Mechanical hand device for entering and leaving a vacuum melting furnace

Abstract

The utility model discloses a kind of in-and-out furnace mechanical hand devices for vacuum melting furnace production, belong to vacuum melting auxiliary equipment field, including horizontal moving device, vertical moving device, clamping jaw, control device and positioning detection device.Horizontal moving device drive mechanical hand horizontal movement, vertical moving device drive mechanical hand lifting, clamping jaw is used to hold crucible, positioning detection device detects crucible position and shape, control device controls each component collaborative work.It is also provided with safety interlocking system, mechanical hand shell is covered with heat-insulating material, internal circuit uses high-temperature resistant material, motor uses explosion-proof type.The device realizes that crucible automatically enters and exits furnace, reduces manual labor intensity, improves production efficiency and stability, can remote control and real-time monitoring, adapt to vacuum high-temperature environment, suitable for the automation of crucible in vacuum melting furnace production is transferred.

Description

Technical Field

[0001] This utility model belongs to the field of vacuum melting auxiliary equipment, and relates to a robot arm device for loading and unloading vacuum melting furnaces. Background Technology

[0002] Metallic materials are a crucial foundation for social and economic development, holding a dominant position in the materials industry. With the advancement of 3D printing technology, the industrial demand for metal powders is increasing daily. Metal powders suitable for 3D printing must possess characteristics such as high purity and low oxygen content. Vacuum melting technology, due to its ability to melt high-quality, high-purity metals under vacuum conditions, has become highly favored and is the preferred process for preparing metal powders for 3D printing.

[0003] Currently, the calcothermal reduction method is one of the conventional methods for preparing metal powders. Calcothermal reduction equipment with a crucible requires less investment and has relatively low production costs, making it suitable for producing most metal powders. However, the current metal smelting process has many problems: the process is labor-intensive, with large crucibles requiring 30-40 minutes of pouring time, necessitating constant operation of the operator, significantly increasing labor intensity; existing vacuum melting furnaces suffer from high-temperature effects and insufficient sealing when implementing automatic crucible loading and unloading, increasing operational instability and safety hazards; the lack of a complete automated control system prevents automatic crucible feeding and unloading, resulting in low production efficiency; the existing robotic arm's clamp design and materials are not thin and lightweight enough, affecting the efficiency and accuracy of handling vanadium-nitrogen alloys; and the lack of intelligence and automation prevents remote control and real-time monitoring, making it difficult to handle abnormal situations promptly.

[0004] CN210551234U discloses a bidirectional moving transport robot, including a base, an X-axis mechanism, and a Y-axis mechanism mounted on the base. The Y-axis mechanism includes a main support frame and a vertical moving platform slidingly connected to the main support frame. A ball screw is vertically mounted inside the main support frame, and the ball nut of the ball screw is fixedly connected to the vertical moving platform. The X-axis mechanism includes a horizontally moving robotic arm and a gripping device. However, this technical solution lacks a control system to precisely control the movement position of the robot and the opening and closing state of the gripper, making it impossible to achieve precise positioning and stable gripping.

[0005] CN217102057U discloses a vanadium-nitrogen alloy handling robot, including a lateral moving device, a vertical moving device, a longitudinal moving device, and an alloy clamp. The lateral moving device includes a lateral track and a lateral slide. The vertical moving device includes two parallel vertical tracks and a vertical slide with a U-shaped groove. The longitudinal moving device includes a longitudinal track. The alloy clamp includes a transition body with a cylinder. The cylinder has a clamp support. Clamping plates are hinged to both sides of the clamp support away from the cylinder. A connecting rod is hinged to one end of the clamp facing the cylinder, and the other end of the connecting rod is hinged to the cylinder's output shaft. This technical solution uses a clamping plate design. If the clamping plate design and material are not thin and light enough, it will affect the efficiency and accuracy of clamping the vanadium-nitrogen alloy. If the clamping plate is too thin, it will lead to insufficient clamping force and clamping plate deformation. There is a contradiction between clamping efficiency and accuracy and clamping force and clamping plate stability, which is difficult to adjust and balance.

