CN103507077A - Robot hand claw used for feeding and discharging for household appliance compressor - Google Patents
Robot hand claw used for feeding and discharging for household appliance compressor Download PDFInfo
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- CN103507077A CN103507077A CN201310426616.0A CN201310426616A CN103507077A CN 103507077 A CN103507077 A CN 103507077A CN 201310426616 A CN201310426616 A CN 201310426616A CN 103507077 A CN103507077 A CN 103507077A
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- claw
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- gas pawl
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Abstract
The invention discloses a robot hand claw used for feeding and discharging for a household appliance compressor. The robot hand claw comprises mechanical fingers, a three-claw pneumatic claw and a fixing base, wherein the mechanical fingers are used for grabbing the compressor, the three-claw pneumatic claw is used for controlling the mechanical fingers to open or close, and the fixing base is used for installing a whole mechanical arm. The three-claw pneumatic claw is installed on the fixing base and provided with three movable pneumatic claw bodies evenly distributed, and the mechanical fingers are installed on the movable pneumatic claw bodies. The mechanical fingers are fixedly installed on the movable pneumatic claw bodies of the three-claw pneumatic claw, the mechanical fingers are controlled to open or close through the three-claw pneumatic claw, and then the mechanical hand claw grabs or releases the compressor. The mechanical hand claw of the structure is reliable in performance, simple in structure, capable of replacing manual operation and completing pick-up and assembly of the compressor, low in labor intensity and high in efficiency, grabbing force is large, and space occupied by opening and closing is small.
Description
Technical field
The present invention relates to an EDM Technology apparatus field, particularly a kind of robot hand for home appliance compressor loading and unloading, for the carrying of circular compression machine.
Background technology
Along with the fast development of Industrial Robot Technology, the application of industrial robot has penetrated into manufacturing industry all trades and professions, and different end effector mechanisms can make robot realize different functions, and therefore, the key of robot application is the design of end effector.
In household electrical appliances manufacturing, the application of robot is just at the early-stage, because complex technical process is various, applies at present more occasion and also only limits to the finished product piling that rolls off the production line, otherwise application is substantially still blank, and reason is that the design of frock clamp is a key technology difficult problem.On the other hand, household electrical appliances manufacture belongs to labor-intensive production, increasingly serious along with problems such as labor cost rising, recruitment famines, power plant of family is faced with the problem that manufacturing cost constantly rises, for improving profit margin, strengthen self competitiveness, select robot to replace manual operation will become the trend of power plant of following family.With outdoor machine of air-conditioner, be assembled into example, in compressor installation process, because compressor is very heavy, handling process labour intensity is very large, for the force intensity that lightens one's labor, raise the efficiency, people want to replace the carrying that manually completes compressor to assemble by robot, but, compressor is generally the cylinder that weight is larger, and in compressor feeding system, the space between two compressors is very little, traditional frock clamp often needs larger activity space, and therefore, traditional frock clamp is difficult to clamp compressor.
Summary of the invention
The object of the present invention is to provide a kind of robot hand for home appliance compressor loading and unloading, grasp force, compared with large and the shared space of opening and closing is little, replaces manual operation, reduces labour intensity, raises the efficiency.
The technical scheme that realizes the object of the invention is: a kind of robot hand for home appliance compressor loading and unloading, comprise for capturing the mechanical finger of compressor, for controlling that mechanical finger opens or closed Three-claw type gas pawl and the holder that whole manipulator is used is installed, described Three-claw type gas pawl is installed on holder, on Three-claw type gas pawl, be provided with three uniform movable gas pawls, on movable gas pawl, described mechanical finger is all installed, employing is fixedly mounted on mechanical finger on the movable gas pawl of Three-claw type gas pawl, by Three-claw type gas pawl, control opening of mechanical finger or closed, and then realize mechanical paw crawl or decontrol compressor, the mechanical paw dependable performance of this structure, simple in structure, grasp force is compared with large and the shared space of opening and closing is little, can replace manual operation, complete picking up of compressor, assembling, labour intensity is low, efficiency is high.
Mechanical finger of the present invention is inverted L shape, the transverse arm of inverted L shape mechanical finger upper end is connected with movable gas pawl bolt, Shu Bei lower end is provided with folder ear and chuck piece, folder ear is fixed on mechanical finger, and chuck piece offers the first counter sink, and bolt is screwed in the set screw of folder ear through the first counter sink of chuck piece, chuck piece is fixedly connected with folder ear, the mechanical finger of inverted L shape can capture size according to the big or small type design of compressor better, simple in structure, handling ease; Meanwhile, in the lower end of mechanical finger, be provided with chuck piece and directly contact with compressor, make mechanical paw capture compressor more stable.
