between the loading station, the annealing station, and the cooling station. The magnetic driving component is configured to magnetically couple with a corresponding magnetic coupling component of the swing arm when the swing arm transfers to the annealing station, thereby driving the gripper to rotate on the annealing station via a second driving component.

[0015] Each swing arm in this application is equipped with a magnetic coupling component and a magnetic drive component. When the gripping mechanism rotates to a preset position, the magnetic drive component magnetically couples with the magnetic coupling component of the corresponding swing arm. The second drive component controls the magnetic drive component to drive the magnetic coupling component to rotate, which in turn drives the gripper to rotate, thus realizing the transmission of torque. Compared with the prior art, which requires a drive device to drive the gripper to rotate in each swing arm, this application only needs to set a first drive component and a second drive component to complete the transfer and rotation of the workpiece. This not only reduces the number of drive devices and the cost of equipment investment, but also simplifies the structure of the equipment, optimizes the assembly difficulty, and enables the equipment using this transfer device to effectively save costs. Attached Figure Description

[0016] Figure 1 Three-dimensional for the transfer device Figure 1 ;

[0017] Figure 2 Three-dimensional for the transfer device Figure 2 ;

[0018] Figure 3 This is a cross-sectional view of the transfer device;

[0019] Figure 4 A three-dimensional view of the annealing robot and annealing equipment;

[0020] Figure 5 This is a top view of the annealing robot and annealing equipment. Detailed Implementation

[0021] The following describes a preferred embodiment of the present invention in conjunction with the accompanying drawings.

[0022] See Figures 1 to 5This embodiment provides a transfer device 100, an annealing robot using the transfer device 100, and an annealing equipment. The annealing equipment includes a loading station 6, an annealing station 7, and a cooling station 9. The transfer device 100 is used to transfer workpieces between the above stations. This application is applicable to annealing metal utensil workpieces, especially workpieces made of SUS201 stainless steel, such as pot bodies and kettle bodies.

[0023] See Figures 1 to 3 The transfer device 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 one swing arm 12 disposed on the shaft assembly 11. Each swing arm 12 is provided 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 about the axis of the shaft assembly 11. The second drive assembly 3 is provided 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 to the magnetic drive member 31, the magnetic coupling member 13 can be manipulated by the magnetic drive member to drive the corresponding gripper 14 to rotate.

[0024] As a specific implementation, the gripper 14 can rotate about a first rotation axis a parallel to the axis of the shaft assembly 11, the magnetic coupling member 13 can rotate about a second rotation axis b parallel to the first rotation axis a, and the magnetic drive member 31 is rotatably arranged about 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 located above the magnetic coupling member 13. This layout allows the annealing robot to be arranged longitudinally as a whole, reducing its lateral volume, and the rotation directions of each rotating structure are consistent, which is beneficial to the spatial layout. When the magnetic coupling member 13 and the magnetic drive member 31 are magnetically coupled, the coupling end faces 10 of the magnetic coupling member 13 and the magnetic drive member 31 correspond. 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 axial transmission efficiency is high, ensuring the rotation effect of the gripper 14.

[0025] The magnetic coupling component 13 and the magnetic driving component 31 are made of materials that can magnetically attract each other in the prior art, such as including 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 sheets, etc. The specific materials of the magnetic coupling component 13 and the magnetic driving component 31 are not the inventive point of this application and will not be described in detail here.

[0026] The magnetic coupling described in this application refers to a non-contact connection method that transmits power through the interaction of magnetic fields. In this application, when the two components reach the magnetic field range due to relative motion, the magnetic force of the magnetic drive component 31 drives the magnetic coupling component 13 to rotate synchronously, thereby transmitting torque. That is to say, as long as the magnetic coupling component 13 is in a state that can be driven by the magnetic drive component 31, it is magnetic coupling. As a preferred embodiment, magnetic coupling is achieved 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 a magnetic coupling of the prior art. A magnetic coupling is a device that transmits power through magnetic force. It uses magnetically attracted components, such as two magnets attracting each other, to be correspondingly arranged on the active rotating component and the driven rotating component. Thus, when the active rotating component rotates, it drives the driven rotating component to rotate.