[0006] To address the aforementioned issues, there is an urgent need to develop a robotic arm device for loading and unloading crucibles in vacuum melting furnaces. This device should improve production efficiency, reduce production costs, decrease the number of workers, improve the working environment for workers, and reduce their workload. It should also consider factors such as the angle setting of the robotic arm, the reliability of the equipment under high-temperature conditions, and other production details. This would enable the automated loading and unloading of crucibles. Summary of the Invention

[0007] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a robot arm device for loading and unloading the vacuum melting furnace, so as to solve the problems of low production efficiency, high manual operation intensity, lack of automated control system and unreasonable design of gripping device in the existing technology.

[0008] To achieve the above objectives, the present invention adopts the following technical solution.

[0009] A robotic arm for loading and unloading in a vacuum melting furnace includes a lateral movement device, a vertical movement device, grippers, a control device, and a positioning detection device. The lateral movement device includes a lateral guide rail, a lateral drive motor, a lateral movement platform, a crossbeam, and a lateral rack. The crossbeam is fixed between two columns, and the lateral guide rail is mounted on the crossbeam. The lateral drive motor is connected to the lateral movement platform to drive the platform to move along the lateral guide rail. The vertical movement device includes a vertical guide rail, a vertical drive motor, and a vertical movement platform. The vertical guide rail is mounted on the lateral movement platform, and the vertical drive motor is connected to the vertical movement platform to drive it to move along the vertical guide rail. The grippers include a gripper body and a drive cylinder. The gripper body has multiple gripper fingers, and the drive cylinder is fixedly connected to the gripper body to drive its opening and closing. The control device is electrically connected to the lateral movement device, the vertical movement device, and the grippers. The positioning detection device is electrically connected to the control device.

[0010] This utility model provides a robotic arm device for loading and unloading crucibles in vacuum melting furnace production. Through the combination of a horizontal movement device, a vertical movement device and a gripper, it realizes automatic loading and unloading of crucibles, replacing traditional manual operation and greatly reducing the labor intensity of operators. The positioning detection device and the control device work together to provide data support for the precise movement of the robotic arm, improve the accuracy of crucible gripping and movement, and reduce operational errors.

[0011] Furthermore, the transverse moving platform is equipped with a transverse slider, which slides in engagement with the transverse guide rail. A gear is fixedly connected to the output shaft of the transverse drive motor, and this gear meshes with a transverse rack. The cooperation between the transverse slider and the transverse guide rail, combined with rack and pinion transmission, enables precise positioning and stable movement of the transverse moving platform, ensuring the accuracy of the robot's horizontal adjustment.

[0012] Furthermore, the vertical moving device also includes a vertical rack, and a vertical slider is provided on the vertical moving platform. The vertical slider slides in engagement with the vertical guide rail, and a gear is fixedly connected to the output shaft of the vertical drive motor. This gear meshes with the vertical rack. The vertical slider and the vertical guide rail, combined with the rack and pinion transmission, enable smooth lifting and precise positioning of the vertical moving platform, ensuring the accuracy of the gripper's height adjustment and meeting the gripping requirements of crucibles of different heights.

[0013] Furthermore, the gripper is a four-finger gripper, with anti-slip rubber pads on the gripping surfaces of the grippers. The gripping angle of the gripper fingers is adjustable, and the drive cylinder is driven by a servo motor. The four-finger gripper design increases the contact area with the crucible, improving gripping stability; the anti-slip rubber pads further increase friction, preventing the crucible from slipping during gripping; the adjustable gripping angle can adapt to crucibles of different shapes, improving the versatility of the device; the servo motor-driven drive cylinder can precisely control the opening and closing force and speed of the gripper, avoiding damage to the crucible due to excessive force or loss of crucible due to insufficient force.