Further, the surface of described chuck piece gripping compressor is v-shaped structure, adopts chuck piece to design V-shaped structure, can increase the contact-making surface with compressor, and then the frictional force of increase and compressor chamber, guarantees the reliability of crawl.
Further, described holder is provided with threaded mounting hole, and Three-claw type Qi Zhao upper end is fixed on the bottom of holder by described installing hole, convenient fixed installation Three-claw type gas pawl.
Further, on described holder, be also provided with for whole robot hand being fixedly mounted on to the locating hole that is spirally connected on other mechanical mechanisms, with bolts, the whole mechanical paw of convenient fixed installation.
The invention has the beneficial effects as follows:
(1) adopt mechanical finger is fixedly mounted on the movable gas pawl of Three-claw type gas pawl, by Three-claw type gas pawl, control opening of mechanical finger or closed, and then realize mechanical paw crawl or decontrol compressor, the mechanical paw dependable performance of this structure, simple in structure, grasp force is compared with large and the shared space of opening and closing is little, can replace manual operation, complete picking up, assembling of compressor, labour intensity is low, efficiency is high.
(2) adopt Three-claw type gas pawl as driving mechanism, reduce the whole height of mechanical claw, guarantee the operating range in robot vertical direction.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the upward view of Fig. 1;
Fig. 3 is the structural representation of Three-claw type gas pawl in the embodiment of the present invention;
Fig. 4 is the structural representation of mechanical finger in the embodiment of the present invention;
Fig. 5 is the structural representation of embodiment of the present invention clamping compressor;
Fig. 6 is the front view of Fig. 5.
In figure, holder 1, installing hole 2, locating hole 3, Three-claw type gas pawl 4, movable gas pawl 5, mechanical finger 6, folder ear 7, the first counter sinks 8, chuck piece 9, compressor 10, screwed hole 51, the second counter sinks 61.
The specific embodiment
Below in conjunction with accompanying drawing, with embodiment, the invention will be further described.
As depicted in figs. 1 and 2, the invention provides a kind of robot hand for home appliance compressor loading and unloading, it comprises for capturing the mechanical finger 6 of compressor, for controlling that mechanical finger 6 opens or closed Three-claw type gas pawl 4 and for fixedly mounting the holder 1 of whole robot hand, on holder 1, be respectively equipped with threaded mounting hole 2 and locating hole 3, by bolt, passing locating hole 3 is fixedly mounted on whole robot hand on other mechanical mechanisms, Three-claw type gas pawl 4 is fixedly mounted on holder 1 by installing hole 2, simultaneously, Three-claw type gas pawl 4 bottoms are provided with three uniform movable gas pawls 5, on each movable gas pawl 5, described mechanical finger 6 is all installed.
As shown in Figure 3, on each movable gas pawl 5, be provided with two screwed holes 51, again as shown in Figure 1 and Figure 4, mechanical finger 6 is inverted L shape, the upper end of inverted L shape mechanical finger 6 is provided with the second counter sink 61, bolt is connected with the screwed hole 51 of movable gas pawl 5 through the second counter sink 61, the lower end of mechanical finger 6 is provided with folder ear 7 and chuck piece 9, folder ear 7 is fixed on mechanical finger 6, chuck piece 9 offers the first counter sink 8, bolt is screwed in the set screw of folder ear 7 through the first counter sink 8 of chuck piece 9, and chuck piece 9 is fixedly connected with folder ear 7; The surface of chuck piece 8 gripping compressors is v-shaped structure, can increase the contact-making surface with compressor 10, and then the frictional force between increase and compressor 10, guarantees the reliability capturing.
In Three-claw type gas pawl 4, be provided with a two-position-five-way solenoid valve, when magnetic valve is switched on, three mechanical fingers 6 move to center simultaneously, receive after clamping signal, clamp compressor 10, when magnetic valve power-off, three mechanical fingers 6 unclamp outward and move simultaneously, unclamp compressor 10.As shown in Figure 5, the present invention is in the process of carrying compressor 10, mechanical finger 6 is fixedly mounted on the movable gas pawl 5 of Three-claw type gas pawl 4, by Three-claw type gas pawl 4, controls opening of mechanical finger 6 or closed, and then realize mechanical paw crawl or decontrol compressor.