[0027] See Figures 1 to 3 To prevent heat transfer to the magnetic drive component 31, a longitudinal gap is provided between the magnetic coupling component 13 and the coupling end face 10 of the magnetic drive component 31. That is, the two are non-contact during coupling, thereby preventing the annealing robot and equipment using the transfer device 100 from transferring the heat of the workpiece to the second drive assembly 3. For example, Figures 1 to 3 As shown, the gripping mechanism 1 of this embodiment is equipped with three swing arms 12 arranged at equal angular intervals. Each swing arm 12 is equipped with a magnetic coupling member 13, and a magnetic drive member 31 is set at a base point of 0 degrees. The initial position of the gripping mechanism 1 is that one of the swing arms 12 is located at the base point. When the gripping mechanism 1 rotates 120°, the magnetic coupling member 13 of the corresponding swing arm 12 can be magnetically coupled with the magnetic drive member 31. In practical applications, the annealing station 7 can be set at the position of the corresponding base point, so that each swing arm 12 that has rotated to the point where the magnetic coupling member 13 is magnetically coupled with the magnetic drive member 31 can transfer the workpiece to the annealing station 7 and drive the workpiece to rotate for 360° heating. The arrangement of the magnetic drive member 31 described above can reduce the lateral volume of the transfer device 100.

[0028] See Figure 1 and Figure 2The transfer device 100 also includes a mounting base 5. A first drive assembly 2 and a second drive assembly 3 are mounted on the upper side of the mounting base 5, positioned on opposite sides of a shaft assembly 11. The shaft assembly 11 extends through the mounting base 5, with a portion located on the upper side and a portion on the lower side. It is equipped 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 for transmission connection with the motor and the drive gear 112. Each swing arm 12 is positioned radially below the mounting base 5 on the shaft assembly 11. A magnetic drive member 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 rotates, it drives the shaft assembly 11 to rotate, thereby rotating the entire gripping mechanism 1.

[0029] See Figure 3 The transmission assembly 15 includes a drive wheel 151 and a driven wheel 152 disposed on the swing arm 12, and a transmission belt 153 sleeved on the drive wheel 151 and the driven wheel 152. The drive wheel 151 is connected to the magnetic coupling member 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.

[0030] See 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 the shaft is connected to the suction cup 142, and the other end is equipped with an air source connector 143. The shaft 141 has an internal structure that connects the air source connector 143 and the suction cup 142. The gripper 14 is configured to grip the workpiece stably and quickly. Furthermore, by using the suction cup 142, the gripper can grip and unload the workpiece by controlling the air source to switch between negative and positive pressure.

[0031] See Figure 3 The drive shaft 154, which is connected to the magnetic coupling member 13, passes through the drive wheel 151 relatively fixedly inside.

[0032] See Figures 1 to 3 The shaft assembly 11 is fixedly provided with an air slip ring 4 in the axial direction. The middle part of the shaft assembly 11 is constructed with a channel 111. The pipe 145 connecting the air source connector 143 passes through the channel 111 and connects 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 pipe 145, making the structure simpler.

[0033] See Figures 1 to 3As a specific arrangement of the air slip ring 4, a bracket 113 is fixedly provided on the upper side of the drive gear 112. The air slip ring 4 includes an output part 41 fixedly connected to the bracket 113 for connection to the pipeline 145, and an input part 42 rotatably connected to the output part 41 for connection to an air source. The side of the input part 42 is provided with an air source port 421 for connection to an air source, and the air source port 421 and the air source are connected through an air pipe. The mounting base 5 is fixedly provided with a positioning member 43 fixedly connected to the input part 42. The above-mentioned installation method of the air slip ring 4 has a compact structure and effectively utilizes the longitudinal space of the mounting base 5 to reduce the lateral volume of the annealing robot 100.