[0014] Furthermore, the control device includes a controller, an electric control module, a sensor interface module, and a human-machine interface module. The controller is an industrial control computer that integrates motion control algorithms and image recognition algorithms. The electric control module includes multiple drive motor controllers, which are electrically connected to the horizontal drive motor, the vertical drive motor, and the gripper drive cylinder, respectively. The sensor interface module is used to receive feedback information from the positioning detection device. The human-machine interface module is located on the controller. The industrial control computer, acting as the controller, can automatically adjust the robot's motion parameters based on the crucible position and equipment status using integrated algorithms, achieving intelligent control. The multiple drive motor controllers can precisely control the operation of each drive motor, ensuring coordinated operation of all robot components. The sensor interface module enables data interaction between the positioning detection device and the controller, providing a basis for precise control. The human-machine interface module facilitates remote control and parameter setting by operators, improving operational convenience.

[0015] Furthermore, the positioning and detection device includes a lidar sensor and a vision sensor. The lidar sensor is used for long-distance detection of the crucible's position, while the vision sensor is used for close-range precise measurement of the crucible's shape and position. Both the lidar sensor and the vision sensor are electrically connected to the sensor interface module of the control device. The lidar sensor's long-distance detection function can quickly determine the approximate position of the crucible, improving the initial positioning efficiency of the robot arm. The vision sensor's close-range precise measurement can obtain detailed shape and position information of the crucible, providing data support for subsequent precise alignment and gripping. The two work together to achieve comprehensive and accurate detection of the crucible's position, improving the accuracy and reliability of the robot arm's operation.

[0016] Furthermore, a safety interlock system is included, comprising safety switches and safety light curtains, both electrically connected to the control device. When the robotic arm moves into a safe area, the safety switch sends a signal to the control device, which then locks all motion modules. When the robotic arm moves into an unsafe area, the safety light curtain triggers an alarm. The safety switch locks the motion modules when the robotic arm enters a safe area to prevent accidental movement that could cause collisions or personal injury; the safety light curtain promptly alarms when the robotic arm enters an unsafe area, reminding operators to be cautious. Together, these components form a comprehensive safety protection system, reducing safety hazards during production and ensuring the safety of equipment and personnel.

[0017] Furthermore, the robotic arm's outer shell is covered with thermal insulation material, and the internal circuitry is made of high-temperature resistant material. The horizontal drive motor, vertical drive motor, and gripper drive cylinder are all explosion-proof models. The thermal insulation material effectively blocks the high temperature of the vacuum melting furnace, reducing the impact of high temperatures on the robotic arm's internal components. The high-temperature resistant material ensures stable operation of the circuitry in high-temperature environments, preventing circuit failures due to high temperatures. The explosion-proof motors and drive cylinders are adapted to the vacuum environment, preventing explosions and other safety issues under vacuum conditions, thus improving the reliability and safety of the device under harsh working conditions.

[0018] Furthermore, the control device is electrically connected to a pressure sensor mounted on the gripper. This pressure sensor detects the gripping force of the gripper and feeds the data back to the control device. The control device adjusts the opening and closing force of the gripper based on the pressure sensor feedback data. The pressure sensor monitors the gripping force in real time, and the control device dynamically adjusts the gripping force based on the monitoring data. This prevents damage to the crucible due to excessive gripping force, and also prevents the crucible from slipping due to insufficient gripping force, ensuring the safety and stability of the crucible during gripping and movement, and improving the accuracy of the device operation.

[0019] Furthermore, each of the transverse guide rail of the transverse moving device and the vertical guide rail of the vertical moving device is equipped with two V-shaped guide rails, which are used in conjunction with V-shaped guide wheels. The cooperative structure of the V-shaped guide rails and V-shaped guide wheels can effectively limit the relative offset between the guide rails and guide wheels, improve guiding accuracy, ensure that the transverse and vertical moving platforms maintain a stable trajectory during movement, reduce movement deviation, further improve the overall accuracy of the robot's operation, and ensure the smooth operation of crucible loading and unloading.

