Multi-dimensional automatic grabbing system for inner container of water heater

Abstract

A multi-dimensional automatic grabbing system for a water heater inner container comprises a water heater inner container recognition subsystem used for collecting the identification of the type of the water heater inner container and transmitting the collected data to a robot or a transplanter; the robot or transplanter control subsystem is used for sending a corresponding control signal to a grabbing paw according to the data transmitted by the water heater liner identification subsystem; the grabbing paw is provided with at least two paw clamping and holding mechanisms, the two paw clamping and holding mechanisms are arranged in parallel, and each paw clamping and holding mechanism is provided with an independent hot water inner container height adjusting mechanism capable of being controlled by a robot or a transplanter control subsystem; the height adjusting mechanism aligns the adjacent water heater inner containers in an up-down flush mode or in a down-up flush mode. The device has the advantages that the device is universally used for production lines in various states, and the height or / spacing of the inner container of the water heater can be adjusted.

Description

Technical Field

[0001] The utility model relates to a water heater inner tank grabbing device, in particular to a multi-dimensional automatic grabbing system for the water heater inner tank. Background Art

[0002] There are many processes in the existing water heater tank production, such as robot automatic loading, automatic rotation, automatic unloading, sandblasting or pickling, enameling, drying and firing.

[0003] In all these processes, the inner tank of the water heater needs to be transferred, such as transferring the inner tank from one process to the hook of the conveyor chain. In this case, the height of all hooks is the same, and the inner tanks of different models and sizes are hung on the hooks. The top height of the inner tank is the same, but the bottom height of the inner tank is different from the ground, that is, the bottom height of the inner tank is different and not flush. In addition, when the robot transfers the inner tank to a two-station enameling machine or an enameling machine with more than two stations for enameling, the base height of the enameling machine on which the inner tank is placed is the same horizontal height, resulting in different models of inner tanks cannot be mixed for production, because after the robot grabs more than two different models of inner tanks, due to the different heights of the inner tanks, the bottom is not flush and cannot be placed on the enameling machine for enameling. After enameling, when the robot arm transfers the liner from the enameling machine to the hook of the conveyor chain of the firing line again, the hooks on the tops of the liner of different models are not flush, while the hooks on the conveyor chain of the firing line are flush, making it impossible to hang each liner in the robot arm on the hook, and mixed production is not possible, and only the same model of products can be produced at the same time. In addition, because the spacing of the conveyor chain hooks of some production lines is different from that of other production lines, for example, the spacing of the sandblasting line is generally 800mm, the spacing of the hanging baskets of the pickling line is generally 600mm, and the spacing of the base of the enameling machine for placing the liner and the spacing of the conveyor hooks of the firing line are generally 600mm, the existing robot arm cannot handle the two different spacings of the liner. Utility Model Content

[0004] The utility model aims to provide a multi-dimensional automatic grabbing system for water heater inner tanks which is applicable to production lines in various states and can adjust the height or / distance of the water heater inner tanks on robot grippers.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multi-dimensional automatic grabbing system for a water heater tank is provided, comprising:

[0007] The water heater tank identification subsystem is used to collect the identification of the water heater tank model and transmit the collected data to the robot or transplanter;

[0008] The robot or transplanter control subsystem sends corresponding control signals to the grasping gripper according to the data transmitted by the water heater tank identification subsystem;

[0009] The grabbing gripper has at least two gripper clamping mechanisms, which are arranged in parallel, and each gripper clamping mechanism has an independent height adjustment mechanism for the hot water tank that can be controlled by the robot or transplanter control subsystem; the height adjustment mechanism aligns adjacent water heater tanks flush above or below.

[0010] As an improvement to the present invention, the present invention further comprises a water heater inner tank spacing adjustment mechanism, wherein the water heater inner tank spacing adjustment mechanism is used to adjust the center spacing of adjacent hand claw clamping mechanisms to a predetermined spacing.

[0011] As an improvement to the present utility model, the water heater inner tank spacing adjustment mechanism is a cylinder, wherein a hand claw clamping mechanism is connected to the free end of the top rod of the cylinder.

