CN108866294A - Gear Ya Cuiji loading and unloading robot - Google Patents
Gear Ya Cuiji loading and unloading robot Download PDFInfo
- Publication number
- CN108866294A CN108866294A CN201810786275.0A CN201810786275A CN108866294A CN 108866294 A CN108866294 A CN 108866294A CN 201810786275 A CN201810786275 A CN 201810786275A CN 108866294 A CN108866294 A CN 108866294A
- Authority
- CN
- China
- Prior art keywords
- gear
- wire body
- heat treatment
- robot
- loading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010438 heat treatment Methods 0.000 claims abstract description 27
- 238000001816 cooling Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 15
- 238000010791 quenching Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 239000012636 effector Substances 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 8
- 210000004744 fore-foot Anatomy 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000007664 blowing Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0006—Details, accessories not peculiar to any of the following furnaces
- C21D9/0018—Details, accessories not peculiar to any of the following furnaces for charging, discharging or manipulation of charge
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0062—Heat-treating apparatus with a cooling or quenching zone
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/32—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for gear wheels, worm wheels, or the like
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Gear Processing (AREA)
- Manipulator (AREA)
- Heat Treatments In General, Especially Conveying And Cooling (AREA)
Abstract
The present invention relates to a kind of gear Ya Cuiji loading and unloading robot, there is gear heat treatment equipment, gear to quench machine, material conveying mechanism and security protection system；Material conveying mechanism includes gear input wire body, gear output wire body and gear cooling bench；Gear input wire body is installed on the discharge port of gear heat treatment equipment, material tray of the arrangement conveying for the gear after placing heat treatment in gear input wire body；Gear output line body is located at the inflow position of gear cooling bench；Quench machine, gear output wire body and gear cooling bench of gear heat treatment equipment, gear input wire body, robot base, gear passes sequentially through security protection system and surrounds in the arrangement that joins end to end；Robot pickup unit is installed on robot base.The present invention for current gear pressure quench machine loading and unloading work status, cooperate enterprise completion production upgrading, improve production efficiency, worker freed from extremely severe working environment.
Description
Technical field
The present invention relates to a kind of gear Ya Cuiji loading and unloading robots, gear pickup and tooth after being mainly used for heat treatment
Wheel load is quenched the loading and unloading of machine.
Background technique
Currently, mainly by being accomplished manually, man efficiency is low in the loading and unloading work that gear pressure quenches machine, and at heat
Backgear extreme temperatures are managed, manual work has very big security risk.Work on the spot environment is poor, dust and equipment in factory
The noise of generation can also damage the health of worker.In addition, artificial production management is at high cost, wage for workmen is higher.
Based on the above technical background, gear pickup work and gear pressure after heat treatment are quenched the loading and unloading of machine, need a set of robot
Pickup, and can be with the production system of automatic loading/unloading.
Summary of the invention
The purpose of the present invention is overcoming defect of the existing technology, one kind is provided and improves production efficiency, by worker from
The gear Ya Cuiji loading and unloading robot freed in extremely severe working environment.
Realizing the technical solution of the object of the invention is：A kind of gear Ya Cuiji loading and unloading robot has gear heat treatment
Equipment, gear are quenched machine, material conveying mechanism and security protection system；The material conveying mechanism includes gear input wire body, tooth
Wheel output wire body and gear cooling bench；The gear input wire body is installed on the discharge port of gear heat treatment equipment, and gear is defeated
Enter material tray of the arrangement conveying for the gear after placing heat treatment in wire body；It is cooling that the gear output line body is located at gear
The inflow position of platform；The gear heat treatment equipment, gear input wire body, robot base, gear are quenched machine, gear output wire body
And gear cooling bench passes sequentially through security protection system and surrounds in the arrangement that joins end to end；It is installed on the robot base organic
Device people's pickup unit.
Robot pickup unit includes mechanical arm and end effector described in above-mentioned technical proposal；The mechanical arm
One end is bolted with robot base, and the other end is connected by connecting flange plate with end effector；The end effector
Including clamping cylinder and clamping jaw；The clamping cylinder has upper and lower two groups, and controls the clamping jaw being arranged in pairs accordingly respectively.
Two setting circle pins being arranged upward are respectively fixed on the fore paw and rear solid end of clamping jaw on the upside of above-mentioned technical proposal；
Two setting circle pins being arranged downward are respectively fixed on the fore paw and rear solid end of the clamping jaw of downside.
