Multi-mechanical hand cooperative carrying work station for water tank panel production line

Abstract

The application provides a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing. The application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, and relates to the technical field of intelligent manufacturing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing, in particular to a multi-robot collaborative carrying station for a water tank panel production line. BACKGROUND

[0002] The water tank panel production line is an automatic processing production line for efficiently producing water tank panels, commonly used in the field of stainless steel water tank manufacturing.

[0003] A water tank panel automatic production line is disclosed in Chinese Patent No. 202211069877.7, which relates to the technical field of water tank panel processing. The water tank panel automatic production line includes a robot arm unit, a centering table unit, a workbench unit, a control cabinet unit, and a transfer unit. The robot arm unit includes a robot arm one, a robot arm two is arranged behind the robot arm one, and a robot arm three is arranged on the right side of the robot arm two. The centering table unit includes a centering table one, which is arranged on the left side of the robot arm one. By arranging the robot arm unit, the centering table unit, the workbench unit, the control cabinet unit, and the transfer unit, the production process of the entire production line does not require human participation, eliminating the occurrence of cutting and mechanical injury accidents, greatly improving production efficiency, shortening the processing time of each water tank panel, and realizing 24-hour uninterrupted production.

[0004] Among them, the robot arm one, the robot arm two, and the robot arm three each include a ground rail installed in a pit, a pneumatic suction cup, and a body, and the product is grabbed by the pneumatic suction cup to realize the carrying of the product. However, when using the pneumatic suction cup to grab the water tank panel, dust and other debris on the surface of the water tank panel will affect the firmness and stability of the suction cup adsorbing the water tank panel, increasing the risk of the water tank panel falling during the production and carrying process. SUMMARY

[0005] The present application provides a multi-robot collaborative carrying station for a water tank panel production line to solve the technical problem that when using the pneumatic suction cup to grab the water tank panel, dust and other debris on the surface of the water tank panel will affect the firmness and stability of the suction cup adsorbing the water tank panel, increasing the risk of the water tank panel falling during the production and carrying process.

[0006] To solve the above technical problems, the application discloses a multi-mechanical hand cooperative carrying station for a water tank panel production line, comprising: a plurality of production stations, a multi-axis mechanical hand is arranged between adjacent two production stations, a carrying device is arranged at one end of the multi-axis mechanical hand, the carrying device comprises a mounting plate, the mounting plate is connected with the one end of the multi-axis mechanical hand, an anti-falling mechanism is arranged on the lower surface of the mounting plate, a carrying seat is arranged below the mounting plate, the carrying seat is connected with the mounting plate through a plurality of connecting columns, a vacuum pumping mechanism is arranged in the carrying seat, a plurality of negative pressure suction pipes are arranged on the lower surface of the carrying seat, and a suction disc is arranged at the lower end of the negative pressure suction pipe.

[0007] Preferably, the anti-falling mechanism comprises four fixed pipes, the four fixed pipes are arranged in a ring array about the center of the lower surface of the mounting plate, a strip-shaped through hole is formed in the lower surface of the fixed pipe, a sliding block is slidably arranged in the fixed pipe, the sliding block is connected with the inner wall of the fixed pipe through a connecting spring, a moving rod is arranged at the end of the sliding block away from the connecting spring, the end of the moving rod away from the sliding block extends to the outside of the fixed pipe and is provided with a transverse limiting plate, a longitudinal limiting plate is arranged at the lower end of the transverse limiting plate, and the longitudinal limiting plate is located below the carrying seat; a driving assembly is arranged at the center of the lower surface of the mounting plate, and the driving assembly is used for driving the sliding block to slide in the fixed pipe.

[0008] Preferably, the transverse limiting plate is perpendicular to the moving rod, and the longitudinal limiting plate is parallel to the moving rod.

[0009] Preferably, the driving assembly comprises a driving motor, the driving motor is arranged on the lower surface of the mounting plate, a screw rod is arranged at the output end of the driving motor, a rotating disc is fixedly arranged on the screw rod, four arc-shaped plates are arranged on the outer wall of the rotating disc, the arc-shaped plates are arranged one by one corresponding to the fixed pipes, an arc-shaped through hole is arranged in the arc-shaped plate, an adjusting column is slidably arranged in the arc-shaped through hole, and the adjusting column passes through the strip-shaped through hole and is connected with the sliding block at the upper end of the adjusting column.

