CN103983114B - A kind of quick loading and unloading equipment of multiple-layer box type heating furnace - Google Patents

Abstract

The invention proposes a fast loading and unloading equipment for a multi-layer box-type heating furnace, which includes a main support frame, a Z-axis up and down movement mechanism, a main slider body, an X-axis movement mechanism, an interchangeable finger manipulator, a Z-axis motor, an X-axis motor. The Z-axis up and down movement mechanism is fixed on the main support frame, the main slider is fixed on the Z-axis movement mechanism, the Z-axis motor drives the ball screw to drive the main slider to move, and the X-axis movement mechanism is fixed on the main slider. The interchangeable finger manipulator is fixed on the X-axis motion mechanism, and the ball screw is driven by the X-axis motor to drive the manipulator to move. The equipment proposed by the present invention has a fast loading and unloading speed, and can quickly load and unload any layer in a multi-layer box-type furnace within 4 seconds; the ball screw is used to drive the ball screw to move up and down quickly, with high repeat positioning accuracy, small operating vibration, and snatch The position is accurate; it can quickly load and unload thin plates with a thickness of less than 3mm in a multi-layer box-type heating furnace.

Description

A rapid loading and unloading equipment for multi-layer box-type heating furnace

technical field

The invention relates to the technical field of hot stamping equipment for auto parts, in particular to the loading and unloading equipment for a multi-layer atmosphere-protected box-type furnace in a high-strength steel plate hot-stamping production line, in particular to a rapid loading and unloading industrial equipment for a multi-layer box-type heating furnace .

Background technique

The existing box-type furnace loading and unloading industrial equipment uses motors and rack and pinion structures to move together, and the running speed is relatively slow, and it is used for single-layer box-type heating furnaces; The sheet thickness is above 10mm. The high-strength steel hot stamping production line uses a small thickness of sheet metal, which needs to be quickly unloaded from the heating furnace, and needs to be used in conjunction with a multi-layer box-type atmosphere protection heating furnace, which cannot be realized by general box-type furnace feeding and discharging equipment.

Contents of the invention

In view of the above problems, the present invention provides a fast loading and unloading equipment for multi-layer box-type heating furnace. Drive the ball screw to move up and down quickly, with high repeat positioning accuracy, small running vibration, and accurate snatch position. It can quickly load and unload thin plates with a thickness of less than 3mm in a multi-layer box-type heating furnace.

A kind of fast loading and unloading industrial equipment for a multi-layer box-type heating furnace proposed by the present invention includes a main support frame (4), a Z-axis up and down movement mechanism, a main slider body (2), an X-axis movement mechanism, and an interchangeable finger Manipulator (5), Z-axis motor (1), X-axis motor (3);

The Z-axis up and down motion mechanism comprises an underframe (23), the first ball screw group (9), a linear guide (8) and a rail slide block (10) on the linear guide (8); the underframe (23) passes through Bolts are vertically fixed on the main support frame (4), the first ball screw group (9) includes a ball screw (91) and a screw nut (92), and the first ball screw is driven by the Z-axis motor (1) The ball screw (91) of group (9);

The X-axis motion mechanism includes a second ball screw group (14), a circular guide rail pair (15), and a second slider (24); the second ball screw group (14) includes a ball screw (141) and a ball screw The screw nut (142) on the leading screw drives the ball screw (141) of the second ball screw group (14) by the X-axis motor (3); the circular guide rail pair (15) includes a circular guide rail (151 ) and the first slider (152) on the circular guide rail (151); the X-axis motion mechanism and the Z-axis motion mechanism are slidably connected by the main slider body (2);

The interchangeable-finger manipulator (5) includes a round slide bar (19) and a connecting beam (18) connected to the round slide bar (19), and is slidably connected with the X-axis motion mechanism through the link beam (18) and the round slide bar (19).

Preferably, the Z-axis motion mechanism also includes a first elastic coupling (6), an upper bearing seat (7), and a lower bearing seat (11); the upper bearing seat (7) and the lower bearing seat (11) are fixed on The upper and lower sides of the underframe (23), the left and right sides of the underframe (23) are respectively fixed with a vertical linear guide (8); the ball screw (91) passes through the upper bearing seat (7) and the lower bearing The seat (11) is fixed on the base frame (23), and is connected with the Z-axis motor (1) on one side of the base frame (23) through the first elastic coupling (6).