Also there is above-mentioned technical proposal the visual identity of the tail portion of the gear for being installed on material conveying mechanism input wire body to draw
Lead unit；The visual identity guidance unit includes vision bracket, industrial camera and heat shield；The lower end of the vision bracket
It is fixedly installed in the side of the tail portion of gear input wire body, upper end is equipped with industrial camera by industrial camera mounting plate；It is described
Heat shield is covered on industrial camera.
Gear described in above-mentioned technical proposal, which exports, is equipped with replaceable collection tray platform at the conveying mouth of wire body.
Electric control system described in above-mentioned technical proposal includes the machine for being mounted on the side of visual identity guidance unit together
Device people control cabinet and electrical control cabinet.
Security protection system described in above-mentioned technical proposal includes safety protective door and protective fence；The safety protective door
Corresponding collection tray platform position setting；The protective fence by gear heat treatment equipment, gear input wire body, robot base,
Gear heat treatment equipment, gear output wire body and gear cooling bench are surrounded in the arrangement setting that joins end to end.
After adopting the above technical scheme, the present invention have the effect of it is following positive：
(1) present invention for current gear pressure quench machine loading and unloading work status, cooperate enterprise completion production liter
Grade transformation, improves production efficiency, worker is freed from extremely severe working environment.
(2) two setting circle pins being arranged upward are respectively fixed on the fore paw and rear solid end of the clamping jaw of upside of the invention；
Two setting circle pins being arranged downward are respectively fixed on the fore paw and rear solid end of the clamping jaw of downside；It can be used for the positioning of gear,
Guarantee the stability of clamping.
(3) replaceable collection tray platform, robot pickup list are equipped at the conveying mouth of gear of the invention output wire body
A pair of of clamping jaw arrival collection tray platform of member drive clamping pallet puts pallet position, and empty pallet is put on collection tray platform, according to
It is secondary to occupy collection tray platform, signal is issued, factory's fork truck takes fully loaded collection tray platform away, and replaces an empty pallet
Collection table, signal reset, which starts again at work, reduce worker and suck dust, and reduce the noise that equipment generates
The health of worker is damaged.
Detailed description of the invention
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail, wherein
Fig. 1 is general arrangement of the present invention.
Fig. 2 is that robot pickup unit of the invention is schemed in detail.
Fig. 3 is that visual identity guidance unit of the invention is schemed in detail.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, there is the present invention gear heat treatment equipment 1, gear to quench machine 8, material conveying mechanism and security protection
System；Material conveying mechanism includes gear input wire body 2, gear output wire body 12 and gear cooling bench 13；Gear input line
Body 2 is installed on the discharge port of gear heat treatment equipment 1, and arrangement conveying is for the tooth after placing heat treatment in gear input wire body 2
The material tray 3 of wheel；Gear output wire body 12 is located at the inflow position of gear cooling bench 13；Gear heat treatment equipment 1, gear are defeated
Enter wire body 2, robot base 14, gear quench machine 8, gear output wire body 12 and gear cooling bench 13 pass sequentially through security protection
System is surrounded in the arrangement that joins end to end；Robot pickup unit 7 is installed on robot base 14.
Robot pickup unit 7 includes mechanical arm 15 and end effector；One end and robot bottom of mechanical arm 15
Seat 14 is bolted, and the other end is connected by connecting flange plate 16 with end effector；End effector includes clamping cylinder 17
With clamping jaw 18；Clamping cylinder 17 has upper and lower two groups, and controls the clamping jaw 18 being arranged in pairs accordingly respectively.
Two setting circle pins 19 being arranged upward are respectively fixed on the fore paw and rear solid end of the clamping jaw 18 of upside；The folder of downside
Two setting circle pins 19 being arranged downward are respectively fixed on the fore paw and rear solid end of pawl 18.
Also there is the visual identity guidance unit 4 of the tail portion for the gear input wire body 2 for being installed on material conveying mechanism；Vision
Identify that guidance unit 4 includes vision bracket 20, industrial camera 22 and heat shield 23；The lower end of vision bracket 20 is fixedly installed in
Gear inputs the side of the tail portion of wire body 2, and upper end is equipped with industrial camera 22 by industrial camera mounting plate 21；Industrial camera 22
On be covered with heat shield 23.
Gear, which exports, is equipped with replaceable collection tray platform 11 at the conveying mouth of wire body 12.
Electric control system provides power supply for this system, and electric control system includes being mounted on visual identity guidance list together
The robot control cabinet 5 and electrical control cabinet 6 of the side of member 4.
