New multifunctional universal mixed production automatic gripper for water heater liner

Abstract

A new type of multifunctional universal mixed-production automatic gripping gripper for water heater inner tank, comprising a fixed seat, a gripper mechanism, the gripper mechanism comprising a first power device, a second power device, and a first clamping jaw and a second clamping jaw, the first clamping jaw comprising a first arm plate, and a first U-shaped rubber-coated wheel, a first U-shaped plate and a first clamping rod assembly, the first U-shaped rubber-coated wheel and the first U-shaped plate are located on the first arm, the second clamping jaw comprises a second arm plate, and a second U-shaped rubber-coated wheel, a second U-shaped plate and a second clamping rod assembly, the second U-shaped rubber-coated wheel and the second U-shaped plate are located on the third arm, and also comprises a flipping mechanism and an inner tank positioner, the inner tank positioner can be flipped to the center of the first clamping jaw and the second clamping jaw of the corresponding gripper mechanism. The utility model has the advantages of being able to grasp water heater inner tanks of various shapes and sizes, having a wider range of applications, having a clever structural design, lower use costs, and realizing multiple uses of one gripper.

Description

Technical Field

[0001] The utility model relates to the field of water heater inner tank grasping equipment, in particular to a novel multifunctional universal mixed-production automatic grasping gripper for water heater inner tank. Background Art

[0002] Chinese patent document CN 117718991 A discloses a universal mixed-production robot automatic grasping gripper for single-tank and double-tank water heaters, comprising 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, and the symmetry center line I is perpendicular to the fixed seat, 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 are close to each other to embrace the workpiece or away from each other to release the workpiece, and the first clamp and the second clamp have two tangent points with the workpiece respectively.

[0003] However, the grippers in the above-mentioned prior art have the following problems during specific use: they can only be used for old-style single-tank water heaters and new-style double-tank water heaters, and cannot be used for round small kitchen tanks, oval small kitchen tanks and spherical tanks. In the production process, when multiple tanks are involved, grippers of multiple specifications and models are often required, which not only has high production costs and troublesome operations, but also frequent replacement of grippers will affect production progress, which is not conducive to mass production. Utility Model Content

[0004] In order to solve the above problems, the utility model provides the society with a new type of multifunctional general mixed production automatic grasping gripper for water heater tanks, which can grasp water heater tanks of various shapes and sizes, has a wider range of applications, ingenious structural design, lower use cost, and realizes multiple uses of one claw.

[0005] The technical solution of the utility model is to provide a novel multifunctional universal mixed-production automatic grasping gripper for a water heater inner tank, comprising a fixed seat, at least one gripper mechanism installed on the fixed seat, each of the gripper mechanisms comprising a first power device, a second power device, and a first clamping jaw and a second clamping jaw that can be mutually engaged and driven by the first power device and the second power device respectively, the first clamping jaw at least comprising a first arm plate, and a first U-shaped rubber-coated wheel, a first U-shaped plate and a first clamping rod assembly arranged on the first arm plate, the first U-shaped rubber-coated wheel and the first U-shaped plate are located on the first arm, the first clamping rod assembly is located on the second arm, the second clamping jaw at least comprising a second arm plate, and a second U-shaped rubber-coated wheel, a second U-shaped plate and a second clamping rod assembly arranged on the second arm plate, the second U-shaped rubber-coated wheel and the second U-shaped plate are located on the third arm, the second clamping rod assembly is located on the fourth arm, and also comprising a flipping mechanism installed on the fixed seat, and at least one inner tank positioner installed on the flipping mechanism, each of the inner tank positioners can be flipped to the center of the first clamping jaw and the second clamping jaw of the corresponding gripper mechanism under the action of the flipping mechanism.

[0006] As an improvement of the present utility model, the first clamping rod assembly includes a first clamping body and two first clamping support rods, the first clamping body is arranged at the end of the second support arm, the two first clamping support rods are perpendicular to the side of the first clamping body, and the two first clamping support rods are arranged in parallel with a predetermined interval.

[0007] As an improvement of the present utility model, the first U-shaped rubber-coated wheel is located at the front end of the first support arm, and the first U-shaped plate is located at the rear end of the first support arm.

[0008] As an improvement of the present utility model, the first clamping jaw further includes a first rotating shaft and a first gear, the first gear is passed through the first rotating shaft, and one end of the first arm plate is mounted on the first rotating shaft.

