CN116872239B

CN116872239B - Mechanical arm for transferring high-temperature workpiece

Info

Publication number: CN116872239B
Application number: CN202311139170.3A
Authority: CN
Inventors: 王殿奎; 高培成
Original assignee: Zhangqiu Heavy Forging Co ltd
Current assignee: Zhangqiu Heavy Forging Co ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2023-12-29
Anticipated expiration: 2043-09-06
Also published as: CN116872239A

Abstract

The invention discloses a mechanical arm for transferring a high-temperature workpiece, which relates to the technical field of mechanical arms and comprises a base, two clamping rods, a rotary drum, a clamping driving mechanism, a heating mechanism and a rotary driving assembly, wherein the base is provided with a plurality of clamping rods; the base comprises a transverse plate and a vertical plate, the front end and the rear end of the transverse plate are respectively provided with an end plate, the end part of the rotary drum is connected with the end plates in a switching way, and the side wall of the rotary drum is provided with a through hole; the middle part of the clamping rods is hinged with the rotary drum, one end of each clamping rod extends out of the through hole, the other end of each clamping rod extends into the rotary drum and is abutted against the clamping driving mechanism, and the clamping driving mechanism drives the extending ends of the two clamping rods to open and close; the heating mechanism is connected with the vertical plate in a switching way and is used for heating the overhanging end of the clamping rod from the through hole; the rotary driving assembly is in driving connection with the rotary drum and is used for driving the rotary drum to drive the clamping rod to turn or rotate away from the heating mechanism; the rotating drum and the base form a heat insulation space for accommodating the workpiece, so that the influence of the external environment on the workpiece is reduced; after the clamping rods are heated, the temperature drop of the surface of the workpiece is reduced, and the quality of the workpiece in the transferring process is ensured.

Description

Mechanical arm for transferring high-temperature workpiece

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm for transferring high-temperature workpieces.

Background

The manipulator is generally used for completing high-risk transfer and carrying work, and is particularly suitable for replacing manual work to complete transfer of high-temperature workpieces, such as forgings, castings and the like. The existing manipulator for transferring high-temperature workpieces is generally characterized in that a clamping piece is directly contacted with and fixed on the surface of the workpiece, residues such as oxide skin and the like can remain at the clamping part of the clamping piece, the workpiece is clamped again, and the residues can be pressed into the surface of the workpiece, so that the surface quality of the workpiece is reduced. Because the clamping piece is directly contacted with the high-temperature workpiece, the heat of the high-temperature workpiece can be quickly transferred to the clamping piece, so that the local temperature of the high-temperature workpiece clamped is greatly reduced, and the surface temperature is uneven; in addition, in the process of transferring the high-temperature workpiece to the appointed processing station, the high-temperature workpiece is always exposed in the external environment, the heat of the high-temperature workpiece is greatly dissipated, and the quality of a finished product of the high-temperature workpiece is greatly reduced due to rapid and uneven temperature drop.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a mechanical arm for transferring a high-temperature workpiece, and solves the problems that the heat of the workpiece is quickly dissipated, the workpiece is easily subjected to local large temperature drop, and the quality of a finished product of the workpiece is reduced when the conventional mechanical arm transfers the high-temperature workpiece.

The technical scheme adopted for solving the technical problems is as follows:

a mechanical arm for transferring a high-temperature workpiece comprises a base and two clamping rods, wherein the upper side of the base is connected with the end part of the mechanical arm; the device also comprises a rotary drum with two open ends, a clamping driving mechanism, a heating mechanism and a rotary driving assembly; the base comprises a transverse plate, a vertical plate is arranged at the left end of the transverse plate, and end plates are arranged at the front end and the rear end of the transverse plate; the rotary drum is positioned between the end plates, and the end part of the rotary drum is connected with the end plates around the central axis of the rotary drum; the side wall of the rotary drum is provided with a through hole along the axial direction, the clamping driving mechanism is arranged in the rotary drum, the middle parts of the two clamping rods are hinged with the rotary drum, one end of each clamping rod extends out of the through hole, and the other end extends into the rotary drum and is abutted against the clamping driving mechanism; the clamping driving mechanism is used for driving the overhanging ends of the two clamping rods to open and close; the heating mechanism is connected with the vertical plate in a switching way and is used for heating the overhanging end of the clamping rod from the through hole; the rotary driving assembly is in driving connection with the rotary drum and is used for driving the rotary drum to rotate so as to enable the through hole to turn or rotate away from the heating mechanism.

Further, the clamping driving mechanism comprises a shaft sleeve, a driving column, a driving shaft and a second motor; the shaft sleeve is far away from the through hole and connected with the inner side of the rotary drum, the shaft sleeve is matched with the driving shaft, the middle part of the driving shaft is coaxially connected with the driving column, the second motor is connected with the outer part of the rotary drum, and the end part of the driving shaft extends out of the rotary drum and is connected with the driving end of the second motor; the inner ends of the two clamping rods are respectively abutted against the left end face and the right end face of the driving column, and the driving column is rotated to push the inner ends of the two clamping rods to be far away from or close to each other.

Further, the left end face and the right end face of the driving column are symmetrical, a first table top, an inclined plane and a second table top are arranged on the left end face and the right end face of the driving column around the driving shaft, and the inclined plane is in smooth transition with the first table top and the second table top; the driving column is rotated to enable the first table surface, the inclined surface and the second table surface to be sequentially abutted against the inner ends of the two clamping rods.

