Heating equipment and control method thereof

Abstract

The invention relates to the technical field of permanent magnet induction heating, in particular to heating equipment and a control method thereof.The heating equipment comprises a mechanical arm and a heating device, the mechanical arm comprises an end part, and the end part is rotatable; the heating device comprises a plurality of heating blocks, and the multiple heating blocks are distributed at the end in the circumferential direction and used for positioning, grabbing and moving a to-be-machined workpiece to a heating position; when the to-be-processed workpiece needs to be heated, the to-be-processed workpiece is separated from the heating block at the heating position, the end part is used for driving the heating block to rotate so as to adjust the heating state of the to-be-processed workpiece, the heating device is a permanent magnet device, and the heating block is a permanent magnet block; and the end part rotates relative to the to-be-processed workpiece in the heating process so as to ensure that the to-be-processed workpiece is uniformly heated. The end portion is designed to be rotatable, so that operation is more flexible, various complex machining requirements can be met, the mechanical arm and a heating device, namely a permanent magnet device are integrated, workpieces to be machined can be rapidly and accurately grabbed, moved and placed, and production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet induction heating technology, and in particular to a heating device and its control method. Background Technology

[0002] In scenarios involving the processing of parts such as wheel hubs, existing probe-type heating devices are typically used in conjunction with robotic arms. Specifically, when a wheel hub to be processed is transported to the production line, a robotic arm equipped with a probe-type heating device will precisely move to the position of the wheel hub and use the magnetic force of the heating block to attract the wheel hub onto the robotic arm. Subsequently, the robotic arm carries the wheel hub to the processing area for heating, cutting, or other treatments. After processing is completed, the robotic arm moves the wheel hub to the next workstation or storage area.

[0003] Currently, the main problems are low integration between the robotic arm and the permanent magnet device, and complex operation. Summary of the Invention

[0004] This invention provides a heating device and its control method to solve the problems of low integration and complex operation between the robotic arm and the permanent magnet device.

[0005] On one hand, the present invention provides a heating device, comprising: A robotic arm, including an end effector, the end effector being rotatable; The heating device includes multiple heating blocks arranged circumferentially at the ends, used for positioning, gripping, and moving the workpiece to the heating position; wherein... When it is necessary to heat the workpiece, the workpiece is detached from the heating block at the heating position, and the end drives the heating block to rotate to heat the workpiece; wherein, the heating device is a permanent magnet device, and the heating block is a permanent magnet block.

[0006] In some embodiments, the robotic arm further includes: A robotic arm, connected to the end opposite the heating device; The controller is electrically connected to the end effector, the heating block, and the robotic arm. It is used to control the robotic arm to move the end effector between the material receiving area, the material discharging area, and the heating position, and to control the end effector to rotate the heating block, as well as to control the workpiece to be processed to detach from the heating block.

[0007] In some embodiments, the robotic arm also includes a release aid disposed on the surface of the heating block facing the workpiece, and the release aid is an elastic sheet or spring.

[0008] In some embodiments, the robotic arm also includes a material extractor connected to a controller, which controls the material extractor to pull the workpiece away from the heating block.

[0009] In some embodiments, when it is necessary to position and grasp the workpiece, the end drives the heating block to align with the workpiece, and the end drives the heating block to rotate to position the workpiece, and the heating block grasps the workpiece.

[0010] In some embodiments, the end is also used to position the heating block and grasp the heated workpiece, and the robotic arm is used to move the end and the heating block to the discharge area.

[0011] In some embodiments, when it is necessary to place the heated workpiece in the discharge area, the controller is used to control the end to drive the heating block to rotate and place the workpiece in the discharge area.

[0012] In some embodiments, the workpiece is positioned in the receiving area before being heated, and a robotic arm is used to move the heating block to the workpiece in the receiving area.

[0013] On the other hand, the present invention also provides a control method for the heating device as described above, comprising: A robotic arm drives multiple heating blocks to position, grasp, and move the workpiece to be processed to the heating position. When heating the workpiece at the heating position, the workpiece is detached from the heating block at the heating position, and the end of the robot arm drives the heating block to rotate to heat the workpiece.

[0014] In some embodiments, during the step of positioning, gripping, and moving the workpiece to the heating position... The end of the heating block rotates to position the workpiece. The heating block grips the workpiece, and the end of the heating block moves the workpiece and places it in the heating position.