[0034] See Figure 2 and Figure 3 The positioning component 43 includes a longitudinally extending positioning frame 431. The upper end of the positioning frame 431 has a longitudinally extending slot 432. The slot 432 holds a height-adjustable positioning pin 433, which is fixedly connected to the air slip ring 4. The positioning component 43 has a simple structure, is quick and easy to assemble, and its height is adjustable according to the specifications of the air slip ring 4. For example, the height of the positioning pin 433 can be adjusted along the slot 432 according to the specific specifications of the air slip ring 4, thereby connecting it to the positioning hole 434 of the air slip ring 4's input part 42.

[0035] When the magnetic drive component 31 and the magnetic coupling component 13 are magnetically coupled, the second drive assembly 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 drive wheel 151 and the transmission belt 153, thus realizing the rotation of the gripper 14. 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. When the first drive assembly 2 drives the shaft assembly 11 to rotate, the pipeline 145 will rotate with the entire gripping mechanism 1, along with the air slip ring 4, the bracket 113, and the drive gear 112, thus ensuring a continuous supply of air source when the gripper 14 rotates and the gripping mechanism 1 rotates.

[0036] See Figure 1 As a specific configuration, it also includes a feed module 8 connected to the mounting base 5 for driving the gripping mechanism 1, the first driving component 2, and the second driving component 3 to move linearly. The feed module of this application can adopt an existing driving mechanism, such as a lead screw and slider driving mechanism, specifically used to drive the gripping mechanism 1, the first driving component 2, and the second driving component 3 to move longitudinally, thereby driving the workpiece to move longitudinally, for example, lowering the workpiece onto the heating fixture 71 of the annealing station 7, thereby heating the workpiece through the heating fixture 71.

[0037] See Figure 4 and Figure 5 The annealing robot includes the aforementioned transfer device 100.

[0038] See Figure 4 and Figure 5 The annealing equipment includes a loading station 6, an annealing station 7, a cooling station 9, and the aforementioned transfer device 100. Three swing arms 12 are spaced at equal angles. The first drive assembly 2 drives the swing arms 12 to transfer between the loading station 6, the annealing station 7, and the cooling station 9. The magnetic drive component 31 is configured to magnetically couple with the corresponding magnetic coupling component 13 when the swing arm 12 transfers to the annealing station 7, thereby driving the gripper 14 to rotate on the annealing station 7 via the second drive assembly 3. In a specific application scenario, a workpiece is loaded at the loading station 6. Any swing arm 12 rotates above the loading station 6 and grips the workpiece. The swing arm 12 holding the workpiece rotates above the annealing station 7, and its corresponding magnetic coupling component 13 magnetically couples with the magnetic drive component 31, placing the workpiece on the heating fixture 71 of the annealing station 6. Specifically, the feeding module 8 controls the mounting base 5 to descend, thereby driving the entire gripping mechanism 1 to descend and place the workpiece in the heating fixture 71. Then, the second drive assembly 3 drives the magnetic drive component 31 to rotate, which in turn drives the gripper 14 and the workpiece to rotate relative to the heating fixture 71 through the magnetic coupling component 13, achieving uniform heating of the workpiece 360 ​​degrees. Subsequently, the feeding module 8 controls the mounting base 5 to rise, causing the workpiece to detach from the heating fixture 71. The swing arm 12 continues to rotate to the cooling station 9, transferring the heated workpiece to the cooling station 9 for unloading and cooling. Then, the swing arm 12 rotates again to the loading station 6 to grip a new workpiece, and so on. The other two swing arms 12 operate on the same principle as the swing arm 12 described above. By analogy, the automated annealing process of the workpiece can be achieved. The rotation of the swing arm 12 is achieved by the first drive assembly 3 driving the shaft assembly 11 to rotate.