Further, the inner side of the rotary drum is symmetrically provided with a chute penetrating through the opening, the chute is perpendicular to the central axis of the driving shaft and the central axis of the rotary drum, a moving block is arranged in the chute in a sliding manner, a limiting sleeve is arranged at the penetrating end of the chute, and the limiting sleeve is matched with the lower end part of the moving block; the middle parts of the two clamping rods are respectively hinged with the moving block; the upper end of the moving block is provided with a rack, the driving shaft is provided with a sector gear meshed with the rack, and the driving shaft is rotated to drive the moving block to move along the chute.

Further, the heating mechanism comprises a first driving mechanism, a first rotating shaft, a heating seat and a first heating pipe; the first rotating shaft is connected with the vertical plate in an up-down direction, the lower end part of the first rotating shaft is connected with the heating seat, and the upper end surface and the lower end surface of the heating seat are provided with a first heating pipe; the first driving mechanism is arranged on the upper side of the transverse plate, and the upper end part of the first rotating shaft penetrates through the transverse plate to be in driving connection with the first driving mechanism; the first driving mechanism is used for driving the heating seat to turn or turn away from the vertical plate so as to drive the first heating pipe to rotate into and out of the space between the overhanging ends of the two clamping rods.

Further, the first driving mechanism comprises a swing rod, a push rod, a guide frame and a first electric cylinder; the guide frame and the first electric cylinder are arranged on the transverse plate, the push rod is connected with the guide frame in a sliding way along the front-back direction, and the push rod is positioned at one side of the first rotating shaft; the swing rod is connected with the upper end part of the first rotating shaft, the swing rod is provided with a first notch, and the push rod is provided with a first roller matched with the first notch; the output end of the first electric cylinder is connected with one end of the push rod, and the push rod is pushed to drive the swing rod to swing around the first rotating shaft.

Further, the heating mechanism comprises a cleaning piece, the upper end face and the lower end face of the heating seat are both provided with mounting grooves, the bottoms of the mounting grooves are provided with springs, the bottoms of the cleaning pieces are pressed against the springs and slide with the mounting grooves, and the bottoms of the cleaning pieces are acted by the springs to be abutted against the mounting grooves; the top of cleaning piece sets up cleans the head, and first actuating mechanism drive heating seat drives and cleans the head and rotate, cleans the overhanging end of two clamping rods that the head rotates.

Further, the device also comprises a cover plate mechanism for covering the through hole, wherein the cover plate mechanism comprises an arc plate and a second driving mechanism; the second driving mechanism is arranged on the outer side of the vertical plate, and the driving end of the second driving mechanism is hinged with one end part of the arc plate; the front end and the rear end of the vertical plate are respectively provided with a second notch along the up-down direction, and the hinged end of the arc plate is provided with a second roller matched with the second notch; an arc-shaped third notch is formed in one side face of the arc plate, facing the vertical plate, and a third roller matched with the third notch is arranged at the lower end of the vertical plate; the second driving mechanism is used for driving the arc plate to cover the through hole.

Further, the second driving mechanism comprises a screw rod, a screw nut, a connecting rod and a third motor; the screw rod is connected with the vertical plate in an up-down direction, the screw rod is in spiral connection with the screw nut, one end of the connecting rod is hinged with the screw nut, and the other end of the connecting rod is hinged with the arc plate; the output end of the third motor is in driving connection with the screw rod and is used for driving the screw rod to drive the connecting rod to move.

The invention has the following beneficial effects:

1. the mechanical arm comprises a base, two clamping rods, a rotary drum with two open ends and a clamping driving mechanism; the base comprises a transverse plate, a vertical plate and end plates, the rotary drum is positioned between the two end plates, and the rotary drum is connected with the end plates around the central axis of the rotary drum; the side wall of the rotary drum is provided with a through hole for the workpiece to enter and exit, and the rotary drum and the base form a semi-closed heat insulation space together; the clamping driving mechanism and the clamping rods are arranged in the rotary drum, and the clamping driving mechanism drives the two clamping rods to clamp a workpiece from the through hole; the rotary driving assembly is arranged on the base and drives the rotary drum to rotate, so that the clamping rods clamp the workpiece into the heat insulation space, heat exchange between the high-temperature workpiece and the external environment is reduced, and the influence of high temperature on surrounding objects is avoided.

2. The clamping driving mechanism comprises a shaft sleeve, a driving column, a driving shaft and a second motor; the left end face and the right end face of the driving column are provided with the first table top, the inclined surface and the second table top around the driving shaft, the second motor drives the driving column to rotate, the first table top, the inclined surface and the second table top are sequentially abutted against the inner ends of the two clamping rods, the inner ends of the two clamping rods are close to or far away from each other, the overhanging ends of the two clamping rods are further far away from or close to each other, the high-temperature workpiece is clamped and fixed or released, when the workpiece is clamped, the forces of the inner ends of the two clamping rods acting on the driving column cancel each other, the workpiece falling caused by disappearance of clamping force caused by power failure and other conditions is avoided, and the safety is improved.

3. The mechanical arm is provided with a heating mechanism, the heating mechanism comprises a first driving mechanism, a first rotating shaft, a heating seat and a first heating pipe, the first driving mechanism drives the heating seat to rotate between the overhanging ends of the two clamping rods, the overhanging ends of the clamping rods are heated through the first heating pipe, the overhanging ends of the clamping rods and the inside of the rotating drum are kept in a specified temperature range, after the clamping rods clamp a high-temperature workpiece, the direct heat exchange between the external environment and the workpiece is reduced, the temperature drop of the surface of the workpiece is reduced, and the quality of the high-temperature workpiece in the transferring process is ensured.

4. The heating mechanism is provided with a cleaning piece, the cleaning piece is arranged on the upper end face and the lower end face of the heating seat, the first driving mechanism drives the heating seat to drive the cleaning head to rotate, so that the cleaning head rotates to clean the overhanging ends of the two clamping rods, residues such as residual oxide skin at the clamping positions of the clamping rods are cleaned, and the quality of the workpiece is affected by the fact that the residues are clamped on the surface of the workpiece when the high-temperature workpiece is prevented from being clamped.