Preferably, the X-axis motion mechanism also includes a base plate seat (22), a second elastic coupling (12), a bearing seat one (13) and a bearing seat two (16); the bearing seat one (13) and the bearing seat Two (16) are respectively fixed on the left and right sides of the base plate seat (22), and a set of the circular guide rail pairs (15) and a second slide block (24) are respectively fixed on the remaining two sides; the ball screw (141) passes through Bearing seat one (13) and bearing seat two (16) are fixed on the base plate seat (22), and are connected with the X-axis motor (3) on one side of the X-axis motion mechanism through the second elastic coupling (12).

Preferably, the interchangeable finger manipulator (5) also includes a manipulator end (20) and a locking screw (17); ) and the manipulator end (20) to achieve a tight connection.

Preferably, the sliding connection mode of the X-axis motion mechanism and the Z-axis motion mechanism is: one end of the main slider body (2) is connected with the guide rail slider (10) of the Z-axis motion mechanism and the first ball screw group ( 9) The screw nut (92) realizes the coordinated positioning with the Z-axis motion mechanism, and the other end is connected and fixed with the base plate seat (22) of the X-axis motion mechanism by bolts.

Preferably, the sliding connection between the interchangeable finger manipulator (5) and the X-axis motion mechanism is: the connecting beam (18) and the screw nut (142) in the second ball screw group (14) and the circular guide rail pair ( The first slider (152) in 15) is connected, and the round rod (19) is inserted into the second slider (24).

Preferably, the manipulator end (20) includes 7 fingers and a finger support frame, each finger is made of heat-resistant steel Cr25Ni20 material sprayed with high-temperature heat-insulating material, and a single finger is in the shape of a triangle, with a thin front end and a thick rear end. The sharp corners are rounded; each finger is welded to the finger support frame; and the finger support frame is fastened and connected to the round rod (19) through a locking screw (17).

Preferably, the Z-axis motor is installed vertically on the top of the Z-axis motion mechanism, and is installed and positioned by bolts; the X-axis motor is installed horizontally on either side of the left and right sides of the X-axis motion mechanism, and is installed by bolts position.

Preferably, the rapid loading and unloading equipment for the multi-layer box-type heating furnace further includes a counterweight (21), and the counterweight (21) is connected to the rear end position of the middle beam on the main support frame (4) by bolts.

After adopting the present invention, its beneficial effect is:

First, the weight of the end-holding sheet is small, and the round slide bar can be used to slide on the X-axis movement mechanism, and at the same time support the mechanical finger to hold the sheet.

Second, the X-axis support seat is supported and guided by a circular guide rail. The high-power motor directly drives the ball screw group, and the ball screw group drives. The ball screw and the circular guide rail are installed on the same level, which reduces the difficulty of installation and omits the structure of the reducer. , which reduces the overall weight of the sliding unit and better realizes the rapid movement of the manipulator.

Third, the Z-axis support seat is supported and guided by a straight line, and the high-power motor directly drives the ball screw group, which is driven by the ball screw group, omitting the structure of the reducer, reducing the overall weight, and better realizing the rapid acceleration and deceleration of the sliding unit. sports.

Description of drawings

Fig. 1 is a front view of the overall structure of an embodiment of the present invention.

Fig. 2 is a left view of the overall structure of an embodiment of the present invention.

Fig. 3 is a schematic diagram of a Z-axis motion mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of an X-axis motion mechanism according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of an interchangeable-finger manipulator according to an embodiment of the present invention.

Detailed ways

The following describes the rapid loading and unloading equipment for a multi-layer box-type heating furnace according to an embodiment of the present invention with reference to the accompanying drawings.

Fig. 1 is a structural schematic diagram of a fast loading and unloading industrial robot for a multi-layer box-type heating furnace according to an embodiment of the present invention.

As shown in Fig. 1 and Fig. 2, the fast loading and unloading industrial robot used in the multi-layer box-type heating furnace in this embodiment includes a main support frame 4, a counterweight 21, a Z-axis up and down movement mechanism, and a main slider body 2 , X-axis motion mechanism, interchangeable finger manipulator 5, Z-axis motor 1, X-axis motor 3.

The Z-axis up and down movement mechanism is vertically arranged and fixed on the main support frame 4. The Z-axis motor 1 drives the ball screw group 9 in the Z-axis up and down movement mechanism; the main slider body 2 is fixedly connected to the Z-axis through bolts to move up and down. The guide rail slider 10 of the mechanism and the screw nut in the ball screw group 9; the X-axis movement mechanism is arranged horizontally, fixedly connected to the main slider body 2 by bolts, perpendicular to the Z-axis up and down movement mechanism, and driven by the X-axis motor 3 The ball screw group 14; the X-axis motion mechanism realizes the sliding support for the interchangeable finger manipulator 5 through the sliding cooperation with the circular guide rail pair 15, the second slider 24 and other components.

Details are as follows:

As shown in FIG. 3 , the Z-axis motion mechanism includes a chassis 23 , an elastic coupling 6 , an upper bearing seat 7 , a first ball screw group 9 , a lower bearing seat 11 , a linear guide rail 8 and a guide rail slider 10 . The bottom frame 23 is fixed on the vertical support surface of the main support frame 4 by bolts, the upper and lower sides of the bottom frame 23 are respectively fixed (bolted) the upper bearing seat 7 and the lower bearing seat 11, and the left and right sides are respectively fixed with one The vertical linear guide rail 8 and the ball screw group 9 include a ball screw 91 and a screw nut 92 on the ball screw 91 . The ball screw 91 is also located in the vertical direction, parallel to the linear guide rail 8, the two ends are vertically fixed on the bottom frame 23 through the upper bearing seat 7 and the lower bearing seat 11, and the top end is connected to the top of the bottom frame 23 through the elastic coupling 6. The Z-axis motor 1 is connected, and the Z-axis motor 1 is used to drive the ball screw 91. The two linear guide rails 8 on the left and right sides of the chassis 23 are parallel to each other, and two guide rail sliders 10 are arranged on each linear guide rail 8 to slide and cooperate with the linear guide rail 8. The guide rail slider 10 and the screw nut 92 on the ball screw pass through The main slider body 2 is fixedly connected by bolts.

As shown in FIG. 4 , the X-axis motion mechanism includes a base plate seat 22 , an elastic coupling 12 , a bearing seat 13 , a second ball screw group 14 , a circular guide pair 15 , a bearing seat 2 16 and a second slider 24 . The left and right sides of the base plate seat 22 are respectively fixed (bolted) to the bearing seat 13 and the bearing seat 2 16, and the front and rear sides (the side close to the Z-axis motion mechanism and the side far away from the Z-axis motion mechanism in the horizontal direction) are respectively fixed to one set Round guide rail pair 15. In addition, the front and rear sides of the bottom plate base 22 are respectively provided with second sliders 24 that cooperate with the smooth bar 19 of the replaceable finger manipulator 5, so that the second slider 14 can be inserted into the round bar 19, and can be exchanged. Refers to the manipulator 5 sliding left and right. The ball screw group 14 includes a ball screw 141 and a screw nut 142 on the ball screw. The two ends of the ball screw 141 are horizontally fixed on the base plate seat 22 through the bearing seat 13 and the bearing seat 2 16. The device 12 is connected to the X-axis motor 3 on one side of the X-axis motion mechanism (in this embodiment, the left side), and the X-axis motor 3 is used to drive the ball screw 141. Each group of circular guide rail pairs 15 on the front and rear sides of the base plate seat 22 includes a circular guide rail 151 and a first slide block 152 positioned on the circular guide rail 151. The circular guide rail 151 in the circular guide rail pair 15 is positioned in the horizontal direction, and the The ball screws 141 in group 14 are parallel to each other. The bottom plate seat 22 is fixedly connected to the main slider body 2 by bolts, and realizes the sliding connection between the X-axis motion mechanism and the Z-axis motion mechanism, so that the X-axis motion mechanism can move up and down on the Z axis, and indirectly drives the interchangeable finger manipulator 5 in Up and down movement on the Z axis.

As shown in Figure 5, the interchangeable finger manipulator 5 is slidingly connected to the X-axis motion mechanism, and is located on the opposite side of the X-axis motor 3 (in this embodiment, it is located on the right side of the X-axis motion mechanism). Starting from the end, it includes the manipulator end 20, the locking screw 17, the smooth rod 19, and the connecting beam 18 in sequence. The end of the manipulator 20 holds the plate, and the two ends of the smooth rod 19 protrude from the thin shafts with screw holes, which are respectively inserted into the corresponding positions of the connecting beam 18 and the manipulator end 20, and locked by the locking screw 17 to realize the smooth rod. 19 is firmly connected with the connecting beam 18 and the manipulator end 20 , for example, the manipulator end 20 can be replaced or installed by loosening and locking screws 17 . The connecting beam 18 is connected with the screw nut 142 in the ball screw group 14 of the X-axis motion mechanism and the first slider 152 in the circular guide rail pair 15 through bolts, and at the same time, based on the second sliders inserted into the front and rear sides of the base plate base 22 The smooth bar 19 in 24 cooperates with this second slider 24 to realize the sliding connection between the finger-changing manipulator 5 and the X-axis motion mechanism, so that the finger-changing manipulator 5 moves left and right on the X-axis.

