CN113102675A

CN113102675A - Industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device

Info

Publication number: CN113102675A
Application number: CN202110401207.XA
Authority: CN
Inventors: 侯咸清; 李永洪; 王晓慧
Original assignee: Shanghai Carrier Intelligent Technology Co ltd
Current assignee: Shanghai Carrier Intelligent Technology Co ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-07-13

Abstract

The invention relates to an industrial robot applied to a light bearing ring high-temperature hot forging material taking and placing device, which is suitable for a light bearing ring below 1 kilogram and comprises an industrial robot arranged between a heating station and a forging station, wherein the industrial robot is used for transferring a workpiece positioned at the heating station to the forging station, the industrial robot comprises a base, a height adjusting assembly, a first motion assembly, a second motion assembly, a third motion assembly, a support assembly, a clamp assembly and a control assembly, and the time for the clamp assembly to clamp the workpiece from the heating station and transfer the workpiece to the forging station is less than 4 seconds. Compared with other existing industrial robots, the industrial robot has the advantages of being high in speed, high in degree of freedom, low in cost, small in occupied area, resistant to high temperature, good in performance, high in production efficiency, not prone to dropping of workpieces, and capable of solving the problems that a robot and a gripper cannot resist high temperature, production efficiency is low, labor cost and operation cost are high in the related technology.

Description

Industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device

Technical Field

The invention relates to the technical field of intelligent industrial robots, in particular to a material taking and placing device of an industrial robot applied to high-temperature hot forging of a light bearing ring.

Background

At present, on a forging line of a bearing ring, a manual operation mode is generally adopted to grab and place a high-temperature bearing ring on the forging line from one station to another station, but because the temperature of a workshop working environment is very high, particularly in summer, the high-temperature bearing ring is hot, a worker only needs to keep arms dry and dissipate heat, potential safety hazards are directly brought, and generally, the worker needs to leave a post for half an hour to drink water for rest and dissipate heat every 2 hours. After a long time when domestic robots appear in the market, people hope to adopt the robots to replace manual work to transfer high-temperature bearing rings on a forging line.

Through research in the years, for a forging line with a heavy production rhythm (a relatively long cycle, such as 10 seconds) of more than 160 tons, such as a 600-ton forging machine and the like, an industrial robot with a weight of 6 shafts and 50 kilograms and an industrial robot with a weight of 6 shafts and 150 kilograms can be used for automatic transformation and application. However, for a forging bed production line of about two thirds of the total number, such as 100 tons and 160 tons, because the production rhythm is slow due to light workpieces (the period is relatively short, such as 5 seconds), and the comprehensive production efficiency of the 6-axis industrial robot is about one third lower than that of manual work due to complex production actions, some production lines which are already installed are also detached successively.

Therefore, in the current forging line, the requirements of high environmental temperature of a bearing ring forging workshop on high temperature resistance of a robot, high temperature (800 ℃) of a gripped workpiece on heat insulation and cooling of a gripper, high additional value of a bearing amount, low sensitivity to project cost price, production efficiency and electricity charge (heat energy supply) cost reduction on production efficiency exist. Accordingly, the problems corresponding to the requirements are that the robot cannot resist high temperature, the gripper cannot resist high temperature, the production efficiency is low, the labor cost is high, and the operation cost is high.

Therefore, no effective solution is provided for the problems that the robot and the gripper cannot resist high temperature, the production efficiency is low, the labor cost and the operation cost are high, and the like.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a material taking and placing device of an industrial robot applied to high-temperature hot forging of a light bearing ring, so as to at least solve the problems that the robot and a gripper in the related technology cannot resist high temperature, the production efficiency is low, and the labor cost and the operation cost are high.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides an industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device, includes:

the industrial robot is arranged between the heating station and the forging station and used for transferring a workpiece positioned at the heating station to the forging station, and comprises a base, a height adjusting assembly, a first moving assembly, a second moving assembly, a third moving assembly, a support assembly, a clamp assembly and a control assembly, wherein the workpiece is a light bearing ring;

the height adjusting assembly is mounted on the base and used for adjusting the height of the first moving assembly;

the first motion assembly is mounted on the height motion assembly and used for adjusting the height of the second motion assembly;

the second motion assembly is mounted on the first motion assembly and used for rotating the third motion assembly;

the third motion assembly is arranged on the second motion assembly and is used for driving the bracket assembly to horizontally reciprocate;

the bracket assembly is detachably mounted on the third moving assembly and used for fixing the clamp assembly;

the fixture assembly is mounted to the third motion assembly for gripping a workpiece at a heating station and transferring the workpiece to a forging station, the fixture assembly comprising:

a fourth drive element mounted to the carriage assembly;

the two clamping jaws are symmetrically arranged and connected with the fourth driving element, each clamping jaw comprises at least two symmetrically arranged clamping bulges, and under the condition that the clamp assembly clamps a workpiece, the at least two clamping bulges of each clamping jaw abut against the workpiece;

the third limiting element is sleeved on the two clamping jaws and fixedly connected with one clamping jaw, and the third limiting element is movably connected with the other clamping jaw;

wherein the clamping jaw and the third limiting element are both made of high-temperature-resistant materials, and the bearing temperature of the clamping jaw and the third limiting element is at least over 800 ℃;

the control assembly is installed on the base and is electrically connected with the height adjusting assembly, the first moving assembly, the second moving assembly, the third moving assembly and the clamp assembly respectively.

