CN111002024A - Visual guide assembling mechanism for combustion chamber of gas water heater - Google Patents
Visual guide assembling mechanism for combustion chamber of gas water heater Download PDFInfo
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- CN111002024A CN111002024A CN201911194851.3A CN201911194851A CN111002024A CN 111002024 A CN111002024 A CN 111002024A CN 201911194851 A CN201911194851 A CN 201911194851A CN 111002024 A CN111002024 A CN 111002024A
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- transmission line
- fire
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- fire row
- tray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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Abstract
The invention discloses a visual guide assembling mechanism for a combustion chamber of a gas water heater, which comprises a fire grate automatic feeding mechanism, a visual mechanism, a fire grate sorting mechanism, a fire grate assembling mechanism, a robot stacking mechanism, a transmission line, a tray and a belt transmission line, wherein the fire grate automatic feeding mechanism is connected with the fire grate sorting mechanism through the belt transmission line, the tray is positioned on the transmission line, and the transmission line is connected with the fire grate assembling mechanism. The transmission line is used for transmitting the tray, the gas heater who will treat processing is arranged in on the tray, remove under the transmission of transmission line, arrange assembly structure and vision mechanism's cooperation through the fire, assembly structure is arranged to the fire and the part is arranged to the fire and is taken off from the belt transmission line, assemble on the gas heater, vision mechanism can carry out automatic identification to the state that the part was arranged to the fire, can guide parallel robot to carry out corresponding operation, reach the fire row automatic assembly to gas heater, time saving and labor saving, high practicability.
Description
Technical Field
The invention relates to the technical field of gas water heater processing equipment, in particular to a visual guide assembling mechanism for a combustion chamber of a gas water heater.
Background
The gas water heater is mainly composed of a valve body assembly, a main burner, a small fire burner, a heat exchanger, a safety device and the like, and also comprises a flue of a flue type water heater and a forced-exhaust device of a forced-exhaust type water heater. The valve body assembly controls the working procedure of the whole water heater and comprises a water valve, an air valve, a microswitch, an igniter and the like. When the water heater is installed, valves are required to be installed on the water inlet pipe, the water outlet pipe and the gas pipe, most of fire grate assembly of the gas water heater is realized in a manual operation mode, rapid assembly efficiency cannot be realized in large batch, and the practicability is poor.
Disclosure of Invention
The invention aims to provide a visual guide assembling mechanism for a combustion chamber of a gas water heater, which solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a vision guide assembly devices for gas heater combustion chamber, includes fire row automatic feeding mechanism, vision mechanism, fire row letter sorting mechanism, fire row assembly devices, robot pile up neatly mechanism, transmission line, tray, belt transmission line, fire row automatic feeding mechanism links to each other with fire row letter sorting mechanism through the belt transmission line, the tray is located the transmission line, the transmission line is connected with fire row assembly devices, the one end of transmission line is located robot pile up neatly mechanism below, belt transmission line fixed assembly is arranged on fire row letter sorting mechanism, vision mechanism installs on fire row letter sorting mechanism.
Preferably, fire row's letter sorting mechanism includes letter sorting mechanism base, cog belt transmission line, fire row upset push mechanism, parallel robot and parallel robot support, cog belt transmission line and fire row upset push mechanism install respectively in the both sides of letter sorting mechanism base, the four corners and the fixed assembly of parallel robot support of letter sorting mechanism base, one side that parallel robot support is close to fire row upset push mechanism is fixed to be equipped with parallel robot.
Preferably, fire grate assembly devices includes fire grate assembly devices base, four-axis robot and tray and keeps off and stop the mechanism, transmission line and four-axis robot are installed respectively on fire grate assembly devices base, the tray keeps off and stops the fixed assembly of mechanism on the transmission line.
Preferably, fire row automatic feeding mechanism includes vibration hopper, vibration hopper frame, guard gate and fire row discharge gate, vibration hopper, guard gate and fire row discharge gate assemble respectively on vibration hopper frame, the one end of fire row discharge gate is connected with the belt transmission line.
Preferably, the vision mechanism includes machine vision camera, camera protection casing, vision light source and vision mechanism support, vision mechanism support fixed mounting is on fire row letter sorting mechanism, vision light source and camera protection casing are installed to the tip of vision mechanism support, the fixed machine vision camera that is equipped with of inner wall of camera protection casing.
Preferably, the robot stacking mechanism comprises a robot base, six robots and robot grippers, the six robots are mounted on the robot base, the robot grippers are fixedly mounted at the top ends of the six robots, and the robot grippers are located above the transmission line.
Compared with the prior art, the invention has the beneficial effects that: a visual guide assembling mechanism for a combustion chamber of a gas water heater is characterized in that a fire grate part for processing the gas water heater is conveyed to a belt transmission line through a fire grate automatic feeding mechanism through the cooperation of the fire grate automatic feeding mechanism and the fire grate sorting mechanism, the fire grate part is sorted under the cooperation of the fire grate sorting mechanism, the transmission line is used for transmitting a tray through the cooperation of a transmission line and the tray, the gas water heater to be processed is placed on the tray and moves under the transmission of the transmission line, the fire grate part is taken down from the belt transmission line through the cooperation of the fire grate assembling mechanism and the visual mechanism and is assembled on the gas water heater, the visual mechanism can automatically identify the state of the fire grate part, can guide a parallel robot to perform corresponding operation, achieves automatic assembly on the fire grate of the gas water heater, saves time and labor, the practicability is strong.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a fire grate assembly mechanism of the present invention;
FIG. 3 is a schematic structural view of a fire row sorting mechanism according to the present invention;
FIG. 4 is a schematic diagram of a robotic palletizing mechanism of the present disclosure;
FIG. 5 is a schematic structural view of an automatic fire grate feeding mechanism according to the present invention;
fig. 6 is a schematic view of the structure of the visual mechanism of the present invention.
In the figure: 1-fire grate automatic feeding mechanism, 11-vibration hopper, 12-vibration hopper frame, 13-protective door, 14-fire grate discharge port, 2-vision mechanism, 21-machine vision camera, 22-camera protective cover, 23-vision light source, 24-vision mechanism bracket, 3-fire grate sorting mechanism, 31-sorting mechanism base, 32-cog belt transmission line, 33-fire grate overturning and pushing mechanism, 34-parallel robot, 35-parallel robot bracket, 4-fire grate assembling mechanism, 41-fire grate assembling mechanism base, 42-four-axis robot, 43 tray stopping mechanism, 5-robot stacking mechanism, 51-robot base, 52-six-axis robot, 53-robot gripper, 6-transmission line, 7-pallet, 8-belt transmission line.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a vision guide assembly devices for gas heater combustion chamber, including fire row automatic feeding mechanism 1, vision mechanism 2, fire row letter sorting mechanism 3, fire row assembly devices 4, robot pile up neatly mechanism 5, transmission line 6, tray 7, belt transmission line 8, fire row automatic feeding mechanism 1 links to each other with fire row letter sorting mechanism 3 through belt transmission line 8, tray 7 is located transmission line 6, transmission line 6 is connected with fire row assembly devices 4, the one end of transmission line 6 is located robot pile up neatly mechanism 5 below, belt transmission line 8 is fixed to be assembled on fire row letter sorting mechanism 3, vision mechanism 2 is installed on fire row letter sorting mechanism 3.
A fire row part for gas heater processing is arranged on conveying belt transmission line 8 through fire row automatic feeding structure 1, arrange the cooperation of letter sorting mechanism 3 under the fire, arrange the part and sort the fire, tray 7 can remove on transmission line 6, transmission line 6 is used for transmitting tray 7, tray 7 designs into a plurality of, arrange the gas heater who treats processing in tray 7, remove under the transmission of transmission line 6, fire row assembly devices 4 takes off the fire row part from belt transmission line 8, assemble on the gas heater, vision mechanism 2 can carry out automatic identification to the state of fire row part, can guide fire row letter sorting mechanism 3 to carry out corresponding operation, robot pile up neatly mechanism 5 can take the part that the processing was accomplished, reach the purpose of processing people's gas heater.
Particularly, fire row sorting mechanism 3 includes sorting mechanism base 31, cog belt transmission line 32, fire row upset push mechanism 33, parallel robot 34 and parallel robot support 35, and cog belt transmission line 32 and fire row upset push mechanism 33 install respectively in the both sides of sorting mechanism base 31, and sorting mechanism base 31's four corners and parallel robot support 35 fixed assembly, parallel robot support 35 is close to one side fixed assembly of fire row upset push mechanism 33 and is equipped with parallel robot 34.
The parallel robot 34 can be defined as a closed loop mechanism which is driven in a parallel mode and has two or more degrees of freedom, the movable platform and the fixed platform are connected through at least two independent motion chains, the parallel robot 34 has the characteristics of no accumulated error and high precision, a driving device can be arranged on the fixed platform or close to the position of the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response, the sorting operation can be completed, and the parallel robot 34 is supported by the sorting mechanism base 31 and the parallel robot support 35.
Specifically, the fire grate assembly mechanism 4 comprises a fire grate assembly mechanism base 41, a four-axis robot 42 and a tray stopping mechanism 43, the transmission line 6 and the four-axis robot 42 are respectively installed on the fire grate assembly mechanism base 41, and the tray stopping mechanism 43 is fixedly assembled on the transmission line 6.
The four-axis robot 42 is a kind of SCARA robot, the first two joints of the SCARA robot can freely rotate left and right on the horizontal plane, the arm part of the four-axis robot 42 can freely move in a geometrical plane, the third joint is composed of a metal rod called feather and a holder, the metal rod can move up and down in a vertical plane or rotate around the vertical axis, but can not tilt, the unique design makes the four-axis robot 42 have strong rigidity, thereby making them capable of working at high speed and high repeatability, in the packaging application, the four-axis robot 42 excels in high-speed taking and placing and other material processing tasks, the tray stopping mechanism 43 can block the tray 7, the working principle of the tray stopping mechanism 43 is the prior art, and the description is not provided herein.
Specifically, fire row automatic feeding mechanism 1 includes vibration hopper 11, vibration hopper frame 12, guard gate 13 and fire row discharge gate 14, and vibration hopper 11, guard gate 13 and fire row discharge gate 14 assemble respectively on vibration hopper frame 12, and the one end of fire row discharge gate 14 is connected with belt transmission line 8.
Specifically, the vision mechanism 2 comprises a machine vision camera 21, a camera protection cover 22, a vision light source 23 and a vision mechanism support 24, the vision mechanism support 24 is fixedly installed on the fire row sorting mechanism 3, the vision light source 23 and the camera protection cover 22 are installed at the end part of the vision mechanism support 24, and the machine vision camera 21 is fixedly assembled on the inner wall of the camera protection cover 22.
The vision mechanism support 24 is used to support and fix the camera protection cover 22 and the vision light source 23, the camera protection cover 22 protects the machine vision camera 21, the purpose of the machine vision camera 21 is to transmit the image projected to the sensor through the lens to a machine device capable of storing, analyzing and displaying, and the image can be displayed with a simple terminal, for example, the image can be displayed, stored and analyzed by a computer system.
Specifically, the robot palletizer mechanism 5 includes a robot base 51, six-axis robots 52 and robot grippers 53, the six-axis robots 52 are mounted on the robot base 51, the robot grippers 53 are fixedly mounted on the top ends of the six-axis robots 52, and the robot grippers 53 are located above the conveying line 6.
The six-axis robot 52 has two more joints than the four-axis robot 42 and thus has more "freedom of movement", the first joint of the six-axis robot 52 can rotate freely in the horizontal plane like the four-axis robot 42, the latter two joints can move in the vertical plane, furthermore, the six-axis robot 52 has one "arm" and two "wrist" joints, which gives it the ability of a human arm and wrist to resemble, and the more joints of the six-axis robot 52 means that they can pick up any part oriented in the horizontal plane and put it in a packaged product at a particular angle, and they can perform many operations that can only be performed by skilled workers.
The working principle is as follows: a fire row part for gas heater processing is arranged on conveying belt transmission line 8 through fire row automatic feeding structure 1, arrange the cooperation of letter sorting mechanism 3 under the fire, arrange the part and sort the fire, tray 7 can remove on transmission line 6, transmission line 6 is used for transmitting tray 7, the gas heater who will treat processing is arranged in on tray 7, remove under the transmission of transmission line 6, fire row assembly devices 4 takes off the fire row part from belt transmission line 8, assemble on the gas heater, vision mechanism 2 can carry out automatic identification to the state of fire row part, can guide fire row letter sorting mechanism 3 to carry out corresponding operation, robot pile up neatly mechanism 5 can take the part that the processing was accomplished, reach the purpose of processing people's gas heater.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "mounted," "connected," and "secured" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integral to; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the machinery, parts and equipment adopt conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a vision guide assembly devices for gas heater combustion chamber which characterized in that: arrange sorting mechanism (3), fire row assembly devices (4), robot pile up neatly mechanism (5), transmission line (6), tray (7), belt transmission line (8) including fire row automatic feeding mechanism (1), vision mechanism (2), fire row automatic feeding mechanism (1) links to each other with fire row sorting mechanism (3) through belt transmission line (8), tray (7) are located transmission line (6), transmission line (6) are arranged assembly devices (4) with the fire and are connected, the one end of transmission line (6) is located robot pile up neatly mechanism (5) below, belt transmission line (8) are fixed to be assembled on fire row sorting mechanism (3), vision mechanism (2) are installed on fire row sorting mechanism (3).
2. The visual guide assembly mechanism for a gas water heater combustion chamber of claim 1 wherein: fire row letter sorting mechanism (3) are including letter sorting mechanism base (31), cog belt transmission line (32), fire row upset push mechanism (33), parallel robot (34) and parallel robot support (35), cog belt transmission line (32) and fire row upset push mechanism (33) are installed respectively in the both sides of letter sorting mechanism base (31), the four corners and parallel robot support (35) fixed assembly of letter sorting mechanism base (31), one side fixed assembly that parallel robot support (35) are close to fire row upset push mechanism (33) is equipped with parallel robot (34).
3. The visual guide assembly mechanism for a gas water heater combustion chamber of claim 1 wherein: fire is arranged assembly devices (4) and is kept off mechanism (43) including fire is arranged assembly devices base (41), four-axis robot (42) and tray, install respectively on fire is arranged assembly devices base (41) transmission line (6) and four-axis robot (42), the tray keeps off fixed the assembling on transmission line (6) of mechanism (43).
4. The visual guide assembly mechanism for a gas water heater combustion chamber of claim 1 wherein: fire row automatic feeding mechanism (1) is including vibration hopper (11), vibration hopper frame (12), guard gate (13) and fire row discharge gate (14), vibration hopper (11), guard gate (13) and fire row discharge gate (14) assemble respectively on vibration hopper frame (12), the one end that discharge gate (14) was arranged to the fire is connected with belt transmission line (8).
5. The visual guide assembly mechanism for a gas water heater combustion chamber of claim 1 wherein: visual mechanism (2) include machine vision camera (21), camera protection casing (22), vision light source (23) and visual mechanism support (24), visual mechanism support (24) fixed mounting is on fire row letter sorting mechanism (3), vision light source (23) and camera protection casing (22) are installed to the tip of visual mechanism support (24), the fixed machine vision camera (21) that is equipped with of inner wall of camera protection casing (22).
6. The visual guide assembly mechanism for a gas water heater combustion chamber of claim 1 wherein: robot pile up neatly mechanism (5) are including robot base (51), six robots (52) and robot tongs (53), install six robots (52) on robot base (51), the fixed robot tongs (53) that are equipped with in top of six robots (52), robot tongs (53) are located the top of transmission line (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911194851.3A CN111002024A (en) | 2019-11-28 | 2019-11-28 | Visual guide assembling mechanism for combustion chamber of gas water heater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911194851.3A CN111002024A (en) | 2019-11-28 | 2019-11-28 | Visual guide assembling mechanism for combustion chamber of gas water heater |
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| Publication Number | Publication Date |
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| CN111002024A true CN111002024A (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911194851.3A Pending CN111002024A (en) | 2019-11-28 | 2019-11-28 | Visual guide assembling mechanism for combustion chamber of gas water heater |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746819A (en) * | 2020-07-10 | 2020-10-09 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
-
2019
- 2019-11-28 CN CN201911194851.3A patent/CN111002024A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746819A (en) * | 2020-07-10 | 2020-10-09 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
| CN111746819B (en) * | 2020-07-10 | 2022-02-15 | 中国航空制造技术研究院 | Automatic assembly equipment for helicopter hub |
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