5. Set up apron mechanism on the base, apron mechanism includes arc board, second actuating mechanism, and second actuating mechanism drives the arc board and removes to cover the opening, and arc board, rotary drum, base enclose into complete cylindric structure jointly, enclose around high temperature work piece, in blocking gas entering rotary drum through the opening, reduced the direct contact time heat exchange of outside gas and high temperature work piece, improved the quality of work piece.

Drawings

The invention is further described with reference to the accompanying drawings:

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic perspective view of the invention with the drum removed;

FIG. 4 is a schematic view of a drum construction of the present invention;

FIG. 5 is a schematic view of the mounting structure of the rotary drum, clamping lever and clamping driving mechanism of the present invention;

FIG. 6 is a schematic view of the mounting structure of the clamping rod, the driving column and the driving shaft of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6 at B;

FIG. 8 is a schematic view of a split structure of a base and cover mechanism according to the present invention;

FIG. 9 is a schematic view of a heating base according to the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 8 at C;

FIG. 11 is an enlarged view of a portion of FIG. 9 at E;

FIG. 12 is an enlarged view of a portion of FIG. 8 at D;

FIG. 13 is an enlarged view of a portion of FIG. 1 at A;

fig. 14 is a schematic view of a cover mechanism cover structure of the present invention.

In the figure, 1, a base; 11. a rotating assembly; 12. a cross plate; 13. a riser; 131. a second notch; 132. a third roller; 14. an end plate; 2. a clamping rod; 3. a rotating drum; 31. a first guide groove; 32. a first support wheel; 33. a second support wheel; 34. a through port; 35. a chute; 36. a moving block; 361. a rack; 37. a limit sleeve; 4. a clamping driving mechanism; 41. a shaft sleeve; 42. a drive column; 421. a first mesa; 422. an inclined plane; 423. a second mesa; 43. a drive shaft; 431. a sector gear; 44. a second motor; 5. a heating mechanism; 51. a first driving mechanism; 511. swing rod; 512. a push rod; 513. a guide frame; 514. a first electric cylinder; 515. a first notch; 52. a first rotating shaft; 53. a heating seat; 531. a mounting groove; 532. a stop block; 54. a first heating pipe; 55. a second heating pipe; 56. a cleaning member; 561. a cleaning head; 562. a limiting block; 563. a guide block; 6. a rotary drive assembly; 61. a first motor; 62. a gear segment; 7. a cover plate mechanism; 71. an arc plate; 711. a second roller; 712. a third notch; 72. a second driving mechanism; 721. a screw rod; 722. a nut; 723. a connecting rod; 724. and a third motor.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.

As shown in fig. 1 to 14, the invention provides a mechanical arm for transferring a high-temperature workpiece, which comprises a base 1 and two clamping rods 2, wherein the upper side of the base 1 is connected with the end part of the mechanical arm; the base 1 comprises a transverse plate 12, a vertical plate 13 is arranged at the left end of the transverse plate 12, and end plates 14 are arranged at the front end and the rear end of the transverse plate 12; in this embodiment, the mechanical arm includes a large arm and a small arm, and a general mechanical arm structure in the field is adopted. The end of the mechanical arm is provided with a rotating assembly 11, the rotating assembly 11 is in driving connection with the base 1, and the rotating assembly 11 drives the base 1 to rotate around the end of the mechanical arm.

The mechanical arm also comprises a rotary drum 3 with two open ends; the rotary drum 3 is positioned between the two end plates 14, and the end part of the rotary drum 3 is in transition with the end plates 14 around the central axis of the rotary drum 3, namely the rotation center of the rotary drum 3 is coincident with the central axis of the rotary drum 3; specifically, the front end and the rear end of the rotary drum 3 are provided with arc-shaped first guide grooves 31, and the circle center of the first guide grooves 31 coincides with the central axis of the rotary drum 3. The end plate 14 is provided with a plurality of first supporting wheels 32 matched with the first guide grooves 31, and the end plate 14 is provided with a plurality of second supporting wheels 33 abutted against the outer wall of the rotary drum 3; it will be appreciated that the front and rear ends of the drum 3 are suspended between the two end plates 14 by means of the first support wheel 32, and the first support wheel 32 and the second support wheel 33 sandwich and restrict rotation of the drum 3 about the central axis.

In this embodiment, two first supporting wheels 32 and three second supporting wheels 33 are disposed on the end plate 14 at one side; one first support wheel 32 is located in the middle of the end plate 14 and the other first support wheel 32 is located away from the riser 13; the two first supporting wheels 32 correspond to the two second supporting wheels 33 in position, and the third second supporting wheel 33 is arranged close to the vertical plate 13; the purpose of this design is that the drum 3 rotates and the first support wheels 32 move from one end of the first guide groove 31 to the other end, both first support wheels 32 effectively supporting the drum 3 at all times.

Preferably, the front and rear end surfaces of the drum 3 abut against the end plates 14, and the end plates 14 serve as support and limit functions to limit the front and rear displacement of the drum 3.

A through hole 34 is formed in the side wall of the rotary drum 3 along the axial direction, and a workpiece enters and exits the rotary drum 3 from the through hole 34; when rotating rotary drum 3 for opening 34 is when riser 13, then rotary drum 3 and base 1 constitute semi-closed heat preservation space jointly, and the work piece in the rotary drum 3 is in the heat preservation space, has reduced the heat exchange of high temperature work piece and external environment, and simultaneously, when high temperature work piece removed, heat preservation space separated work piece all around with the external world, avoided the influence of high temperature to surrounding object.

The mechanical arm also comprises a rotary driving assembly 6; the rotary driving assembly 6 is in driving connection with the rotary drum 3, and the rotary driving assembly 6 drives the rotary drum 3 to rotate so as to enable the through hole 34 to turn or rotate away from the vertical plate 13. Specifically, the rotary drive assembly 6 includes a first motor 61, and the first motor 61 is electrically connected to the controller. The first motor 61 is installed in the downside of diaphragm 12, and the outer wall of rotary drum 3 is equipped with gear section 62, and the centre of a circle of the reference circle of gear section 62 coincides with the axis of rotary drum 3, and the output shaft of first motor 61 passes through the gear and meshes with gear section 62, starts first motor 61 and drives rotary drum 3 rotation.

The mechanical arm further comprises a clamping driving mechanism 4, the clamping driving mechanism 4 is arranged in the rotary drum 3, the middle parts of the two clamping rods 2 are hinged with the rotary drum 3, one ends of the clamping rods 2 extend out of the through holes 34, and the other ends extend into the rotary drum 3 and are abutted against the clamping driving mechanism 4; the middle parts of the two clamping rods 2 are provided with torsion springs, and the torsion forces of the torsion springs act on the inner ends of the two clamping rods 2 to approach each other, so that the inner ends of the two clamping rods 2 are abutted against the clamping driving mechanism 4.

The clamping driving mechanism 4 is used for driving the overhanging ends of the two clamping rods 2 to open and close so as to clamp or release the high-temperature workpiece. Specifically, as shown in fig. 5 and 6, the clamping driving mechanism 4 includes a shaft sleeve 41, a driving column 42, a driving shaft 43, and a second motor 44; the shaft sleeve 41 is connected with the inner side of the rotary drum 3 far away from the through hole 34, the driving shaft 43 passes through the shaft sleeve 41, the shaft sleeve 41 is matched with the driving shaft 43, the middle part of the driving shaft 43 is coaxially connected with the driving column 42, the second motor 44 is connected with the outside of the rotary drum 3, and the end part of the driving shaft 43 extends out of the rotary drum 3 and is connected with the driving end of the second motor 44; the second motor 44 is electrically connected to the controller.

In this embodiment, the drive shaft 43 is parallel to the cross plate 12 when the through opening 34 of the drum 3 is oriented to the lower side of the cross plate 12, and the drive shaft 43 is perpendicular to the cross plate 12 when the through opening 34 of the drum 3 is oriented to the riser 13; to improve the rotational stability of the driving shaft 43, the sleeve 41 is symmetrically provided in two, supporting the left and right sides of the driving shaft 43, respectively.

The inner ends of the two clamping rods 2 are respectively abutted against the left end face and the right end face of the driving column 42, and the driving column 42 is rotated to push the inner ends of the two clamping rods 2 to be far away from or close to each other. Specifically, as shown in fig. 6 and 7, the left and right end surfaces of the driving post 42 are symmetrical, and the left and right end surfaces of the driving post 42 are provided with a first table 421, an inclined surface 422, and a second table 423 around the driving shaft 43; the ramp 422 smoothly transitions with the first mesa 421 and the second mesa 423; the first table 421 is spaced from the second table 423 by a certain distance, the second table 423 is located outside the first table 421, and the first table 421 and the second table 423 are perpendicular to the central axis of the driving shaft 43. The driving column 42 is rotated to enable the first table 421, the inclined plane 422 and the second table 423 to be sequentially abutted against the inner ends of the two clamping rods 2.

When the inner ends of the two clamping rods 2 respectively lean against the first table top 421, the driving column 42 is rotated, the inner ends of the two clamping rods 2 slide from the first table top 421 and the inclined plane 422 to the second table top 423, the overhanging ends of the two clamping rods 2 are close to each other, and the high-temperature workpiece is clamped and fixed; similarly, the driving column 42 is reversely rotated, and the overhanging ends of the two clamping rods 2 are far away, so that the high-temperature workpiece is released.

It can be appreciated that when the inner ends of the two clamping rods 2 abut against the second table top 423, the overhanging ends of the two clamping rods 2 clamp the high-temperature workpiece, and at this time, the forces acting on the driving post 42 by the inner ends of the two clamping rods 2 cancel each other, that is, when the workpiece is clamped, the second motor 44 only needs to act on the driving post 42 with a smaller torque force, so that the workpiece can be continuously clamped, and the workpiece is prevented from falling due to the disappearance of the clamping force caused by the power failure of the second motor 44.

Changing the drive columns 42 with different lengths, that is, changing the distance between the two end faces of the drive columns 42, can change the maximum distance between the overhanging ends of the two clamping rods 2, so as to adapt to the clamping of workpieces with different sizes, and increase the practicability.

As shown in fig. 4 and 6, a chute 35 penetrating through a hole 34 is symmetrically arranged on the inner side of the rotary drum 3, the chute 35 is perpendicular to the central axis of the driving shaft 43 and the central axis of the rotary drum 3, a moving block 36 is arranged in the chute 35 in a sliding manner, a limiting sleeve 37 is arranged at the penetrating end of the chute 35, and the limiting sleeve 37 is matched with the lower end part of the moving block 36; the middle parts of the two clamping rods 2 are respectively hinged with the moving block 36; the upper end of the moving block 36 is provided with a rack 361, the driving shaft 43 is provided with a sector gear 431 meshed with the rack 361, and the driving shaft 43 is rotated to drive the moving block 36 to move along the chute 35.

Specifically, the sector gear 431 includes a tooth portion and a rotation portion; when the first table 421 and the inclined surface 422 are abutted against the inner end of the clamping rod 2, the tooth part of the sector gear 431 is in a separated state with the rack 361, the moving block 36 is far away from the driving column 42, and the lower end part of the moving block 36 is pressed against the limiting sleeve 37; at this time, the middle part of the clamping rods 2 is relatively fixed at the inner side of the rotary drum 3 through the moving block 36, the driving column 42 is rotated in the forward and reverse directions, the clamping rods 2 swing around the hinge parts, and the overhanging ends of the two clamping rods 2 are opened and closed. When the driving column 42 is rotated, the inner end of the clamping rod 2 slides from the inclined plane 422 to the second table top 423, the driving column 42 is continuously rotated, the second table top 423 is rotated against the inner end of the clamping rod 2, the tooth part of the sector gear 431 is rotated to engage with the rack 361, and the moving block 36 is driven to move towards the driving column 42, namely, towards the inside of the rotary drum 3; when the drive post 42 is rotated in the opposite direction, the movable block 36 is moved back. It will be appreciated that the inner ends of the two clamping bars 2 remain spaced from each other during this process, i.e. the overhanging ends of the two clamping bars 2 remain in the original state of clamping the workpiece during the movement of the moving block 36 towards the drum 3.

In summary, when the driving post 42 is rotated to clamp the workpiece at the overhanging ends of the two clamping rods 2, the driving post 42 is continuously rotated, so that the moving block 36 moves into the drum 3 with the clamping rods 2, that is, the clamped workpiece moves into the drum 3, the workpiece is closer to the rotation center of the drum 3, the momentum of the drum 3 during rotation is reduced, and the drum 3 is stable.

In the process of transferring the high-temperature workpiece to the preset processing station, the high-temperature workpiece is ensured to be in a reasonable and uniform temperature space, the temperature drop on the surface of the workpiece and the occurrence of local uneven temperature change are reduced, and the quality of the high-temperature workpiece is ensured. After the clamping rod 2 clamps a high-temperature workpiece, the clamping part of the clamping rod 2 can exchange heat with the workpiece, so that the temperature of the clamped part of the workpiece is rapidly reduced, the heat of the workpiece is dissipated, and the local quality and performance of the workpiece are reduced; to reduce heat exchange during clamping of the workpiece, the robot arm is provided with a heating mechanism 5.

The heating mechanism 5 is connected with the vertical plate 13 in an adapting way, after the rotary driving assembly 6 drives the through hole 34 to rotate towards the vertical plate 13, namely, the rotary driving assembly 6 drives the rotary drum 3 to rotate, so that the through hole 34 rotates towards the heating mechanism 5, and the heating mechanism 5 heats the overhanging end of the clamping rod 2 from the through hole 34. Specifically, as shown in fig. 2, 3 and 9, the heating mechanism 5 includes a first driving mechanism 51, a first rotating shaft 52, a heating seat 53 and a first heating pipe 54; the first rotating shaft 52 is connected with the vertical plate 13 in an up-down direction; in this embodiment, the first shaft 52 is connected to the riser 13 toward one side of the drum 3.

The lower end part of the first rotating shaft 52 is connected with a heating seat 53, and a first heating pipe 54 is arranged on the upper end surface and the lower end surface of the heating seat 53; preferably, the first heating tube 54 is disposed in a direction perpendicular to the central axis of the first shaft 52.

The first driving mechanism 51 is installed on the upper side of the transverse plate 12, and the upper end part of the first rotating shaft 52 penetrates through the transverse plate 12 and is in driving connection with the first driving mechanism 51; the first driving mechanism 51 drives the heating seat 53 to turn toward the riser 13, and the heating seat 53 is close to the riser 13, or drives the heating seat 53 to turn away from the riser 13, so as to drive the first heating tube 54 to rotate into a position between the overhanging ends of the two clamping rods 2.

After the first heating pipe 54 is positioned between the overhanging ends of the two clamping rods 2, the first heating pipe 54 is started to heat the overhanging ends of the two clamping rods 2, so that the overhanging ends of the clamping rods 2 are kept in a specified temperature range, and as can be understood, the heat generated by the first heating pipe 54 heats the inside of the rotary drum 3, so that the inside of the rotary drum 3 is kept in a certain temperature range, namely, a heat preservation space which is enclosed by the rotary drum 3 and the base 1 and meets the temperature requirement at the moment; then, the heating seat 53 is driven to turn to the vertical plate 13, the through hole 34 of the rotary drum 3 is driven to turn away from the vertical plate 13, and the clamping driving mechanism 4 is controlled to drive the clamping rod 2 to clamp the high-temperature workpiece; because the overhanging end of the clamping rod 2 is heated, the temperature is consistent with that of the workpiece, and when the workpiece is clamped, the heat exchange between the overhanging end of the clamping rod 2 and the workpiece is greatly reduced, so that the temperature drop on the surface of the workpiece is reduced.

It can be understood that after the clamping rod 2 clamps the high-temperature workpiece, the through hole 34 of the rotary drum 3 is driven to turn to the vertical plate 13, so that the workpiece is turned into a heat-preserving space meeting the temperature requirement, the direct heat exchange between the external environment and the workpiece is reduced, and the quality of the high-temperature workpiece in the transferring process is ensured.

Preferably, the end face of the heating seat 53 facing away from the riser 13 is provided with a second heating tube 55; when the first driving mechanism 51 drives the heating seat 53 to turn to the riser 13, the heating seat 53 is close to the riser 13, and the second heating pipe 55 faces the rotary drum 3; at this time, the drum 3 is rotated to make the high temperature workpiece face the vertical plate 13, and the second heating pipe 55 is started to heat the workpiece, thereby preventing the surface temperature of the workpiece from decreasing.

As shown in fig. 8 and 10, the first driving mechanism 51 includes a swing link 511, a push rod 512, a guide frame 513, and a first electric cylinder 514; the guide frame 513 and the first electric cylinder 514 are installed on the transverse plate 12, the push rod 512 is connected with the guide frame 513 in a sliding manner along the front-back direction, and the push rod 512 is positioned on one side of the first rotating shaft 52; the swing rod 511 is connected with the upper end part of the first rotating shaft 52, the swing rod 511 is provided with a first notch 515, and the push rod 512 is provided with a first roller matched with the first notch 515; preferably, the end of the swing link 511 is connected to the first rotation shaft 52, and the first slot 515 is disposed away from the first rotation shaft 52. The first electric cylinder 514 is electrically connected with the controller, and the output end of the first electric cylinder 514 is connected with one end of the push rod 512, so that the push rod 512 is pushed to drive the swing rod 511 to swing around the first rotating shaft 52.

After the clamping rod 2 clamps the high-temperature workpiece, residues such as oxide skin and the like remain at the clamping position of the clamping rod 2, and in order to avoid the influence of the residues on the surface of the workpiece, a cleaning piece 56 for cleaning the residues is arranged on the heating mechanism 5; as shown in fig. 9 and 11, the upper end surface and the lower end surface of the heating seat 53 are both provided with mounting grooves 531, springs are mounted at the bottoms of the mounting grooves 531, the bottoms of the cleaning members 56 press against the springs and slide with the mounting grooves 531, and the bottoms of the cleaning members 56 are acted by the springs to abut against the inside of the mounting grooves 531; the cleaning head 561 is arranged on the top of the cleaning piece 56, the first driving mechanism 51 drives the heating seat 53 to drive the cleaning head 561 to rotate, and the cleaning head 561 rotates to clean the overhanging ends of the two clamping rods 2.

Specifically, the bottom of the cleaning member 56 includes a stopper 562, a guide block 563; the guide block 563 is connected between the stopper 562 and the cleaning head 561; the mounting groove 531 is arranged close to the first heating pipe 54, the mounting groove 531 is suitable for the limiting block 562, the end part of the mounting groove 531 is opened, and the limiting block 562 enters the mounting groove 531 from the opening side of the mounting groove 531; in this embodiment, the limiting block 562, the guide block 563 and the cleaning head 561 are integrally configured, and when the cleaning head 561 is worn, the cleaning member 56 is pushed to slide out from one side of the mounting groove 531, so that the cleaning head 561 can be replaced quickly.

The notch of the mounting groove 531 is symmetrically provided with two stop blocks 532, and the guide block 563 is matched between the two stop blocks 532; the spring acts on the bottom side of the limiting block 562, and the spring pushes the limiting block 562 to press against the blocking piece 532, so that the up-and-down displacement of the cleaning member 56 is limited. The cleaning head 561 is pressed, and the cleaning head 561 presses the spring, and the cleaning head 561 is elastically connected to the upper end surface and the lower end surface of the heating block 53.

Preferably, after the overhanging ends of the two clamping bars 2 release the workpiece, the distance between the overhanging ends of the two clamping bars 2 is smaller than the distance between the ends of the cleaning head 561 on the upper and lower end surfaces of the heating seat 53. In the process that the heating seat 53 is rotated to enter between the extending ends of the two clamping rods 2, the heating seat 53 drives the cleaning head 561 to rotate to be close to the extending ends of the two clamping rods 2, the cambered surface at the top of the cleaning head 561 abuts against the extending ends of the clamping rods 2 and continues to rotate, so that the extending ends of the clamping rods 2 press the cleaning head 561 to retract towards the mounting groove 531, the cleaning head 561 abuts against the extending ends of the clamping rods 2 and the cleaning of the extending ends of the clamping rods 2 is completed.

Since the drum 3 is provided with the through-hole 34, when the through-hole 34 is directed toward the riser 13, there is a gap between the riser 13 and the edge of the through-hole 34, and in order to prevent outside air from entering the drum 3 from the gap, a cover mechanism 7 for covering the through-hole 34 is provided on the base 1. As shown in fig. 1, 2, and 12, the cover mechanism 7 includes an arc plate 71 and a second driving mechanism 72.

The second driving mechanism 72 is arranged on the outer side of the vertical plate 13, and the driving end of the second driving mechanism 72 is hinged with one end part of the arc plate 71; the front end and the rear end of the vertical plate 13 are respectively provided with a second notch 131 along the up-down direction, and the hinged end of the arc plate 71 is provided with a second roller 711 matched with the second notch 131; in the present embodiment, the second notch 131 is provided in the up-down direction, and the second notch 131 and the second roller 711 limit the movement locus of the hinge end of the arc plate 71. An arc-shaped third notch 712 is formed in the side face, facing the vertical plate 13, of the arc plate 71, and a third roller 132 matched with the third notch 712 is arranged at the lower end of the vertical plate 13; in this embodiment, the third slot 712 is disposed along the arc plate 71 in an arc shape, and the third slot 712 and the third roller 132 limit the movement of the arc plate 71 around the third roller 132. The arc plate 71 is sized to fit the axial length of the through opening 34, and the second drive mechanism 72 drives the arc plate 71 to move to cover the through opening 34.

Specifically, when the second driving mechanism 72 drives the hinged end of the arc plate 71 to move, the second roller 711 moves along the second notch 131, that is, the hinged end of the arc plate 71 is limited by the second notch 131 and the second roller 711, and the second driving mechanism 72 is limited by the limiting function; the third notch 712 is limited to the third roller 132, that is, when the arc plate 71 moves, the arc plate 71 can only slide and swing against the third roller 132, and thus the arc plate 71 can move toward the through hole 34 according to a predetermined trajectory. When the second driving mechanism 72 drives the arc plate 71 to move, the end of the arc plate 71 abuts against the opening edge of the drum 3, that is, the arc plate 71 is completed to cover the portion of the opening 34 between the riser 13 and the drum 3.

As shown in fig. 12 and 13, the second driving mechanism 72 includes a screw 721, a nut 722, a link 723, and a third motor 724; the screw 721 is connected with the vertical plate 13 in an up-down direction, the screw 721 is in spiral connection with the screw 722, one end of the connecting rod 723 is hinged with the screw 722, and the other end is hinged with the arc plate 71; the output end of the third motor 724 is in driving connection with the screw rod 721, the third motor 724 is electrically connected with the controller, and the third motor 724 drives the screw 722 to drive the connecting rod 723 to move.

As shown in fig. 14, the third motor 724 drives the screw 722 to move away from the third motor 724, the screw 722 drives the connecting rod 723 to move, and the connecting rod 723 pushes the arc plate 71 to move the second roller 711 to the end of the second notch 131; the third roller 132 slides against the third notch 712 from one end of the arc plate 71 to the other; continuing to drive the nut 722, the connecting rod 723 pushes the arc plate 71 to rotate around the second roller 711 towards the direction of the rotary drum 3, and finally the end part of the arc plate 71 is abutted against the edge of the rotary drum 3, and the arc plate 71 covers the through hole 34; at this time, the screw 722, the link 723, and the second roller 711 constitute a stable support structure, and the passage of gas into the drum 3 through the through-hole 34 is blocked by the arc plate 71. The arc plate 71, the rotary drum 3 and the base 1 jointly enclose a complete cylindrical structure and enclose the periphery of the high-temperature workpiece, so that the direct contact between the high-temperature workpiece and the external environment is reduced.

In the description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "vertical", "horizontal", etc. refer to the orientation or positional relationship based on that shown in the drawings, and are merely for the purpose of describing the present invention and do not require that the present invention must be constructed or operated in a specific orientation, and thus should not be construed as limiting the present invention. "connected" and "connected" in the present invention are to be understood broadly, and may be, for example, connected or detachably connected; the connection may be direct or indirect through intermediate members, and the specific meaning of the terms may be understood in detail by those skilled in the art.

The foregoing description of the preferred embodiments of the invention has been presented only to provide a better understanding of the principles of the invention. It will be apparent to those skilled in the art that modifications and equivalents may be made in accordance with the principles of the invention, and such modifications and equivalents are considered to fall within the scope of the invention.

Claims

1. The mechanical arm for transferring the high-temperature workpiece comprises a base (1) and two clamping rods (2), wherein the upper side of the base (1) is connected with the end part of the mechanical arm, and the mechanical arm is characterized by further comprising a rotary drum (3) with two open ends, a clamping driving mechanism (4), a heating mechanism (5) and a rotary driving assembly (6); the base (1) comprises a transverse plate (12), a vertical plate (13) is arranged at the left end of the transverse plate (12), and end plates (14) are arranged at the front end and the rear end of the transverse plate (12); the rotary drum (3) is positioned between the end plates (14), and the end part of the rotary drum (3) is connected with the end plates (14) around the central axis of the rotary drum (3);

the side wall of the rotary drum (3) is provided with a through hole (34) along the axial direction, the clamping driving mechanisms (4) are arranged in the rotary drum (3), the middle parts of the two clamping rods (2) are hinged with the rotary drum (3), one end of each clamping rod (2) extends out of the corresponding through hole (34), and the other end of each clamping rod extends into the rotary drum (3) and abuts against the corresponding clamping driving mechanism (4); the clamping driving mechanism (4) is used for driving the overhanging ends of the two clamping rods (2) to open and close;

the heating mechanism (5) is in switching connection with the vertical plate (13) and is used for heating the overhanging end of the clamping rod (2) from the through hole (34); the rotary driving assembly (6) is in driving connection with the rotary drum (3) and is used for driving the rotary drum (3) to rotate so as to enable the through hole (34) to be turned or separated from the heating mechanism (5).

2. A robot arm for transferring high temperature workpieces according to claim 1, characterized in that the clamping drive mechanism (4) comprises a shaft sleeve (41), a drive column (42), a drive shaft (43), a second motor (44); the shaft sleeve (41) is far away from the through hole (34) and is connected with the inner side of the rotary drum (3), the shaft sleeve (41) is matched with the driving shaft (43), the middle part of the driving shaft (43) is coaxially connected with the driving column (42), the second motor (44) is connected with the outer part of the rotary drum (3), and the end part of the driving shaft (43) extends out of the rotary drum (3) and is connected with the driving end of the second motor (44); the inner ends of the two clamping rods (2) are respectively abutted against the left end face and the right end face of the driving column (42), and the driving column (42) is rotated to push the inner ends of the two clamping rods (2) to be far away from or close to each other;

the left end face and the right end face of the driving column (42) are symmetrical, a first table top (421), an inclined surface (422) and a second table top (423) are arranged on the left end face and the right end face of the driving column (42) around the driving shaft (43), and the inclined surface (422) is in smooth transition with the first table top (421) and the second table top (423); the driving column (42) is rotated to enable the first table surface (421), the inclined surface (422) and the second table surface (423) to be sequentially abutted against the inner ends of the two clamping rods (2).

3. The mechanical arm for transferring high-temperature workpieces according to claim 2, wherein sliding grooves (35) penetrating through the through holes (34) are symmetrically formed in the inner side of the rotary drum (3), the sliding grooves (35) are perpendicular to the central axis of the driving shaft (43) and the central axis of the rotary drum (3), a moving block (36) is arranged in the sliding grooves (35) in a sliding mode, a limiting sleeve (37) is arranged at the penetrating end of the sliding grooves (35), and the limiting sleeve (37) is matched with the lower end portion of the moving block (36);

the middle parts of the two clamping rods (2) are respectively hinged with the moving block (36); the upper end part of the moving block (36) is provided with a rack (361), the driving shaft (43) is provided with a sector gear (431) meshed with the rack (361), and the driving shaft (43) is rotated to drive the moving block (36) to move along the chute (35);

the sector gear (431) includes a tooth portion and a rotation portion; when the first table top (421) and the inclined surface (422) are abutted against the inner end of the clamping rod (2), the tooth part of the sector gear (431) is in a separated state with the rack (361), the moving block (36) is far away from the driving column (42), and the lower end part of the moving block (36) is pressed against the limiting sleeve (37); at the moment, the middle parts of the clamping rods (2) are relatively fixed on the inner side of the rotary drum (3) through the moving blocks (36), the driving columns (42) are rotated in the clockwise and anticlockwise directions, the clamping rods (2) swing around the hinge parts, and the overhanging ends of the two clamping rods (2) are opened and closed; when the driving column (42) is rotated, the inner end of the clamping rod (2) slides from the inclined surface (422) to the second table top (423), the driving column (42) is continuously rotated, the second table top (423) rotates against the inner end of the clamping rod (2), the tooth part of the sector gear (431) rotates to engage the rack (361), and the moving block (36) is driven to move towards the driving column (42), namely, move towards the rotary drum (3); when the drive post (42) is rotated in the opposite direction, the movable block (36) is moved back.

4. A robot arm for transferring high temperature workpieces according to claim 1, characterized in that the heating means (5) comprise a first drive mechanism (51), a first spindle (52), a heating seat (53), a first heating tube (54); the first rotating shaft (52) is connected with the vertical plate (13) in a switching mode along the up-down direction, the lower end portion of the first rotating shaft (52) is connected with the heating seat (53), and a first heating pipe (54) is arranged on the upper end face and the lower end face of the heating seat (53);

the first driving mechanism (51) is arranged on the upper side of the transverse plate (12), and the upper end part of the first rotating shaft (52) penetrates through the transverse plate (12) to be in driving connection with the first driving mechanism (51); the first driving mechanism (51) is used for driving the heating seat (53) to turn or rotate away from the vertical plate (13) so as to drive the first heating pipe (54) to rotate into and out of between the overhanging ends of the two clamping rods (2).

5. A robot arm for transferring high temperature workpieces as claimed in claim 4, wherein said first drive mechanism (51) comprises a swing link (511), a push rod (512), a guide frame (513), a first electric cylinder (514); the guide frame (513) and the first electric cylinder (514) are arranged on the transverse plate (12), the push rod (512) is connected with the guide frame (513) in a sliding mode along the front-back direction, and the push rod (512) is positioned on one side of the first rotating shaft (52); the swing rod (511) is connected with the upper end part of the first rotating shaft (52), the swing rod (511) is provided with a first notch (515), and the push rod (512) is provided with a first roller matched with the first notch (515); the output end of the first electric cylinder (514) is connected with one end of the push rod (512), and the push rod (512) is pushed to drive the swing rod (511) to swing around the first rotating shaft (52).

6. A mechanical arm for transferring high-temperature workpieces according to claim 4, wherein the heating mechanism (5) comprises a cleaning piece (56), the upper end face and the lower end face of the heating seat (53) are provided with mounting grooves (531), springs are arranged at the bottoms of the mounting grooves (531), the bottoms of the cleaning piece (56) are pressed against the springs and slide with the mounting grooves (531), and the bottoms of the spring-action cleaning piece (56) are abutted in the mounting grooves (531); the top of cleaning piece (56) is provided with cleans head (561), first actuating mechanism (51) drive heating seat (53) drive and cleans head (561) rotation, cleans head (561) rotation and cleans two the overhanging ends of clamping lever (2).

7. A robot for transferring high temperature workpieces according to claim 1, further comprising a cover mechanism (7) for covering said opening (34), said cover mechanism (7) comprising an arc plate (71), a second drive mechanism (72); the second driving mechanism (72) is arranged on the outer side of the vertical plate (13), and the driving end of the second driving mechanism (72) is hinged with one end part of the arc plate (71); the front end and the rear end of the vertical plate (13) are respectively provided with a second notch (131) along the up-down direction, and the hinged end of the arc plate (71) is provided with a second roller (711) matched with the second notch (131); an arc-shaped third notch (712) is formed in one side surface of the arc plate (71) facing the vertical plate (13), and a third roller (132) matched with the third notch (712) is arranged at the lower end of the vertical plate (13); the second driving mechanism (72) is used for driving the arc plate (71) to cover the through hole (34);

the second driving mechanism (72) comprises a screw rod (721), a screw nut (722), a connecting rod (723) and a third motor (724); the screw rod (721) is connected with the vertical plate (13) in an up-down direction, the screw rod (721) is in spiral connection with the screw nut (722), one end of the connecting rod (723) is hinged with the screw nut (722), and the other end of the connecting rod is hinged with the arc plate (71); the output end of the third motor (724) is in driving connection with the screw rod (721) and is used for driving the screw nut (722) to drive the connecting rod (723) to move;

the third motor (724) drives the screw nut (722) to be far away from the third motor (724), the screw nut (722) drives the connecting rod (723) to move, and the connecting rod (723) pushes the arc plate (71) to enable the second roller (711) to move to the end part of the second notch (131); a third roller (132) slides against the third notch (712) from one end of the arc plate (71) to the other end; continuing to drive the screw nut (722), the connecting rod (723) pushes the arc plate (71) to rotate around the second roller (711) towards the rotating drum (3), and finally the end part of the arc plate (71) is abutted against the edge of the rotating drum (3), and the arc plate (71) covers the through hole (34).