In some of these embodiments, the height adjustment assembly comprises:

a first rail member vertically detachably mounted to the base;

wherein the first motion assembly is mounted to the first track element.

In some of these embodiments, the first motion assembly comprises:

a first carriage element slidably mounted to the height adjustment assembly, the second motion assembly being mounted to the first carriage element;

a first transmission element mounted inside the first carrier element and slidably connected to the first carrier element;

a first drive element connected with the first transmission element;

wherein the first carrier element reciprocates vertically with the first drive element driving the first transmission element.

In some of these embodiments, the second motion assembly comprises:

a second carriage element mounted to the first motion assembly, the third motion assembly being mounted to the second carriage element;

and the second driving element is connected with the second support element and is used for driving the second support element to rotate.

In some of these embodiments, the third motion assembly comprises:

a fourth carriage element mounted to the second motion assembly;

a third drive element mounted to a first end of the fourth carrier element;

a first gear element mounted to a first end of the fourth carrier element and connected to the third drive element;

a second gear member mounted to the second end of the fourth carrier member and disposed opposite the first gear member;

a sliding element mounted to the fourth bracket element;

a second transmission element, a first end of the second transmission element is connected with a first end of the sliding element, a second end of the second transmission element is connected with a second end of the sliding element, and the second transmission element is respectively engaged with the first gear element and the second gear element;

a fifth carriage element mounted to the slide element, the carriage assembly being mounted to the fifth carriage element;

under the action of the third driving element, the first gear element rotates actively and drives the second gear element to rotate in a driven manner through the second transmission element, so that the sliding element horizontally reciprocates between the first end of the fourth support element and the second end of the fourth support element.

In some of these embodiments, the fourth carrier element, the sliding element and the fifth carrier element are made of a lightweight material.

In some of these embodiments, the fourth carrier element, the sliding element and the fifth carrier element are made of hollow aluminum material.

In some of these embodiments, the third motion assembly further comprises:

the at least one first limiting element is arranged on at least one side of the fourth support element and is electrically connected with the control assembly;

the at least one second limiting element is arranged on at least one side of the sliding element and corresponds to the first limiting element;

wherein the control component controls the third driving element to stop acting under the condition that the first limiting element detects the second limiting element.

In some of these embodiments, the third motion assembly further comprises:

a first baffle member mounted to the second end of the fourth carrier member, the second gear member being mounted to the interior of the first baffle member;

two second baffle elements symmetrically arranged at two sides of the first baffle element

The first baffle plate elements are detachably connected with the second baffle plate elements in a position adjusting mode through the first adjusting elements;

the first baffle plate element is detachably connected with the second baffle plate elements in a position adjusting mode through the second adjusting elements;

the axial directions of the first adjusting elements are the same, the axial directions of the second adjusting elements are the same, and the axial directions of the first adjusting elements are perpendicular to the axial directions of the second adjusting elements.

In some of these embodiments, the stent assembly is Z-shaped, the stent assembly comprising:

a first L-shaped plate connected with the third kinematic assembly;

the second L-shaped plate is respectively connected with the first L-shaped plate and the third movement assembly;

the third L-shaped plate is connected with the first L-shaped plate;

wherein the fourth drive element is mounted to the third L-shaped plate.

In some of these embodiments, the second L-shaped plate is disposed in an F-shape with the first L-shaped plate.

In some of these embodiments, the third L-shaped plate is Z-shaped from the first L-shaped plate.

In some of these embodiments, the bracket assembly is made of a high temperature resistant alloy material.

In some of these embodiments, the bracket assembly is made of a steel alloy material.

In some embodiments, the first L-shaped plate is provided with a plurality of mounting holes with different vertical heights, and the third L-shaped plate is assembled and connected with at least one mounting hole to adjust the vertical height of the third L-shaped plate.

In some of these embodiments, each of the jaws comprises:

the first groove is arranged on the inner side of the clamping jaw;

the clamping jaw comprises a clamping jaw body, a first groove is formed in the clamping jaw body, the clamping jaw body is provided with a first groove, the first groove is arranged on the inner side of the clamping jaw body, the second groove is arranged in the middle of the first groove, the radius of the second groove is smaller than that of the first groove, and the clamping protrusion is formed at the joint of the second groove and the first groove.

In some of these embodiments, the ratio of the radius of the second groove to the radius of the first groove is 1: 5-1: 20.

in some of these embodiments, the control assembly comprises:

the cabinet element is arranged on the base and comprises an air inlet and an air outlet, the air inlet is arranged on one side of the cabinet element, the air outlet is arranged on the other side of the cabinet element, and the vertical height of the air inlet is smaller than or equal to that of the air outlet;

the electric control element is arranged inside the cabinet element and is respectively and electrically connected with the height adjusting assembly, the first moving assembly, the second moving assembly, the third moving assembly and the clamp assembly;

the heat dissipation element is arranged inside the cabinet element, is close to the air outlet and is electrically connected with the electric control element;

the control panel element is arranged on the outer side of the cabinet element and is electrically connected with the electric control element;

the reminding element is arranged on the outer side of the cabinet element and is electrically connected with the electric control element;

and the control button element is arranged on the outer side of the cabinet element, is close to the control panel element and is electrically connected with the electric control element.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

compared with the prior art, the industrial robot applied to the light bearing ring high-temperature hot forging material taking and placing device has the following technical effects:

