Water heater double tank inner tank mixed production robot automatic concentric grasping claw

Abstract

A water heater double-tank inner tank mixed production type robot automatic concentric grasping gripper, comprising a connecting seat, a first rotating arm and a second rotating arm symmetrically arranged along the center line, a first claw for clamping the water heater inner tank is arranged at the front end of the first rotating arm, a second claw for clamping the water heater inner tank is arranged at the front end of the second rotating arm, a four-link dual-axis concentric positioning member is arranged between the opposite sides of the first rotating arm and the second rotating arm, a push block is arranged at the front end of the four-link dual-axis concentric positioning member, and a first arc surface and a second arc surface are symmetrically arranged on both sides of the push block. When the first rotating arm and the second rotating arm are driven, the push block moves forward or backward along the center line, so that when the robot gripper grasps the water heater double-tank inner tank of different diameters, the center axis of the water heater double-tank inner tank remains unchanged. The present invention has the advantage of being applicable to the transfer of water heater double-tank inner tanks of different diameters arranged side by side in an "8" shape.

Description

Technical Field

[0001] The invention relates to an automatic concentric grasping claw of a mixed-production robot, in particular to an automatic concentric grasping claw of a mixed-production robot for double-tank inner tanks of water heaters. Background Art

[0002] In order to solve the problem that there are differences in diameters of water heater inner tanks of different specifications; the robot gripper can only be used to transfer water heater inner tanks of the same specification (i.e. the same diameter) at a time. After the production of products of a certain specification is completed, another gripper suitable for the corresponding specification must be replaced for use.

[0003] Chinese patent document CN104985605A discloses a robotic automatic concentric grasping gripper for mixed production of water heater tanks, comprising a connecting base for connecting to a robot arm, a first rotating arm driven by a first drive mechanism and a second rotating arm driven by a second drive mechanism symmetrically arranged along the center line of the connecting base, a first claw for clamping the water heater tank is provided at the front end of the first rotating arm, a second claw for clamping the water heater tank is provided at the front end of the second rotating arm, a scissor-fork type concentric positioning member is provided between opposite sides of the first rotating arm and the second rotating arm, the scissor-fork type concentric positioning member opens or closes together with the first rotating arm and the second rotating arm to ensure that the central axis of the water heater tank remains unchanged when the robot gripper grasps water heater tanks of different diameters.

[0004] This type of robot automatic concentric grasping gripper capable of mixed production of water heater inner tanks is suitable for grasping water heater inner tanks of different diameters. However, this type of robot automatic concentric grasping gripper capable of mixed production of water heater inner tanks is only suitable for grasping single-tank water heater inner tanks.

[0005] At present, in response to the problems of large size and low heating efficiency of traditional single-tank electric water heaters, water heater manufacturers have developed double-tank electric water heaters. The internal water storage tank consists of two small-diameter tanks, which are more energy-saving and efficient. At the same time, the product has a slimmer size and a more novel and beautiful appearance.

[0006] However, the existing robot automatic concentric grasping gripper capable of mixed production of water heater inner tanks is not suitable for grasping the inner tanks of the water heater with two inner tanks arranged side by side in an "8" shape. Summary of the Invention

[0007] The purpose of the present invention is to provide an automatic concentric grasping gripper of a water heater double-tank mixed production robot that can be used to transfer double-tank inner tanks of water heaters with different diameters arranged side by side in an "8" shape.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] Provided is an automatic concentric grasping gripper of a mixed-production robot for double-tank inner tanks of water heaters, comprising a connecting seat for connecting to a robot arm, a first rotating arm driven by a first drive mechanism and a second rotating arm driven by a second drive mechanism symmetrically arranged along the center line of the connecting seat, a first claw for clamping the water heater tank is provided at the front end of the first rotating arm, a second claw for clamping the water heater tank is provided at the front end of the second rotating arm, a four-link dual-axis concentric positioning member is provided between opposite sides of the first rotating arm and the second rotating arm, a push block is provided at the front end of the four-link dual-axis concentric positioning member, and a first arc surface and a second arc surface are symmetrically provided on both sides of the push block. When the first rotating arm and the second rotating arm are driven, the push block moves forward or backward along the center line, so that when the robot gripper grasps double-tank inner tanks of water heaters of different diameters, the center axis of the double-tank inner tank of the water heater remains unchanged.

[0010] As an improvement to the present invention, the four-link dual-axis concentric positioning member includes a first arm and a second arm pivotally connected by the first center axis, a third arm and a fourth arm pivotally connected by the second center axis, one end of the first arm and the third arm is pivotally connected to the first rotating arm, and one end of the second arm and the fourth arm is pivotally connected to the second rotating arm; an upper fixed member and a lower fixed member are fixedly connected to the upper and lower ends of the first center axis respectively, and the push block is arranged on the other ends of the upper fixed member and the lower fixed member through a connecting plate; the upper end of the second center axis abuts against the lower bottom surface of the upper fixed member, and the lower end of the second center axis abuts against the upper bottom surface of the lower fixed member; when the first rotating arm and the second rotating arm are driven, the first center axis and the second center axis move forward or backward with the first rotating arm and the second rotating arm, and the second center axis slides directionally in the sliding groove formed by the upper fixed member and the lower fixed member.

[0011] As an improvement to the present invention, when grasping the double-tank inner liner of the water heater, there are two contact points between the first arc surface and the second arc surface and the double-tank inner liner of the water heater, namely the first contact point and the second contact point; the first contact point and the third contact point where the first claw contacts the double-tank inner liner of the water heater are maintained on the circumference of one inner liner, and the second contact point and the fourth contact point where the second claw contacts the double-tank inner liner of the water heater are maintained on the circumference of the other inner liner.

[0012] As an improvement to the present invention, the first rotating arm and the second rotating arm are pivotally connected to the connecting seat through the first rotating axis and the second rotating axis respectively, the first rotating axis passes through the first bearing and is arranged on the bearing seat, and the second rotating axis passes through the second bearing and is arranged on the bearing seat; when the first driving mechanism and the second driving mechanism drive the first rotating arm and the second rotating arm respectively, the first rotating arm and the second rotating arm rotate around the first rotating axis and the second rotating axis respectively.

[0013] As an improvement to the present invention, a first gear is provided on the first rotating shaft, and a second gear meshing with the first gear is provided on the second rotating shaft. The first gear and the second gear control the first rotating arm and the second rotating arm to keep opening or closing at the same speed at the same time.

[0014] As an improvement to the present invention, a first gear is provided on the first rotating shaft, a second gear is provided on the second rotating shaft, a third gear meshing with the first gear is provided on the third rotating shaft, and a fourth gear meshing with the third gear is provided on the fourth rotating shaft. The first gear, the third gear, the fourth gear and the second gear control the first rotating arm and the second rotating arm to keep opening or closing at the same speed at the same time.

[0015] As an improvement to the present invention, the first claw and the second claw are further provided with a first anti-slip part and a second anti-slip part respectively.

[0016] As an improvement to the present invention, the first driving mechanism and the second driving mechanism are oil cylinders or air cylinders.

[0017] As an improvement to the present invention, the connecting base and the robot arm are connected via a flange.

[0018] The present invention adopts a structure in which a four-link dual-axis concentric positioning member is provided between the opposite sides of the first rotating arm and the second rotating arm, and the four-link dual-axis concentric positioning member moves back and forth with the first rotating arm and the second rotating arm, so that when the robot gripper grasps water heater double-tank inner liner of different diameters, the central axis of the water heater double-tank inner liner remains unchanged. In this way, when the robot gripper grasps water heater double-tank inner liner of different diameters for transfer, the central axis of the water heater inner liner remains unchanged. It is also possible to accurately transfer water heater double-tank inner liner of different diameters to the predetermined position of the next process through the same robot gripper, and to achieve mixed production of water heater double-tank inner liner of different diameters, so that water heater double-tank inner liner of different diameters can be scheduled for production according to any order time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the planar structure of the first embodiment of the present invention.

[0020] Figure 2 yes Figure 1 Schematic diagram of the planar structure of the four-link dual-axis concentric positioning member.

[0021] Figure 3 yes Figure 1 Schematic diagram of the local three-dimensional structure.

[0022] Figure 4yes Figure 1 Schematic diagram of the planar structure when grabbing the double-tank inner tank of the largest diameter water heater.

[0023] Figure 5 yes Figure 1 Schematic diagram of the planar structure when grabbing the double-tank inner tank of a water heater with the smallest diameter.

[0024] Figure 6 yes Figure 5 Schematic diagram of the side structure. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] See Figure 1-Figure 3 , Figure 1-Figure 3The invention discloses a robot automatic concentric grasping gripper for a double-tank inner liner of a water heater capable of mixed production, comprising a connecting base 1 for connecting to a robot arm, a first rotating arm 21 driven by a first drive mechanism 41 and a second rotating arm 22 driven by a second drive mechanism 42 symmetrically arranged along the midline of the connecting base 1, a first claw 31 for clamping the double-tank inner liner of the water heater is provided at the front end of the first rotating arm 21, a second claw 32 for clamping the double-tank inner liner of the water heater is provided at the front end of the second rotating arm 22, and a second claw 31 for clamping the double-tank inner liner of the water heater is provided at the front end of the second rotating arm 22. A four-link dual-axis concentric positioning member 5 is provided between opposite sides of the rotating arm 22. The four-link dual-axis concentric positioning member 5 includes a first support arm 54 and a second support arm 55 pivotally connected by a central axis 50, and a third support arm 56 and a fourth support arm 57 pivotally connected by a central axis 51. One end of the first support arm 54 and the third support arm 56 is pivotally connected to the first rotating arm 21, and one end of the second support arm 55 and the fourth arm 57 is pivotally connected to the second rotating arm 22. When the first rotating arm 21 and the second rotating arm 22 are driven, the first arm 54 and the third support arm 57 are pivotally connected. The central axis 50 of the arm 56 and the central axis 51 of the second support arm 55 and the fourth support arm 57 respectively move forward or backward with the first rotating arm 21 and the second rotating arm 22, so that the fixed seat 52 connected to the central axis can move forward or backward under the guidance of the slide groove on the central axis 51, so as to ensure that when the robot gripper grabs the water heater double tank 90 of different diameters, the central axis of the water heater double tank 90 remains unchanged and can be accurately moved to the predetermined position of the next process; in this embodiment, the circular arc rubber blocks 53 on both sides are connected to the central axis 52 and the second support arm 55. The front portion of block 53 is provided with a first curved surface 531 and a second curved surface 532. Therefore, when grasping the double-tank inner liner 90 of a water heater, there are two contact points between the arc-shaped rubber block 53 on both sides and the double-tank inner liner 90 of the water heater: a first contact point 601 and a second contact point 602. The first contact point 601 and the third contact point 62 where the first claw 31 contacts the double-tank inner liner of the water heater remain on the circumference of one inner liner, while the second contact point 602 and the fourth contact point 63 where the second claw 32 contacts the double-tank inner liner of the water heater remain on the circumference of the other inner liner. This design facilitates further securing double-tank inner liner 90 of water heaters of different diameters. The present invention is suitable for processing double-tank inner liner of water heaters and workpieces such as tanks and canisters with similar structures to water heater inner liner.

[0027] In the present invention, to facilitate smoother driving of the first and second rotating arms 21 and 22, the first and second rotating arms 21 and 22 are pivotally connected to the connecting base 1 via first and second rotating shafts 71 and 72, respectively. The first rotating shaft 71 passes through a first bearing 73 and is mounted on a bearing seat 74, while the second rotating shaft 72 passes through a second bearing 75 and is mounted on the bearing seat 74. In the present invention, when the first and second driving mechanisms 41 and 42 drive the first and second rotating arms 21 and 22, respectively, the first and second rotating arms 21 and 22 rotate about the first and second rotating shafts 71 and 72, respectively. In the present invention, to ensure that the first and second rotating arms 21 and 22 advance or retreat simultaneously at the same speed, a first gear is provided on the first rotating shaft 71, and a second gear meshing with the first gear is provided on the second rotating shaft 72. The first and second gears control the first and second rotating arms 21 and 22 to maintain simultaneous opening and closing at the same speed (not shown).

[0028] In order to keep the first rotating arm 21 and the second rotating arm 22 opening or closing at the same speed at the same time, the present invention can also be designed as follows: a first gear 711 is provided on the first rotating shaft 71, a second gear 721 is provided on the second rotating shaft 72, a third gear 771 meshing with the first gear is provided on the third rotating shaft 77 (the third rotating shaft 77 is provided with a third bearing 76), and a fourth gear 781 meshing with the third gear is provided on the fourth rotating shaft 78 (the fourth rotating shaft 78 is provided with a fourth bearing 79). The first gear 711, the third gear 771, the fourth gear 781 and the second gear 721 control the first rotating arm 21 and the second rotating arm 22 to keep opening or closing at the same speed at the same time. The design of four gears arranged side by side can make the volume of the gear box smaller and the structure more compact, which is suitable for on-site installation.

[0029] In the present invention, in order to more firmly clamp the double-tank inner 90 of the water heater so that the double-tank inner 90 of the water heater does not slip when clamped, a first anti-slip part 311 and a second anti-slip part 321 are respectively provided on the first claw 31 and the second claw 32.

[0030] In the present invention, the first drive mechanism 41 and the second drive mechanism 42 are cylinders. The following takes the first drive mechanism 41 and the second drive mechanism 42 as an example to describe in detail the process of grabbing water heater inner tanks 90 of different diameters according to the present invention:

[0031] See Figure 4-Figure 6One end of the two cylinders is fixed to the base 1, and the other end is fixed to the first rotating arm 21 and the second rotating arm 22. When the cylinder is inhaled, the first piston rod 411 and the second piston rod 421 are pushed out of the cylinder body, and the first rotating arm 21 and the second rotating arm 22 move with the movement of the first piston rod 411 and the second piston rod 421. At this time, the first rotating arm 21 and the second rotating arm 22 gradually close together, which is suitable for grabbing the water heater inner tank 90 with a smaller diameter. When the first piston rod 411 and the second piston rod 421 are completely pushed out of the cylinder, the robot gripper grabs the water heater double tank inner tank 90 with the smallest diameter (see Figure 5 ), rotate the robot arm to transfer the water heater double-tank inner liner 90 with the smallest diameter to the corresponding position of the next process, and then ventilate the cylinder, the first piston rod 411 and the second piston rod 421 move into the cylinder, and the first rotating arm 21 and the second rotating arm 22 also move with the first piston rod 411 and the second piston rod 421 respectively, and the first rotating arm 21 and the second rotating arm 22 move away from each other, that is, open, at this time the water heater double-tank inner liner 90 with the smallest diameter is released and parked in the corresponding position; the robot arm rotates the robot gripper back to the original position, and the first piston rod 411 and the second piston rod 421 continue to move. When the first piston rod 411 and the second piston rod 421 completely enter the cylinder, the angle of the first rotating arm 21 and the second rotating arm 22 is the largest, and this is suitable for grabbing the water heater inner liner 90 with the largest diameter (see Figure 4 ), when the robot gripper grasps the water heater double-tank liner 90 with the largest diameter, the robot arm is similarly rotated to transfer the water heater double-tank liner 90 with the largest diameter to the corresponding position of the next process; In addition, in the present invention, the above examples only illustrate the water heater double-tank liner 90 with the smallest and largest diameters. When the diameter of the water heater double-tank liner 90 to be transferred is between the largest and smallest diameters, it can be freely selected based on the degree of opening of the robot gripper. The present invention can use the same robot gripper to transfer water heater double-tank liner 90 with different diameters, and the transfer position is accurate, which can achieve mixed production of water heater double-tank liner 90 with different diameters, greatly improving production efficiency.

[0032] In the present invention, the first driving mechanism 41 and the second driving mechanism 42 may also be oil cylinders or other driving mechanisms. Since other driving mechanisms belong to the existing technology, they will not be described here one by one.

[0033] In the present invention, in order to further make the connection between the robot arm and the base 1 more secure, the connecting base 1 and the robot arm are connected via a flange 11 .

[0034] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A water heater double-tank inner tank mixed production type robot automatic concentric grasping gripper, comprising a connecting seat (1) for connecting to a robot arm, a first rotating arm (21) driven by a first driving mechanism (41) and a second rotating arm (22) driven by a second driving mechanism (42) symmetrically arranged along the midline of the connecting seat (1), wherein a first claw (31) for clamping the water heater inner tank is arranged at the front end of the first rotating arm (21), and a second claw (32) for clamping the water heater inner tank is arranged at the front end of the second rotating arm (22), wherein: A four-link dual-axis concentric positioning member (5) is provided between opposite sides of the first rotating arm (21) and the second rotating arm (22); a push block (53) is provided at the front end of the four-link dual-axis concentric positioning member (5); a first arc surface (531) and a second arc surface (532) are symmetrically provided on both sides of the push block (53); when the first rotating arm (21) and the second rotating arm (22) are driven, the push block (53) moves forward or backward along the center line, so as to achieve the automatic concentric grasping gripper of the robot when grasping an unstable object. When the water heater has a double-tank inner tank (90) of the same diameter, the central axis of the water heater double-tank inner tank (90) remains unchanged; the four-link dual-axis concentric positioning member (5) comprises a first support arm (54) and a second support arm (55) pivotally connected via a first central axis (50), and a third support arm (56) and a fourth support arm (57) pivotally connected via a second central axis (51); one end of the first support arm (54) and the third support arm (56) are pivotally connected to a first rotating arm (21); and the second support arm (55) and the fourth support arm (57) are pivotally connected to a first rotating arm (21). One end of the second central axis (57) is pivotally connected to the second rotating arm (22); an upper fixing member (521) and a lower fixing member (522) are fixedly connected to the upper end and the lower end of the first central axis (50), respectively; the pushing block (53) is arranged on the other ends of the upper fixing member (521) and the lower fixing member (522) through a connecting plate (524); the upper end of the second central axis (51) abuts against the lower bottom surface of the upper fixing member (521), and the lower end of the second central axis (51) abuts against the lower fixing member (522). on the upper bottom surface of the first rotating arm (21); when the first rotating arm (21) and the second rotating arm (22) are driven, the first central axis (50) and the second central axis (51) move forward or backward along with the first rotating arm (21) and the second rotating arm (22), and the second central axis (51) slides directionally in a slide groove (523) formed by an upper fixing member (521) and a lower fixing member (522); the first claw (31) and the second claw (32) are also provided with a first anti-slip member (311) and a second anti-slip member (321), respectively.

2. The automatic concentric grasping gripper of the double-tank and inner-tank mixed production robot for water heaters according to claim 1 is characterized in that: When grasping the double-tank inner liner (90) of the water heater, there are two contact points between the first arc surface (531) and the second arc surface (532) and the double-tank inner liner (90) of the water heater, namely the first contact point (601) and the second contact point (602); the first contact point (601) and the third contact point (62) at which the first claw (31) contacts the double-tank inner liner of the water heater are maintained on the circumference of one inner liner, and the second contact point (602) and the fourth contact point (63) at which the second claw (32) contacts the double-tank inner liner of the water heater are maintained on the circumference of another inner liner.

3. The automatic concentric grasping gripper of the double-tank and inner-tank mixed production robot for water heaters according to claim 1 or 2, characterized in that: The first rotating arm (21) and the second rotating arm (22) are pivotally connected to the connecting seat (1) via a first rotating shaft (71) and a second rotating shaft (72), respectively; the first rotating shaft (71) passes through a first bearing (73) and is arranged on a bearing seat (74); the second rotating shaft (72) passes through a second bearing (75) and is arranged on a bearing seat (74); when the first driving mechanism (41) and the second driving mechanism (42) respectively drive the first rotating arm (21) and the second rotating arm (22), the first rotating arm (21) and the second rotating arm (22) respectively rotate around the first rotating shaft (71) and the second rotating shaft (72).

4. The automatic concentric grasping gripper of the double-tank and inner-tank mixed production robot for water heaters according to claim 3 is characterized in that: A first gear is provided on the first rotating shaft (71), and a second gear meshing with the first gear is provided on the second rotating shaft (72), wherein the first gear and the second gear control the first rotating arm (21) and the second rotating arm (22) to open or close simultaneously at the same speed.

5. The automatic concentric grasping gripper of the water heater double tank and inner tank mixed production robot according to claim 3 is characterized in that: A first gear (711) is provided on the first rotating shaft (71), a second gear (721) is provided on the second rotating shaft (72), a third gear (771) meshing with the first gear (711) is provided on the third rotating shaft (77), and a fourth gear (781) meshing with the third gear (771) is provided on the fourth rotating shaft (78), wherein the first gear (711), the third gear (771), the fourth gear (781) and the second gear (721) control the first rotating arm (21) and the second rotating arm (22) to open or close simultaneously at the same speed.

6. The automatic concentric grasping gripper of the water heater double tank inner tank mixed production robot according to claim 1 or 2, characterized in that: The first driving mechanism (41) and the second driving mechanism (42) are oil cylinders or air cylinders.

7. The automatic concentric grasping gripper of the double-tank and inner-tank mixed production robot for water heaters according to claim 3 is characterized in that: The first driving mechanism (41) and the second driving mechanism (42) are oil cylinders or air cylinders.

8. The automatic concentric grasping gripper of the water heater double tank and inner tank mixed production robot according to claim 1 or 2, characterized in that: The connecting seat (1) and the robot arm are connected via a flange (11).

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