[0009] As an improvement of the present invention, the second clamping rod assembly includes a second clamping body and two second clamping support rods, the second clamping body is arranged at the end of the second support arm, the two second clamping support rods are perpendicular to the side of the second clamping body, and the two second clamping support rods are arranged in parallel with a predetermined interval.

[0010] As an improvement of the present utility model, the second U-shaped rubber-coated wheel is located at the front end of the third support arm, and the second U-shaped plate is located at the rear end of the third support arm.

[0011] As an improvement of the present invention, the second clamping jaw further includes a second rotating shaft and a second gear, the second gear is passed through the second rotating shaft, and one end of the second arm plate is mounted on the second rotating shaft.

[0012] As an improvement of the present utility model, the flipping mechanism includes a flip mounting seat, a flipping power mechanism located on the flip mounting seat, a flipping shaft and a flipping connecting rod. The flip mounting seat is used to be fixed on the fixing seat, the flipping shaft is connected to the flipping power mechanism and is driven to rotate by the flipping power mechanism, and the inner liner positioner is installed on the flipping shaft through a flipping connecting rod.

[0013] As an improvement of the utility model, it also includes a limiting mechanism, which includes a first limiting member and a second limiting member that cooperate with each other, the first limiting member is arranged on the inner wall of the upper part of the first clamping jaw, and the second limiting member is arranged on the inner wall of the upper part of the second clamping jaw.

[0014] As an improvement of the utility model, it further comprises a proximity sensing switch, and the proximity sensing switch is installed on the first arm plate or the second arm plate.

[0015] The utility model includes a fixed seat and at least one hand claw mechanism installed on the fixed seat, each of the hand claw mechanisms includes a first power device, a second power device, and a first clamping claw and a second clamping claw that can be engaged with each other and are driven by the first power device and the second power device respectively, the first clamping claw at least includes a first arm plate, and a first U-shaped rubber-coated wheel, a first U-shaped plate and a first clamping rod assembly arranged on the first arm plate, the first U-shaped rubber-coated wheel and the first U-shaped plate are located on the first support arm, the first clamping rod assembly is located on the second support arm, the second clamping claw at least includes a second arm plate, and a second U-shaped rubber-coated wheel, a second U-shaped plate and a second clamping rod assembly arranged on the second arm plate, the second U-shaped rubber-coated wheel and the second U-shaped plate are located on the third support arm, the second clamping rod assembly is located on the fourth support arm, and also includes a flipping mechanism installed on the fixed seat, and at least one liner positioner installed on the flipping mechanism, each of the liner positioners can be flipped to the center of the first clamping claw and the second clamping claw of the corresponding hand claw mechanism under the action of the flipping mechanism. During the use of the utility model, the hand claw can grab a single inner tank of a water heater, a double inner tank of a water heater, a cylindrical small kitchen treasure inner tank, an oval small kitchen treasure inner tank and a spherical inner tank. At the same time, the cylindrical small kitchen treasure inner tank and the oval small kitchen treasure inner tank can achieve mixed production. One station can simultaneously clamp 2 round small kitchen treasure products, or one station can simultaneously clamp 1 round small kitchen liner and 1 oval small kitchen treasure inner tank. Compared with the prior art, it can not only grab the traditional single and double water heater inner tanks, but also grab new small kitchen treasure inner tanks of various shapes. The utility model has a wide range of applications and can be applied to various sizes and models. It not only has a clever structure, but also can reduce the cost of use, achieving the purpose of one claw for multiple uses. Therefore, the utility model has the advantages of being able to grab water heater inner tanks of various shapes and sizes, a wider range of applications, a clever structural design, a lower cost of use, and achieving one claw for multiple uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of an implementation mode of the utility model.

[0017] Figure 2 yes Figure 1 Schematic diagram of the partial structure of the gripper mechanism.

[0018] Figure 3 yes Figure 2 Schematic side view of .

[0019] Figure 4 yes Figure 2 Schematic diagram of the front view.

[0020] Figure 5 yes Figure 2 Schematic diagram of the structure of the first arm plate.

[0021] Figure 6 yes Figure 1 Schematic diagram of the three-dimensional structure of the flipping mechanism.

[0022] Figure 7 It is a schematic diagram of the use state of a single tank of the grab water heater of the utility model.

[0023] Figure 8 It is a schematic diagram of the use state of the double tank of the grab water heater of the utility model.