(1) the speed is high: compared with the existing 6-axis industrial robot, the 3-axis linkage industrial robot has the advantages that the linkage speed is higher than that of 6-axis linkage, the efficiency is improved by over 50 percent, and the linkage speed is 10 percent higher than that of manual work;

(2) the degree of freedom is multiple: compared with the traditional 3-axis truss linear motion mechanical arm, the rotation of the rotary motion shaft obtains more spatial motion degrees of freedom, and the production action requirement is met;

(3) the cost is low: the production and manufacturing cost is only about half of that of the existing 6-axis 20 kg industrial robot, and compared with the manual work, the cost can be returned in half a year;

(4) the occupied area is small: the robot body, the PLC control cabinet and the industrial control display screen of the special industrial robot for forging and pressing adopt a three-in-one design, so that not only is the cost saved, but also the occupied area is small, and the field installation and the carrying are convenient;

(5) high temperature resistance: the material can work at the ambient temperature of 40-80 ℃, and has stronger heat resistance;

(6) the performance is good: the high-quality parts are adopted for configuration, and the high-precision high-stability high-reliability high-precision high-reliability high-speed welding machine has the excellent characteristics of high precision, good stability, long service life and the like;

(7) the production efficiency is high: the production cycle of each workpiece is less than 4 s;

(8) the workpiece is not easy to fall: the clamping jaw with the special design is utilized, a plurality of contact points are arranged on the clamping jaw and the workpiece, and clamping stability is improved.

Drawings

FIG. 1 is a schematic diagram of one illustrative embodiment according to an embodiment of the present application;

fig. 2 is a schematic view (one) of an industrial robot according to an embodiment of the present application;

fig. 3 is a block diagram of electrical component connections of an industrial robot according to an embodiment of the present application;

fig. 4 is a schematic view (two) of an industrial robot according to an embodiment of the present application;

fig. 5 is a schematic view (three) of an industrial robot according to an embodiment of the present application;

fig. 6 is a schematic view of a height adjustment assembly and a first motion assembly of an industrial robot according to an embodiment of the present application;

fig. 7 is an exploded view of a second motion component of an industrial robot according to an embodiment of the present application;

fig. 8 is a schematic view (one) of a third motion component of an industrial robot according to an embodiment of the present application;

fig. 9 is a schematic view (two) of a third motion component of an industrial robot according to an embodiment of the present application;

fig. 10 is a schematic view (iii) of a third motion component of an industrial robot according to an embodiment of the application:

fig. 11 is a schematic view (four) of a third kinematic assembly of an industrial robot according to an embodiment of the present application;

fig. 12 a-12 b are schematic views (one) of a gripper assembly of an industrial robot according to an embodiment of the present application;

fig. 13 a-13 c are schematic views (two) of a gripper assembly of an industrial robot according to an embodiment of the application;

fig. 14 is a schematic view of a gripper assembly of an industrial robot according to an embodiment of the present application;

fig. 15 is a schematic view of a jaw of an industrial robot according to an embodiment of the present application.

Wherein the reference numerals are: 1. an industrial robot;

110. a base;

120. a height adjustment assembly; 1201. a first rail element;

130. a first motion assembly; 1301. a first bracket element; 1302. a first transmission element; 1303. a first drive element;

140. a second motion assembly; 1401. a second bracket element; 1402. a second drive element; 1403. third support element

150. A third motion assembly; 1501. a fourth stent element; 1502. a third drive element; 1503. a first gear element; 1504. a second gear member; 1505. a sliding element; 1506. a second transmission element; 1507. a fifth carrier element; 1508. a first spacing element; 1509. a second limiting element; 1510. a first baffle element; 1511. a second baffle element; 1512. a first adjustment element; 1513. a second adjustment element;

160. a bracket assembly; 1601. a first L-shaped plate; 1602. a second L-shaped plate; 1603. a third L-shaped plate;

170. a clamp assembly; 1701. a fourth drive element; 1702. a clamping jaw; 1703. a third limiting element; 1704. a first groove; 1705. a second groove;

180. a control component; 1801. a cabinet element; 1802. an electrical control element; 1803. a heat dissipating element; 1804. a control panel element; 1805. a reminder element; 1806. a control button element; 1807. an air inlet; 1808. an air outlet;

190. a guard assembly;

2. a heating station;

3. and (5) forging and pressing stations.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

An exemplary embodiment of the present invention, as shown in fig. 1, an industrial robot applied to a lightweight bearing ring high-temperature hot forging material taking and placing device is applicable to a lightweight bearing ring below 1 kg, and includes an industrial robot 1, a heating station 2 and a forging station 3, the industrial robot 1 is disposed between the heating station 2 and the forging station 3, the industrial robot 1 is used for transferring a workpiece located at the heating station 2 to the forging station 3, wherein the workpiece is a lightweight bearing ring.