[0020] Furthermore, both the lateral rack of the lateral movement device and the vertical rack of the vertical movement device adopt helical tooth structures. Compared with straight tooth structures, helical tooth structures have a greater overlap during transmission, which can reduce transmission impact and noise, and make power transmission smoother. At the same time, helical tooth transmission can withstand greater loads, improve the service life of racks and gears, ensure the reliability and stability of the transmission of the lateral and vertical movement devices, and ensure the smooth movement of all components of the robot.

[0021] Compared with existing technologies, this utility model has the following advantages: By setting up a combined structure of a horizontal moving device, a vertical moving device, and grippers, automatic loading and unloading of crucibles is achieved, avoiding the labor intensity of traditional manual operation, significantly reducing the operator's workload, and improving production efficiency. The control system precisely controls the movement position of the robotic arm and the opening and closing state of the grippers, achieving accurate positioning and stable clamping of the crucibles, improving the stability and reliability of the production process. Automated control avoids the risk of misoperation caused by improper manual operation, effectively reducing the failure rate and safety hazards in the production process. This device can quickly complete the loading and unloading of crucibles, significantly shortening the production cycle, improving production efficiency, and reducing production costs. The combination of automation and control systems enables remote control and real-time monitoring, allowing for timely detection and handling of abnormal situations in the production process, improving the level of intelligent production. Safety interlocking systems, high-temperature resistant and explosion-proof designs enhance the safety and reliability of the device in vacuum and high-temperature environments, ensuring long-term stable operation of the equipment. The four-finger design of the grippers, the anti-slip rubber pads, and the adjustable gripping angle improve the adaptability and gripping stability of crucibles of different shapes. The pressure sensor further ensures precise control of the gripping force. The combination of V-shaped guide rails and V-shaped guide wheels, along with the use of helical racks, enhances the accuracy of the robot's movement and transmission stability, reduces movement deviation and transmission noise, and extends the service life of the equipment. Attached Figure Description

[0022] Figure 1 The front view of a manipulator device for loading and unloading a vacuum melting furnace, provided by this utility model.

[0023] Figure 2 This utility model provides a top view of a robotic arm device for loading and unloading a vacuum melting furnace.

[0024] Figure 3 This is a partially enlarged top view of a robotic arm device for loading and unloading a vacuum melting furnace, which is provided by this utility model.

[0025] Figure 4 The left view of a manipulator device for loading and unloading a vacuum melting furnace, which is provided by this utility model.

[0026] Figure 5 This is a partially enlarged left view of a robotic arm device for loading and unloading a vacuum melting furnace, which is provided by this utility model.

[0027] Reference numerals: 1-lateral moving device, 11-lateral guide rail, 12-lateral slider, 13-lateral moving platform, 14-crossbeam, 15-lateral rack, 16-lateral drive motor; 2-vertical moving device, 21-vertical guide rail, 22-vertical slider, 23-vertical moving platform, 24-vertical rack, 25-vertical drive motor; 3-gripper, 31-gripper body, 32-drive cylinder, 33-gripper finger; 41-column, 42-column base, 43-vacuum melting furnace, 44-crucible. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the protection scope of this utility model.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, quantity, or position.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] A robotic arm device for loading and unloading furnaces in vacuum melting furnace production, such as Figure 1-3 As shown, it includes a horizontal moving device 1, a vertical moving device 2, a gripper 3, a control device, and a positioning detection device.

[0032] Two column bases 42 are connected to two columns 41 respectively, and the two columns 41 are connected to the crossbeam 14. The crossbeam 14 is made of high-strength aluminum alloy, which provides stable support for the entire device.

[0033] The lateral movement device 1 includes a lateral guide rail 11, a lateral slider 12, a lateral movement platform 13, a crossbeam 14, a lateral rack 15, and a lateral drive motor 16. The lateral guide rail 11 is made of wear-resistant rail steel and is mounted on the crossbeam 14. The lateral slider 12 slides along the lateral guide rail 11 and has a groove that matches the lateral guide rail 11. The gear on the output shaft of the lateral drive motor 16 meshes with the fixed lateral rack 15. The lateral drive motor 16 drives the lateral slider 12 to move along the lateral guide rail 11, thereby driving the lateral movement platform 13 to move horizontally, realizing the horizontal adjustment of the robot. The lateral guide rail 11 is equipped with two V-shaped guide rails, which work in conjunction with V-shaped guide wheels to improve guiding accuracy. The lateral rack 15 adopts a helical tooth structure to reduce transmission impact and noise.