[0039] Each swing arm 12 in this application is provided with a magnetic coupling member 13 and a magnetic drive member 31. When the gripping mechanism 1 rotates to a preset position, the magnetic drive member 31 is magnetically coupled with the magnetic coupling member 13 of the corresponding swing arm 12. The second drive component 3 controls the magnetic drive member 31 to drive the magnetic coupling member 13 to rotate, which in turn drives the gripper 14 to rotate, thereby realizing the transmission of torque. Compared with the prior art, which requires a drive device to drive the gripper 14 to rotate in each swing arm 12, this 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. This not only reduces the number of drive devices and the cost of equipment investment, but also simplifies the structure of the equipment and optimizes the assembly difficulty, so that the equipment using this transfer device 100 can effectively save costs.

[0040] Based on the disclosure and teachings of the above specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to this utility model should also fall within the protection scope of the claims of this utility model. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on this utility model.

Claims

1. A transfer device, characterized in that, include: The gripping mechanism (1) includes a shaft assembly (11) and at least one swing arm (12) disposed on the shaft assembly (11). Each swing arm (12) is provided with a rotatable gripper (14) and a rotatable magnetic coupling member (13). The magnetic coupling member (13) is connected to the gripper (14) via a transmission assembly (15). The rotation of the gripper (14) is responsive to the magnetic coupling member (13). The first drive assembly (2) is used to drive the axis of the gripping mechanism (1) to rotate; 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 drive member (31) is magnetically coupled to the magnetic coupling member (13) of one of the swing arms (12), the magnetic coupling member (13) can be manipulated by the magnetic drive member (31) to drive the corresponding gripper (14) to rotate.

2. The transfer device according to claim 1, characterized in that, The gripper (14) can rotate around the first rotation axis (a), the magnetic coupling member (13) can rotate around a second rotation axis parallel to the first rotation axis (a), the magnetic drive member (31) can be rotatably arranged in the axial direction of the magnetic coupling member (13) around a third rotation axis (c) parallel to the second rotation axis (b), and a longitudinal gap is provided between the coupling end face (10) of the magnetic coupling member (13) and the magnetic drive member (31).

3. The transfer device according to claim 1, characterized in that, The transmission assembly (15) includes a drive wheel (151) and a driven wheel (152) disposed on the swing arm (12), and a transmission belt (153) sleeved on the drive wheel (151) and the driven wheel (152). The drive wheel (151) is connected to the magnetic coupling member (13), and the driven wheel (152) is connected to the gripper (14).

4. The transfer device according to claim 3, characterized in that, 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 the shaft is connected to the suction cup (142), and the other end is equipped with an air source connector (143). The shaft has an internal structure with an air passage (144) connecting the air source connector (143) and the suction cup (142).

5. The transfer device according to claim 3, characterized in that, The drive shaft (154) connected to the magnetic coupling member (13) passes relatively fixedly through the drive wheel (151).

6. The transfer device according to claim 4, characterized in that, The shaft assembly (11) is fixedly provided with an air slip ring (4) in the axial direction. The shaft assembly (11) has a channel (111) in the middle. The pipeline connecting the air source connector (143) passes through the channel (111) and connects to the air slip ring (4).

7. The transfer device according to claim 6, characterized in that, It also includes a mounting base (5), on which the first drive assembly (2) and the second drive assembly (3) are mounted. The shaft assembly (11) passes through the mounting base (5) and is equipped with a drive gear (112) located above the mounting base (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 air slip ring (4) includes an output part (41) fixedly connected to the bracket (113) for connection with the pipeline and an input part (42) rotatably connected to the output part (41) for connection with the air source. The mounting base (5) is fixedly provided with a positioning member (43) fixedly connected to the input part (42).

8. The transfer device according to claim 7, characterized in that, It also includes a feed module (8) that connects the mounting base (5) to drive the gripping mechanism (1), the first drive component (2) and the second drive component (3) to move linearly.

9. An annealing robot, characterized in that, Includes the transfer device (100) as described in any one of claims 1 to 8.

10. Annealing equipment, characterized in that, The device includes a loading station (6), an annealing station (7), a cooling station (9), and a transfer device (100) as described in any one of claims 1 to 8. Three swing arms (12) are arranged at equal angles. The first drive assembly (2) drives the swing arms (12) to transfer between the loading station (6), the annealing station (7), and the cooling station (9). 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 assembly (3).

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