[0010] Preferably, the vacuum pumping mechanism comprises a gas pumping cavity arranged in the carrying seat, the upper end of the negative pressure suction pipe is communicated with the gas pumping cavity through an air duct, a first one-way valve is arranged in the air duct, an air outlet is arranged at the upper end of the gas pumping cavity, the gas pumping cavity is communicated with the outside of the carrying seat through the air outlet, a second one-way valve is arranged in the air outlet, an adjusting piece is arranged in the gas pumping cavity, the adjusting piece is located below the air duct, the outer periphery of the adjusting piece is connected with the inner wall of the gas pumping cavity, the adjusting piece is made of elastic rubber material, a magnetic block is arranged at the center of the adjusting piece, an installation cavity is arranged at the bottom of the gas pumping cavity, and an electromagnet is arranged in the installation cavity.

[0011] Preferably, the magnetic block is located directly above the electromagnet.

[0012] Preferably, a control valve is arranged on the negative pressure suction pipe.

[0013] Preferably, a partition is arranged in the air extraction cavity, the partition is located above the air passage, a communication hole is arranged in the partition, a connecting pipe is arranged in the communication hole, the upper end of the connecting pipe is connected with the top wall of the air extraction cavity, the lower end of the connecting pipe is provided with a first air hole, one end of the first air hole is communicated with the lower part of the partition, the upper end of the first air hole is communicated with a plurality of second air holes, the second air holes are arranged on the side wall of the connecting pipe, and the second air holes are located above the partition.

[0014] Preferably, a guide rod is arranged on the upper surface of the magnetic block, and the upper end of the guide rod extends to above the carrying seat through the partition and the top wall of the carrying seat in sequence.

[0015] Preferably, an adjusting sleeve is arranged on the upper end of the guide rod, an internal thread is arranged on the inner wall of the adjusting sleeve, an external thread is arranged on the outer wall of the upper end of the guide rod, and the adjusting sleeve is threadedly connected with the upper end of the guide rod.

[0016] The technical scheme of the present application has the following advantages: the present application provides a multi-mechanical hand cooperative carrying workstation for a water tank panel production line, relates to the technical field of intelligent manufacturing, and comprises a plurality of production stations, a multi-axis mechanical hand is arranged between adjacent two production stations, a carrying device is arranged at one end of the multi-axis mechanical hand, the carrying device comprises a mounting plate, the mounting plate is connected with one end of the multi-axis mechanical hand, an anti-falling mechanism is arranged on the lower surface of the mounting plate, a carrying seat is arranged below the mounting plate, the carrying seat is connected with the mounting plate through a plurality of connecting columns, a vacuum extraction mechanism is arranged in the carrying seat, a plurality of negative pressure suction pipes are arranged on the lower surface of the carrying seat, and a suction disc is arranged at the lower end of the negative pressure suction pipe. In the present application, the suction disc can adsorb the water tank panel, and the water tank panel is protected by the anti-falling mechanism. The water tank panel is cooperatively carried under the cooperation of the suction disc and the anti-falling mechanism, so that the water tank panel is prevented from falling during the carrying process, the production quality of the water tank panel is ensured, and the safety of the water tank panel production is improved.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by means of the devices particularly pointed out in the written description and the accompanying drawings.

[0018] The technical scheme of the present application will be further described in detail below with reference to the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application and explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0020] Figure 1 It is a whole structure schematic view of the multi-mechanical hand cooperative carrying workstation for the water tank panel production line of the present application.

