High-temperature-resistant precise door and window hardware grabbing device

Abstract

The invention relates to the technical field of manipulators, in particular to a high-temperature-resistant precise door and window hardware grabbing device which comprises a multi-axis manipulator. The suspension bracket is arranged at the moving end of the multi-axis manipulator; the clamping piece is rotationally arranged on the suspension frame and is used for clamping an object; the sliding pipe is arranged on the suspension bracket in a sliding manner; the telescopic piece is arranged on the suspension frame and used for controlling the sliding pipe to slide; the driving part is arranged at the telescopic end of the telescopic part and used for controlling the sliding pipe to rotate; according to the electroplating device, after hardware needing to be treated is clamped, gas or liquid can be introduced through rotation of the clamping piece in cooperation with the interior of the sliding pipe, and the efficiency and effect of the electroplating process are improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a high-temperature resistant precision door and window hardware grabbing device. Background Art

[0002] In order to improve the aesthetics, rust resistance and corrosion resistance of high-temperature resistant precision door and window hardware, as well as increase the surface hardness, it is usually electroplated. During the electroplating process, the door and window hardware is placed in a container and the container is grabbed by a grabbing device. The electroplating process includes alkaline degreasing, water washing, pickling, water washing, electroplating and other steps. First, alkaline chemicals are used to remove grease, mineral oil, polishing wax and other organic pollutants on the surface of the workpiece. Then, the alkaline solution remaining on the surface of the workpiece is removed by the first water washing to prevent it from being brought into the pickling solution to cause acid-base neutralization, waste acid and produce precipitates. After the first water washing is completed, the oxide layer is removed by pickling, and the metal surface is activated to improve the adhesion of the coating. After the pickling is completed, a second water washing is performed to remove residual acid to prevent acid from entering the electroplating tank and contaminating the plating solution.

[0003] The conventional water washing method is to use a grabbing robot to grab the container containing hardware materials and put it into the water washing tank for immersion, and then clean it with the water flowing in the washing tank. However, due to the complex structure of some door and window hardware, this cleaning method is less effective and is still prone to chemical residues. Chemical residues can easily lead to insufficient coating bonding, causing the coating to peel off and the substrate to oxidize when the hardware is used at high temperatures, seriously affecting its service life.

[0004] Therefore, a high-temperature resistant precision door and window hardware grabbing device is proposed. Summary of the Invention

[0005] In view of the above problems or problems existing in the prior art, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide a high temperature resistant precision door and window hardware grabbing device.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a high temperature resistant precision door and window hardware grabbing device, comprising:

[0008] Multi-axis manipulator;

[0009] a suspension bracket, which is provided at the moving end of the multi-axis manipulator;

[0010] A clamping member, rotatably mounted on the hanging frame, for clamping an object;

[0011] a sliding tube slidably disposed on the suspension frame;

[0012] a telescopic member, which is provided on the suspension frame and is used to control the sliding of the sliding tube;

[0013] a driving member, which is provided at the telescopic end of the telescopic member and is used to control the rotation of the sliding tube;

[0014] The end of the sliding tube is provided with a Y-shaped tube;

[0015] When the sliding tube slides, it can pull the clamping piece to open and close.

[0016] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: the hanging frame includes a fixing ring provided on the moving end of the multi-axis manipulator, and a connecting seat provided on the fixing ring;

[0017] The clamping member includes a rotating seat rotatably mounted on the connecting seat, and a clamping arm rotatably mounted on the rotating seat, wherein a connecting rod is rotatably mounted on the clamping arm;

[0018] One end of the connecting rod is rotatably connected to one end of the sliding tube.

[0019] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, the telescopic part is arranged on the connecting seat, the telescopic end of the telescopic part is provided with a limiting ring, the outer wall of the sliding tube is provided with a first gear, and the limiting ring is symmetrically arranged at both ends of the first gear.

[0020] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: the telescopic end of the telescopic member is provided with a machine base, and the limiting ring is connected to the telescopic end of the telescopic member through the machine base;

[0021] The driving member is arranged in the machine base, and a second gear is provided at the output end of the driving member;

[0022] The first gear and the second gear are meshed with each other.

[0023] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: the suspension frame further comprises an outer arc frame arranged on the fixed ring, and an inner arc frame rotatably arranged on the outer arc frame;

[0024] The connecting seat is provided with a shaft rod, and the connecting seat is rotatably connected to the inner arc frame through the shaft rod;

[0025] The rotation axis and the shaft rod of the inner arc frame are arranged vertically.