[0012] As an improvement to the present utility model, the water heater inner tank spacing adjustment mechanism includes a first screw rod and nut structure and a first servo motor, wherein a hand claw clamping mechanism is connected to the nut of the first screw rod and nut structure.

[0013] As an improvement to the present utility model, the water heater inner tank identification subsystem is an infrared photoelectric tube detection system, which transmits scanning information of a plurality of vertically arranged infrared tubes to the robot or transplanter control subsystem.

[0014] As an improvement to the present invention, the water heater inner tank identification subsystem includes a 3D camera, and the 3D camera transmits the captured digital photo information to the robot or transplanter control subsystem.

[0015] As an improvement to the present utility model, the water heater inner tank identification subsystem is a scanning system, and the scanning system scans and transmits the identification information on the water heater inner tank to the robot or transplanter control subsystem.

[0016] As an improvement to the present utility model, the grabbing claw includes a fixed seat, a first power device, a second power device, a first clamp and a second clamp installed on the fixed seat, the first clamp and the second clamp are symmetrical, the first power device and the second power device are respectively used to drive the first clamp and the second clamp to move so that the first clamp and the second clamp 4 are close to each other to embrace the workpiece or move away from each other to release the workpiece, and the fixed seat and the mounting base are provided with a height adjustment mechanism.

[0017] As an improvement to the present utility model, the height adjustment mechanism includes a linear guide rail and a second screw nut structure arranged between the fixed seat and the mounting base plate, the fixed seat is arranged on the nut of the second screw nut structure, and a second servo motor, the second servo motor drives the nut of the second screw nut structure to move reciprocatingly up and down.

[0018] A method for grabbing a water heater tank using the multi-dimensional automatic grabbing system for the water heater tank is provided, comprising the following steps:

[0019] S1, water heater tank model identification step, collecting the identification of the water heater tank model on the conveyor line, and transmitting the collected data to the robot or transplanter;

[0020] S2. The robot or transplanter moves to the designated grasping position according to the predetermined trajectory, grasps the water heater tank, and adjusts the upper and lower positions of the gripper clamping mechanism according to the pre-received water heater tank model information, so that the water heater tank is flush with the top or bottom;

[0021] S3. The robot or transplanter sends the adjusted hot water tank to the next process.

[0022] As an improvement to the present invention, S4, before S2 or after S2, also includes a water heater tank spacing adjustment step, where the robot or transplanter adjusts the spacing between two adjacent water heater tanks to a predetermined spacing according to a pre-received spacing signal instruction.

[0023] The utility model adopts a water heater tank identification subsystem, which is used to collect the identification of the water heater tank model and transmit the collected data to the robot; the robot or transplanter control subsystem sends a corresponding control signal to the grabbing gripper according to the data transmitted by the water heater tank identification subsystem; the grabbing gripper has at least two gripper clamping mechanisms, the two gripper clamping mechanisms are arranged in parallel, and each gripper clamping mechanism has an independent height adjustment mechanism for the hot water tank that can be controlled by the robot or transplanter control subsystem; the height adjustment mechanism aligns the adjacent water heater tanks above or below, so the utility model can adjust the upper and lower heights or / and the left and right spacing of each tank after grabbing the tank to match the height and spacing of the coating machine and the firing line, so that the same water heater tank multi-dimensional automatic grasping system can be used for water heater tanks in various states to perform processes such as transfer, loading or unloading. At the same time, the utility model can also realize the common use of single tank water heater tanks and double tank water heater tanks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of a planar frame structure of an embodiment of the utility model.

[0025] Figure 2It is a structural schematic diagram of an embodiment of the grabbing claw of the utility model.

[0026] Figure 3 yes Figure 2 Schematic diagram of the side structure.

[0027] Figure 4 yes Figure 2 Schematic diagram of the three-dimensional structure.

[0028] Figure 5 yes Figure 4 Schematic diagram of the three-dimensional structure from another perspective.

[0029] Figure 6 It is a schematic diagram of the block structure of the utility model method. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present utility model will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0031] The utility model provides a multi-dimensional automatic grabbing system for a water heater inner tank, comprising:

[0032] The water heater tank identification subsystem 1 is used to collect the identification of the water heater tank model and transmit the collected data to the robot or transplanter;

[0033] The robot or transplanter control subsystem 2 sends corresponding control signals to the grasping gripper according to the data transmitted by the water heater tank identification subsystem;

[0034] The gripping gripper 3 has at least two gripper clamping mechanisms, which are arranged in parallel. Each gripper clamping mechanism has an independent height adjustment mechanism 301 for the hot water tank that can be controlled by the robot or transplanter control subsystem; the height adjustment mechanism aligns adjacent water heater tanks flush above or below.

[0035] In order to ensure that the water heater inner tank is correctly and accurately aligned above or below, the aligned water heater inner tank can be photographed again after the first alignment for verification. If the alignment requirement is not met, the height adjustment mechanism 301 can be adjusted again to ensure that the water heater inner tank is accurately aligned.

[0036] As an improvement to the present invention, the present invention further comprises a water heater inner tank spacing adjustment mechanism 302, wherein the water heater inner tank spacing adjustment mechanism 302 is used to adjust the center spacing of adjacent hand claw clamping mechanisms to a predetermined spacing.

[0037] In the present invention, the water heater inner tank spacing adjustment mechanism 302 can be a cylinder, wherein a hand-claw clamping mechanism is connected to the free end of the cylinder's top rod. The cylinder can be adjusted to two gears, which is not suitable for situations with different spacing requirements and has usage restrictions, but the cylinder adjustment has the advantages of being cheap and light.

[0038] The water heater inner tank spacing adjustment mechanism 302 may also include a first screw nut structure and a first servo motor, wherein a hand gripping mechanism is connected to the nut of the first screw nut structure. The servo motor and the screw nut structure can accurately control the spacing.

[0039] In the present invention, the water heater tank identification subsystem 1 can adopt an infrared photoelectric tube detection system, which transmits the scanning information of a plurality of vertically arranged infrared tubes to the robot or transplanter control subsystem. When the infrared photoelectric tube detection system is adopted, a plurality of infrared tubes can be arranged on one or more support rods, and each infrared tube has a different height. By scanning the infrared tubes with different heights, the models of water heater tanks with different heights can be obtained.

[0040] Preferably, the water heater tank identification subsystem 1 may also include a 3D camera, which transmits the captured digital photo information to the robot or transplanter control subsystem. The model of the water heater tank can be obtained by comparing the digital photos captured by the 3D camera and the pre-stored image recognition software with the existing pre-stored photos of the standard water heater tank.

[0041] Preferably, the water heater inner tank identification subsystem is a scanning system, and the scanning system scans the identification information on the water heater inner tank and transmits it to the robot or transplanter control subsystem. When using this system, a model identification mark, such as a one-dimensional code, a two-dimensional code or other identifiable mark, can be made on the water heater inner tank in advance, and the model of the water heater inner tank can also be obtained by scanning the corresponding mark with a corresponding scanner.

[0042] See also Figure 2-Figure 5 The grab gripper 3 includes a fixed seat 31, a first power device 321, a second power device 322, a first clamping jaw 33 and a second clamping jaw 34 installed on the fixed seat 31, the first clamping jaw 33 and the second clamping jaw 34 are symmetrically arranged, the first power device 321 and the second power device 322 are respectively used to drive the first clamping jaw 33 and the second clamping jaw 34 through a synchronous gear set 323 so that the first clamping jaw 33 and the second clamping jaw 34 are close to each other to hold the workpiece or away from each other to release the workpiece, and the fixed seat 31 and the mounting base 35 are provided with a height adjustment mechanism 301. In this embodiment, the first power device 321 and the second power device 322 can be cylinders.

[0043] See also Figure 3 The height adjustment mechanism 301 includes a linear guide rail 3011 and a second screw nut structure 3012 arranged between the fixed seat 31 and the mounting base 35, the fixed seat 31 is arranged on the nut of the second screw nut structure 3012, and a second servo motor 3013, the second servo motor 3013 drives the nut of the second screw nut structure 3012 to move up and down through a synchronous belt assembly 3014, thereby driving the grabbing claw 3 to move up and down to achieve the upper or lower alignment of the water heater inner tank.

[0044] In this embodiment, a connection plate 36 is provided for connecting to the arm of a robot or a transplanter.

[0045] Preferably, the utility model further provides the structure of the water heater inner tank spacing adjustment mechanism 302 (see Figure 5 ), in this embodiment, the water heater inner tank spacing adjustment mechanism 302 adopts a cylinder, and one of the claw clamping mechanisms 3 is connected to the free end 3021 of the cylinder. The cylinder can be adjusted to two gears, which is not suitable for situations with different spacing requirements and has acceptance restrictions, but the cylinder adjustment has the advantages of low price and light weight.

[0046] Of course, the water heater tank spacing adjustment mechanism 302 can also include a first screw nut structure and a first servo motor (not shown), wherein a hand gripping mechanism is connected to the nut of the first screw nut structure. The servo motor and the screw nut structure can accurately control the spacing.

[0047] The utility model adopts the structure of height adjustment mechanism 301 and spacing adjustment mechanism 302 of water heater inner tank at the same time, thus, it solves the problem that the existing two-station mixed production type robot or transplanter automatic grasping claw can only grasp the inner tank, and the height and / or spacing of the inner tank cannot be adjusted after grasping. At present, when the inner tank on the coating and enameling machine is transferred to the hook of the firing line by the manipulator, the inner tank needs to be changed from being flush with the bottom to being flush with the top. In the past, the conversion was performed by a jacking mechanism. The inner tank on the coating and enameling machine was transferred to the jacking mechanism by the manipulator. The jacking mechanism stopped rising after detecting that the top of the inner tank rose to the height of the hook, and was manually hung on the hook of the firing line, and the jacking mechanism then dropped back. The multi-dimensional automatic grasping claw of the water heater inner tank of the utility model can realize the common use of single tank water heater inner tank and double tank water heater inner tank. After grasping the inner tank, the upper and lower heights and the left and right spacings of each inner tank can be adjusted to match the height and spacing of the coating and enameling machine and the firing line. Since each of the grasping claws 3 has an independently adjustable height adjustment mechanism 301, the problem of mixed production of water heater inner tanks of any model is solved, which is a function that a single robot or transplanter cannot achieve. Although a single robot or transplanter can arbitrarily adjust the height and position inside the water heater, the robot or transplanter can only achieve this for the same model. When the robot or transplanter grasps two water heater inner tanks of different models at the same time, it is unable to adjust the height and spacing of one of the water heater inner tanks; therefore, the utility model solves the problem that a 6-axis robot or transplanter cannot solve.

[0048] A method for grabbing a water heater tank using the multi-dimensional automatic grabbing system for the water heater tank is provided, comprising the following steps:

[0049] S1, water heater tank model identification step, collecting the identification of the water heater tank model on the conveyor line, and transmitting the collected data to the robot or transplanter;

[0050] S2. The robot or transplanter moves to the designated grasping position according to the predetermined trajectory, grasps the water heater tank, and adjusts the upper and lower positions of the gripper clamping mechanism according to the pre-received water heater tank model information, so that the water heater tank is flush with the top or bottom;

[0051] S3. The robot or transplanter sends the adjusted hot water tank to the next process.

[0052] Preferably, S4, before S2 or after S2, further includes a step of adjusting the spacing between the inner tanks of the water heaters, wherein the robot or transplanter adjusts the spacing between the inner tanks of two adjacent water heaters to a predetermined spacing according to the pre-received spacing signal instruction.

[0053] Specifically, when it is necessary to remove the water heater liner from the pickling line or the sandblasting line conveyor chain hook and transfer it to the next station, after the robot or the transplanter receives the production signal, the robot or the transplanter moves to the designated grabbing position according to the predetermined trajectory, grabs the water heater liner, and adjusts the upper and lower positions of the gripper clamping mechanism according to the pre-received water heater liner model information, so that the water heater liner is flush on the top or on the bottom; after the water heater liner is firmly clamped, the proximity switch 37 senses the presence of the water heater liner, and the robot transfers the liner to the liner placement base of the enameling machine (or the next station) according to the predetermined trajectory; when it is necessary to transfer the parts, the robot or the transplanter automatically adjusts the upper and lower heights of the liner according to the detected models of each liner to make it flush on the top to meet the height requirements of the transfer, and when the trajectory of the robot or the transplanter reaches the designated position, the electrical system controls the cylinder to retract, the gripper to open, the transfer is completed, the robot or the transplanter retreats, and waits for the enameling machine to finish enameling the glaze before entering the designated position again to grab the liner.

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-dimensional automatic grabbing system for water heater inner tank, characterized in that: include: The water heater tank identification subsystem is used to collect the identification of the water heater tank model and transmit the collected data to the robot or transplanter; The robot or transplanter control subsystem sends corresponding control signals to the grasping gripper according to the data transmitted by the water heater tank identification subsystem; The grabbing gripper has at least two gripper clamping mechanisms, which are arranged in parallel, and each gripper clamping mechanism has an independent height adjustment mechanism for the hot water tank that can be controlled by the robot or transplanter control subsystem; the height adjustment mechanism aligns adjacent water heater tanks flush above or below.

2. The multi-dimensional automatic grabbing system for water heater tank according to claim 1, characterized in that: It also includes a water heater inner tank spacing adjustment mechanism, which is used to adjust the center spacing of adjacent hand claw clamping mechanisms to a predetermined spacing.

3. The multi-dimensional automatic grabbing system for water heater tank according to claim 2, characterized in that: The water heater inner tank spacing adjustment mechanism is a cylinder, wherein a hand claw clamping mechanism is connected to the free end of the top rod of the cylinder.

4. The multi-dimensional automatic grabbing system for water heater tank according to claim 2, characterized in that: The water heater inner tank spacing adjustment mechanism comprises a first screw rod and nut structure and a first servo motor, wherein a hand claw clamping mechanism is connected to the nut of the first screw rod and nut structure.

5. The multi-dimensional automatic grabbing system for water heater inner tank according to any one of claims 1 to 4, characterized in that: The water heater inner tank identification subsystem is an infrared photoelectric tube detection system, which transmits the scanning information of a plurality of vertically arranged infrared tubes to the robot or transplanter control subsystem.

6. The multi-dimensional automatic grabbing system for water heater inner tank according to any one of claims 1 to 4, characterized in that: The water heater inner tank identification subsystem includes a 3D camera, and the 3D camera transmits the captured digital photo information to the robot or transplanter control subsystem.

7. The multi-dimensional automatic grabbing system for water heater inner tank according to any one of claims 1 to 4, characterized in that: The water heater inner tank identification subsystem is a scanning system, and the scanning system scans and transmits the identification information on the water heater inner tank to the robot or transplanter control subsystem.

8. The multi-dimensional automatic grabbing system for water heater inner tank according to any one of claims 1 to 4, characterized in that: The grabbing gripper comprises a fixed seat (31), a first power device (321), a second power device (322), a first clamping jaw (33) and a second clamping jaw (34) mounted on the fixed seat (31); the first clamping jaw (33) and the second clamping jaw (34) are symmetrical; the first power device (321) and the second power device (322) are respectively used to drive the first clamping jaw (33) and the second clamping jaw (34) to move so that the first clamping jaw (33) and the second clamping jaw (34) move closer to each other to embrace a workpiece or move away from each other to release the workpiece; and a height adjustment mechanism is provided on the fixed seat (31) and the mounting base plate.

9. The multi-dimensional automatic grabbing system for water heater inner tank according to any one of claims 1 to 4, characterized in that: The height adjustment mechanism comprises a linear guide rail arranged between a fixing seat (31) and a mounting base plate and a second screw nut structure, the fixing seat (31) being arranged on a nut of the second screw nut structure, and a second servo motor, the second servo motor driving the nut of the second screw nut structure to reciprocate up and down.

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