[0034] The vertical moving device 2 includes a vertical guide rail 21, a vertical slider 22, a vertical moving platform 23, a vertical rack 24, and a vertical drive motor 25. The vertical guide rail 21 is made of high-strength aluminum alloy and is fixed on the horizontal moving platform 13. The vertical slider 22 slides in conjunction with the vertical guide rail 21. The gear on the output shaft of the vertical drive motor 25 meshes with the fixed vertical rack 24. The vertical drive motor 25 drives the vertical slider 22 to move along the vertical guide rail 21, thereby raising and lowering the vertical moving platform 23 and realizing the height adjustment of the robot. Similarly, the vertical guide rail 21 is equipped with two V-shaped guide rails for use with V-shaped guide wheels; the vertical rack 24 adopts a helical tooth structure.

[0035] The gripper 3 is a four-finger gripper, including a gripper body 31, a drive cylinder 32, and four gripper fingers 33. The drive cylinder 32 is a servo motor, which is fixedly connected to the gripper body 31 and is used to drive the gripper fingers 33 to open and close. The gripping surface of the gripper fingers 33 is provided with anti-slip rubber pads, and the gripping angle is adjustable. A pressure sensor is installed on the gripper 3 to detect the gripping force and feed it back to the control device.

[0036] The control device includes a controller, an electric control module, a sensor interface module, and a human-machine interaction module. The controller is an industrial control computer that integrates motion control algorithms and image recognition algorithms. The electric control module includes three drive motor controllers, which are electrically connected to the horizontal drive motor 16, the vertical drive motor 25, and the drive cylinder 32, respectively. The sensor interface module is electrically connected to the positioning detection device and the pressure sensor. The human-machine interaction module is located on the controller and is operated by the operator.

[0037] The positioning and detection device includes a lidar sensor and a vision sensor, both of which are mounted on the gripper body 31 and electrically connected to the sensor interface module. The lidar sensor is used for long-distance detection of the position of the crucible 44, and the vision sensor is used for close-range and precise measurement of the shape and position of the crucible 44.

[0038] The safety interlocking system includes a safety switch and a safety light curtain, both of which are electrically connected to the control device; the safety switch is set at the boundary of the safe area, and the safety light curtain is set at the boundary of the dangerous area along the robot's movement path.

[0039] The robotic arm's outer shell is covered with heat-insulating material, and the internal circuitry is made of high-temperature resistant material. The horizontal drive motor 16, the vertical drive motor 25, and the drive cylinder 32 are all explosion-proof models.

[0040] The robotic arm can be positioned between two or more vacuum melting furnaces to simultaneously perform loading and unloading operations, improving equipment utilization. All moving parts of the device are modularly designed for easy maintenance and replacement; the control system supports remote control and data logging, and can flexibly switch control modes according to production needs.

[0041] When the robotic arm is in operation, after the control system receives the furnace entry / exit command, the robotic arm starts from the initial position and moves to the designated positioning point above the vacuum melting furnace 43. The lidar sensor and vision sensor work to collect the position and shape information of the crucible 44 and transmit it to the controller. The controller calculates the position deviation and drives the horizontal drive motor 16 to correct the horizontal position of the gripper 3 and the crucible 44, achieving precise alignment. Subsequently, the controller commands the vertical drive motor 25 to drive the vertical moving platform 23 downward, sending the gripper 3 to the edge of the crucible 44 opening. The gripper 3 is then confirmed to be in position. Once in position, the drive cylinder 32 starts, driving the gripper fingers 33 to close and clamp the crucible 44. The pressure sensor provides real-time feedback on the clamping force, and the controller adjusts the clamping force. After clamping, the vertical drive motor 25 drives the vertical moving platform 23 to lift to a safe height, and the horizontal drive motor 16 drives the horizontal moving platform 13 to send the crucible 44 to the furnace placement station. The drive cylinder 32 drives the gripper fingers 33 to open and release the crucible 44. If an empty crucible needs to be sent in, the gripper 3 picks up the empty crucible and sends it into the designated position in the vacuum melting furnace 43 following similar steps.