[0015] In some embodiments, after heating the workpiece, the process further includes: The end-end drives the heating block to position and grasp the workpiece to be processed, and the end-end drives the heating block to move the heated workpiece to the discharge area; When the workpiece is moved to the discharge area, the end of the heating block rotates and places the workpiece.

[0016] In some embodiments, before moving the workpiece to the heating position, the method further includes: The workpiece to be processed is placed in the material receiving area. The end of the robot arm drives multiple heating blocks to move to the workpiece in the material receiving area, and the multiple heating blocks are aligned with the workpiece in the material receiving area.

[0017] The beneficial effects of this invention are as follows: The heating device of this invention, by setting up a robotic arm and a heating device, includes an end cap that is rotatable, making the robotic arm more flexible and adaptable to different work requirements and space constraints. The heating device includes multiple heating blocks circumferentially distributed at the end cap, used to position, grasp, and move the workpiece to the heating position. When the workpiece needs to be heated, it detaches from the heating blocks at the heating position, and the end cap drives the heating blocks to rotate to heat the workpiece. The heating blocks generate an adsorption force on the workpiece, and the arrangement of multiple sets of heating blocks enhances the adsorption force, ensuring that the multiple sets of heating blocks stably grasp and move the workpiece. The combined application of a robotic arm and a heating device achieves a high degree of integration. When heating a workpiece is required, the workpiece needs to be detached from the heating block at the heating position, and the end cap drives multiple heating blocks to rotate relative to the workpiece to adjust its heating state. In other words, during the heating process, the end cap rotates to adjust the position or angle of the heating blocks relative to the workpiece, ensuring uniform heating. The rotatable end cap design makes operation more flexible and adaptable to various complex processing needs. The integration of the robotic arm and heating device allows for rapid and accurate gripping, moving, and placing of workpieces, significantly improving production efficiency. The rotatable end cap design enables the robotic arm to flexibly adapt to different processing requirements, such as adjusting the position or angle of the heating blocks (permanent magnets) relative to the workpiece (wheel hub), improving the equipment's adaptability and flexibility. The distributed arrangement of multiple sets of heating blocks (permanent magnets) enhances magnetic attraction, ensuring stable gripping and movement of the workpiece (wheel hub) during processing. This heating device solves the problems of low integration and complex operation between heating devices and robotic arms.

[0018] The control method for heating equipment provided by this invention includes: a robotic arm driving multiple heating blocks to position, grasp, and move the workpiece to a heating position; while heating the workpiece at the heating position, the heating blocks place the workpiece in the heating position, and the end of the robotic arm drives the heating blocks to rotate to adjust the heating state of the workpiece. This control method realizes an automated process for the workpiece from incoming material, heating to outgoing material, greatly reducing manual operation, improving production efficiency, and enabling the heating device to quickly absorb and release the workpiece. Combined with the precise movement of the robotic arm, the entire processing process is more efficient and faster. The automated process reduces the impact of human factors, ensuring consistency in the processing and stability of product quality. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the heating device in an embodiment of the present invention; Figure 2 yes Figure 1 Side view of the heating device in the middle; Figure 3 yes Figure 1 Top view of the heating equipment; Figure 4 yes Figure 1 Rear view of the heating equipment.

[0020] The following labels are used in the diagram: 1. Workpiece to be processed; 2. Incoming material area; 3. Heating position; 4. Outgoing material area; 100. Robotic arm; 110. End; 120. Robotic arm; 130. Controller; 200. Heating device; 210. Heating block. Detailed Implementation

[0021] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The applicant noted that with the continuous advancement of industrial technology, permanent magnet technology has become a key technology in the field of modern machining. Probe-type heating devices, as a specific application of this technology, have experienced rapid development in recent years. In wheel hub machining, probe-type heating devices are typically used in conjunction with robotic arms. Specifically, when a wheel hub to be processed is transported to the production line, a robotic arm equipped with a probe-type heating device precisely moves to the hub's position, using the strong magnetic force of the heating block to attract the hub onto the robotic arm. Subsequently, the robotic arm carries the hub to the processing area for heating, cutting, or other treatments. After processing, the robotic arm moves the hub to the next workstation or storage area. Throughout the process, due to the stability and precision of the heating device, the processing quality and efficiency of the wheel hub are significantly improved.