[0021] Figure 2Structure schematic view of carrying device in the present application;

[0022] Figure 3 Structure schematic view of carrying device in the present application Figure 2 Structure enlarged view of A in the present application

[0023] Figure 4 Structure schematic view of carrying device in the present application Figure 2 Structure schematic view of local structure of B-B in the present application

[0024] Figure 5 Structure schematic view of carrying device in the present application Figure 4 Structure enlarged view of C in the present application

[0025] Figure 6 Structure schematic view of internal structure of carrying seat in the present application

[0026] Figure 7 Structure schematic view of carrying device in the present application Figure 6 Structure enlarged view of D in the present application

[0027] In the figure: 1, production station; 2, multi-axis mechanical hand; 3, carrying device; 4, mounting plate; 5, carrying seat; 6, connecting column; 7, negative pressure suction pipe; 8, suction disc; 9, fixed pipe; 10, strip-shaped through hole; 11, sliding block; 12, connecting spring; 13, moving rod; 14, transverse limiting plate; 15, longitudinal limiting plate; 16, driving motor; 17, screw rod; 18, rotating disc; 19, arc-shaped plate; 20, arc-shaped through hole; 21, adjusting column; 22, air suction cavity; 23, air channel; 24, air outlet hole; 25, adjusting sheet; 26, magnetic block; 27, mounting cavity; 28, electromagnet; 29, partition plate; 30, connecting pipe; 31, first air hole; 32, second air hole; 33, guide rod; 34, adjusting sleeve; 35, sliding table; 36, connecting rod. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and are not used to limit the present application.

[0029] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0030] Example 1

[0031] This invention provides a multi-robot collaborative handling workstation for a water tank assembly line, such as... Figures 1-7 As shown, it includes: several production stations 1, a multi-axis robot 2 is set between two adjacent production stations 1, a conveying device 3 is set at one end of the multi-axis robot 2, the conveying device 3 includes a mounting plate 4, the mounting plate 4 is connected to one end of the multi-axis robot 2, an anti-drop mechanism is set on the lower surface of the mounting plate 4, a conveying seat 5 is set below the mounting plate 4, the conveying seat 5 is connected to the mounting plate 4 through several connecting columns 6, a vacuuming mechanism is set inside the conveying seat 5, several negative pressure suction tubes 7 are set on the lower surface of the conveying seat 5, and a suction cup 8 is set at the lower end of the negative pressure suction tubes 7.

[0032] The working principle and beneficial effects of the above technical scheme are: the production line includes at least five production stations 1, which are sequentially an upper feeding station, a plate shearing station, an angle cutting station, a forming station and a lower discharging station. A plurality of stainless steel plates are placed at the upper feeding station. A multi-axis manipulator 2 located between the upper feeding station and the plate shearing station can carry the stainless steel plates to the plate shearing station, and then cut the stainless steel plates into a predetermined size through a plate shearing machine at the plate shearing station. Then, the multi-axis manipulator 2 between the plate shearing station and the angle cutting station carries the stainless steel plates to the angle cutting station, and performs angle cutting processing through a punch to obtain a water tank plate half-finished product. Then, the multi-axis manipulator 2 between the angle cutting station and the forming station carries the water tank plate half-finished product to the forming station, and performs forming through a hydraulic machine to obtain a water tank plate. Finally, the multi-axis manipulator 2 between the forming station and the lower discharging station carries the water tank plate to an AGV trolley at the lower discharging station to realize automatic discharging of the water tank plate. The multi-axis manipulator 2 carries the water tank plate through a carrying device 3. The carrying device 3 includes a mounting plate 4 connected to the end of the multi-axis manipulator 2. A carrying seat 5 is arranged below the mounting plate 4. A suction cup 8 at the bottom of the carrying seat 5 can be adsorbed on the upper surface of the water tank plate. Then, the suction cup 8 is vacuumized through a vacuumizing mechanism to improve the firmness and stability of the suction cup 8 adsorbed on the water tank plate. Then, the water tank plate is protected through a falling prevention mechanism. The water tank plate is carried cooperatively under the cooperation of the suction cup 8 and the falling prevention mechanism to prevent the water tank plate from falling during the carrying process, ensure the product quality of the water tank plate, and improve the safety of the water tank plate production.

[0033] Embodiment 2

[0034] Based on the above embodiment 1, as shown in Figures 1-5 The falling prevention mechanism includes four fixed pipes 9 arranged in a ring array about the center of the lower surface of the mounting plate 4. A strip-shaped through hole 10 is formed in the lower surface of the fixed pipe 9. A sliding block 11 is slidably arranged in the fixed pipe 9. The sliding block 11 is connected to the inner wall of the fixed pipe 9 through a connecting spring 12. A moving rod 13 is arranged at the end of the sliding block 11 away from the connecting spring 12. The moving rod 13 extends to the outside of the fixed pipe 9 at the end away from the sliding block 11 and is provided with a transverse limiting plate 14. The lower end of the transverse limiting plate 14 is provided with a longitudinal limiting plate 15 located below the carrying seat 5. A driving assembly is arranged at the center of the lower surface of the mounting plate 4, and is used to drive the sliding block 11 to slide in the fixed pipe 9.

