Automatic feeding manipulator for dish-washing machine inner container

Abstract

The invention relates to the field of manipulators, in particular to an automatic feeding manipulator for dish-washing machine liners, which comprises a placing table for preliminarily placing the dish-washing machine liners, and a support frame is fixedly mounted on the outer side of the placing table; a fixed rail is fixedly installed at the top end of the supporting frame, a servo motor is fixedly installed on the outer end face of the fixed rail, the output end of the servo motor is connected with a lead screw through a coupler, and the two ends of the lead screw are installed in the fixed rail through bearings. According to the automatic feeding manipulator for the dish-washing machine inner container, the claw plate extends upwards from the interior of the air pipe, so that the effect of clamping the outer side of the dish-washing machine inner container placed on the top of the feeding claw is achieved; and meanwhile, the effect of preventing the inner container from generating relative displacement with the clamping jaw due to inertia force and finally generating inclination and collision due to too high acceleration of the feeding jaw in the feeding process of the inner container is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an automatic loading robot for dishwasher inner tanks. Background Art

[0002] With the development of science and technology, in order to improve the quality and production efficiency of dishwasher inner tank workpieces, robots are gradually used in industrial production to replace manual operations.

[0003] Currently, robotic suction cups are used to clamp and load dishwasher inner tanks. However, most dishwasher inner tanks are irregular sheet metal parts. When vacuum suction cups are used to grasp the inner tank with curved surfaces, the edge folds block the suction cups, increasing the probability of the workpiece falling during transportation. In addition, if the robot accelerates too high when starting, braking or turning, the inner liner and the clamp will produce relative displacement due to inertia. In mild cases, the edge of the inner liner will collide with the robot arm, and in severe cases, the inner liner will fall off the robot. Summary of the Invention

[0004] The present invention provides an automatic loading robot for the inner container of a dishwasher to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic loading robot for dishwasher inner tanks, comprising a placement table for preliminary placement of dishwasher inner tanks, a support frame being fixedly mounted on the outer side of the placement table; A fixed rail is fixedly installed on the top of the support frame, a servo motor is fixedly installed on the outer end surface of the fixed rail, the output end of the servo motor is connected to a screw rod through a coupling, and both ends of the screw rod are installed inside the fixed rail through bearings; The outer side of the screw rod is threadedly connected with an internal thread plate; A driving mechanism for driving and controlling the manipulator, wherein the driving mechanism is arranged on the outside of the internal thread plate; A clamping mechanism for reinforcing and clamping the inner container of a dishwasher is provided at the bottom of the driving mechanism.

[0006] Preferably, the driving mechanism includes a connecting arm, which is fixedly connected to the outer side of the internal threaded plate. A No. 1 motor is fixedly installed on the outer side of the connecting arm, and the output end of the No. 1 motor is connected to a No. 1 transmission roller through a coupling.

[0007] Preferably, a No. 1 transfer roller is rotatably installed on the outer side of the fixed arm, and a No. 2 transmission roller is fixedly connected to one end of the No. 1 transfer roller close to the No. 1 fixed arm. The outer side of the No. 2 transmission roller is transmission-connected to a conveyor belt, and the inner cavity of the conveyor belt is transmission-connected to the No. 1 transmission roller on the side away from the No. 2 transmission roller.

[0008] Preferably, the end of the No. 1 transfer roller away from the fixed arm is fixedly mounted with a large arm, the center portion of the outer side of the large arm is fixedly mounted with a No. 2 motor, the output end of the No. 2 motor is connected to the No. 2 transfer roller via a transmission assembly, the No. 2 transfer roller is rotatably connected to the large arm, and the end of the No. 2 transfer roller away from the large arm is fixedly connected with a small arm; An electric drive device is provided on the outer side of the forearm.

[0009] Preferably, the clamping mechanism includes a reinforcing rod, the top end of which is fixedly connected to the forearm, and the bottom end of which is fixedly connected to a semicircular rail; An adapter is rotatably mounted on the bottom of the small arm, wherein the adapter is controlled and processed by an electric drive device.

[0010] Preferably, a double-headed rod is fixedly connected to the outer side of the adapter, and one end of the double-headed rod away from the adapter is slidably adapted to the inner wall of the semicircular rail; A hydraulic cylinder is fixedly installed at the bottom of the adapter, and a square platform is fixedly connected to the bottom of the hydraulic cylinder. A loading claw is fixedly installed on the outer side of the square platform. The purpose of the arc-shaped loading claw is to increase the contact area with the bottom of the dishwasher inner tank.

[0011] Preferably, an air pipe groove and a storage groove are respectively opened inside the square platform, a horizontal frame is fixedly installed on the outside of the square platform, a diverter plate is fixedly connected to the center of the horizontal frame, and an air pipe is fixedly connected to the side of the horizontal frame away from the square platform; There are two air pipes, and the splitter plate is used to separate the surging gas into two streams and respectively enter the two air pipes.

[0012] Preferably, a claw plate is connected to one end of the air pipe away from the horizontal frame, wherein the claw plate is used to clamp the outer wall of the inner container of the dishwasher; The top of the square platform is fixedly connected to a hollow tube, the bottom of the inner cavity of the hollow tube is fixedly connected to an inner circular sleeve, the top of the inner circular sleeve is fixedly connected to a return spring, the top of the return spring is fixedly connected to a piston rod, and the piston rod is slidably adapted inside the hollow tube; The bottom of the piston rod is made of piston material.

[0013] Preferably, a fixed shaft is fixedly connected to the inside of the storage tank, a closed rotating plate is rotatably installed on the outside of the fixed shaft, an elastomer is fixedly connected to the outside of the closed rotating plate, and one end of the elastomer away from the closed rotating plate is fixedly connected to the top of the storage tank.

[0014] Preferably, electric push rods are fixedly installed inside both ends of the square platform, a rod sleeve is fixedly connected to the outer side of the output end of the electric push rod, and an inner oblique rod is fixedly connected to the end of the rod sleeve away from the electric push rod, and the inner oblique rod is inserted into the interior of the square platform; An extension claw is fixedly connected to one side of the rod sleeve away from the inner oblique rod, wherein the extension claw is used to expand the contact area with the bottom of the inner container of the dishwasher.

[0015] Preferably, a closing plate is extruded and adapted on the inner end surface of the inner oblique rod, and the closing plate is slidably adapted inside the square platform. A spring is fixedly connected to the outer side of the closing plate, and one end of the spring away from the closing plate is fixedly connected to the inside of the square platform. One end of the closing plate away from the spring is fixedly connected with a top strip, wherein the closing plate is used for sealing the tracheal groove, and the top strip is squeezed and adapted to the closing rotating plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. By rotating the adapter, the loading claw is deflected to the bottom of the placement table. Then, the hydraulic cylinder is activated to move the loading claw upward, thereby lifting the bottom of the dishwasher tank.

[0017] 2. The claw plate extends upward from the air pipe to clamp the outer side of the dishwasher liner placed on top of the loading claw. It also prevents the liner from being displaced relative to the clamping claw due to inertia during the loading process, resulting in tilting and collision.

[0018] 3. By starting the electric push rod, the extension claws connected to its output end through the rod sleeve will extend outward to both sides, thereby increasing the contact area between the feeding claws and the bottom of the inner liner, and restoring the clamping force of the feeding claws on the inner liner.

[0019] 4. The tracheal groove is cut off by the closing plate, thereby sealing the lower half of the tracheal groove, the transverse frame and the gas inside the trachea, so that the claw plate is not disturbed and affected by the piston rod, and the stability of the claw plate is increased. At the same time, it increases the clamping strength and supporting area of large-sized inner liner.

[0020] 5. By activating the hydraulic cylinder, the gas inside the hollow tube will pass through the closed rotating plate and be temporarily stored in the storage tank, thereby preventing the claw plate from extending upward when encountering an inner liner with large lateral dimensions and width, avoiding it from causing wear on the bottom of the inner liner and increasing the instability of the inner liner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure is a schematic diagram of the external structure of an automatic loading robot for dishwasher inner tanks according to the present invention.

[0022] Figure 2 This is a schematic cross-sectional structural diagram of the fixed rail of the present invention.

[0023] Figure 3 Schematic diagram of the structure of the driving mechanism of the present invention.

[0024] Figure 4 Schematic diagram of the internal structure of the fixing arm of the present invention.

[0025] Figure 5 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0026] Figure 6 It is a schematic diagram of the full cross-section structure of the clamping mechanism of the present invention.

[0027] Figure 7 It is a schematic cross-sectional structural diagram of the square platform of the present invention.

[0028] Figure 8 It is a schematic diagram of the enlarged structure of some components in the storage tank of the present invention.

[0029] Figure 9 It is a cross-sectional structural diagram of some components of the clamping mechanism of the present invention.

[0030] Figure 10 It is an enlarged cross-sectional structural diagram of some components of the clamping mechanism of the present invention.

[0031] Figure 11 It is a schematic cross-sectional structure diagram of the square platform of the present invention.

[0032] Figure 12 It is a schematic diagram of an enlarged cross-sectional structure of some components inside the square platform of the present invention.

[0033] In the figure: 1. Support frame; 2. Placement table; 3. Drive mechanism; 4. Clamping mechanism; 5. Fixed rail; 6. Servo motor; 7. Screw; 8. Internal thread plate; 31. Connecting arm; 32. No. 1 motor; 33. No. 1 transmission roller; 34. Conveyor belt; 35. No. 2 transmission roller; 36. No. 1 transfer roller; 37. Upper arm; 38. No. 2 motor; 39. No. 2 transfer roller; 30. Lower arm; 41. Reinforcement rod; 42. Semicircular rail; 43. Adapter; 44. Double-headed rod; 45. Hydraulic cylinder ; 46. Square table; 47. Feeding claw (47); 48. Air pipe groove; 49. Hollow tube; 40. Inner circular sleeve; 401. Return spring; 402. Piston rod; 403. Storage tank; 404. Fixed shaft; 405. Closed rotating plate; 406. Elastomer; 407. Horizontal frame; 408. Diverter plate; 409. Air pipe; 400. Claw plate; 51. Electric push rod; 52. Rod sleeve; 53. Inner oblique rod; 54. Extension claw; 55. Closing plate; 56. Spring; 57. Top strip. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] See also Figures 1 to 12 , the present invention provides a technical solution: Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, it includes a placement table 2 for preliminary placement of the inner container of the dishwasher, and a support frame 1 is fixedly installed on the outer side of the placement table 2; A fixed rail 5 is fixedly mounted on the top of the support frame 1, and a servo motor 6 is fixedly mounted on the outer end surface of the fixed rail 5. The output end of the servo motor 6 is connected to a screw rod 7 through a coupling, and both ends of the screw rod 7 are mounted inside the fixed rail 5 through bearings; The outer side of the screw rod 7 is threadedly connected to an internal thread plate 8; A driving mechanism 3 for driving and controlling the manipulator, the driving mechanism 3 being arranged on the outside of the internal thread plate 8; The clamping mechanism 4 is used to reinforce and clamp the inner container of the dishwasher, and the clamping mechanism 4 is arranged at the bottom of the driving mechanism 3.

[0036] The driving mechanism 3 includes a connecting arm 31, which is fixedly connected to the outer side of the internal thread plate 8. A first motor 32 is fixedly installed on the outer side of the connecting arm 31. The output end of the first motor 32 is connected to a first transmission roller 33 through a coupling. A first transfer roller 36 is rotatably mounted on the outer side of the fixed arm 31. A second transmission roller 35 is fixedly connected to the end of the first transfer roller 36 close to the first fixed arm 31. A conveyor belt 34 is transmission-connected to the outer side of the second transmission roller 35. The inner cavity of the conveyor belt 34 is transmission-connected to the first transmission roller 33 on the side away from the second transmission roller 35. The end of the No. 1 transfer roller 36 away from the fixed arm 31 is fixedly installed with a large arm 37. The dishwasher inner tank to be loaded is placed on the placement table 2, and then the No. 1 motor 32 is started first, so that the No. 1 transmission roller 33 connected to its output end through a coupling will rotate counterclockwise, and the outer side of the No. 1 transmission roller 33 is connected to the No. 2 transmission roller 35 through the conveyor belt 34, so the No. 2 transmission roller 35 will also rotate counterclockwise. In addition, the outer end face of the No. 2 transmission roller 35 is fixedly connected to the No. 1 transfer roller 36, so the No. 1 transfer roller 36 will deflect counterclockwise with the large arm 37, thereby allowing the height and angle of the clamping mechanism 4 to be greatly adjusted. A No. 2 motor 38 is fixedly installed at the center of the outer side of the upper arm 37, and the output end of the No. 2 motor 38 is connected to the No. 2 transfer roller 39 through a transmission component. The No. 2 transfer roller 39 is rotatably connected to the upper arm 37, and the end of the No. 2 transfer roller 39 away from the upper arm 37 is fixedly connected to the small arm 30; wherein the No. 2 motor 38 is provided at the center of the outer side of the upper arm 37, and the output end of the No. 2 motor 38 is connected to the No. 2 transfer roller 39 through a transmission component, wherein the structure of the transmission component is the same as the No. 1 transmission roller 33, the conveyor belt 34 and the No. 2 transmission roller 35 inside the fixed arm 31, so as to drive the small arm 30 to deflect and make small adjustments to the height and angle of the clamping mechanism 4.

[0037] An electric drive device is provided on the outer side of the small arm 30 .

[0038] like Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown, the clamping mechanism 4 includes a reinforcing rod 41, the top end of the reinforcing rod 41 is fixedly connected to the small arm 30, and the bottom end of the reinforcing rod 41 is fixedly connected to a semicircular rail 42; An adapter 43 is rotatably mounted on the bottom of the arm 30, wherein the adapter 43 is controlled by an electric drive device; The outer side of the adapter 43 is fixedly connected to a double-headed rod 44, and one end of the double-headed rod 44 away from the adapter 43 is slidably adapted to the inner wall of the semicircular rail 42; the outer side of the adapter 43 is fixedly connected to the double-headed rod 44, and the other end of the double-headed rod 44 is rotatably installed inside the semicircular rail 42. At this time, the double-headed rod 44 and the semicircular rail 42 play a role in increasing the stability of the adapter 43 during rotation.

[0039] A hydraulic cylinder 45 is fixedly installed at the bottom of the adapter 43, and a square platform 46 is fixedly connected to the bottom of the hydraulic cylinder 45. A loading claw 47 is fixedly installed on the outside of the square platform 46. The purpose of the arc-shaped loading claw 47 is to increase the contact area with the bottom of the dishwasher inner tank; finally, the clamping mechanism 4 is moved to the bottom of the dishwasher inner tank and the hollow part of the placement table 2. Initially, the hydraulic cylinder 45 is in an extended state, and its top is fixedly connected to the adapter 43, and the adapter 43 is rotatably installed at the bottom of the arm 30. Therefore, by turning on the electric drive device installed on the outside of the arm 30, the adapter 43 will cause the hydraulic cylinder 45 to deflect. In addition, the bottom of the hydraulic cylinder 45 is connected to the square platform 46, and the outside of the square platform 46 is connected to the loading claw 47. Therefore, by rotating the adapter 43, the loading claw 47 is deflected to the bottom of the hollow part of the placement table 2, and then the hydraulic cylinder 45 is started to move the loading claw 47 upward, thereby lifting and moving the bottom of the dishwasher inner tank.

[0040] The interior of the square platform 46 is provided with an air pipe groove 48 and a storage groove 403. A horizontal frame 407 is fixedly mounted on the outside of the square platform 46. A diverter plate 408 is fixedly connected to the center of the horizontal frame 407. An air pipe 409 is fixedly connected to the side of the horizontal frame 407 away from the square platform 46. There are two gas pipes 409, and the splitter plate 408 is used to separate the surging gas into two streams and respectively enter the two gas pipes 409; A claw plate 400 is inserted into the end of the air pipe 409 away from the horizontal frame 407, wherein the claw plate 400 is used to clamp the outer wall of the inner tank of the dishwasher; as the square platform 46 moves upward with the loading claw 47, the piston rod 402 will also move upward, wherein the piston rod 402 is slidably adapted inside the hollow tube 49, and the hollow tube 49 is fixedly connected to the square platform 46, so the piston rod 402 will be squeezed by the bottom of the hydraulic cylinder 45 body during the rising process, causing the piston rod 402 to be retracted into the interior of the hollow tube 49 and compress the return spring 401, wherein the return spring 401 plays a role in resetting the piston rod 402. In addition, the piston rod 402 is retracted into the hollow tube 49, so that the gas inside the hollow tube 49 will flow into the air pipe groove 48, and the air pipe groove 48 is also filled with gas, so the compressed gas will enter the horizontal frame 407. In addition, the horizontal frame 407 and the air pipe 409 are also filled with gas, so the excess gas will be divided into two halves by the diverter plate 408 and enter the two air pipes 409 respectively, wherein the other end of the air pipe 409 is plugged with a claw plate 400, and then the compressed excess gas will squeeze the bottom of the claw plate 400, and finally the claw plate 400 will extend upward from the air pipe 409, thereby playing the role of clamping the outer side of the dishwasher inner container placed on the top of the loading claw 47, and at the same time, it also plays the role of preventing the inner container from being relatively displaced by the inner container and the clamping claw due to inertia during the loading process, and finally tilting and colliding. The top of the claw plate 400 is initially at the same height as the top of the loading claw 47.

[0041] A hollow tube 49 is fixedly connected to the top of the square platform 46. An inner sleeve 40 is fixedly connected to the bottom of the inner cavity of the hollow tube 49. A return spring 401 is fixedly connected to the top of the inner sleeve 40. A piston rod 402 is fixedly connected to the top of the return spring 401. The piston rod 402 is slidably fitted inside the hollow tube 49. The bottom of the piston rod 402 is made of piston material; the bottom of the storage tank 403 is at the same height as the bottom of the closing plate 55, while the top of the storage tank 403 is higher than the top of the closing plate 55; in addition, the internal structure of the elastomer 406 is rubber, and the rubber molecular chain is curled. When stretched, the molecular chain is easily straightened, showing high elasticity, but when compressed, the internal pores of the rubber are squeezed, the distance between the molecular chains is shortened, and a strong repulsive force is generated. The volume is incompressible, and greater force is required to deform. Therefore, when resetting the equipment, first retract the electric push rod 51, and then retract and extend the hydraulic cylinder 45 several times. At this time, the piston rod 402 will first be retracted into the square platform 46, but because part of the gas inside the tracheal groove 48 is stored in the storage tank 403, the claw plate 400 will not extend upward at this time. Then the piston rod 402 will extend upward. Because the bottom of the piston rod 402 is made of a material similar to that of a piston, suction will be generated in the tracheal groove 48. At this time, the suction will cause the closed rotating plate 405 to deflect counterclockwise and suck the gas inside the storage tank 403 back into the hollow tube 49, thereby resetting all components and devices.

[0042] The interior of the storage tank 403 is fixedly connected to a fixed shaft 404, and a closed rotating plate 405 is rotatably installed on the outer side of the fixed shaft 404. An elastic body 406 is fixedly connected to the outer side of the closed rotating plate 405, and the end of the elastic body 406 away from the closed rotating plate 405 is fixedly connected to the top of the storage tank 403. When the piston rod 402 moves downward, the closed rotating plate 405 will not deflect clockwise under the force of the elastic body 406, but when the piston rod 402 moves upward, the closed rotating plate 405 will deflect counterclockwise. At this time, two situations may occur. The first is that there is gas in the storage tank 403. At this time, the hydraulic cylinder 45 is retracted and extended several times, so that the gas in the storage tank 403 will all return to the hollow tube 49. The second is that there is no gas in the storage tank 403. At this time, the hydraulic cylinder 45 extends and operates normally, and the The gas in the hollow tube 49 will be squeezed by the piston rod 402 and directly enter the tracheal groove 48, among which the storage groove 403 is a branch between the tracheal groove 48 and the hollow tube 49, and its inner cavity area is much smaller than the inner cavity area of the two, and the three form a T-shaped fork. Therefore, the airflow needs to overcome greater inertia to turn, and the main road resistance is much smaller than the branch road. The airflow will flow in the original direction and will not enter the storage tank 403. Moreover, there is a closed rotating plate 405 in the storage tank 403, which creates a certain blocking effect.

[0043] Electric push rods 51 are fixedly installed inside both ends of the square platform 46. The outer side of the output end of the electric push rod 51 is fixedly connected to a rod sleeve 52. The end of the rod sleeve 52 away from the electric push rod 51 is fixedly connected to an inner oblique rod 53. The inner oblique rod 53 is inserted into the interior of the square platform 46. An extension claw 54 is fixedly connected to the side of the rod sleeve 52 away from the inner diagonal rod 53. The extension claw 54 is used to expand the contact area with the bottom of the dishwasher's inner container. Furthermore, the production line produces containers of different sizes simultaneously. Using only the loading claw 47 to load large containers would reduce the clamping force. Therefore, when the production line encounters a container with a larger horizontal dimension but a constant width, the electric push rod 51 is activated, causing the extension claw 54, connected to its output end through the rod sleeve 52, to extend outward in both directions, thereby increasing the contact area between the loading claw 47 and the bottom of the container and restoring the clamping force of the loading claw 47 on the container.

[0044] The inner end surface of the inner oblique rod 53 is squeezed and adapted to be fitted with a closing plate 55, which is slidably fitted into the interior of the square platform 46. A spring 56 is fixedly connected to the outer side of the closing plate 55, and one end of the spring 56 away from the closing plate 55 is fixedly connected to the interior of the square platform 46. The electric push rod 51 moves the rod sleeve 52 outward, so that the inner oblique rod 53 connected to the rod sleeve 52 will also extend outward from the interior of the square platform 46. The inner oblique rod 53 initially located inside the square platform 46 is used to press the closing plate 55. The inner inclined rod 53 extends outwards and under the elastic force of the spring 56, the closing plate 55 cuts off the tracheal groove 48, thereby sealing the lower half of the tracheal groove 48, the transverse frame 407, and the gas inside the tracheal 409. This prevents the claw plate 400 from being disturbed and affected by the piston rod 402, thereby increasing the stability of the claw plate 400 and increasing the clamping force and lifting area for large-sized inner liner. This operation is carried out after the square platform 46 and the loading claw 47 have lifted the inner liner and then the electric push rod 51 is activated.

[0045] One end of the closing plate 55 away from the spring 56 is fixedly connected to a top strip 57 , wherein the closing plate 55 is used to seal the tracheal groove 48 , and the top strip 57 is squeezed and adapted to the closing rotating plate 405 . In addition, when encountering an inner liner with a larger lateral size and width, the hydraulic cylinder 45 is not started first but the electric push rod 51 is started first, and then the extension claw 54 and the inner oblique rod 53 are extended outward, and then under the elastic force of the spring 56, the closing plate 55 cuts off and seals the trachea groove 48, and at the same time, the top strip 57 connected to the other end of the closing plate 55 squeezes the closed rotating plate 405, causing the closed rotating plate 405 to deflect clockwise through the fixed shaft 404 and compress the elastomer 406, and then the hydraulic cylinder 45 is started again. At this time, the gas inside the hollow tube 49 will pass over the closed rotating plate 405 and be temporarily stored in the storage tank 403, thereby preventing the claw plate 400 from extending upward when encountering an inner liner with a larger lateral size and width, thereby avoiding it from causing wear on the bottom of the inner liner and increasing the instability of the inner liner.

[0046] When using the present invention, first, the dishwasher container to be loaded is placed on the placement table 2. Then, the first motor 32 is started, causing the first drive roller 33, connected to its output end via a coupling, to rotate counterclockwise. The outer side of the first drive roller 33 is connected to the second drive roller 35 via a conveyor belt 34, so the second drive roller 35 also rotates counterclockwise. In addition, the outer end surface of the second drive roller 35 is fixedly connected to the first transfer roller 36, so the first transfer roller 36 and the upper arm 37 are deflected counterclockwise, allowing the height and angle of the clamping mechanism 4 to be adjusted to a large extent. The second motor 38 is located at the center of the outer side of the upper arm 37, and the output end of the second motor 38 is connected to the second transfer roller 39 via a transmission assembly. The transmission assembly has the same structure as the first drive roller 33, conveyor belt 34, and second drive roller 35 inside the fixed arm 31, and drives the small arm 30 to deflect and slightly adjust the height and angle of the clamping mechanism 4. Finally, the clamping mechanism 4 is moved to the position directly below the inner tank of the dishwasher and the hollow part of the placement table 2. Initially, the hydraulic cylinder 45 is in an extended state, and its top is fixedly connected to the adapter 43, and the adapter 43 is rotatably mounted on the bottom of the arm 30. Therefore, by turning on the electric drive device installed on the outside of the arm 30, the adapter 43 will cause the hydraulic cylinder 45 to deflect. In addition, the bottom of the hydraulic cylinder 45 is connected to the square table 46, and the outside of the square table 46 is connected to the loading claw 47. Therefore, by rotating the adapter 43, the loading claw 47 is deflected to the position directly below the hollow part of the placement table 2, and then the hydraulic cylinder 45 is started to move the loading claw 47 upward, and the bottom of the inner tank of the dishwasher is lifted and moved upward.

[0047] As the square platform 46 moves upward with the feeding claw 47, the piston rod 402 also moves upward, wherein the piston rod 402 is slidably adapted inside the hollow tube 49, and the hollow tube 49 is fixedly connected to the square platform 46. Therefore, the piston rod 402 is squeezed by the bottom of the hydraulic cylinder 45 body during the upward process, causing the piston rod 402 to be retracted into the interior of the hollow tube 49 and compressing the return spring 401. In addition, the piston rod 402 is retracted into the interior of the hollow tube 49, so that the gas inside the hollow tube 49 will flow into the tracheal groove 48, and the tracheal groove 48 is compressed. The groove 48 is also filled with gas, so the compressed gas will enter the horizontal frame 407. In addition, the interior of the horizontal frame 407 and the air pipe 409 are also filled with gas, so the excess gas will be divided into two halves by the diverter plate 408 and enter the two air pipes 409 respectively. The other end of the air pipe 409 is connected to the claw plate 400. Then the compressed excess gas will squeeze the bottom of the claw plate 400, and finally make the claw plate 400 extend upward from the air pipe 409 to clamp the outside of the dishwasher inner tank placed on the top of the loading claw 47.

[0048] In addition, the production line produces inner liner of different sizes at the same time. At this time, only using the loading claw 47 to load the large-sized inner liner will reduce the clamping force. Therefore, when the production line encounters an inner liner with a larger horizontal dimension but unchanged width, the electric push rod 51 is started, so that the extension claw 54 connected to its output end through the rod sleeve 52 will extend outward to both sides. By the electric push rod 51 moving the rod sleeve 52 outward, the inner oblique rod 53 connected to the rod sleeve 52 will also extend outward from the inside of the square platform 46. The inner oblique rod 53 initially located inside the square platform 46 is used to limit the closing plate 55, and the extrusion surfaces of both are inclined surfaces. However, as the inner oblique rod 53 extends outward and under the elastic force of the spring 56, the closing plate 55 will cut off the tracheal groove 48 to block the gas in the lower half of the tracheal groove 48, the horizontal frame 407 and the trachea 409, so that the claw plate 400 is not interfered with and affected by the piston rod 402, thereby increasing the stability of the claw plate 400. In addition, when encountering an inner liner with a larger lateral size and width, the hydraulic cylinder 45 is not started first but the electric push rod 51 is started first, and then the extension claw 54 and the inner oblique rod 53 are extended outward, and then under the elastic force of the spring 56, the closing plate 55 cuts off and seals the trachea groove 48, and at the same time, the top strip 57 connected to the other end of the closing plate 55 squeezes the closed rotating plate 405, causing the closed rotating plate 405 to deflect clockwise through the fixed shaft 404 and compress the elastomer 406, and then the hydraulic cylinder 45 is started again. At this time, the gas inside the hollow tube 49 will pass over the closed rotating plate 405 and be temporarily stored in the storage tank 403. When encountering an inner liner with a larger lateral size and width, the claw plate 400 is prevented from extending upward to prevent it from causing wear on the bottom of the inner liner and increasing the instability of the inner liner.

[0049] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Various changes made by ordinary technicians in this field based on the above concepts without creative work fall within the scope of protection of the present invention.

Claims

1. An automatic loading robot for dishwasher inner tank, characterized in that: include: A placement table for preliminary placement of the dishwasher liner, wherein a support frame is fixedly installed on the outer side of the placement table; A fixed rail is fixedly installed on the top of the support frame, a servo motor is fixedly installed on the outer end surface of the fixed rail, the output end of the servo motor is connected to a screw rod through a coupling, and both ends of the screw rod are installed inside the fixed rail through bearings; The outer side of the screw rod is threadedly connected with an internal thread plate; A driving mechanism for driving and controlling the manipulator, wherein the driving mechanism is arranged on the outside of the internal thread plate; A clamping mechanism for reinforcing and clamping the inner container of a dishwasher is provided at the bottom of the driving mechanism.

2. The automatic loading robot for dishwasher inner container according to claim 1, characterized in that: The driving mechanism includes a connecting arm, which is fixedly connected to the outer side of the internal threaded plate. A No. 1 motor is fixedly installed on the outer side of the connecting arm, and the output end of the No. 1 motor is connected to a No. 1 transmission roller through a coupling.