The manipulator end 20 described in this embodiment includes 7 fingers and a finger support frame. Each mechanical finger is made of heat-resistant steel Cr25Ni20 material sprayed with high-temperature heat-insulating material. The sharp corners are rounded; each finger is welded on the finger support frame; the finger support frame is fastened and connected with the round rod 19 through the locking screw 17.

The counterweight 21 and the main support frame 4 are connected by bolts, for example, the counterweight 21 can be connected to the rear end of the middle beam on the main support frame 4 by bolts.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (9)

1. a quick loading and unloading equipment for multiple-layer box type heating furnace, comprises main backstop (4), Z axis up-down mechanism, master slider body (2), X-axis motion, interchangeable finger manipulator (5), Z axis motor (1), X-axis motor (3);

Described Z axis up-down mechanism comprises the guide rail slide block (10) on underframe (23), the first ball-screw group (9), line slideway (8) and line slideway (8); Underframe (23) is vertically fixed on main backstop (4) by bolt, first ball-screw group (9) comprises ball-screw (91) and screw (92), and drives the ball-screw (91) of the first ball-screw group (9) by Z axis motor (1);

Described X-axis motion comprises the second ball-screw group (14), round guide pair (15), the second slide block (24); Second ball-screw group (14) comprises the screw (142) on ball-screw (141) and ball-screw, is driven the ball-screw (141) of the second ball-screw group (14) by X-axis motor (3); The first slide block (152) that described round guide pair (15) comprises a round guide (151) and is positioned on this round guide (151); X-axis motion and Z axis up-down mechanism are slidably connected by master slider body (2);

The tie-beam (18) that interchangeable finger manipulator (5) comprises round slide-bar (19) and is connected with round slide-bar (19), and be slidably connected with X-axis motion by tie-beam (18) and round slide-bar (19).

2. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, it is characterized in that, Z axis up-down mechanism also comprises the first yielding coupling (6), top chock (7), step (11); Described top chock (7) and step (11) are fixed on described underframe (23) both sides up and down, and underframe (23) left and right sides fixes a vertical described line slideway (8) respectively; Ball-screw (91) is fixed on underframe (23) by top chock (7) and step (11), and is connected with the Z axis motor (1) of underframe (23) side by the first yielding coupling (6).

3. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, it is characterized in that, X-axis motion also comprises bottom block (22), the second yielding coupling (12), bearing block one (13) and bearing block two (16); Described bearing block one (13) and bearing block two (16) are individually fixed in bottom block (22) left and right sides, and all the other both sides fix round guide pair (15) described in a group and described second slide block (24) respectively; Ball-screw (141) is fixed on bottom block (22) by bearing block one (13) and bearing block two (16), and is connected with the X-axis motor (3) of X-axis motion side by the second yielding coupling (12).

4. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, is characterized in that, described interchangeable finger manipulator (5) also comprises manipulator termination (20), lock-screw (17); Round slide-bar (19) two ends realize being fastenedly connected with tie-beam (18) and manipulator termination (20) by described lock-screw (17) respectively.

5. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, it is characterized in that, X-axis motion with the mode of being slidably connected of Z axis up-down mechanism is: the screw (92) of guide rail slide block (10) and the first ball-screw group (9) that described master slider body (2) one end is bolted Z axis up-down mechanism realizes locating with coordinating of Z axis up-down mechanism, and the other end is connected and fixed by the bottom block (22) of bolt and X-axis motion.

6. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, it is characterized in that, described interchangeable finger manipulator (5) with the mode of being slidably connected of X-axis motion is: tie-beam (18) is connected with the screw (142) in the second ball-screw group (14) and the first slide block (152) in round guide pair (15), and round slide-bar (19) is nested in described second slide block (24).

7. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 4, it is characterized in that, described manipulator termination (20) comprises 7 fingers and finger bracing frame, every root finger all adopts heat resisting steel Cr25Ni20 material spraying high temperature thermal insulation material, single finger is triangular shaped, front end is thin, and rear end is thick, and all sharp corners carry out rounding; Every root finger is all welded on finger bracing frame; Described finger bracing frame realizes being fastenedly connected by lock-screw (17) and round slide-bar (19).

8. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, is characterized in that, described Z axis motor is vertically installed on Z axis up-down mechanism top, and installs location by bolt; Described X-axis motor level is installed on the either side in the X-axis motion left and right sides, and installs location by bolt.

9. the quick loading and unloading equipment of a kind of multiple-layer box type heating furnace according to claim 1, it is characterized in that, the quick loading and unloading equipment of described multiple-layer box type heating furnace also comprises balancing weight (21), and described balancing weight (21) is bolted the upper intermediate transverse girder back-end location of main backstop (4).