[0035] The transverse limiting plate 14 is perpendicular to the moving rod 13, and the longitudinal limiting plate 15 is parallel to the moving rod 13.

[0036] The driving assembly comprises a driving motor 16 arranged on the lower surface of the mounting plate 4, a screw rod 17 arranged at the output end of the driving motor 16, a rotating disc 18 fixedly arranged on the screw rod 17, four arc-shaped plates 19 arranged on the outer wall of the rotating disc 18, the arc-shaped plates 19 being arranged in one-to-one correspondence with the fixed pipes 9, arc-shaped through holes 20 arranged in the arc-shaped plates 19, and an adjusting column 21 slidably arranged in the arc-shaped through holes 20, the upper end of the adjusting column 21 penetrating through the strip-shaped through hole 10 and being connected with the sliding block 11.

[0037] The working principle and beneficial effects of the above technical scheme are: when the water tank spliced plate is carried, the suction cup 8 is first adsorbed on the water tank spliced plate, and then the mounting plate 4 is driven by the multi-axis mechanical arm 2 to move upward, the mounting plate 4 drives the carrying seat 5 to move upward through the connecting column 6, the carrying seat 5 drives the water tank spliced plate to move upward to a preset height through the suction cup 8, then the first controller controls the driving motor 16 to start, the first controller is arranged on the mounting plate 4, the first controller is electrically connected with the driving motor 16, the driving motor 16 is started to drive the screw rod 17 to rotate, the screw rod 17 drives the rotating disc 18 to rotate, the rotating disc 18 drives the four arc-shaped plates 19 to rotate synchronously, when the arc-shaped plates 19 rotate, the adjusting column 21 is driven to slide in the arc-shaped through hole 20 through the arc-shaped through hole 20, so as to drive the sliding block 11 to slide in the fixed tube 9 to the direction close to the driving motor 16, the connecting spring 12 is compressed, the sliding block 11 drives the moving rod 13 to move in the fixed tube 9, the moving rod 13 drives the longitudinal limiting plate 15 to move to the direction close to the water tank spliced plate through the transverse limiting plate 14, the distance sensor is arranged on the side of the transverse limiting plate 14 close to the carrying seat 5, the distance sensor is electrically connected with the first controller, the actual distance of the transverse limiting plate 14 to the water tank spliced plate can be detected through the distance sensor, when the actual distance detected by one of the distance sensors reaches a preset distance, the first controller controls the driving motor 16 to stop working, at this time, the longitudinal limiting plate 15 is located below the water tank spliced plate, the horizontal block of the four transverse limiting plates 14 can avoid the horizontal sliding of the water tank spliced plate, and the vertical block of the four longitudinal limiting plates 15 can avoid the vertical falling of the water tank spliced plate, therefore, in the carrying process, the anti-falling mechanism can cooperate with the suction cup 8 to carry the water tank spliced plate, after the water tank spliced plate is separated from the suction cup 8 under the protection of the anti-falling mechanism, the water tank spliced plate will not fall, the reliability of carrying the water tank spliced plate is ensured, the product quality of the water tank spliced plate is ensured, and the safety of carrying is improved, after the water tank spliced plate is carried to the production station 1 through the carrying device 3, the driving motor 16 is first controlled to reverse, so that the rotating disc 18 reversely rotates, the rotating disc 18 drives the arc-shaped plates 19 to reversely rotate, and drives the adjusting column 21 to move away from the driving motor 16 through the arc-shaped through hole 20, the adjusting column 21 drives the sliding block 11 to slide away from the driving motor 16, and drives the transverse limiting plate 14 and the longitudinal limiting plate 15 to move away from the water tank spliced plate through the moving rod 13, until the original position is restored, then external air is introduced into the suction cup 8, so that the suction cup 8 is separated from the water tank spliced plate, and the reliable carrying of the water tank spliced plate is completed.

[0038] Example 3

[0039] On the basis of example 2, as Figure 6 , Figure 7As shown, the vacuumizing mechanism includes a suction cavity 22 arranged in the carrying seat 5, the upper end of the negative pressure suction pipe 7 is communicated with the suction cavity 22 through an air passage 23, a first one-way valve is arranged in the air passage 23, an air outlet hole 24 is arranged at the upper end of the suction cavity 22, the suction cavity 22 is communicated with the outside of the carrying seat 5 through the air outlet hole 24, a second one-way valve is arranged in the air outlet hole 24, an adjusting piece 25 is arranged in the suction cavity 22, the adjusting piece 25 is located below the air passage 23, the outer periphery of the adjusting piece 25 is connected with the inner wall of the suction cavity 22, the adjusting piece 25 is made of elastic rubber material, a magnetic block 26 is arranged at the center of the adjusting piece 25, a mounting cavity 27 is arranged at the bottom of the suction cavity 22, and an electromagnet 28 is arranged in the mounting cavity 27;

[0040] The magnetic block 26 is located directly above the electromagnet 28;

[0041] The negative pressure suction pipe 7 is provided with a control valve.

[0042] The working principle and beneficial effects of the above technical scheme are as follows: when the suction cup 8 is adsorbed on the water tank panel, the electromagnet 28 is started through the second controller, the second controller is arranged on the carrying seat 5, and the electromagnet 28 is connected with alternating current, so that the magnetic pole of the electromagnet 28 changes constantly, when the magnetic pole of the electromagnet 28 close to one end of the magnetic block 26 is opposite to the magnetic pole of the magnetic block 26 close to the electromagnet 28, the electromagnet 28 can attract the magnetic block 26 and drive the magnetic block 26 to move downward, in this process, the gas in the suction cup 8 can flow into the suction cavity 22 through the air passage 23, so that the suction cup 8 adsorbs the water tank panel more tightly, when the magnetic pole of the electromagnet 28 close to one end of the magnetic block 26 is the same as the magnetic pole of the magnetic block 26 close to the electromagnet 28, the electromagnet 28 can drive the magnetic block 26 to move upward, the magnetic block 26 drives the adjusting piece 25 to move upward, so as to extrude the gas in the suction cavity 22 and discharge it to the outside of the suction cavity 22 through the air outlet hole 24, a negative pressure sensor is arranged in the negative pressure suction pipe 7, the negative pressure sensor is electrically connected with the second controller, and the negative pressure sensor can detect the vacuum degree in the suction cup 8, when the vacuum degree in the suction cup 8 reaches a preset vacuum degree, the second controller controls the electromagnet 28 to be powered off, at this time, the suction cup 8 can firmly adsorb the water tank panel, which is convenient for the production and carrying of the water tank panel, after the carrying is completed, the control valve is opened, so that the external air flows into the negative pressure suction pipe 7, and then the suction cup 8 can be separated from the water tank panel, after the separation, the control valve is closed again, so as to carry out the next carrying.

[0043] Embodiment 4

[0044] On the basis of embodiment 3, as Figure 6 , Figure 7As shown, the partition 29 is arranged in the air extraction cavity 22 and located above the air passage 23, the communication hole is arranged in the partition 29, the connecting pipe 30 is arranged in the communication hole, the upper end of the connecting pipe 30 is connected with the top wall of the air extraction cavity 22, the lower end of the connecting pipe 30 is provided with the first gas hole 31, the third one-way valve is arranged in the first gas hole 31, one end of the first gas hole 31 is communicated with the lower part of the partition 29, the upper end of the first gas hole 31 is communicated with the second gas holes 32, the second gas holes 32 are arranged on the side wall of the connecting pipe 30 and located above the partition 29;

[0045] The partition 29 is slidably connected with the inner wall of the air extraction cavity 22, the connecting pipe 30 is slidably connected with the inner wall of the communication hole, the slide table 35 is arranged at the position close to the lower end of the screw rod 17, the slide table 35 is threadedly connected with the screw rod 17, the lower surface of the slide table 35 is provided with the connecting rods 36, the lower ends of the connecting rods 36 extend into the air extraction cavity 22 and are connected with the upper surface of the partition 29, and the connecting rods 36 are slidably connected with the top wall of the carrying seat 5 at the positions penetrating the top wall.

[0046] The working principle and beneficial effects of the above technical scheme are as follows: when the vacuum extraction mechanism works, the gas located below the partition 29 can flow into the connecting pipe 30 through the first gas hole 31, then flow out to the space above the partition 29 through the second gas holes 32, and finally flow out of the carrying seat 5 to the outside through the air outlet hole 24; after the vacuum extraction is completed, the multi-axis manipulator 2 drives the water tank panel to rise by a predetermined height through the suction cup 8, then the driving motor 16 is started, the driving motor 16 rotates to drive the screw rod 17 to rotate, the screw rod 17 rotates to drive the slide table 35 to move upward along the screw rod 17, the slide table 35 drives the partition 29 to slide upward in the air extraction cavity 22 through the connecting rods 36, so that the partition 29 exceeds the second gas holes 32, and then the space below the partition 29 is further vacuum-extracted through the continuous rising of the partition 29, so that the suction of the suction cup 8 to the water tank panel is more closely, the firmness and stability of the suction of the suction cup 8 are improved, and the sealing performance of the air extraction cavity 22 is improved under the blockage of the partition 29, so that the suction force of the suction cup 8 is more stable; when the driving motor 16 reversely rotates, the slide table 35 moves downward along the screw rod 17 and drives the partition 29 to slide downward in the air extraction cavity 22 through the connecting rods 36, so that the second gas holes 32 are communicated with the space above the partition 29 again, which is convenient for vacuum extraction operation.

[0047] Embodiment 5

[0048] On the basis of embodiment 4, as shown in Figure 6 、 Figure 7 The upper surface of the magnetic block 26 is provided with the guide rod 33, the upper end of the guide rod 33 extends to the upper part of the carrying seat 5 through the partition 29 and the top wall of the carrying seat 5 in sequence, and the guide rod 33 is slidably connected with the partition 29 and the top wall of the carrying seat 5 at the positions penetrating the top wall;

[0049] The upper end of the guide rod 33 is provided with an adjusting sleeve 34, an inner thread is arranged on the inner wall of the adjusting sleeve 34, an outer thread is arranged on the outer wall of the upper end of the guide rod 33, and the adjusting sleeve 34 is threadedly connected with the upper end of the guide rod 33.

[0050] The working principle and beneficial effects of the above technical solution are as follows: the upper and lower movement of the magnetic block 26 can drive the guide rod 33 to slide up and down at the position penetrating the top wall of the carrying seat 5 and the partition plate 29, thereby providing guidance for the movement of the magnetic block 26 and improving the stability of the movement of the magnetic block 26; rotating the adjusting sleeve 34 can adjust the distance between the adjusting sleeve 34 and the upper surface of the carrying seat 5, thereby adjusting the sliding distance of the guide rod 33 downward, and facilitating the adjustment of the movement amplitude of the magnetic block 26 according to the water tank plate of different weights; when the water tank plate is heavy, the adjusting sleeve 34 is rotated upward, thereby increasing the movement distance of the magnetic block 26, so that the suction cup 8 reaches the preset vacuum degree within the preset time length; when the water tank plate is light, the adjusting sleeve 34 is rotated downward, thereby reducing the movement distance of the magnetic block 26, and also ensuring that the suction cup 8 reaches the preset vacuum degree within the preset time length, without affecting the carrying time length, and reducing the wear of the guide rod 33, thereby prolonging the service life of the guide rod 33.

[0051] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0052] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] While embodiments of the application have been disclosed in connection with the above specification and drawings this description is not intended to limit the scope of the application and many modifications, enhancements, alternatives, and variations will become apparent to those skilled in the art from this disclosure. Accordingly, it is intended that the application not be limited to the described embodiments, but that it include all variations falling within the scope of the claims, and their equivalents.

Claims

1. A multi-robot collaborative handling workstation for a water tank assembly line, characterized in that, include: Several production stations (1), a multi-axis robot (2) is set between two adjacent production stations (1), a conveying device (3) is set at one end of the multi-axis robot (2), the conveying device (3) includes a mounting plate (4), the mounting plate (4) is connected to one end of the multi-axis robot (2), an anti-drop mechanism is set on the lower surface of the mounting plate (4), a conveying seat (5) is set below the mounting plate (4), the conveying seat (5) is connected to the mounting plate (4) through several connecting columns (6), a vacuuming mechanism is set inside the conveying seat (5), several negative pressure suction tubes (7) are set on the lower surface of the conveying seat (5), and a suction cup (8) is set at the lower end of the negative pressure suction tubes (7); The anti-fall mechanism includes four fixed tubes (9), which are arranged in a ring array about the center of the lower surface of the mounting plate (4). A strip-shaped through hole (10) is opened on the lower surface of the fixed tube (9). A sliding block (11) is slidably installed inside the fixed tube (9). The sliding block (11) is connected to the inner wall of the fixed tube (9) through a connecting spring (12). A moving rod (13) is provided at the end of the sliding block (11) away from the connecting spring (12). The moving rod (13) extends to the outside of the fixed tube (9) and is provided with a transverse limiting plate (14). A longitudinal limiting plate (15) is provided at the lower end of the transverse limiting plate (14). The longitudinal limiting plate (15) is located below the transport seat (5). A drive assembly is provided at the center of the lower surface of the mounting plate (4). The drive assembly is used to drive the sliding block (11) to slide inside the fixed tube (9). The drive assembly includes a drive motor (16), which is mounted on the lower surface of the mounting plate (4). A screw (17) is mounted on the output end of the drive motor (16). A rotating disk (18) is fixedly mounted on the screw (17). Four arc-shaped plates (19) are mounted on the outer wall of the rotating disk (18). The arc-shaped plates (19) are corresponding to the fixed tube (9). Arc-shaped through holes (20) are provided in the arc-shaped plates (19). An adjusting column (21) is slidably mounted in the arc-shaped through holes (20). The upper end of the adjusting column (21) passes through the strip-shaped through hole (10) and is connected to the sliding block (11). The vacuum mechanism includes a vacuum chamber (22) set in the transport seat (5). The upper end of the negative pressure suction tube (7) is connected to the vacuum chamber (22) through the air passage (23). A first one-way valve is set in the air passage (23). An air outlet (24) is set at the upper end of the vacuum chamber (22). The vacuum chamber (22) is connected to the outside of the transport seat (5) through the air outlet (24). A second one-way valve is set in the air outlet (24). An adjusting plate (25) is set in the vacuum chamber (22). The adjusting plate (25) is located below the air passage (23). The outer periphery of the adjusting plate (25) is connected to the inner wall of the vacuum chamber (22). The adjusting plate (25) is made of elastic rubber material. A magnetic block (26) is set in the center of the adjusting plate (25). An installation cavity (27) is set at the bottom of the vacuum chamber (22). An electromagnet (28) is set in the installation cavity (27).

2. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 1, characterized in that, The lateral limiting plate (14) is perpendicular to the moving rod (13), and the longitudinal limiting plate (15) is parallel to the moving rod (13).

3. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 1, characterized in that, The magnet (26) is located directly above the electromagnet (28).

4. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 1, characterized in that, A control valve is installed on the negative pressure suction tube (7).

5. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 1, characterized in that, A partition (29) is provided inside the air extraction chamber (22). The partition (29) is located above the air passage (23). A connecting hole is provided inside the partition (29). A connecting pipe (30) is provided inside the connecting hole. The upper end of the connecting pipe (30) is connected to the top wall of the air extraction chamber (22). A first air hole (31) is provided at the lower end of the connecting pipe (30). One end of the first air hole (31) is connected to the lower part of the partition (29). The upper end of the first air hole (31) is connected to several second air holes (32). The second air holes (32) are located on the side wall of the connecting pipe (30) and above the partition (29).

6. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 5, characterized in that, A guide rod (33) is provided on the upper surface of the magnetic block (26). The upper end of the guide rod (33) passes through the partition (29) and the top wall of the transport seat (5) and extends to the top of the transport seat (5).

7. The multi-robot collaborative handling workstation for a water tank assembly line according to claim 6, characterized in that, An adjusting sleeve (34) is provided at the upper end of the guide rod (33). The inner wall of the adjusting sleeve (34) is provided with an internal thread, and the outer wall of the upper end of the guide rod (33) is provided with an external thread. The adjusting sleeve (34) is threadedly connected to the upper end of the guide rod (33).

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