As shown in fig. 2 to 4, the industrial robot 1 includes a base 110, a height adjusting assembly 120, a first motion assembly 130, a second motion assembly 140, a third motion assembly 150, a bracket assembly 160, a gripper assembly 170, and a control assembly 180, wherein the height adjusting assembly 120 is mounted to the base 110 for adjusting the height of the first motion assembly 130; the first moving assembly 130 is mounted to the height adjusting assembly 120 for adjusting the vertical height of the second moving assembly 140; the second moving assembly 140 is mounted to the first moving assembly 130 for adjusting an angle of the third moving assembly 150 in a horizontal plane; the third moving assembly 150 is mounted on the second moving assembly 140, and is used for driving the bracket assembly 160 to perform linear reciprocating motion on a horizontal plane; the bracket assembly 160 is mounted on the third moving assembly 150 and is used for increasing the distance between the first end of the third moving assembly 150 and the heating station 2 and the forging station 3 and reducing the radiation of heat to the third moving assembly 150; the gripper assembly 170 is mounted to the carriage assembly 160 for gripping the workpiece at the heating station 2 and transferring the workpiece to the forging station 3; the control assembly 180 is mounted on the base 110 and electrically connected to the first moving assembly 130, the second moving assembly 140, the third moving assembly 150, and the clamping assembly 170, respectively.

The base 110 is a rectangular base, which extends outward at four corners and has a screw hole fixedly connected to the ground, so that the industrial robot 1 is firmly fixed to the ground, and displacement is prevented from occurring at the time of operation.

As shown in fig. 4 and 6, the height adjusting assembly 120 is installed at an upper portion of the base 110 and is located at one side of the base 110. The height adjustment assembly 120 includes a first rail member 1201, and the first rail member 1201 is vertically mounted to the upper portion of the base 110 at a position adjustable to accommodate different mounting height requirements.

Specifically, the first rail member 1201 includes at least two symmetrical and vertically disposed rails, wherein at least one rail is vertically mounted to an upper portion of the first end of the base 110 and at least one rail is vertically mounted to an upper portion of the base 110 between the first end and the second end such that the first motion assembly 130 can be securely coupled to the first rail member 1201.

Wherein, the track is strip-shaped, and is detachably and fixedly connected with the base 110 through a plurality of bolts.

The number of the tracks is 2n, n is a natural number greater than or equal to 1, the number of the tracks located at the first end of the base 110 is n, and the number of the tracks located between the first end and the second end of the base 110 is n.

Preferably, the first rail member 1201 includes four rails, two rails vertically installed at an upper portion of the first end of the base 110, two rails vertically installed at an upper portion between the first end and the second end of the base 110, and four rails respectively located at four corners of a rectangle. An advantage of using the above arrangement is that the first moving assembly 130 has a stable moving track when reciprocating up and down.

As shown in fig. 4 and 6, the first motion assembly 130 comprises a first frame element 1301, a first transmission element 1302 and a first driving element 1303, wherein the first frame element 1301 is slidably connected with the first track element 1201, the first transmission element 1302 is slidably connected with the first frame element 1301, and the first driving element 1303 is connected with the first transmission element 1302.

The first support element 1301 includes a frame and at least two sliders, the upper portion of the frame is used for being fixedly connected with the second motion assembly 140, the at least two sliders are symmetrically disposed on the lower portions of the two sides of the frame and are respectively connected with the tracks of the first track element 1201 in a sliding manner, and the frame performs linear reciprocating motion in the vertical direction along the tracks through the sliders.

The ratio of the number of the sliders to the number of the tracks is 1 or 2, namely the number of the sliders is 2n or 4n, and n is a natural number greater than or equal to 1. I.e. one track is connected to one slider or one track is connected to two sliders.

Preferably, the first carriage element 1301 comprises eight sliders, i.e. two sliders for each track. An advantage of using this arrangement is to improve the motion stability of the first motion assembly 130.

The first transmission element 1302 is a lead screw, and is in lead screw transmission connection with the frame of the first bracket element 1301. In particular, the frame is provided with a threaded hole for screw drive, and the first transmission element 1302 is threaded through and in threaded drive connection with the threaded hole.

Wherein the first transmission element 1302 is vertically disposed between the first and second ends of the base 110 and is located in the middle of the two tracks.

A first driving element 1303 is arranged at the upper part of the first transmission element 1302, and its output end is connected to the first transmission element 1302, for driving the first transmission element 1302 to rotate, thereby converting the rotational movement of the first transmission element 1302 into a linear movement of the first bracket element 1301.

The first driving element 1303 is a lift motor.

As shown in FIG. 7, second motion assembly 140 comprises a second frame member 1401, a second drive member 1402 and a third frame member 1403, wherein second frame member 1401 is fixedly mounted to an upper portion of first frame member 1301, second drive member 1402 is mounted to second frame member 1401, and third frame member 1403 is mounted to an upper portion of second drive member 1402.

The second bracket element 1401 is in the form of a sleeve which is detachably mounted to the upper part of the frame of the first bracket element 1301.

The second driving element 1402 is installed inside the second frame element 1401 for driving the third frame element 1403 to perform a rotational motion.

The second driving element 1402 is a combination of a servo motor and a reduction motor. Specifically, the servo motor is vertically disposed, the reduction motor is connected to an output shaft of the servo motor, and the output shaft of the reduction motor is connected to the third bracket member 1403.