[0024] Fig. 9 It is a schematic diagram of the use state of the utility model for grabbing a spherical inner liner.

[0025] Fig.10 It is a schematic diagram of the use state of the utility model for grabbing a cylindrical small kitchen treasure.

[0026] Fig.11 yes Fig.10 Schematic top view of .

[0027] Fig.12 It is a schematic diagram of the use state of the utility model for grabbing an oval small kitchen treasure. DETAILED DESCRIPTION

[0028] See also Figures 1 to 6 , Figures 1 to 6Disclosed is an implementation manner of a new multifunctional universal hybrid automatic gripping gripper for water heater inner tank, a new multifunctional universal hybrid automatic gripping gripper for water heater inner tank, comprising a fixing seat 1, at least one gripper mechanism 10 installed on the fixing seat 1, in this embodiment, there are three gripper mechanisms 10, each of the gripper mechanisms 10 comprises a first power device 21, a second power device 22, and a first clamping jaw 3 and a second clamping jaw 4 which can be mutually engaged and driven by the first power device 21 and the second power device 22 respectively, the first power device 21 and the second power device 22 are cylinders, the first clamping jaw 3 comprises a first arm plate 31, and a first U-shaped rubber-coated wheel 32, a first U-shaped plate 33 and a first clamping rod assembly 34 arranged on the first arm plate 31, the first arm plate 31 has a first support arm 311 and a second support arm 312, the first U-shaped rubber-coated wheel 32 and the first U-shaped plate 33 are positioned On the first arm 311, the first clamping rod assembly 34 is located at the second arm 312; the second clamping claw 4 includes a second arm plate 41, and a second U-shaped rubber-coated wheel 42, a second U-shaped plate 43 and a second clamping rod assembly 44 arranged on the second arm plate 41, the second arm plate 41 has a third arm 411 and a fourth arm 412, the second U-shaped rubber-coated wheel 42 and the second U-shaped plate 43 are located at the third arm 411, and the second clamping rod assembly 44 is located at the fourth arm 412. In the utility model, it also includes a flipping mechanism 5 installed on the fixed seat 1, and at least one liner positioner 6 installed on the flipping mechanism 5. In this embodiment, there are three liner positioners 6, and each of the liner positioners 6 can be flipped to the center of the first clamping claw 3 and the second clamping claw 4 of the corresponding hand claw mechanism 10 under the action of the flipping mechanism 5. In the utility model, the flipping angle of the flipping mechanism 5 is greater than 90 degrees. During use of the utility model, the claw can grab a single inner tank of a water heater, a double inner tank of a water heater, a cylindrical small kitchen treasure inner tank, an oval small kitchen treasure inner tank and a spherical inner tank. At the same time, the cylindrical small kitchen treasure inner tank and the oval small kitchen treasure inner tank can be mixed produced. One workstation can clamp two round small kitchen treasure products at the same time, or one workstation can clamp one round small kitchen treasure inner tank and one oval small kitchen treasure inner tank at the same time. Compared with the prior art, not only can the traditional single and double water heater inner tanks be grabbed, but also new small kitchen treasure inner tanks of various shapes can be grabbed. The utility model has a wide range of applications and can be applied to various sizes and models. Not only is the structure ingenious, but the cost of use can also be reduced, thereby achieving the purpose of one claw for multiple uses.

[0029] In the utility model, preferably, the first clamping rod assembly 34 includes a first clamping body 341 and two first clamping support rods 342, the first clamping support rods 342 are round steel or flat steel with inverted arc, or rubber-coated round steel, or rubber-coated round tube, the first clamping body 341 is arranged at the end of the second support arm 312, the two first clamping support rods 342 are perpendicular to the side of the first clamping body 341, and the two first clamping support rods 342 are arranged in parallel with a predetermined interval.

[0030] In the present invention, preferably, the first U-shaped rubber-coated wheel 32 is located at the front end of the first support arm 311 , and the first U-shaped plate 33 is located at the rear end of the first support arm 311 .

[0031] In the utility model, preferably, the first clamp 3 also includes a first rotating shaft 35 and a first gear 36, the first gear 36 is passed through the first rotating shaft 35, and one end of the first arm plate 31 is installed on the first rotating shaft 35. When the utility model is in use, the first power device 21 is started, and the first arm plate 31 rotates along the first rotating shaft 35 under the action of the first power device 21.