[0026] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, when the clamping arm is in the maximum open state, the connecting rod and the sliding tube are in a vertical state.

[0027] As a preferred embodiment of the high-temperature resistant precision door and window hardware grabbing device of the present invention, the hanging frame further comprises a ring sleeve provided on the fixing ring, wherein the ring sleeve is provided with an upper ring cavity, a middle ring cavity, and a lower ring cavity in sequence from top to bottom;

[0028] The outer wall of the sliding tube is provided with a long arm wheel;

[0029] The outer wall of the sliding tube is provided with a first short arm wheel and a second short arm wheel;

[0030] The first short arm wheel and the second short arm wheel have the same size.

[0031] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: the first short arm wheel and the second short arm wheel are arranged on the same side of the sliding tube;

[0032] The first short arm wheel and the long arm wheel are arranged at an angle of 180 degrees.

[0033] As a preferred embodiment of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: the diameter of the middle ring cavity is larger than that of the lower ring cavity, and the diameter of the lower ring cavity is larger than that of the upper ring cavity;

[0034] The maximum distance between the outer wall of the first short arm wheel and the axis of the sliding tube is equal to the radius of the upper ring cavity;

[0035] The maximum distance between the outer wall of the long arm wheel and the axis of the sliding tube is equal to the radius of the middle ring cavity.

[0036] As a preferred solution of the high-temperature resistant precision door and window hardware grabbing device of the present invention, wherein: a first solenoid valve and a second solenoid valve are provided on the Y-shaped tube.

[0037] The beneficial effects of the high-temperature resistant precision door and window hardware grasping device of the present invention: after clamping the hardware to be processed, the present invention can introduce gas or liquid into the interior of the sliding tube through the rotation of the clamping part, thereby improving the efficiency and effect of the electroplating process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 This is a reference diagram of the working scene of the high-temperature resistant precision door and window hardware grabbing device.

[0040] Figure 2 This is a schematic diagram of the overall structure of the high-temperature resistant precision door and window hardware grabbing device.

[0041] Figure 3 This is a schematic diagram of the connection structure of the suspension frame, clamping parts, sliding tubes, telescopic parts, and driving parts of the high-temperature resistant precision door and window hardware grabbing device.

[0042] Figure 4 This is a schematic diagram of the structure of the suspension frame and clamping parts of the high-temperature resistant precision door and window hardware grabbing device.

[0043] Figure 5 This is a schematic diagram of the internal structure of the high-temperature resistant precision door and window hardware grabbing device.

[0044] Figure 6 This is a partial cross-sectional structural diagram of a high-temperature resistant precision door and window hardware grabbing device.

[0045] Figure 7 This is a reference diagram of the first usage state of the high-temperature resistant precision door and window hardware grabbing device.

[0046] Figure 8 This is a reference diagram for the second usage state of the high-temperature resistant precision door and window hardware grabbing device.

[0047] In the picture:

[0048] 1. Multi-axis manipulator;

[0049] 2. Suspension frame; 21. Fixing ring; 22. Outer arc frame; 23. Inner arc frame; 24. Connecting seat; 241. Shaft; 25. Ring sleeve; 251. Upper ring cavity; 252. Middle ring cavity; 253. Lower ring cavity;

[0050] 3. Clamping member; 31. Rotating seat; 32. Clamping arm; 33. Connecting rod;

[0051] 4. Sliding tube; 41. First gear; 42. Y-shaped tube; 421. First solenoid valve; 422. Second solenoid valve; 43. Long arm pulley; 44. First short arm pulley; 45. Second short arm pulley;

[0052] 5. Telescopic member; 51. Limiting ring; 52. Machine base;

[0053] 6. Driving member; 61. Second gear;

[0054] 7. Container; 71. Container; 72. Clamping ring; 73. Through hole;

[0055] 8. Workbench; 81. Placement area; 82. Waiting area; 83. Alkaline degreasing tank; 84. First water washing tank; 85. Pickling tank; 86. Second water washing tank; 87. Electroplating tank. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0057] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0058] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0059] Example 1, with reference to Figures 1 to 8 , which is the first embodiment of the present invention, provides a high-temperature resistant precision door and window hardware grasping device, including a multi-axis manipulator 1; the multi-axis manipulator 1 can move in multiple directions.

[0060] The suspension frame 2 is provided at the moving end of the multi-axis manipulator 1 ; the multi-axis manipulator 1 can control the suspension frame 2 to move.

[0061] The clamping member 3 is rotatably mounted on the suspension frame 2 and is used to clamp objects. The clamping member 3 is used to clamp the device to be processed.

[0062] The sliding tube 4 is slidably mounted on the suspension frame 2 ; the sliding tube 4 is hollow.

[0063] The telescopic member 5 is provided on the suspension frame 2 and is used to control the sliding of the sliding tube 4; when the sliding tube 4 slides, it can pull the clamping member 3 to open and close.

[0064] A driving member 6 is provided at the telescopic end of the telescopic member 5 and is used to control the rotation of the sliding tube 4;

[0065] A Y-shaped tube 42 is provided at the end of the sliding tube 4; both ends of the Y-shaped tube 42 can be connected to the air pipe and the water pipe respectively.

[0066] Reference Figures 1 to 3 Since high-temperature resistant precision door and window hardware are usually smaller devices, they will be stacked inside the container 7 for accommodating objects during electroplating treatment. The container 7 is usually composed of a cylindrical container 71. A clamping ring 72 for clamping by the clamping member 3 is provided at the upper end of the container 71. Several evenly distributed through holes 73 are provided on the surface and bottom of the container 71 to allow chemical liquid and water to enter the container 71.

[0067] Reference Figure 1 The existing electroplating process is as follows: a placement area 81, a waiting area 82, an alkaline degreasing tank 83, a first water washing tank 84, an acid washing tank 85, a second water washing tank 86 and an electroplating tank 87 are respectively provided on the workbench 8. The container 7 for high-temperature resistant precision door and window hardware is placed on the placement area 81, and the container 7 is grabbed by the clamping part 3 on the multi-axis manipulator 1. After the container 7 is grabbed, the container 7 is first placed in the alkaline degreasing tank 83 for degreasing by the multi-axis manipulator 1. After waiting for a certain period of time, the container 7 is removed from the alkaline degreasing tank 83 and transferred to the first water washing tank 84. It should be noted that the water in the first water washing tank 84 and the second water washing tank 86 is always in a flowing state, and the water inside It will be replaced due to flow to maintain the acid-base balance of water in the first water washing tank 84 and the second water washing tank 86. The chemical liquid attached to the surface of the hardware after treatment in the alkaline degreasing tank 83 is soaked in the first water washing tank 84 and cleaned with running water. After cleaning, the container 7 is transferred to the pickling tank 85 for pickling by the multi-axis manipulator 1. After pickling, the container 7 is transferred to the second water washing tank 86 for cleaning by the multi-axis manipulator 1. Finally, the container 7 is transferred to the electroplating tank 87 for electroplating by the multi-axis manipulator 1. After the electroplating treatment is completed, the hardware and container 7 are transferred to the waiting area 82 by the multi-axis manipulator 1 to prepare for the next processing operation.

[0068] The disadvantages of this procedure are: during alkaline degreasing and pickling, since the chemical agent enters through the through hole 73 on the surface of the container 71, the liquid flow exchange efficiency achieved through the through hole 73 is low, and since the hardware is stacked in the container 71, the chemical reaction efficiency of the hardware in various parts during alkaline degreasing and pickling will change with the change of chemical agent concentration and contact area. Therefore, it is necessary to increase the alkaline degreasing and pickling time to ensure the pickling and degreasing effect.

[0069] Moreover, during water washing, since water enters the container 71 through the through-holes 73 on the surface, the container 71 will affect the fluidity of the water. In addition, hardware is stacked inside the container 71, and the contact area between the hardware and the water is different, so it is easy for residue to exist, which significantly increases the cleaning time, causing waste of water and time, and also affecting the cleaning effect. Moreover, when the washed hardware is transferred into the pickling tank 85 and the electroplating tank 87, water is also likely to remain in the container 71. Due to gravity, the residual water in the container 71 is not discharged thoroughly from the through-holes 73, which will also affect the concentration of the chemicals in the pickling tank 85 and the electroplating tank 87.

[0070] When the present invention is in use, the sliding tube 4 is controlled to slide by the telescopic member 5, and the sliding tube 4 can control the clamping member 3 to open and close when sliding, thereby realizing the clamping of the container 7. The container 7 is transported by the multi-axis manipulator 1, so that the hardware in the container 7 can be moved to different pools for processing. When degreasing, pickling and washing are performed, the sliding tube 4 is controlled to rotate by the driving member 6, so that the clamping member 3 rotates together with the sliding tube 4, and the container 7 will rotate together with the clamping member 3. The rotation of the container 7 can accelerate the flow of the fluid, and at the same time, it can also facilitate the flow exchange of liquid inside and outside the container 71 through the through hole 73. During the rotation of part 7, the internal hardware will also roll, so that the internal hardware can be in uniform contact with the liquid, and the position of the hardware will continue to change during the rolling process, thereby improving the efficiency of pickling and degreasing, shortening the reaction time, and making the reaction more uniform, which can improve the effect of pickling and degreasing. At the same time, during the water washing process, the efficiency of water washing can also be improved, chemical residues can be avoided, and water resources can be saved. In addition, after the water washing is completed, the liquid in the container 7 can be shaken off by rotating the container 71, so that it can be discharged from the through hole 73, thereby avoiding residual liquid in the container 71 and avoiding affecting the concentration of chemicals in the pickling tank 85 and the electroplating tank 87.

[0071] It should be noted that one end of the sliding tube 4 can be connected to the water pipe or the air pipe, and the Y-shaped tube 42 is fixedly connected to the end of the sliding tube 4. The Y-shaped tube 42 is respectively connected to the water pipe and the air pipe. Preferably, the Y-shaped tube 42 is provided with a first solenoid valve 421 and a second solenoid valve 422. The first solenoid valve 421 and the second solenoid valve 422 are respectively used to control the discharge of water and gas. After the Y-shaped tube 42 is used to connect the air pipe and the water pipe, the driving member 6 adopts intermittent reciprocating rotation when controlling the rotation of the sliding tube 4, rather than unidirectional continuous rotation. The intermittent reciprocating rotation can avoid the air pipe and the water pipe from being broken after the Y-shaped tube 42 is connected to the air pipe and the water pipe. At this time, after the hardware is degreased and pickled, there is no need to place the container 7 in the first water washing tank 84 and the second water washing tank 84. Cleaning is carried out in the second water washing tank 86, and water is directly flushed into the container 7 through the sliding tube 4. The intermittent rotation of the sliding tube 4 drives the container 7 to rotate intermittently, which can quickly rinse off the residual chemicals on the surface of the hardware. Compared with traditional water washing, it not only improves the efficiency but also improves the cleaning effect. After cleaning is completed, the water injection is stopped, the air pipe is connected, and the air is sprayed into the interior of the sliding tube 4. The gas impact enters the interior of the container 71, and the residual water in the sliding tube 4 and the residual water in the container 71 are washed away, and the air is quickly dried to avoid the residue affecting the subsequent pickling and electroplating. Similarly, after degreasing, pickling and electroplating, gas can also be sprayed through the sliding tube 4 to reduce the residual chemicals and quickly dry.

[0072] Specifically, the suspension bracket 2 includes a fixing ring 21 provided on the moving end of the multi-axis manipulator 1 and a connecting seat 24 provided on the fixing ring 21 ; the fixing ring 21 is fixed to the multi-axis manipulator 1 by bolts.

[0073] The clamping member 3 includes a rotating seat 31 rotatably arranged on the connecting seat 24, and a clamping arm 32 rotatably arranged on the rotating seat 31, and a connecting rod 33 is rotatably provided on the clamping arm 32; the rotating seat 31 can rotate within the connecting seat 24, the clamping arm 32 can be deflected on the rotating seat 31, and the connecting rod 33 can be deflected with the clamping arm 32. It should be noted that one end of the connecting rod 33 is rotatably connected to one end of the sliding tube 4, and the sliding tube 4 is arranged through the connecting seat 24 and the rotating seat 31. The sliding tube 4 can slide relative to the connecting seat 24 and the rotating seat 31, and can rotate relative to each other, wherein four clamping arms 32 arranged in a circular array are connected to the rotating seat 31, and the number of the clamping arms 32 and the connecting rods 33 is the same, and the four connecting rods 33 are all connected to the end of the sliding tube 4.

[0074] When the sliding tube 4 slides, the sliding tube 4 will pull the connecting rod 33 to deflect, and the connecting rod 33 will pull the clamping arm 32 to deflect. The clamping of the accommodating member 7 is achieved through the deflection of the clamping arm 32. When the sliding tube 4 rotates, the sliding tube 4 will drive the rotating seat 31 to rotate together.

[0075] Furthermore, the telescopic member 5 is arranged on the connecting seat 24 , a limiting ring 51 is provided at the telescopic end of the telescopic member 5 , a first gear 41 is provided on the outer wall of the sliding tube 4 , and the limiting rings 51 are symmetrically arranged at both ends of the first gear 41 .

[0076] The telescopic member 5 can be an air cylinder, an oil cylinder, or a lifting screw, preferably an air cylinder. The limiting ring 51 is rotatably provided on the outer wall of the sliding tube 4 .

[0077] Among them, the telescopic end of the telescopic member 5 is provided with a machine base 52, and the limiting ring 51 is connected to the telescopic end of the telescopic member 5 through the machine base 52; the machine base 52 and the telescopic end of the telescopic member 5 are fixedly connected, and the machine base 52 and the limiting ring 51 are fixedly connected.

[0078] The driving member 6 is arranged in the machine base 52, and the output end of the driving member 6 is provided with a second gear 61; the first gear 41 and the second gear 61 are meshed with each other, and the driving member 6 is a driving motor. The driving motor can control the rotation of the second gear 61, and when the second gear 61 rotates, it can drive the first gear 41 to rotate. The first gear 41 and the sliding tube 4 are fixedly connected, and the sliding tube 4 can be rotated by the rotation of the first gear 41.

[0079] In summary, after clamping the hardware to be processed, gas or liquid can be introduced into the interior of the sliding tube 4 through the rotation of the clamping member 3, thereby improving the efficiency and effect of the electroplating process.

[0080] Example 2, reference Figures 1 to 8 , which is the second embodiment of the present invention. Different from the previous embodiment, the suspension frame 2 also includes an outer arc frame 22 arranged on the fixed ring 21, and an inner arc frame 23 rotatably arranged on the outer arc frame 22; the fixed ring 21 and the outer arc frame 22 are fixedly connected, and a shaft 241 is provided on the connecting seat 24, and the connecting seat 24 is rotatably connected to the inner arc frame 23 through the shaft 241; the rotation axis of the inner arc frame 23 and the shaft 241 are vertically arranged.

[0081] Since the rotation axis of the inner arc frame 23 and the shaft 241 are arranged vertically, the connecting seat 24 can swing in any direction.

[0082] Specifically, when the clamping arm 32 is in the maximum open state, the connecting rod 33 and the sliding tube 4 are in a vertical state.

[0083] Reference Figure 6 When the connecting rod 33 and the sliding tube 4 are in a vertical state, the clamping arm 32 is at the maximum opening angle. At this time, whether the sliding tube 4 slides upward or downward, the opening of the clamping arm 32 can be reduced to achieve clamping. Therefore, when controlling the clamping member 3 to clamp the accommodating member 7, it can be achieved by sliding the sliding tube 4 upward or downward.

[0084] Furthermore, the suspension frame 2 also includes a ring sleeve 25 arranged on the fixed ring 21, and the ring sleeve 25 is provided with an upper ring cavity 251, a middle ring cavity 252, and a lower ring cavity 253 from top to bottom; the ring sleeve 25 is fixed in the fixed ring 21, and the outer arc frame 22 is fixedly connected to the fixed ring 21 through the ring sleeve 25.

[0085] The sliding tube 4 is disposed through the annular sleeve 25 .

[0086] Furthermore, a long arm wheel 43 is provided on the outer wall of the sliding tube 4 ; a first short arm wheel 44 and a second short arm wheel 45 are provided on the outer wall of the sliding tube 4 ; the first short arm wheel 44 and the second short arm wheel 45 are of the same size.

[0087] The first short arm wheel 44 and the second short arm wheel 45 are arranged on the same side of the sliding tube 4; the first short arm wheel 44 and the long arm wheel 43 are arranged at a 180-degree angle.

[0088] The diameter of the middle ring cavity 252 is larger than that of the lower ring cavity 253, and the diameter of the lower ring cavity 253 is larger than that of the upper ring cavity 251; the maximum distance between the outer wall of the first short arm wheel 44 and the axis of the sliding tube 4 is equal to the radius of the upper ring cavity 251; the maximum distance between the outer wall of the long arm wheel 43 and the axis of the sliding tube 4 is equal to the radius of the middle ring cavity 252.

[0089] Reference Figure 6At this time, the clamping member 3 is not in the grasping state, the connecting rod 33 and the sliding tube 4 are in a vertical state, the long arm wheel 43 is in contact with the inner wall of the middle ring cavity 252, the first short arm wheel 44 is in contact with the connection between the upper ring cavity 251 and the middle ring cavity 252, and the axis of the sliding tube 4 is the same as the axis of the ring sleeve 25.

[0090] It should be noted that the connections between the upper annular cavity 251 , the middle annular cavity 252 , and the lower annular cavity 253 are all provided with inclined surfaces.

[0091] The distance between the rotation axis of the first short arm wheel 44 and the second short arm wheel 45 and the axis of the sliding tube 4 is set to d1, the radius of the wheels of the first short arm wheel 44 and the second short arm wheel 45 is r1, and the radius of the upper ring cavity 251 is d1+r1. The distance between the rotation axis of the long arm wheel 43 and the axis of the sliding tube 4 is set to D1, and the radius of the wheel of the long arm wheel 43 is R1, wherein R1=r1, that is, the radius of the wheel of the long arm wheel 43 is the same as the radius of the wheels of the first short arm wheel 44 and the second short arm wheel 45. The radius of the middle ring cavity 252 is R1+D1, and the radius of the lower ring cavity 253 is

[0092] When in use, when the sliding tube 4 is used to slide up and control the clamping arm 32 to clamp, refer to Figure 7 In the state shown, the first short arm wheel 44 is in contact with the inner wall of the upper ring cavity 251, and the long arm wheel 43 is in contact with the inner wall of the middle ring cavity 252. Due to the restrictions of the first short arm wheel 44 and the long arm wheel 43, the axis of the sliding tube 4 will always coincide with the axis of the ring sleeve 25 during rotation, that is, the connecting seat 24 will not swing at this time, and the driving member 6 can control the sliding tube 4 to rotate. In this state, only rotation is used to improve the efficiency and effect of degreasing, pickling and cleaning.

[0093] For complex hardware, for example, when processing parts with grooves, blind holes, and deep threaded holes, it is necessary to further improve the efficiency and effect of degreasing, pickling, and cleaning, so that the liquid can penetrate deeper into these areas, and the sliding tube 4 is used to control the clamping arm 32 to clamp. Figure 8 In the state shown, after the sliding tube 4 slides down, the long arm wheel 43 will abut against the inner wall of the lower ring cavity 253, and the second short arm wheel 45 will abut against the inner wall of the lower ring cavity 253. Since the long arm wheel 43 is longer than the second short arm wheel 45, the sliding tube 4 will deviate from the axis of the ring sleeve 25, the sliding tube 4 will tilt, and the connecting seat 24 will rotate. At this time, when the sliding tube 4 is controlled to rotate by the driving member 6, the long arm wheel 43 and the second short arm wheel 45 will abut against the sliding tube 4, and the connecting seat 24 will swing accordingly through the inner arc frame 23. Therefore, the rotation of the sliding tube 4 at this time will cause the clamped container 7 to swing while rotating.

[0094] The swinging operation method is used to facilitate the shaking and movement of the internal hardware. Since the container 7 is a columnar structure, although the rotation of the container 7 can make the internal hardware move slightly, its effect is limited. The swinging method can disrupt the internal hardware, further improving the effects of flushing, degreasing, and pickling. After treatment, when using air blowing to dry, it can effectively avoid the accumulation of liquid in the hardware, and can reduce the washing time and water consumption when washing with water.

[0095] Preferably, one or two injection ports may be provided at the location of the sliding tube 4 within the annular sleeve 25, which are not shown in the accompanying drawings. The injection ports are located near the long arm wheel 43, the first short arm wheel 44, and the second short arm wheel 45. Due to the opening of the injection ports, the water sprayed during cleaning will be sprayed toward the inner wall of the annular sleeve 25. When the long arm wheel 43, the first short arm wheel 44, and the second short arm wheel 45 contact the inner wall of the annular sleeve 25, they can also play a role in lubrication and cleaning, thereby increasing the service life of the long arm wheel 43, the first short arm wheel 44, and the second short arm wheel 45.

[0096] The rest of the structure is the same as that of Example 1.

[0097] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A high temperature resistant precision door and window hardware grabbing device, characterized by: include, Multi-axis manipulator (1); A suspension frame (2) provided at the moving end of the multi-axis manipulator (1); A clamping member (3) rotatably mounted on the hanging frame (2) and used for clamping an object; A sliding tube (4) slidably mounted on the suspension frame (2); a telescopic member (5) provided on the suspension frame (2) and used for controlling the sliding of the sliding tube (4); A driving member (6), which is provided at the telescopic end of the telescopic member (5) and is used to control the rotation of the sliding tube (4); The end of the sliding tube (4) is provided with a Y-shaped tube (42); When the sliding tube (4) slides, it can pull the clamping member (3) to open and close.

2. The high-temperature resistant precision door and window hardware grabbing device according to claim 1, characterized in that: The suspension frame (2) includes a fixed ring (21) provided at the moving end of the multi-axis manipulator (1), and a connecting seat (24) provided on the fixed ring (21); The clamping member (3) includes a rotating seat (31) rotatably mounted on the connecting seat (24), and a clamping arm (32) rotatably mounted on the rotating seat (31), wherein a connecting rod (33) is rotatably mounted on the clamping arm (32); One end of the connecting rod (33) is rotatably connected to one end of the sliding tube (4).

3. The high-temperature resistant precision door and window hardware grabbing device according to claim 2, characterized in that: The telescopic member (5) is arranged on the connecting seat (24), a limiting ring (51) is provided at the telescopic end of the telescopic member (5), a first gear (41) is provided on the outer wall of the sliding tube (4), and the limiting ring (51) is symmetrically arranged at both ends of the first gear (41).

4. The high-temperature resistant precision door and window hardware grabbing device according to claim 3, characterized in that: The telescopic end of the telescopic member (5) is provided with a machine base (52), and the limiting ring (51) is connected to the telescopic end of the telescopic member (5) via the machine base (52); The driving member (6) is arranged in the machine base (52), and a second gear (61) is provided at the output end of the driving member (6); The first gear (41) and the second gear (61) are meshed with each other.

5. The high temperature resistant precision door and window hardware grabbing device according to any one of claims 2 to 4, characterized in that: The suspension frame (2) further comprises an outer arc frame (22) arranged on the fixed ring (21), and an inner arc frame (23) rotatably arranged on the outer arc frame (22); The connecting seat (24) is provided with a shaft (241), and the connecting seat (24) is rotatably connected to the inner arc frame (23) via the shaft (241); The rotation axis of the inner arc frame (23) and the shaft (241) are arranged vertically.

6. The high-temperature resistant precision door and window hardware grabbing device according to claim 5, characterized in that: When the clamping arm (32) is in the maximum open state, the connecting rod (33) and the sliding tube (4) are in a vertical state.

7. The high-temperature resistant precision door and window hardware grabbing device according to claim 6, characterized in that: The suspension frame (2) further comprises a ring sleeve (25) provided on the fixing ring (21), wherein the ring sleeve (25) is provided with an upper ring cavity (251), a middle ring cavity (252), and a lower ring cavity (253) in sequence from top to bottom; The outer wall of the sliding tube (4) is provided with a long arm wheel (43); The outer wall of the sliding tube (4) is provided with a first short arm wheel (44) and a second short arm wheel (45); The first short arm wheel (44) and the second short arm wheel (45) are of the same size.

8. The high-temperature resistant precision door and window hardware grabbing device according to claim 7, characterized in that: The first short arm wheel (44) and the second short arm wheel (45) are arranged on the same side of the sliding tube (4); The first short arm wheel (44) and the long arm wheel (43) are arranged at an angle of 180 degrees.

9. The high-temperature resistant precision door and window hardware grabbing device according to claim 8, characterized in that: The diameter of the middle annular cavity (252) is larger than that of the lower annular cavity (253), and the diameter of the lower annular cavity (253) is larger than that of the upper annular cavity (251); The maximum distance between the outer wall of the first short arm wheel (44) and the axis of the sliding tube (4) is equal to the radius of the upper annular cavity (251); The maximum distance between the outer wall of the long arm wheel (43) and the axis of the sliding tube (4) is equal to the radius of the middle ring cavity (252).

10. The high temperature resistant precision door and window hardware grabbing device according to any one of claims 1 to 4, characterized in that: The Y-shaped tube (42) is provided with a first solenoid valve (421) and a second solenoid valve (422).

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