The third support element 1403 is connected to the output of the second drive element 1402 for a 360 rotation in the horizontal plane under the influence of the second drive element 1402.

As shown in FIGS. 8-11, the third motion assembly 150 includes a fourth frame member 1501, a third drive member 1502, a first gear member 1503, a second gear member 1504, a sliding member 1505, a second transmission member 1506, and a fifth frame member 1507, wherein the fourth frame member 1501 is mounted on the upper portion of the third frame member 1403, the third drive member 1502 is mounted on the first end of the fourth frame member 1501, the first gear member 1503 is mounted on the first end of the fourth frame member 1501 and connected to the third drive member 1504, the second gear member 1504 is mounted on the second end of the fourth frame member 1501, the sliding member 1505 is slidably mounted on the upper portion of the fourth frame member 1501, the second transmission member 1506 is connected to the sliding member 1505 and engaged with the first gear member 1503 and the second gear member 1504, respectively, and the fifth frame member 1507 is mounted on the upper portion of the sliding member 1505.

The fourth frame member 1501 includes a base plate for fixedly coupling with the third frame member 1403 and a cover plate detachably mounted to an upper portion of the base plate.

The fourth supporting member 1501 is made of a hollow aluminum profile, so that the weight of the fourth supporting member 1501 is greatly reduced, the rotational resistance of the third moving member 150 is reduced, and the rotational speed of the third moving member 150 is increased on the basis of ensuring the strength of the fourth supporting member 1501.

The third driving element 1502 is mounted at the first end of the base plate, and forms an L-shaped structure with the base plate, and the L-shaped structure is horizontally arranged, that is, the axial direction of the third driving element 1502 is parallel to the horizontal plane.

Wherein the third driving element 1502 is a motor.

A first gear member 1503 is mounted to and centrally located on the first end of the base plate and is connected to the output shaft of the third drive member 1502 for rotation by the third drive member 1502.

Wherein the first gear element 1503 is detachably secured to the first end of the base plate by a mounting bracket.

A second gear member 1504 is mounted to and centered at the second end of the base plate and is disposed symmetrically with the first gear member 1503.

The first gear component 1503 is a driving gear, and the second gear component 1504 is a driven gear.

Slide member 1505 is slidably mounted to the floor of fourth carrier member 1501. Specifically, the sliding element 1505 is a sliding plate.

The sliding member 1505 is made of hollow aluminum, which is balanced in strength and weight, reduces the load of the third driving member 1502, and reduces the working power of the third driving member 1502.

A first end of the second transmission member 1506 is detachably connected to a first end of the sliding member 1505 and a second end of the second transmission member 1506 is detachably connected to a second end of the sliding member 1505 and is engaged with the first gear member 1503 and the second gear member 1504 respectively. Specifically, a first end of the second transmission member 1506 is bolted to an upper portion of the first end of the sliding member 1505 by a mounting plate; the second end of the second transmission member 1506 passes through the first gear member 1503, the lower portion of the sliding member 1505, and the second gear member 1504 in sequence, and is bolted to the upper portion of the second end of the sliding member 1505 by a mounting plate, i.e., the second transmission member 1506 is U-shaped (or concave, or C-shaped). Under the action of the third driving element 1502, the first gear element 1503 drives the second transmission element 1506 to rotate, so as to drive the sliding element 1505 to perform linear reciprocating motion.

Wherein the second transmission element 1506 is a transmission toothed belt.

The installation positions of the second transmission member 1506 and the sliding member 1505 can be adjusted, so that the tightness degree of the second transmission member 1506 can be adjusted to meet different operation requirements. If the second transmission member 1506 is in a stretched state, the motion resistance of the sliding member 1505 becomes large, the time for running the same distance path is long, but the precision for reaching the designated position is high (which can be similar to the inching brake of the automobile), and the running is relatively smooth; if the second transmission member 1506 is in a loose state, the resistance to movement of the sliding member 1505 becomes small, and the time required for the same distance path is short, but the precision of reaching a predetermined position is low, and the sudden stop is likely to occur, resulting in a large operation range (comparable to the sudden braking of an automobile). Generally, the second transmission element 1506 is between the tensioned state and the relaxed state, thereby reducing the operation time while ensuring smooth operation.

The fifth carrier member 1507 is removably mounted to the upper portion of the sliding member 1505. The fifth frame member 1507 includes a connecting plate which forms a mouth-shaped configuration with the slide member 1505 and an extension bracket which is detachably attached at a first end to the upper portion of the connecting plate after the cover plate of the fourth frame member 1501 passes through the opening of the connecting plate and the slide member 1505 and is detachably attached to the base plate. Wherein the cover plate may function as a track to define the path of movement of the sliding member 1505 and the fifth carrier member 1507 to ensure the operational stability of the sliding member 1505 and the fifth carrier member 1507.

The fifth support element 1507 is made of a hollow aluminum profile, which is balanced in strength and weight, reduces the load of the third driving element 1502, and reduces the working power of the third driving element 1502.

With the above arrangement, the mechanism formed by the sliding element 1505 and the fifth carrier element 1507 is nested with the fourth carrier element 1501, which provides both operational efficiency and operational stability.