[0042] This utility model provides a robotic arm device for loading and unloading crucibles in vacuum melting furnace production. It realizes the automated loading and unloading of crucibles, reduces the intensity of manual labor, improves production efficiency and stability, and has good safety and adaptability, which can meet the needs of vacuum melting furnace production.

[0043] Although embodiments of the present invention have been shown and described above, it is understood that these embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and alterations to the above embodiments within the scope of the present invention without departing from its principles and spirit. The scope of protection of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic arm device for loading and unloading furnaces in vacuum melting furnace production, characterized in that, The device includes a lateral moving device, a vertical moving device, grippers, a control device, and a positioning detection device. The lateral moving device comprises a lateral guide rail, a lateral drive motor, a lateral moving platform, a crossbeam, and a lateral rack. The crossbeam is fixed between two columns, and the lateral guide rail is mounted on the crossbeam. The lateral drive motor is connected to the lateral moving platform to drive the lateral moving platform to move along the lateral guide rail. The vertical moving device comprises a vertical guide rail, a vertical drive motor, and a vertical moving platform. The vertical guide rail is mounted on the lateral moving platform, and the vertical drive motor is connected to the vertical moving platform to drive the vertical moving platform to move along the vertical guide rail. The grippers comprise a gripper body and a drive cylinder. The gripper body has multiple gripper fingers, and the drive cylinder is fixedly connected to the gripper body to drive the gripper body to open and close. The control device is electrically connected to the lateral moving device, the vertical moving device, and the grippers. The positioning detection device is electrically connected to the control device.

2. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The transverse moving platform is equipped with a transverse slider, which slides in conjunction with the transverse guide rail. The output shaft of the transverse drive motor is fixedly connected to a gear, which meshes with the transverse rack.

3. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The vertical moving device also includes a vertical rack, a vertical slider on the vertical moving platform, the vertical slider slidingly engaging with the vertical guide rail, and a gear fixedly connected to the output shaft of the vertical drive motor, which meshes with the vertical rack.

4. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The gripper is a four-finger gripper, and the gripping surface of the gripper fingers is provided with anti-slip rubber pads. The gripping angle of the gripper fingers is adjustable, and the drive cylinder is driven by a servo motor.

5. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The control device includes a controller, an electric control module, a sensor interface module, and a human-machine interaction module; the controller is an industrial control computer; the electric control module includes multiple drive motor controllers, which are electrically connected to the horizontal drive motor, the vertical drive motor, and the gripper drive cylinder, respectively; the sensor interface module is used to receive feedback information from the positioning detection device; and the human-machine interaction module is located on the controller.

6. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The positioning detection device includes a lidar sensor and a vision sensor, both of which are electrically connected to the sensor interface module of the control device.

7. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, It also includes a safety interlocking system, which includes a safety switch and a safety light curtain, both of which are electrically connected to the control device.

8. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The robotic arm's outer shell is covered with heat-insulating material, and its internal circuitry is made of high-temperature resistant material. The horizontal drive motor, vertical drive motor, and gripper drive cylinder are all explosion-proof models.

9. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The control device is also electrically connected to a pressure sensor, which is mounted on the gripper.

10. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, The transverse guide rail of the transverse moving device and the vertical guide rail of the vertical moving device are each equipped with two V-shaped guide rails, which are used in conjunction with V-shaped guide wheels.

11. The infeed / outfeed manipulator device for vacuum melting furnace production according to claim 1, characterized in that, Both the transverse rack of the lateral moving device and the vertical rack of the vertical moving device adopt a helical tooth structure.

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