Security protection system includes safety protective door 9 and protective fence 10；Safety protective door 9 corresponds to collection tray platform 11
Position setting；Protective fence 10 quenches gear heat treatment equipment 1, gear input wire body 2, robot base 14, gear machine 8, tooth
Wheel output wire body 12 and gear cooling bench 13 are surrounded in the arrangement setting that joins end to end.
The operation principle of the present invention is that：When gear pressure is quenched machine loading and unloading machine man-hour, gear inputs wire body 2 and will carry
It is heat-treated back-geared 3 conveyer belt robot feeding position of pallet, and issues the signal of acquisition image, visual identity guidance unit 4
It identifies the type of gear, and calculates number and the position of pallet gear, type, number and location information are sent to machine
Device people control cabinet 5, robot control cabinet 5 control robot pickup unit 7 according to location information and drive end effector wherein
A pair of of clamping jaw 18 reaches the position, and opens corresponding clamping cylinder 17, and the gear after heat treatment is clamped.After gripper,
Robot control cabinet 5 controls robot pickup unit 7 with moving gear according to gear information, reaches corresponding gear pressure and quenches machine
8, it reaches to open clamping cylinder 17 behind robot blowing position gear after heat treatment is put into gear pressure and quench machine 8.If gear
Pressure quench machine 8 have it is processed at gear, robot pickup unit 7 overturns end effector, using another pair clamping jaw 18 by tooth
Wheel takes out, and afterwards turns over end effector the gear after heat treatment is put into gear pressure and quench machine 8.Gear is put into gear pressure to quench machine
It after 8, quenches the feeding signal of machine 8 if receiving gear pressure, robot control cabinet 5 controls robot pickup unit 7 and reaches accordingly
Gear pressure is quenched the feeding position of machine 8, will pressure quench after gear take out, the gear after robot pickup unit 7 is quenched with dynamic pressure reaches tooth
Gear all on robot pickup unit 7 is put into gear output wire body 12, flows into tooth by the blowing position of wheel output wire body 12
Wheel cooling bench 13 carries out subsequent process.The number of gears information of pallet 3, machine are identified according to visual identity guidance unit 4
People's control cabinet 5 controls robot pickup unit 7 and successively takes the gear on pallet 3, then controls the arrival of robot pickup unit 7
Gear input wire body 2 takes pallet position, and one of clamping cylinder 17 of end effector is opened, then corresponding a pair of of clamping jaw
18 openings clamp pallet 3, and robot pickup unit 7 drives a pair of of the clamping jaw 18 for clamping pallet 3 to reach collection tray platform 11
Pallet position is put, pallet is put on collection tray platform 11, successively occupies collection tray platform 11, issues signal, factory's fork truck will
Fully loaded collection tray platform 11 is taken away, and replaces an empty collection tray platform 11, and signal resets, which starts again at work
Make.The system according to above-mentioned workflow complete heat treatment after gear pickup, gear pressure quench machine automatic loading/unloading work.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (7)
1. a kind of gear Ya Cuiji loading and unloading robot, it is characterised in that：It quenches machine with gear heat treatment equipment (1), gear
(8), material conveying mechanism and security protection system；The material conveying mechanism includes gear input wire body (2), gear output line
Body (12) and gear cooling bench (13)；Gear input wire body (2) is installed on the discharge port of gear heat treatment equipment (1),
Material tray (3) of the arrangement conveying for the gear after placing heat treatment in gear input wire body (2)；The gear exports wire body
(12) it is located at the inflow position of gear cooling bench (13)；The gear heat treatment equipment (1), gear input wire body (2), robot
Pedestal (14), gear quench machine (8), gear output wire body (12) and gear cooling bench (13) pass sequentially through security protection system and enclose
Around in the arrangement that joins end to end；Robot pickup unit (7) is installed on the robot base (14).
2. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that：The robot pickup unit
It (7) include mechanical arm (15) and end effector；One end of the mechanical arm (15) and robot base (14) bolt connect
It connects, the other end is connected by connecting flange plate (16) with end effector；The end effector include clamping cylinder (17) and
Clamping jaw (18)；The clamping cylinder (17) has upper and lower two groups, and controls the clamping jaw (18) being arranged in pairs accordingly respectively.
3. gear Ya Cuiji loading and unloading robot according to claim 2, it is characterised in that：Before the clamping jaw (18) of upside
Two setting circle pins (19) being arranged upward are respectively fixed on pawl and rear solid end；It is each on the fore paw and rear solid end of the clamping jaw (18) of downside
It is fixed with two setting circle pins (19) being arranged downward.
4. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that：It is also defeated with material is installed on
The visual identity guidance unit (4) for sending the gear of mechanism to input the tail portion of wire body (2)；Visual identity guidance unit (4) packet
Include vision bracket (20), industrial camera (22) and heat shield (23)；The lower end of the vision bracket (20) is fixedly installed in tooth
The side of the tail portion of wheel input wire body (2), upper end are equipped with industrial camera (22) by industrial camera mounting plate (21)；The work
Heat shield (23) are covered on industry camera (22).
5. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that：The gear exports wire body
(12) replaceable collection tray platform (11) is equipped at conveying mouth.
6. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that：The electric control system packet
Include the robot control cabinet (5) and electrical control cabinet (6) for being mounted on the side of visual identity guidance unit (4) together.
7. gear Ya Cuiji loading and unloading robot according to claim 5, it is characterised in that：The security protection system packet
Include safety protective door (9) and protective fence (10)；Corresponding collection tray platform (11) the position setting of the safety protective door (9)；
Gear heat treatment equipment (1), gear are inputted wire body (2), robot base (14), gear heat treatment by the protective fence (10)
Equipment (8), gear output wire body (12) and gear cooling bench (13) are surrounded in the arrangement setting that joins end to end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810786275.0A CN108866294A (en) | 2018-07-17 | 2018-07-17 | Gear Ya Cuiji loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810786275.0A CN108866294A (en) | 2018-07-17 | 2018-07-17 | Gear Ya Cuiji loading and unloading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108866294A true CN108866294A (en) | 2018-11-23 |
Family
ID=64302651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810786275.0A Pending CN108866294A (en) | 2018-07-17 | 2018-07-17 | Gear Ya Cuiji loading and unloading robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108866294A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4205874A4 (en) * | 2020-08-28 | 2024-03-20 | Nippon Steel Corporation | Press molded article manufacturing method, conveyance device for heated workpiece, and hot press manufacturing line |
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| CN101509055A (en) * | 2009-03-20 | 2009-08-19 | 天津市鼎元工业炉新技术开发有限公司 | Press quenching mechanical arm apparatus |
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| CN105197584A (en) * | 2015-07-10 | 2015-12-30 | 上海微松工业自动化有限公司 | Automatic feeding device with robots |
| CN106435602A (en) * | 2016-08-30 | 2017-02-22 | 赫菲斯热处理系统江苏有限公司 | Tray push type press quenching device |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN206359579U (en) * | 2016-12-16 | 2017-07-28 | 苏州阿特拉斯机器人系统工程有限公司 | Robot conveying device for quenching |
| CN107150246A (en) * | 2017-07-10 | 2017-09-12 | 安徽海思达机器人有限公司 | A kind of robot assisted Digit Control Machine Tool automatic loading and unloading device and method |
| US9868219B1 (en) * | 2017-02-25 | 2018-01-16 | Citic Dicastal Co., Ltd | Self-adjusting robot clamping jaw for grabbing hub |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN208883937U (en) * | 2018-07-17 | 2019-05-21 | 无锡黎曼机器人科技有限公司 | A kind of gear Ya Cuiji loading and unloading robot |
-
2018
- 2018-07-17 CN CN201810786275.0A patent/CN108866294A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509055A (en) * | 2009-03-20 | 2009-08-19 | 天津市鼎元工业炉新技术开发有限公司 | Press quenching mechanical arm apparatus |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| CN105197584A (en) * | 2015-07-10 | 2015-12-30 | 上海微松工业自动化有限公司 | Automatic feeding device with robots |
| CN105171551A (en) * | 2015-08-28 | 2015-12-23 | 江苏天宏自动化科技有限公司 | Automatic deburring production line for hub robot |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN106435602A (en) * | 2016-08-30 | 2017-02-22 | 赫菲斯热处理系统江苏有限公司 | Tray push type press quenching device |
| CN206359579U (en) * | 2016-12-16 | 2017-07-28 | 苏州阿特拉斯机器人系统工程有限公司 | Robot conveying device for quenching |
| US9868219B1 (en) * | 2017-02-25 | 2018-01-16 | Citic Dicastal Co., Ltd | Self-adjusting robot clamping jaw for grabbing hub |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
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| CN208883937U (en) * | 2018-07-17 | 2019-05-21 | 无锡黎曼机器人科技有限公司 | A kind of gear Ya Cuiji loading and unloading robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4205874A4 (en) * | 2020-08-28 | 2024-03-20 | Nippon Steel Corporation | Press molded article manufacturing method, conveyance device for heated workpiece, and hot press manufacturing line |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |
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| RJ01 | Rejection of invention patent application after publication |