Further, in order to prevent the sliding member 1505 from moving excessively and avoid the clamp assembly 170 from extending excessively into the heating station 2, the third moving assembly 150 further includes at least one first limiting member 1508 and at least one second limiting member 1509, the first limiting member 1508 is disposed on at least one side of the fourth frame member 1501 and electrically connected to the control assembly 180, and the second limiting member 1509 is disposed on at least one side of the sliding member 1505 and corresponds to the first limiting member 1508.

The first stopper 1508 may be mounted on the first side of the bottom plate of the fourth bracket component 1501, may also be mounted on the second side of the bottom plate, and may also be mounted on both the first side and the second side of the bottom plate. Furthermore, only one first stop element 1508 may be mounted on the same side of the base plate, or a plurality of first stop elements 1508 may be mounted. Where a plurality of first stop elements 1508 are mounted on the same side of the base plate, a space is provided between adjacent first stop elements 1508. For example, a first stop element 1508 is in the initial position, a first stop element 1508 is in the intermediate position (e.g., to the heating station 2), and a first stop element 1508 is in the final position (e.g., to the forging station 3).

Generally, there are two first stop members 1508, one first stop member 1508 being the initial position and the other first stop member 1508 being the final position (or the furthest position at which the sliding member 1505 may operate).

The first stopper 1508 is a sensor, which sends a signal to the control unit 180 when detecting the second stopper 1509, so that the control unit 180 controls the third driving element 1502 to stop working.

The second stopper 1509 may be mounted on the first side of the sliding member 1505, the second side of the sliding member 1505, or both the first side and the second side of the sliding member 1505. Further, only one second stopper member 1509 may be installed on the same side of the sliding member 1505, or a plurality of second stopper members 1509 may be installed. Where multiple secondary stop members 1509 are mounted on the same side of the sliding member 1505, the spacing between adjacent secondary stop members 1509 is smaller.

For mounting the plurality of second restraining elements 1509 on both sides of the sliding element 1505 or mounting the plurality of second restraining elements 1509 on the same side of the sliding element 1505, they are redundant and avoid the problem of the sliding element 1505 not stopping its motion due to failure.

Specifically, in the case where a plurality of second stopper members 1509 are installed simultaneously on both sides of the sliding member 1505, if the first stopper member 1508 on one side fails, the first stopper member 1508 on the other side may send a signal to the control assembly 180. In the case where multiple second stop members 1509 are mounted on the same side of the sliding member 1505, if the first stop member 1508 does not detect the first second stop member 1509, it may signal the control assembly 180 if the second stop member 1509 is detected.

Wherein the second limiting element 1509 is a limiting baffle.

Further, in order to facilitate the adjustment of the tightness degree of the second transmission member 1506, the third motion assembly 150 further includes a first barrier member 1510, two second barrier members 1511, a plurality of first adjustment members 1512, and a plurality of second adjustment members 1513, wherein the first barrier member 1510 is mounted at the second end of the fourth frame member 1501, the two second barrier members 1511 are mounted at both sides of the first barrier member 1510, the plurality of first adjustment members 1512 are used for detachably connecting the second barrier member 1511 with the first barrier member 1510, and the plurality of second adjustment members 1513 are used for detachably connecting the first barrier member 1510 with the second barrier member 1511.

The first baffle member 1510 is concave and is not connected to the bottom plate of the fourth carrier member 1501, and the concave cavity of the first baffle member 1510 is used to house the second gear member 1504.

Two second baffle members 1511 are respectively installed at both sides of the first baffle member 1510 and are respectively fixedly connected to the bottom plate of the fourth carrier member 1501 by bolts, and the two second baffle members 1511 are used to restrict the position of the second gear member 1504.

The second baffle element 1511 comprises a cross plate connected to the base plate, and a riser connected to the first baffle element 1510. The vertical plate is concave and comprises at least one connecting groove, and the connecting groove is arranged on at least one side of the notch of the vertical plate.

The second barrier member 1511 is detachably coupled to the first barrier member 1510 via a first adjusting member 1512, and the first adjusting member 1512 is disposed at the coupling groove and can adjust its position at the coupling groove, thereby adjusting the position of the first barrier member 1510.

The second adjusting element 1513, after being connected to the first baffle element 1510, is disposed in a recess in the riser of the second baffle element 1511 and abuts against the recess.

I.e., the axial direction of the first adjusting member 1512 is perpendicular to the axial direction of the second adjusting member 1513, with this crossing arrangement, it is performed in a state where the position of the first baffle member 1510 can be adjusted, improving the coupling stability of the first baffle member 1510 to the second baffle member 1511.

Generally, the second barrier element 1511 includes two connecting slots symmetrically disposed on both sides of the recess, each connecting slot being provided with a first adjusting element 1512.

With the above arrangement, the position of the second gear element 1504 can be adjusted by adjusting the position of the first blocking plate 1510, so as to adjust the tightness degree of the second transmission element 1506.

Wherein the first baffle element 1510 and the second baffle element 1511 are both made of hollow aluminum profiles.