[0032] In the utility model, preferably, the second clamping rod assembly 44 includes a second clamping body 441 and two second clamping support rods 442, the second clamping support rods 442 are round steel or rounded flat steel, or rubber-coated round steel, or rubber-coated round tube, the second clamping body 441 is arranged at the end of the second support arm 412, the two second clamping support rods 442 are perpendicular to the side of the second clamping body 441, and the two second clamping support rods 442 are arranged in parallel with a predetermined interval.

[0033] In the present invention, preferably, the second U-shaped rubber-coated wheel 42 is located at the front end of the third arm 411 , and the second U-shaped plate 43 is located at the rear end of the third arm 411 .

[0034] In the present invention, preferably, the second clamping jaw 4 also includes a second rotating shaft 45 and a second gear 46, the second gear 46 is passed through the second rotating shaft 45, and one end of the second arm plate 41 is installed on the second rotating shaft 45; when the present invention is in use, the second power device 22 is started, and the second arm plate 41 rotates along the second rotating shaft 45 under the action of the second power device 22. Since the first gear 36 and the second gear 46 are meshed and are synchronous gears, the first clamping jaw 3 and the second clamping jaw 4 can be controlled to open or close synchronously.

[0035] In the present utility model, preferably, the flip mechanism 5 includes a flip mounting seat 51, a flip power mechanism 52 located on the flip mounting seat 51, a flip shaft 53 and a flip connecting rod 54, the flip mounting seat 51 is used to be fixed on the fixed seat 1, the flip shaft 53 is connected to the flip power mechanism 52 and is driven to rotate by the flip power mechanism 52, the inner liner positioner 6 is installed on the flip shaft 53 through the flip connecting rod 54, when the present utility model is working, the flip power mechanism 52 is started, thereby driving the flip shaft 53 to rotate, and under the action of the flip connecting rod 54, the inner liner positioner 6 is flipped.

[0036] In the present utility model, preferably, a limiting mechanism 7 is also included, and the limiting mechanism 7 includes a first limiting member 71 and a second limiting member 72 that cooperate with each other, the first limiting member 71 is arranged at the inner wall of the upper part of the first clamping jaw 3, and the second limiting member 72 is arranged at the inner wall of the upper part of the second clamping jaw 4, and the first limiting member 71 and the second limiting member 72 have the following functions: after clamping the workpiece 9, the first limiting member 71 and the second limiting member 72 push the workpiece 9 into the clamping range of the first clamping jaw 3 and the second clamping jaw 4, so that the workpiece 9 is clamped more accurately and firmly. Of course, after the first clamping jaw 3 and the second clamping jaw 4 grab the workpiece 9, the first limiting member 71 and the second limiting member 72 cannot touch the workpiece 9, otherwise the workpiece 9 will be offset.

[0037] In the present invention, preferably, a proximity sensing switch 8 is further included, and the proximity sensing switch 8 is installed on the first arm plate 31 or the second arm plate 41 .

[0038] See also Figures 7 and 8 , Figure 7 This is a schematic diagram of the use status of a single tank of the utility model grab water heater. Figure 8This is a schematic diagram of the use state of the utility model for grabbing the double tank of the water heater. The specific process is: when the visual detection system detects a single tank or a double tank, the visual detection system sends a signal to the control system (not shown in the figure) to make a single tank or a double tank, and the control system sends a corresponding signal to the robot, the gripper remains in an open position, and the flip connecting rod 54 of the flip mechanism 5 remains in an upward position, so that the tank positioner 6 avoids the gripping stroke of the gripper and avoids interference with the single tank or the double tank. The robot moves to the designated grabbing position according to the predetermined trajectory according to the program corresponding to the single tank or the double tank, and the control system sends a signal. The first power device 21 and the second power device 22 are pushed outward, so that the first arm plates 31 and the second arm plates 41 on both sides are clamped inward at the same time. The first gear 36 and the second gear 46 ensure that the first arm plates 31 and the second arm plates 41 on both sides move synchronously and symmetrically. At the same time, the first limiter 71 and the second limiter 72 are retracted, and the inner liner is pushed into the clamping range. The first U-shaped rubber-coated wheel 32 and the second U-shaped rubber-coated wheel 42 on the first arm plate 31 and the second arm plate 41 are tangent to the outer wall of the inner liner at the same time, and the concentricity and verticality of the inner liner are automatically adjusted. After the inner liner is firmly clamped, the proximity sensor switch 8 senses the inner liner, and the robot control system is started, and the inner liner is transferred to the next station or hung on the conveying hook according to the predetermined trajectory. After reaching the position, the electrical system controls the first power device 21 and the second power device 22 to retract, the claws open, the transfer is completed, and the robot returns to the starting position and state, waiting for the next group of grabbing cycle work.