[0023] While probe-type heating devices have demonstrated significant advantages in wheel hub processing, several technical challenges remain to be addressed. Firstly, the performance stability and durability of permanent magnet materials are critical issues. In harsh environments such as high temperature and high humidity, the magnetic force of permanent magnet materials may be affected, leading to decreased or unstable adsorption.

[0024] Secondly, precise control of the robotic arm is also a challenge. Due to the varying shapes and weights of wheel hubs, the robotic arm needs to possess a high degree of flexibility and accuracy to ensure stable and precise gripping and placement of the wheel hubs each time.

[0025] Furthermore, the integration of heating devices and robotic arms needs improvement. Currently, some products on the market may suffer from low integration and complex operation, which to some extent limits their application in actual production.

[0026] Therefore, developing a heating device and its control method is of particular importance.

[0027] As mentioned in the background technology, the current problems that electromagnetic induction heating equipment needs to solve are that the integration between the heating device and the robotic arm is not high and the operation is complicated. Furthermore, since the shapes and weights of the workpieces to be processed, such as wheel hubs, vary, the robotic arm needs to have high flexibility and accuracy to ensure that it can stably and accurately grasp and place the wheel hubs each time. Therefore, the robotic arm has high requirements for flexibility. In harsh environments such as high temperature and high humidity, the magnetic force of permanent magnet materials may be affected, resulting in a decrease or instability in the adsorption force.

[0028] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 This invention provides a heating device, including a robotic arm 100 and a heating device 200. The robotic arm 100 includes an end portion 110, which is rotatable. The heating device 200 includes multiple heating blocks 210, which are circumferentially distributed on the end portion 110, i.e., the heating blocks 210 are fixed circumferentially to the outer surface of the end portion 110, and are used to position, grasp, and move the workpiece 1 to a heating position 3. When it is necessary to heat the workpiece 1, the workpiece 1 is detached from the heating blocks 210 at the heating position 3, and the end portion 110 is used to drive the multiple heating blocks 210 to rotate relative to the workpiece 1 to adjust the heating state of the workpiece 1. In this embodiment of the invention, the heating blocks 210 are permanent magnets, and the workpiece 1 is a wheel hub to be processed.

[0029] In some of these embodiments, such as Figure 1 As shown, the robotic arm 100 also includes a robotic arm 120. The robotic arm 120 is connected to the end of the end cap 110 that is away from the heating device 200. Furthermore, the robotic arm 100 also includes a controller 130, which is electrically connected to the end cap 110, the heating block 210, and the robotic arm 120. The controller 130 is used to control the robotic arm 120 to move the end cap 110 between the material receiving area 2, the material discharging area 4, and the heating position 3 of the workpiece 1, and to control the end cap 110 to rotate the heating block 210, and to control the heating block 210 to grasp or place the workpiece 1.

[0030] It should be added that, in some embodiments, the end portion 110 of the robotic arm 100 is freely rotatable, and the end portion 110 is mainly used to move between the material receiving area 2, the heating position 3, and the discharge area 4 of the workpiece 1. Because the end portion 110 is freely rotatable, the robotic arm 100 and the heating device 200 are more flexible and can adapt to different work requirements and space constraints. It should also be noted that, in the above embodiments, multiple heating blocks 210 are circumferentially distributed on the end portion 110, and the heating blocks 210 are fixed circumferentially to the outer surface of the end portion 110. The heating blocks 210 are used to generate an adsorption force on the workpiece 1. The distribution of multiple sets of heating blocks 210 enhances the adsorption force on the workpiece 1, ensuring that the multiple sets of heating blocks 210 stably grasp and move the workpiece 1. Therefore, when the end portion 110 of the robotic arm 100 moves, it can drive the heating blocks 210 to move together, meaning that multiple heating blocks 210 can simultaneously move between the material receiving area 2, the heating position 3, and the discharge area 4, or any of these positions.