As shown in fig. 12a to 12b and 13a to 13c, the bracket assembly 160 includes a first L-shaped plate 1601, a second L-shaped plate 1602 and a third L-shaped plate 1603, wherein a first end of the first L-shaped plate 1601 is detachably connected to an upper portion of a second end of the extension bracket of the fifth bracket element 1507, the second L-shaped plate 1602 is detachably connected to a lower portion of the second end of the extension bracket and a first end of the first L-shaped plate 1601, respectively, and a first end of the third L-shaped plate 1603 is detachably connected to a second end of the first L-shaped plate 1601.

A first plate of the first L-shaped plate 1601 is arranged at the upper part of the second end of the extension bracket, a first plate of the second L-shaped plate 1602 is arranged at the lower part of the second end of the extension bracket, and the bolt is detachably connected with the second L-shaped plate 1602, the extension bracket and the first L-shaped plate 1601 in sequence; the second plate of the first L-shaped plate 1601 abuts against the second end of the extension bracket, the second plate of the second L-shaped plate 1602 abuts against the second plate of the first L-shaped plate 1601, and the bolt is detachably connected with the second L-shaped plate 1602 and the first L-shaped plate 1601 in sequence; that is, the first L-shaped plate 1601 forms an F-shaped structure with the second L-shaped plate 1602, which clamps the second end of the elongated bracket of the fifth bracket element 1507.

The first board of third L shaped plate 1603 and the second board of first L shaped plate 1601 carry out to dismantle and be connected, and the second board of first L shaped plate 1601 is provided with the through-hole that vertical height is different for install third L shaped plate 1603, in order to adjust the height of third L shaped plate 1603.

In addition, the through holes of the second plate of the first L-shaped plate 1601 also have the function of heat dissipation and ventilation, so as to reduce the influence of high temperature on the first L-shaped plate 1601 when approaching the heating station 2.

Wherein, the first L-shaped plate 1601, the second L-shaped plate 1602 and the third L-shaped plate 1603 are all made of high temperature resistant alloy material, including but not limited to steel alloy.

As shown in fig. 14, the clamp assembly 170 includes a fourth driving element 1701, two clamping jaws 1702 and a third limiting element 1703, the fourth driving element 1701 is detachably mounted on the second end of the second plate of the third L-shaped plate 1603, the two clamping jaws 1702 are symmetrically arranged and connected with the fourth driving element 1701, the third limiting element 1703 is sleeved on the root portions of the two clamping jaws 1702, and the third limiting element 1703 is fixedly connected with one clamping jaw 1702 and movably connected with the other clamping jaw 1702.

Wherein fourth drive element 1701 is a pneumatic cross finger. Specifically, the fourth drive element 1701 is an AirTAC HFY32 pneumatic finger.

As shown in fig. 15, jaw 1702 includes a first groove 1704 and a second groove 1705, first groove 1704 being disposed on an inner side of jaw 1702, second groove 1705 being disposed on an inner side of jaw 1702 and located in a middle portion of first groove 1704, an inner diameter of second groove 1705 being smaller than an inner diameter of first groove 1704, such that a gripping protrusion is formed where first groove 1704 and second groove 1705 are joined, i.e., each jaw 1702 includes at least two gripping protrusions. Under the condition that the two clamping jaws 1702 clamp the workpiece, at least four clamping protrusions are abutted to the outer edge of the workpiece, so that the contact area of the clamping jaws 1702 and the workpiece is increased, and the clamping stability is improved.

In the case where the outer diameter of the workpiece is greater than the inner diameter of the second recess 1705, at least four gripping protrusions abut the outer edge of the workpiece; in the case that the outer diameter of the workpiece is equal to or less than the inner diameter of the second recess 1705, at least four holding protrusions abut against the outer edge of the workpiece, and the second recess 1705 may also abut against the outer edge of the workpiece, that is, at least six abutting points are formed, or four abutting points and two abutting surfaces are formed. In the conventional jig, only two abutting points or two abutting surfaces can be formed, the holding stability is poor, and the workpiece is easy to fall off. Compare with traditional anchor clamps, through increasing the butt point, improve centre gripping stability, avoid appearing the problem that the work piece dropped.

The third limiting element 1703 comprises a limiting frame and two bolts, the limiting frame is sleeved on the handles of the two clamping jaws 1702, one bolt penetrates through the limiting frame and is fixedly connected with one clamping jaw 1702, and the other bolt penetrates through the limiting frame and is not connected with the other clamping jaw 1702. For the bolt not connected with the clamping jaw 1702, the opening and closing angle of the two clamping jaws 1702 can be adjusted by adjusting the depth of the bolt screwed into the limiting frame. Specifically, when the two jaws 1702 are not open, the bolt that is not connected to the jaws 1702 does not contact the jaws; when jaws 1702 are opened to the maximum angle, the bolt bears against jaws 1702 to prevent jaws 1702 from opening too far, reducing unwanted movement of jaws 1702.

As shown in fig. 2-5, the control assembly 180 includes a cabinet component 1801, an electrical control component 1802, a heat dissipation component 1803, a control panel component 1804, an alert component 1805, and a control button component 1806, wherein the cabinet component 1801 is mounted on the upper portion of the second end of the base 110, the electrical control component 1802 is mounted inside the cabinet component 1801, the heat dissipation component 1803 is mounted inside the cabinet component 1801, the control panel component 1804 is embedded in a side wall of the cabinet component 1801, the alert component 1805 is mounted on the upper portion of the cabinet component 1801, and the control button component 1806 is mounted on a side wall of the cabinet component 1801.