[0039] See also Fig. 9 , Fig. 9This is a schematic diagram of the use state of the utility model for grabbing a spherical liner. The specific process is: when the visual detection system detects the spherical liner, the visual detection system sends a signal to the control system to make a spherical liner, and the control system sends a corresponding signal to the robot, the claws remain in an open posture, the flip connecting rod 54 of the flip mechanism 5 remains in an upward posture, the first clamping support rod 342 of the first clamping rod assembly 34 faces upward, the second clamping support rod 442 of the second clamping rod assembly 44 faces upward, the first U-shaped plate 33 and the second U-shaped plate 43 face downward, the robot moves to the specified grabbing position according to the predetermined trajectory according to the program corresponding to the spherical liner, the control system sends a signal, and the first power device 2 1. The second power device 22 is pushed outward, so that the first arm plate 31 and the second arm plate 41 on both sides are clamped inward at the same time. The first gear 36 and the second gear 46 ensure that the first arm plate 31 and the second arm plate 41 on both sides move synchronously and symmetrically. At the same time, the first limiter 71 and the second limiter 72 are retracted, and the spherical liner is pushed into the clamping range. The arc inner side of the first U-shaped plate 33 and the second U-shaped plate 43 on the first arm plate 31 and the second arm plate 41 and the first U-shaped rubber-coated wheel 32 and the second U-shaped rubber-coated wheel 42 are tangent to the outer wall of the spherical liner at the same time, and the center and verticality of the spherical liner are automatically adjusted. After the liner 9 is firmly clamped, the proximity sensor switch 8 senses the liner 9, and the robot control system is started, and the spherical liner is transferred to the next station or hung on the conveying hook according to the predetermined trajectory. After reaching the position, the electrical system controls the first power device 21 and the second power device 22 to retract, the claws are opened, the transfer is completed, and the robot returns to the starting position and state, waiting for the next group of grabbing cycle work.

[0040] See also Figures 10 to 12When the visual inspection system detects a cylindrical small kitchen treasure liner or an oval small kitchen treasure liner, the visual inspection system sends a signal to the control system to make a cylindrical small kitchen treasure liner or an oval small kitchen treasure liner, and the control system sends a corresponding signal to the robot, and the gripper mechanism 10 rotates 180 degrees as a whole, the first gripping support rod 342 of the first gripping rod assembly 34 faces downward, the second gripping support rod 442 of the second gripping rod assembly 44 faces downward, the gripper remains in an open posture, the flipping power mechanism 52 of the flipping mechanism 5 is started, driving the flipping shaft 53 to move, so that the flipping connecting rod 54 faces forward, so that the liner positioner 6 is parallel to the first gripping support rod 342 and the second gripping support rod 442, so that the liner positioner 6 is in the middle of the movement stroke of the first gripping support rod 342 and the second gripping support rod 442. The robot moves along a predetermined trajectory according to the corresponding program of the cylindrical small kitchen treasure liner or the oval small kitchen treasure liner, from the middle position of the top of the two cylindrical small kitchen treasure liner or the oval small kitchen treasure liner, and then moves downward to a suitable height (so that the first clamping support rod 342 and the second clamping support rod 442 can clamp two-thirds of the small kitchen treasure liner), reaches the designated grasping position, and the control system gives a signal, and the first power device 21 and the second power device 22 are pushed outward, so that the first arm plates 31 and the second arm plates 41 on both sides are clamped inward at the same time, and the first gear 36 and the second gear 46 ensure that the first arm plates 31 and the second arm plates 41 on both sides are synchronously symmetrical. Movement, the first clamping support rod 342 and the second clamping support rod 442 push the two small kitchen treasure inner pots to the middle and clamp them on the inner pot positioner 6, so as to grab two cylindrical small kitchen treasure inner pots or oval small kitchen treasure inner pots at each station and stay for 2 seconds to ensure that the first power device 21 and the second power device 22 are fully tightened. Then, the robot control system is started to transfer the cylindrical small kitchen treasure inner pots or the oval small kitchen treasure inner pots to the next station or hang them on the conveying hook according to the predetermined trajectory. After reaching the position, the electrical system controls the first power device 21 and the second power device 22 to retract, the claws to open, the transfer is completed, and the robot returns to the starting position and state, waiting for the next group of grabbing cycle work.

[0041] 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 novel multifunctional universal mixed-production automatic gripper for water heater inner tank, comprising a fixing seat (1), at least one gripper mechanism (10) mounted on the fixing seat (1), each gripper mechanism (10) comprising a first power device (21), a second power device (22), and a first gripper (3) and a second gripper (4) which can engage with each other and are driven by the first power device (21) and the second power device (22), respectively, characterized in that: The first clamping jaw (3) comprises at least a first arm plate (31), and a first U-shaped rubber-coated wheel (32), a first U-shaped plate (33) and a first clamping rod assembly (34) arranged on the first arm plate (31); the first U-shaped rubber-coated wheel (32) and the first U-shaped plate (33) are located on the first support arm (311); the first clamping rod assembly (34) is located on the second support arm (312); the second clamping jaw (4) comprises at least a second arm plate (41), and a second U-shaped rubber-coated wheel (42), a second U-shaped plate ( 43) and a second clamping rod assembly (44), the second U-shaped rubber-coated wheel (42) and the second U-shaped plate (43) are located on the third arm (411), the second clamping rod assembly (44) is located on the fourth arm (412), and also includes a flipping mechanism (5) mounted on the fixing seat (1), and at least one liner positioner (6) mounted on the flipping mechanism (5), each of the liner positioners (6) can be flipped to the center of the first clamping claw (3) and the second clamping claw (4) of the corresponding hand claw mechanism (10) under the action of the flipping mechanism (5).

2. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 1 is characterized by: The first clamping rod assembly (34) comprises a first clamping body (341) and two first clamping support rods (342); the first clamping body (341) is arranged at the end of the second support arm (312); the two first clamping support rods (342) are perpendicular to the side of the first clamping body (341), and the two first clamping support rods (342) are arranged in parallel at a predetermined interval.

3. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 2 is characterized by: The first U-shaped rubber-coated wheel (32) is located at the front end of the first support arm (311), and the first U-shaped plate (33) is located at the rear end of the first support arm (311).

4. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 3 is characterized by: The first clamping jaw (3) further comprises a first rotating shaft (35) and a first gear (36); the first gear (36) is passed through the first rotating shaft (35), and one end of the first arm plate (31) is mounted on the first rotating shaft (35).

5. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 1 is characterized by: The second clamping rod assembly (44) comprises a second clamping body (441) and two second clamping support rods (442); the second clamping body (441) is arranged at the end of the second support arm (412); the two second clamping support rods (442) are perpendicular to the side of the second clamping body (441), and the two second clamping support rods (442) are arranged in parallel at a predetermined interval.

6. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 5 is characterized by: The second U-shaped rubber-coated wheel (42) is located at the front end of the third support arm (411), and the second U-shaped plate (43) is located at the rear end of the third support arm (411).

7. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 6 is characterized by: The second clamping jaw (4) further comprises a second rotating shaft (45) and a second gear (46), wherein the second gear (46) is passed through the second rotating shaft (45), and one end of the second arm plate (41) is mounted on the second rotating shaft (45).

8. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to any one of claims 1 to 7, characterized in that: The flip mechanism (5) comprises a flip mounting seat (51), a flip power mechanism (52) located on the flip mounting seat (51), a flip shaft (53) and a flip connecting rod (54); the flip mounting seat (51) is used to be fixed on the fixing seat (1); the flip shaft (53) is connected to the flip power mechanism (52) and is driven to rotate by the flip power mechanism (52); and the liner positioner (6) is mounted on the flip shaft (53) via the flip connecting rod (54).

9. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 8 is characterized by: The invention also comprises a limiting mechanism (7), wherein the limiting mechanism (7) comprises a first limiting member (71) and a second limiting member (72) which cooperate with each other, wherein the first limiting member (71) is arranged on the inner wall of the upper part of the first clamping jaw (3), and the second limiting member (72) is arranged on the inner wall of the upper part of the second clamping jaw (4).

10. The new multifunctional universal mixed production automatic grabbing gripper for water heater tank according to claim 9 is characterized in that: It also includes a proximity sensing switch (8), wherein the proximity sensing switch (8) is mounted on the first arm plate (31) or the second arm plate (41).

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