3. The automatic loading robot for dishwasher inner container according to claim 3, characterized in that: A No. 1 transfer roller is rotatably installed on the outer side of the fixed arm, and a No. 2 transmission roller is fixedly connected to the end of the No. 1 transfer roller close to the No. 1 fixed arm. The outer side of the No. 2 transmission roller is transmission-connected to a conveyor belt, and the inner cavity of the conveyor belt is transmission-connected to the No. 1 transmission roller on the side away from the No. 2 transmission roller.

4. The automatic loading robot for dishwasher inner container according to claim 3, characterized in that: The end of the No. 1 rotating connecting roller away from the fixed arm is fixedly mounted with a large arm, the center portion of the outer side of the large arm is fixedly mounted with a No. 2 motor, the output end of the No. 2 motor is connected to the No. 2 rotating connecting roller through a transmission component, the No. 2 rotating connecting roller is rotatably connected to the large arm, and the end of the No. 2 rotating connecting roller away from the large arm is fixedly connected to a small arm; An electric drive device is provided on the outer side of the forearm.

5. The automatic loading robot for dishwasher inner container according to claim 4, characterized in that: The clamping mechanism includes a reinforcement rod, the top end of which is fixedly connected to the forearm, and the bottom end of which is fixedly connected to a semicircular rail; An adapter is rotatably mounted on the bottom of the small arm, wherein the adapter is controlled and processed by an electric drive device.

6. The automatic loading robot for dishwasher inner container according to claim 5, characterized in that: A double-headed rod is fixedly connected to the outer side of the adapter, and one end of the double-headed rod away from the adapter is slidably adapted to the inner wall of the semicircular rail; A hydraulic cylinder is fixedly installed at the bottom of the adapter, and a square platform is fixedly connected to the bottom of the hydraulic cylinder. A loading claw is fixedly installed on the outer side of the square platform. The purpose of the arc-shaped loading claw is to increase the contact area with the bottom of the dishwasher inner tank.

7. The automatic loading robot for dishwasher inner container according to claim 6, characterized in that: The inside of the square platform is respectively provided with an air pipe groove and a storage groove, a transverse frame is fixedly installed on the outside of the square platform, a diverter plate is fixedly connected to the center of the transverse frame, and an air pipe is fixedly connected to the side of the transverse frame away from the square platform; There are two air pipes, and the splitter plate is used to separate the surging gas into two streams and respectively enter the two air pipes.

8. The automatic loading robot for dishwasher inner container according to claim 7, characterized in that: A claw plate is inserted into one end of the air pipe away from the horizontal frame, wherein the claw plate is used to clamp the outer wall of the inner container of the dishwasher; The top of the square platform is fixedly connected to a hollow tube, the bottom of the inner cavity of the hollow tube is fixedly connected to an inner circular sleeve, the top of the inner circular sleeve is fixedly connected to a return spring, the top of the return spring is fixedly connected to a piston rod, and the piston rod is slidably adapted inside the hollow tube; The bottom of the piston rod is made of piston material.

9. The automatic loading robot for dishwasher inner container according to claim 7, characterized in that: The interior of the storage tank is fixedly connected to a fixed shaft, the outer side of the fixed shaft is rotatably mounted with a closed rotating plate, the outer side of the closed rotating plate is fixedly connected to an elastomer, and one end of the elastomer away from the closed rotating plate is fixedly connected to the top of the storage tank.

10. The automatic loading robot for dishwasher inner container according to claim 7, characterized in that: An electric push rod is fixedly installed inside both ends of the square platform, a rod sleeve is fixedly connected to the outer side of the output end of the electric push rod, and an inner oblique rod is fixedly connected to the end of the rod sleeve away from the electric push rod, and the inner oblique rod is inserted into the interior of the square platform; An extension claw is fixedly connected to one side of the rod sleeve away from the inner oblique rod, wherein the extension claw is used to expand the contact area with the bottom of the inner container of the dishwasher.

11. The automatic loading robot for dishwasher inner container according to claim 10, characterized in that: The inner end surface of the inner oblique rod is extruded and adapted with a closing plate, the closing plate is slidably adapted inside the square platform, the outer side of the closing plate is fixedly connected to a spring, and one end of the spring away from the closing plate is fixedly connected to the inside of the square platform; One end of the closing plate away from the spring is fixedly connected with a top strip, wherein the closing plate is used for sealing the tracheal groove, and the top strip is squeezed and adapted to the closing rotating plate.

Images