The cabinet element 1801 includes a cabinet body and a cabinet door removably connected with the cabinet body. The two rails of the first rail element 1201 of the height adjustment assembly 120 are removably mounted to one side of the cabinet.

The cabinet element 1801 includes an air inlet 1807 and an air outlet 1808, the air inlet 1807 is disposed on a sidewall of the cabinet element 1801, and the air outlet 1808 is disposed on another sidewall of the cabinet element 1801 and corresponds to the air inlet 1807. In addition, the vertical height of the air inlet 1807 is smaller than the vertical height of the air outlet 1808.

The electric control element 1802 is electrically connected to the first driving element 1303, the second driving element 1402, the third driving element 1502 and the fourth driving element 1701, respectively, and is used for controlling the first driving element 1303, the second driving element 1402, the third driving element 1502 and the fourth driving element 1701 to perform corresponding operations, respectively.

The electric control element 1802 is a PLC controller.

The heat dissipation element 1803 is installed at the air outlet 1808, and is electrically connected to the electrical control element 1802, and is configured to discharge the internal heat of the cabinet element 1801 through the air outlet 1808 under the action of the electrical control element 1802, so as to reduce the internal temperature of the cabinet element 1801, and prevent the electrical control element 1802 from working at a high temperature for a long time.

The heat dissipation element 1803 is a heat dissipation fan.

The control panel element 1804 is electrically connected to the electrical control element 1802 for operation by an operator to input control commands to the electrical control element 1802.

Wherein the control panel element 1804 is a touch screen.

The alert component 1805 is electrically connected to the electrical control component 1802 for transmitting alert information to the operator, including but not limited to current operating conditions, abnormal conditions, etc.

Wherein, the reminding element 1805 is a light reminding element and/or a sound reminding element.

Typically, the alert element 1805 is an alert light that may beep.

A control button member 1806 is disposed on one side of the control panel member 1804 and is electrically connected to the electrical control member 1802 for activating or deactivating the industrial robot and for emergency braking the industrial robot.

Further, the industrial robot 1 further comprises a shielding assembly 190, the shielding assembly 190 being detachably mounted to an upper portion of the first end of the base 110 and abutting the cabinet member 1801 of the control assembly 180 to shield the height adjustment assembly 120, the first motion assembly 130 and the second motion assembly 140.

For the industrial robot of the invention, the following technical indexes and technical parameters can be realized: the arm spread can reach 1 meter; repeated positioning accuracy: plus or minus 0.2 mm; maximum movement speed: elevating movement shaft 20: 500 mm/S; rotational movement shaft 30: 222 DEG/S; translational movement shaft 40: 7350 mm/S; maximum range of motion: elevating movement shaft 20: 150 mm; rotational movement shaft 30: plus or minus 150 degrees; translational movement shaft 40: 500 mm; load weight: 3 kilograms; the operation period is as follows: 4 s/piece.

Compared with other existing industrial robots (such as 6-axis industrial robots), the industrial robot has the advantages that the linkage speed is higher, the efficiency is improved by over 50 percent, and the linkage speed is 10 percent higher than that of manual operation; the cost is only about half of that of a 6-axis industrial robot (kilogram level is too small, arm is not enough, and the robot cannot be used), and compared with manpower, the robot can return the original in half a year; in addition, the industrial robot can work at the ambient temperature of more than 40-80 ℃, and has the excellent characteristics of high precision, good stability, high reliability, long service life and the like.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device, is applicable to the light-duty bearing ring below 1 kg, its characterized in that includes:

a fourth drive element mounted to the carriage assembly;

the control assembly is arranged on the base and is respectively and electrically connected with the height adjusting assembly, the first moving assembly, the second moving assembly, the third moving assembly and the clamp assembly;

wherein the clamp assembly picks the workpiece from the heating station and transfers the workpiece to the forging station in less than 4 seconds.

2. The apparatus of claim 1, wherein the height adjustment assembly comprises:

a first rail member vertically detachably mounted to the base;

wherein the first motion assembly is mounted to the first track element.

3. The apparatus of any of claims 1-2, wherein the first motion assembly comprises:

a first drive element connected with the first transmission element;

4. The apparatus of any of claims 1 to 3, wherein the second motion assembly comprises:

5. The apparatus of any of claims 1 to 4, wherein the third motion assembly comprises:

a fourth carriage element mounted to the second motion assembly;

a third drive element mounted to a first end of the fourth carrier element;

a sliding element mounted to the fourth bracket element;

6. The apparatus of claim 5, wherein the third motion assembly further comprises:

7. The apparatus of claim 5, wherein the third motion assembly further comprises:

8. The apparatus of any one of claims 1 to 5, wherein the bracket assembly is Z-shaped, the bracket assembly comprising:

a first L-shaped plate connected with the third kinematic assembly;

the third L-shaped plate is connected with the first L-shaped plate;

wherein the fourth drive element is mounted to the third L-shaped plate.

9. An apparatus as claimed in any one of claims 1 to 5, wherein each of said jaws comprises:

the first groove is arranged on the inner side of the clamping jaw;

10. The apparatus of any one of claims 1 to 5, wherein the control assembly comprises: