CN208883937U - A kind of gear Ya Cuiji loading and unloading robot - Google Patents
A kind of gear Ya Cuiji loading and unloading robot Download PDFInfo
- Publication number
- CN208883937U CN208883937U CN201821131654.8U CN201821131654U CN208883937U CN 208883937 U CN208883937 U CN 208883937U CN 201821131654 U CN201821131654 U CN 201821131654U CN 208883937 U CN208883937 U CN 208883937U
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- gear
- wire body
- robot
- loading
- heat treatment
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Abstract
The utility model relates to a kind of gear Ya Cuiji loading and unloading robot, there is gear heat treatment equipment, gear to quench machine, material conveying mechanism and security protection system；Material conveying mechanism includes gear input wire body, gear output wire body and gear cooling bench；Gear input wire body is installed on the discharge port of gear heat treatment equipment, material tray of the arrangement conveying for the gear after placing heat treatment in gear input wire body；Gear output line body is located at the inflow position of gear cooling bench；Quench machine, gear output wire body and gear cooling bench of gear heat treatment equipment, gear input wire body, robot base, gear passes sequentially through security protection system and surrounds in the arrangement that joins end to end；Robot pickup unit is installed on robot base.The utility model for current gear pressure quench machine loading and unloading work status, cooperate enterprise completion production upgrading, improve production efficiency, worker freed from extremely severe working environment.
Description
Technical field
The utility model relates to a kind of gear Ya Cuiji loading and unloading robot, gear pickup after being mainly used for heat treatment with
And gear pressure is quenched the loading and unloading of machine.
Background technique
Currently, mainly by being accomplished manually, man efficiency is low in the loading and unloading work that gear pressure quenches machine, and at heat
Backgear extreme temperatures are managed, manual work has very big security risk.Work on the spot environment is poor, dust and equipment in factory
The noise of generation can also damage the health of worker.In addition, artificial production management is at high cost, wage for workmen is higher.
Based on the above technical background, gear pickup work and gear pressure after heat treatment are quenched the loading and unloading of machine, need a set of robot
Pickup, and can be with the production system of automatic loading/unloading.
Summary of the invention
The purpose of the utility model is to overcome defects of the existing technology, provide one kind and improve production efficiency, by work
The gear Ya Cuiji loading and unloading robot that people frees from extremely severe working environment.
Realizing the technical solution of the utility model aim is: a kind of gear Ya Cuiji loading and unloading robot has gear thermal
Processing equipment, gear are quenched machine, material conveying mechanism and security protection system；The material conveying mechanism includes gear input line
Body, gear output wire body and gear cooling bench；The gear input wire body is installed on the discharge port of gear heat treatment equipment, tooth
Material tray of the arrangement conveying for the gear after placing heat treatment in wheel input wire body；The gear output line body is located at gear
The inflow position of cooling bench；The gear heat treatment equipment, gear input wire body, robot base, gear are quenched machine, gear output
Wire body and gear cooling bench pass sequentially through security protection system and surround in the arrangement that joins end to end；It is installed on the robot base
There is robot pickup unit.
Robot pickup unit includes mechanical arm and end effector described in above-mentioned technical proposal；The mechanical arm
One end is bolted with robot base, and the other end is connected by connecting flange plate with end effector；The end effector
Including clamping cylinder and clamping jaw；The clamping cylinder has upper and lower two groups, and controls the clamping jaw being arranged in pairs accordingly respectively.
Two setting circle pins being arranged upward are respectively fixed on the fore paw and rear solid end of clamping jaw on the upside of above-mentioned technical proposal；
Two setting circle pins being arranged downward are respectively fixed on the fore paw and rear solid end of the clamping jaw of downside.
Also there is above-mentioned technical proposal the visual identity of the tail portion of the gear for being installed on material conveying mechanism input wire body to draw
Lead unit；The visual identity guidance unit includes vision bracket, industrial camera and heat shield；The lower end of the vision bracket
It is fixedly installed in the side of the tail portion of gear input wire body, upper end is equipped with industrial camera by industrial camera mounting plate；It is described
Heat shield is covered on industrial camera.
Gear described in above-mentioned technical proposal, which exports, is equipped with replaceable collection tray platform at the conveying mouth of wire body.
Above-mentioned technical proposal also has electric control system, and the electric control system includes being mounted on visual identity together
The robot control cabinet and electrical control cabinet of the side of guidance unit.
Security protection system described in above-mentioned technical proposal includes safety protective door and protective fence；The safety protective door
Corresponding collection tray platform position setting；The protective fence by gear heat treatment equipment, gear input wire body, robot base,
Gear quenches machine, gear output wire body and gear cooling bench around in the arrangement setting that joins end to end.
After adopting the above technical scheme, the utility model have the effect of it is following positive:
(1) the utility model for current gear pressure quench machine loading and unloading work status, cooperate the completion of enterprise to produce
Upgrading, improve production efficiency, worker freed from extremely severe working environment.
(2) two positioning cylinders being arranged upward are respectively fixed on the fore paw and rear solid end of the clamping jaw of the upside of the utility model
Pin；Two setting circle pins being arranged downward are respectively fixed on the fore paw and rear solid end of the clamping jaw of downside；It can be used for determining for gear
Position guarantees the stability of clamping.
(3) it is equipped with replaceable collection tray platform at the conveying mouth of the gear output wire body of the utility model, robot takes
A pair of of clamping jaw arrival collection tray platform of part unit drive clamping pallet puts pallet position, and empty pallet is put into collection tray platform
On, successively collection tray platform is occupied, issues signal, factory's fork truck takes fully loaded collection tray platform away, and replaces a sky
Collection tray platform, signal resets, which starts again at work, reduces worker and sucks dust, and reduces equipment and generate
The health of Noise on Workers damage.
Detailed description of the invention
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the utility model general arrangement.
Fig. 2 is that the robot pickup unit of the utility model is schemed in detail.
Fig. 3 is that the visual identity guidance unit of the utility model is schemed in detail.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, there is the utility model gear heat treatment equipment 1, gear to quench machine 8, material conveying mechanism and safety
Guard system；Material conveying mechanism includes gear input wire body 2, gear output wire body 12 and gear cooling bench 13；Gear is defeated
Enter the discharge port that wire body 2 is installed on gear heat treatment equipment 1, gear inputs arrangement in wire body 2 and conveys for after placement heat treatment
Gear material tray 3；Gear output wire body 12 is located at the inflow position of gear cooling bench 13；Gear heat treatment equipment 1, tooth
Quench machine 8, gear output wire body 12 and gear cooling bench 13 of wheel input wire body 2, robot base 14, gear passes sequentially through peace
Full protection system is surrounded in the arrangement that joins end to end；Robot pickup unit 7 is installed on robot base 14.
Robot pickup unit 7 includes mechanical arm 15 and end effector；One end and robot bottom of mechanical arm 15
Seat 14 is bolted, and the other end is connected by connecting flange plate 16 with end effector；End effector includes clamping cylinder 17
With clamping jaw 18；Clamping cylinder 17 has upper and lower two groups, and controls the clamping jaw 18 being arranged in pairs accordingly respectively.
Two setting circle pins 19 being arranged upward are respectively fixed on the fore paw and rear solid end of the clamping jaw 18 of upside；Downside
Two setting circle pins 19 being arranged downward are respectively fixed on the fore paw and rear solid end of clamping jaw 18.
Also there is the visual identity guidance unit 4 of the tail portion for the gear input wire body 2 for being installed on material conveying mechanism；Vision
Identify that guidance unit 4 includes vision bracket 20, industrial camera 22 and heat shield 23；The lower end of vision bracket 20 is fixedly installed in
Gear inputs the side of the tail portion of wire body 2, and upper end is equipped with industrial camera 22 by industrial camera mounting plate 21；Industrial camera 22
On be covered with heat shield 23.
Gear, which exports, is equipped with replaceable collection tray platform 11 at the conveying mouth of wire body 12.
Electric control system provides power supply for this system, and electric control system includes being mounted on visual identity guidance list together
The robot control cabinet 5 and electrical control cabinet 6 of the side of member 4.
Security protection system includes safety protective door 9 and protective fence 10；Safety protective door 9 corresponds to collection tray platform 11
Position setting；Protective fence 10 quenches gear heat treatment equipment 1, gear input wire body 2, robot base 14, gear machine 8, tooth
Wheel output wire body 12 and gear cooling bench 13 are surrounded in the arrangement setting that joins end to end.
The working principle of the utility model are as follows: when gear pressure is quenched machine loading and unloading machine man-hour, gear inputs wire body 2 will
Carrying is heat-treated back-geared 3 conveyer belt robot feeding position of pallet, and issues the signal of acquisition image, and visual identity guidance is single
Member 4 identifies the type of gear, and calculates number and the position of pallet gear, and type, number and location information are sent
To robot control cabinet 5, robot control cabinet 5 controls robot pickup unit 7 according to location information and drives end effector
One pair of them clamping jaw 18 reaches the position, and opens corresponding clamping cylinder 17, and the gear after heat treatment is clamped.Gripper
Afterwards, robot control cabinet 5 controls robot pickup unit 7 with moving gear according to gear information, reaches corresponding gear pressure
It quenches machine 8, reaches to open clamping cylinder 17 behind robot blowing position gear after heat treatment is put into gear pressure and quench machine 8.If
Gear pressure quench machine 8 have it is processed at gear, robot pickup unit 7 overturn end effector, utilize another pair clamping jaw 18
Gear is taken out, end effector is afterwards turned over the gear after heat treatment is put into gear pressure and quench machine 8.Gear is put into gear pressure
It quenches after machine 8, quenches the feeding signal of machine 8 if receiving gear pressure, robot control cabinet 5 controls robot pickup unit 7 and reaches phase
The gear pressure answered is quenched the feeding position of machine 8, will pressure quench after gear take out, the gear after robot pickup unit 7 is quenched with dynamic pressure arrives
Up to the blowing position of gear output wire body 12, gear all on robot pickup unit 7 is put into gear output wire body 12, stream
Enter gear cooling bench 13 and carries out subsequent process.The number of gears information of pallet 3 is identified according to visual identity guidance unit 4,
Robot control cabinet 5 controls robot pickup unit 7 and successively takes the gear on pallet 3, then controls robot pickup unit 7
Reach gear input wire body 2 takes pallet position, one of clamping cylinder 17 of end effector is opened, then corresponding a pair
The opening of clamping jaw 18 clamps pallet 3, and robot pickup unit 7 drives a pair of of the clamping jaw 18 for clamping pallet 3 to reach collection tray platform
11 put pallet position, pallet is put on collection tray platform 11, is successively occupied collection tray platform 11, issue signal, factory's fork
Vehicle takes fully loaded collection tray platform 11 away, and replaces an empty collection tray platform 11, and signal resets, which starts again at
Work.The system according to above-mentioned workflow complete heat treatment after gear pickup, gear pressure quench machine automatic loading/unloading work
Make.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (7)
1. a kind of gear Ya Cuiji loading and unloading robot, it is characterised in that: have gear heat treatment equipment (1), gear to quench machine
(8), material conveying mechanism and security protection system；The material conveying mechanism includes gear input wire body (2), gear output line
Body (12) and gear cooling bench (13)；Gear input wire body (2) is installed on the discharge port of gear heat treatment equipment (1),
Material tray (3) of the arrangement conveying for the gear after placing heat treatment in gear input wire body (2)；The gear exports wire body
(12) it is located at the inflow position of gear cooling bench (13)；The gear heat treatment equipment (1), gear input wire body (2), robot
Pedestal (14), gear quench machine (8), gear output wire body (12) and gear cooling bench (13) pass sequentially through security protection system and enclose
Around in the arrangement that joins end to end；Robot pickup unit (7) is installed on the robot base (14).
2. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that: the robot pickup unit
It (7) include mechanical arm (15) and end effector；One end of the mechanical arm (15) and robot base (14) bolt connect
It connects, the other end is connected by connecting flange plate (16) with end effector；The end effector include clamping cylinder (17) and
Clamping jaw (18)；The clamping cylinder (17) has upper and lower two groups, and controls the clamping jaw (18) being arranged in pairs accordingly respectively.
3. gear Ya Cuiji loading and unloading robot according to claim 2, it is characterised in that: before the clamping jaw (18) of upside
Two setting circle pins (19) being arranged upward are respectively fixed on pawl and rear solid end；It is each on the fore paw and rear solid end of the clamping jaw (18) of downside
It is fixed with two setting circle pins (19) being arranged downward.
4. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that: also defeated with material is installed on
The visual identity guidance unit (4) for sending the gear of mechanism to input the tail portion of wire body (2)；Visual identity guidance unit (4) packet
Include vision bracket (20), industrial camera (22) and heat shield (23)；The lower end of the vision bracket (20) is fixedly installed in tooth
The side of the tail portion of wheel input wire body (2), upper end are equipped with industrial camera (22) by industrial camera mounting plate (21)；The work
Heat shield (23) are covered on industry camera (22).
5. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that: the gear exports wire body
(12) replaceable collection tray platform (11) is equipped at conveying mouth.
6. gear Ya Cuiji loading and unloading robot according to claim 1, it is characterised in that: also have electrical control system
System；The electric control system include be mounted on together visual identity guidance unit (4) side robot control cabinet (5) with
And electrical control cabinet (6).
7. gear Ya Cuiji loading and unloading robot according to claim 5, it is characterised in that: the security protection system packet
Include safety protective door (9) and protective fence (10)；Corresponding collection tray platform (11) the position setting of the safety protective door (9)；
The protective fence (10) quenches gear heat treatment equipment (1), gear input wire body (2), robot base (14), gear machine
(8), gear output wire body (12) and gear cooling bench (13) are surrounded in the arrangement setting that joins end to end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821131654.8U CN208883937U (en) | 2018-07-17 | 2018-07-17 | A kind of gear Ya Cuiji loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821131654.8U CN208883937U (en) | 2018-07-17 | 2018-07-17 | A kind of gear Ya Cuiji loading and unloading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208883937U true CN208883937U (en) | 2019-05-21 |
Family
ID=66506758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821131654.8U Active CN208883937U (en) | 2018-07-17 | 2018-07-17 | A kind of gear Ya Cuiji loading and unloading robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208883937U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108866294A (en) * | 2018-07-17 | 2018-11-23 | 无锡黎曼机器人科技有限公司 | Gear Ya Cuiji loading and unloading robot |
-
2018
- 2018-07-17 CN CN201821131654.8U patent/CN208883937U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108866294A (en) * | 2018-07-17 | 2018-11-23 | 无锡黎曼机器人科技有限公司 | Gear Ya Cuiji loading and unloading robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A loading and unloading robot for gear press quenching machine Effective date of registration: 20210219 Granted publication date: 20190521 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2021980001214 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211203 Granted publication date: 20190521 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2021980001214 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Loading and unloading robot for gear press quenching machine Effective date of registration: 20211206 Granted publication date: 20190521 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2021980014122 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20221202 Granted publication date: 20190521 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2021980014122 |