[0031] In some embodiments, when it is necessary to position and grasp the workpiece 1, the end arm 110 drives the heating block 210 to align with the workpiece 1, and the end arm 110 drives the heating block 210 to rotate synchronously to position the workpiece 1, and the heating block 210 applies an adsorption force to grasp the workpiece 1. That is, when it is necessary to grasp the workpiece 1, the robot arm 100 drives multiple heating blocks 210 to align with the workpiece 1 located in the material receiving area 2. The heating blocks 210 rotate according to the shape and size of the workpiece 1 to adapt to the shape of the workpiece 1 and thus position the workpiece 1. After positioning is completed, the heating blocks 210 apply an adsorption force to the workpiece 1 to grasp and fix it. Since the robot arm 100 moves the heating blocks 210 to the material receiving area 2 to grasp the workpiece 1, the robot arm 100 accurately positions the workpiece 1 through the heating blocks 210, thereby using the adsorption force generated by the heating blocks 210 to achieve adsorption and grasping of the workpiece 1. After the end cap 110 grasps the workpiece 1, the robot arm 100 moves the workpiece 1 to the heating position 3 through the end cap 110.

[0032] When it is necessary to heat the workpiece 1, the heating block 210 places the workpiece 1 in the heating position 3, and the end 110 is used to drive the heating block 210 to rotate to heat the workpiece 1. Since the end 110 is rotatable, if it is necessary to adjust the heating angle of the heating block 210 relative to the workpiece 1 during the heating process, the end 110 of the robot 100 drives the heating block 210 to rotate to ensure that the heating block 210 heats the workpiece 1 evenly.

[0033] It should be added that, in some embodiments, the robotic arm 100 also includes a release aid located at the end 110. The release aid may include a shock absorber. The shock absorber is disposed on the surface of the plurality of heating blocks 210, i.e., permanent magnet blocks, facing the workpiece 1. The shock absorber may be an elastic element, such as an elastic sheet or a spring. In other embodiments, the shock absorber may also be a rubber ring adapted to the heating block 210. When the end 110 of the robotic arm 100 needs to place the workpiece 1 at the heating position 3 or the discharge area 4, the use of the shock absorber makes it easier for the workpiece 1 to detach from the heating block 210, i.e., the permanent magnet block, while reducing the vibration friction between the workpiece 1 and the heating block 210, i.e., the permanent magnet block, and preventing damage to the outer surface quality of the workpiece 1.

[0034] The robotic arm 100 also includes a material extractor connected to a controller 130. The controller 130 controls the material extractor to pull out the workpiece 1 from the side away from the multiple heating blocks 210 (i.e., permanent magnet blocks). The material extractor needs to be designed to be compatible with the shape and position of the end 110 and the heating blocks 210 so that the material extractor can act on the workpiece 1 without obstruction. The force exerted by the material extractor on the workpiece 1 and the weight of the workpiece 1 are used to counteract the permanent magnetic force exerted by the heating blocks 210 (i.e., permanent magnet blocks) on the workpiece 1, so as to detach the workpiece 1 from the heating device 200 (i.e., permanent magnet device), so that the workpiece 1 can be placed in the heating position 3 or the discharge area 4. The workpiece 1 is pulled out by the material extractor without damaging it.

[0035] Therefore, the design of the release device, such as the shock absorber and the material extractor, in the embodiment of the heating device of the present invention utilizes the shock absorber and / or the material extractor to extract the workpiece 1 away from the heating block 210. When heating is required, the controller 130 controls the heating block 210, i.e., the permanent magnet, to rotate relative to the workpiece 1, so that the magnetic field of the heating block 210, i.e., the permanent magnet, acts on the workpiece 1, causing the heating block 210 to rotate relative to the workpiece 1 in the magnetic field, cutting the magnetic lines of force, thus heating the interior of the workpiece 1. When the temperature of the workpiece 1 reaches the required target heating temperature, the release device and the material extractor are used to release the workpiece 1 relative to the heating block 210, and then the rotation of the end 110 and the robotic arm 120 is used to move the heating block 210 away from the workpiece 1. This can solve the problem of inaccurate positioning of the workpiece 1 before and after heating, especially the difficulty in separating the workpiece 1 from the heating block 210, i.e., the permanent magnet, after heating, which easily damages the surface quality or deforms the workpiece 1. Furthermore, it can meet the different needs of permanent magnet induction heating for different parts and sizes of the workpiece to be processed, making the application range of this heating equipment wider.

[0036] In some embodiments, before gripping the workpiece 1, the workpiece 1 is positioned in the material receiving area 2, and the robotic arm 120 of the robotic arm 100 is used to move multiple heating blocks 210 to the workpiece 1 to grip the workpiece 1, thereby fulfilling the material receiving requirements of the workpiece 1.

[0037] In some embodiments, the end arm 110 is used to position and grasp the heated workpiece 1 after it has been heated, and the robotic arm 120 is used to move the heated workpiece 1 to the discharge area 4, along with the heating block 210. When the heated workpiece 1 needs to be placed in the discharge area 4, the workpiece 1 is released relative to the heating block 210 using a release aid and a material puller. The end arm 110 is used to rotate the heating block 210 relative to the workpiece 1. Thus, when the workpiece 1 has been heated and needs to be moved to the discharge area 4, the robotic arm 100 moves the workpiece 1 to the discharge area 4 after heating and releases it relative to the heating block 210, thereby fulfilling the discharge requirement of the workpiece 1. That is, once the heating process of the workpiece 1 is completed, the robotic arm 100 carries the workpiece 1 (i.e., the hub) to the discharge area 4, and the release aid and material puller gently place the workpiece 1 (i.e., the hub) in the designated position.

[0038] In the heating device of this invention, by setting up a robotic arm 100 and a heating device 200, the end 110 of the robotic arm 100 can rotate freely, making the robotic arm 100 and the heating device more flexible and adaptable to different work requirements and space constraints. The heating device 200 includes multiple heating blocks 210, which are circumferentially distributed at the end 110 for positioning, gripping, and moving the workpiece 1 to the heating position 3. The heating blocks 210 can generate an adsorption force on the workpiece 1. The layout of multiple sets of heating blocks 210 can enhance the adsorption force on the workpiece 1, ensuring that the multiple sets of heating blocks 210 stably grip and move the workpiece 1, i.e., the wheel hub. The robot arm 100 is connected to the heating device 200 for integrated application, achieving a high degree of integration between the two. When the workpiece 1 needs to be heated, the end 110 of the robot arm 100 rotates freely, driving multiple heating blocks 210 to move the workpiece 1 to the heating position 3. When the workpiece 1 needs to be heated, the lifting aid and the material pulling device are used to place the workpiece 1 in the heating position 3 using the heating blocks 210. The end 110 is used to drive the heating blocks 210 to rotate relative to the workpiece 1 to heat it. Since the end 110 is rotatable, if the position or angle of the heating blocks 210 relative to the workpiece 1 needs to be adjusted during the heating process, the end 110 of the robot arm 100 rotates to ensure uniform heating of the workpiece 1. The rotatable design of the end 110 makes the operation more flexible and can adapt to various complex processing needs. The integration between the robot arm 100 and the heating device 200 allows for quick and accurate gripping, moving, and placing of the workpiece 1, greatly improving production efficiency. Furthermore, the heating block 210 uses magnetic force to grip the workpiece 1, and the detachment aid and material puller separate the heating block 210 from the workpiece 1, avoiding damage to the surface of the workpiece 1, such as a wheel hub, and also reducing safety hazards for operators. Therefore, the application of the heating equipment of the present invention in the processing of workpiece 1, such as a wheel hub, not only improves production efficiency but also enhances operational flexibility and safety, representing a significant technological innovation in modern production lines.

[0039] Furthermore, the heating equipment of this invention, through the combination of the robotic arm 100 and the heating device 200, realizes an automated process for the workpiece 1, i.e., the wheel hub, from the receiving area 2, heating position 3 to the discharge area 4, greatly reducing manual operation and improving production efficiency. The heating device 200, i.e., the permanent magnet device, can quickly position, grasp, move, and place the workpiece 1, i.e., the wheel hub. Combined with the precise movement of the robotic arm 100, the entire processing process is more efficient and faster. The automated process reduces the influence of human factors, ensuring the consistency of the processing and the stability of product quality.

[0040] Furthermore, the rotatable end design of the heating device of this invention allows the robotic arm 100 to flexibly adapt to different processing requirements. For example, the position or angle of the heating block 210 (i.e., the permanent magnet block) relative to the workpiece 1 (i.e., the wheel hub) can be adjusted, improving the adaptability and flexibility of the device. The distributed arrangement of multiple sets of heating blocks 210 (i.e., permanent magnet blocks) enhances the magnetic attraction, ensuring stable gripping and movement of the workpiece 1 (i.e., the wheel hub) during processing, maintaining stability even under high speed or high load conditions. In summary, the probe-type permanent magnet device of this invention can adapt to different working environments and conditions, such as high temperature and high humidity, improving the stability and reliability of the equipment.

[0041] On the other hand, the present invention also provides a control method for the heating device as described above, comprising: The robotic arm 100 drives multiple heating blocks 210 to position, grasp, and move the workpiece 1 to be processed to the heating position 3; When the workpiece 1 is heated at heating position 3, the heating block 210 places the workpiece 1 at heating position 3, and the end 110 of the robot arm 100 drives the heating block 210 to rotate to heat the workpiece 1.

[0042] In some embodiments, in the step of positioning, gripping and moving the workpiece 1 to the heating position 3, the end 110 drives the heating block 210 to rotate synchronously to position the workpiece 1, the heating block 210 grips the workpiece 1, and the end 110 drives the workpiece 1 gripped by the heating block 210 to move and place it to the heating position 3.

[0043] It should be noted that in the above steps, when it is necessary to position the workpiece 1, the end 110 drives the heating block 210 to first align with the workpiece 1. The end 110 is also used to drive the heating block 210 to rotate synchronously and adjust to position the workpiece 1. The heating block 210 is adapted to the shape of the workpiece 1 to facilitate positioning. When it is necessary to grasp the workpiece 1, the heating block 210 applies an adsorption force to grasp the workpiece 1. After the robot arm 100 drives multiple heating blocks 210 to position and grasp the workpiece 1, it moves the workpiece 1 to the heating position 3. It should also be noted that before heating the workpiece 1, the workpiece 1 is detached from the heating block 210 using a release aid and a material puller. When heating the workpiece 1 at the heating position 3, the end 110 of the robot arm 100 rotates and adjusts the heating state of the heating block 210 relative to the rotation of the workpiece 1, so as to achieve uniform heating of the workpiece 1.

[0044] In some embodiments, after heating the workpiece 1, the following step is further included: The end 110 drives the heating block 210 to position and grab the workpiece 1 to be processed, and the end 110 drives the heating block 210 to move the heated workpiece 1 to the discharge area 4; When the workpiece 1 is moved to the discharge area 4, the end 110 drives the heating block 210 to rotate and place the workpiece 1.

[0045] It should be noted that in the above steps, after the workpiece 1 is heated and while the workpiece 1 is being moved to the discharge area 4, the end 110 drives the heating block 210 to rotate to position the workpiece 1 and drives the heating block 210 to apply an adsorption force to grab the workpiece 1. The end 110 drives the heating block 210 to move the heated workpiece 1 to the discharge area 4. When the workpiece 1 is moved to the discharge area 4, it is necessary to use the release aid and the material puller to detach the workpiece 1 from the heating block 210. At the same time, the end 110 drives the heating block 210 to rotate synchronously to release the workpiece 1 and place the workpiece 1 to the discharge area 4.

[0046] In some embodiments, the step of moving the workpiece 1 to the heating position 3 is further included: The workpiece 1 to be processed is placed in the material receiving area 2. The end 110 drives multiple heating blocks 210 to move to the workpiece 1 to be processed in the material receiving area 2. The multiple heating blocks 210 are aligned with the workpiece 1 to be processed in the material receiving area 2 so as to transport the workpiece 1 to the heating position 3.

[0047] In the control method of the heating device provided by the present invention, the robot arm 100 drives multiple heating blocks 210 to grasp the workpiece 1 to be processed and move it to the heating position 3; the end 110 of the robot arm 100 rotates relative to the workpiece 1 to be processed, and adjusts the state of the heating blocks 210 when the workpiece 1 is rotated and heated, so as to heat the workpiece 1.

[0048] The control method for the heating equipment provided by this invention includes: a robotic arm 100 driving multiple heating blocks 210 to position, grasp, and move the workpiece 1 to a heating position 3; when heating the workpiece 1 at the heating position 3, the heating blocks 210 place the workpiece 1 at the heating position 3, and the end 110 of the robotic arm 100 drives the heating blocks 210 to rotate to adjust the heating state of the workpiece 1. By rotating the end 110, the state of the heating blocks 210 relative to the rotating heating of the workpiece 1 is adjusted to heat the workpiece 1. This control method realizes the automated process of the workpiece 1 from material intake, heating to discharge, greatly reducing manual operation, improving production efficiency, and enabling the heating device 200 to quickly position, grasp, move, and place the workpiece 1. Combined with the precise movement of the robotic arm 100, the entire processing process is more efficient and faster. The automated process reduces the influence of human factors, ensuring the consistency of the processing process and the stability of product quality.

[0049] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Furthermore, the terms "upper" and "lower" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "upper" or "lower" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A heating device, characterized in that: include: A robot (100) comprises an end portion (110), wherein the end portion (110) is rotatable; The heating device (200) comprises a plurality of heating blocks (210), wherein the plurality of heating blocks (210) are circumferentially distributed at the end portion (110) and are used to locate, grasp and move a workpiece (1) to be processed to a heating position (3); wherein: When the workpiece (1) needs to be heated, the workpiece (1) is separated from the heating block (210) at the heating position (3), and the end portion (110) is used to drive the heating block (210) to rotate so as to heat the workpiece (1); and wherein: The heating device (200) is a permanent magnetic device, and the heating block (210) is a permanent magnetic block.

2. The heating device according to claim 1, characterized in that The robot (100) further comprises: A mechanical arm (120) connected to an end of the end portion (110) facing away from the heating device (200); The controller (130) is electrically connected to the end portion (110), the heating block (210) and the robotic arm (120), and is used to control the robotic arm (120) to drive the end portion (110) to move between the incoming material area (2), the outgoing material area (4) and the heating position (3), and to control the end portion (110) to drive the heating block (210) to rotate, and to control the workpiece (1) to be processed to be separated from the heating block (210).

3. The heating device according to claim 1, characterized in that The robot (100) further comprises a release aid, the release aid being arranged on a surface of a side of the heating block (210) facing the workpiece (1) to be processed, and the release aid being an elastic sheet or a spring.

4. The heating device according to claim 2, characterized in that The robot (100) further comprises a material pulling piece, the material pulling piece is connected to the controller (130), and the controller (130) is used to control the material pulling piece to pull out the workpiece (1) to be processed towards a side away from the heating block (210).

5. The heating device according to claim 2, characterized in that When it is necessary to position and grasp the workpiece (1) to be processed, the end portion (110) drives the heating block (210) to align with the workpiece (1) to be processed, and the end portion (110) drives the heating block (210) to rotate to position the workpiece (1), and the heating block (210) grasps the workpiece (1).

6. The heating device according to claim 2, characterized in that The end portion (110) is also used to drive the heating block (210) to position and grasp the heated workpiece (1) to be processed, and the robotic arm (120) is used to drive the end portion (110) and the heating block (210) to move the heated workpiece (1) to be processed to the discharge area (4).

7. The heating device according to claim 6, characterized in that When it is necessary to place the heated workpiece (1) to be processed in the discharge area (4), the controller (130) is used to control the end portion (110) to drive the heating block (210) to rotate and place the workpiece (1) to be processed in the discharge area (4).

8. A method for controlling a heating device according to any one of claims 2 to 7, characterized in that: include: The robot (100) drives the plurality of heating blocks (210) to locate, grasp and move the workpiece (1) to be processed to a heating position (3); When the workpiece (1) is heated at the heating position (3), the workpiece (1) is separated from the heating block (210) at the heating position (3), and the end (110) of the robot (100) drives the heating block (210) to rotate to heat the workpiece (1).

9. The control method of the heating device according to claim 8, characterized in that: In the step of positioning, grasping and moving the workpiece (1) to be processed to the heating position (3), The end portion (110) of the robot (100) drives the heating block (210) to rotate to position the workpiece (1) to be processed; the heating block (210) grabs the workpiece (1) to be processed; the end portion (110) drives the workpiece (1) to be processed to move, and places the workpiece (1) to be processed at the heating position (3).

10. The control method of the heating device according to claim 8, characterized in that: After heating the workpiece (1), the process further comprises: The end portion (110) drives the heating block (210) to position and grasp the workpiece (1) to be processed, and the end portion (110) drives the heating block (210) to move the heated workpiece (1) to be processed to the discharge area (4); When the workpiece (1) to be processed moves to the material discharging area (4), the end portion (110) drives the heating block (210) to rotate and place the workpiece (1) to be processed.

Images