As shown in Figure 6, the space length D in compressor 10 feeding systems between two compressors is very little, and traditional frock clamp often needs larger activity space, and traditional frock clamp is difficult to clamp compressor 10.Yet, as shown in Figure 5,6 of mechanical fingers of the present invention open or are closed in X-direction, greatly reduce in capturing compressor 10 processes mechanical finger 6 and opened space shared when clamping, solved in compressor 10 feeding systems the little problem that is difficult to clamping in space between two compressors 10; Meanwhile, mechanical finger 6 has certain stroke range in X-direction, can meet the crawl of the compressor 10 of different size in certain limit, has good adaptability.Therefore, dependable performance of the present invention, simple in structure, grasp force, compared with large and the shared space of opening and closing is little, can replace manual operation, completes picking up, assembling of compressor, and labour intensity is low, efficiency is high.
Above-described embodiment is only preferred embodiment of the present invention, is not used for limiting practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modify, all by the claims in the present invention scope required for protection, contained.
Claims (5)
1. the robot hand for home appliance compressor loading and unloading, it is characterized in that, comprise mechanical finger (6) for capturing compressor, for controlling, mechanical finger (6) opens or closed Three-claw type gas pawl (4) and holder (1), described Three-claw type gas pawl (4) is arranged on holder (1), on Three-claw type gas pawl (4), be provided with three uniform movable gas pawls (5), described mechanical finger (6) is all installed on movable gas pawl (5).
2. robot hand according to claim 1, its special card is, described mechanical finger (6) is inverted L shape, the transverse arm of inverted L shape mechanical finger (6) upper end is fixedly connected with movable gas pawl (5), Shu Bei lower end is provided with folder ear (7) and chuck piece (9), it is upper that folder ear (7) is fixed on mechanical finger (6), and chuck piece (9) is fixedly connected with folder ear (7).
3. robot hand according to claim 1, its special card is, the surface of described chuck piece (8) gripping compressor is v-shaped structure.
4. robot hand according to claim 1, its special card is, and described holder (1) is provided with threaded mounting hole (2), and Three-claw type gas pawl (4) upper end is fixed on the bottom of holder (1) by described installing hole (2).
5. robot hand according to claim 1, its special card is, is also provided with for whole paw being fixedly mounted on to the locating hole that is spirally connected (3) on other mechanical mechanisms on described holder (1) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310426616.0A CN103507077A (en) | 2013-09-18 | 2013-09-18 | Robot hand claw used for feeding and discharging for household appliance compressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310426616.0A CN103507077A (en) | 2013-09-18 | 2013-09-18 | Robot hand claw used for feeding and discharging for household appliance compressor |
Publications (1)
| Publication Number | Publication Date |
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| CN103507077A true CN103507077A (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310426616.0A Pending CN103507077A (en) | 2013-09-18 | 2013-09-18 | Robot hand claw used for feeding and discharging for household appliance compressor |
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| CN (1) | CN103507077A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963055A (en) * | 2014-05-20 | 2014-08-06 | 王光树 | Method for controller |
| CN105216004A (en) * | 2015-10-21 | 2016-01-06 | 珠海智新自动化科技有限公司 | Air-conditioning general assembly fills compressor equipment automatically |
| CN105299301A (en) * | 2015-11-06 | 2016-02-03 | 安徽中家智锐科技有限公司 | Mechanical-arm-based cold and hot water adjusting actuator for adjustable water mixing valve |
| CN105773123A (en) * | 2016-03-05 | 2016-07-20 | 温州职业技术学院 | Robot-assisted automatic assembly and lubricating oil addition equipment for rolling wheel assemblies |
| CN107486852A (en) * | 2017-09-29 | 2017-12-19 | 广东美的制冷设备有限公司 | The clamping device of compressor and the transfer robot of compressor |
| CN107553094A (en) * | 2017-09-29 | 2018-01-09 | 广东美的制冷设备有限公司 | The clamping device and compressor transfer robot of compressor |
| CN107553516A (en) * | 2017-10-24 | 2018-01-09 | 安徽理工大学 | The adaptive handgrip of dual-purpose type inside and outside foundry robot |
| CN107877532A (en) * | 2017-12-10 | 2018-04-06 | 无锡特恒科技有限公司 | For clamping the handling device of flexible material |
| CN108406817A (en) * | 2018-04-28 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of knuckle grasp handling robot both hands jaw arrangement |
| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| CN111498516A (en) * | 2020-04-16 | 2020-08-07 | 牟立兵 | Mechanical arm |
| CN113260586A (en) * | 2019-01-04 | 2021-08-13 | 康宁股份有限公司 | Fluid-operated clamping apparatus and method for holding a workpiece in a working orientation |
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| CN203092580U (en) * | 2013-02-05 | 2013-07-31 | 昆山艾博机器人系统工程有限公司 | Mechanical arm clamping jaw |
| CN203622443U (en) * | 2013-09-18 | 2014-06-04 | 中国电器科学研究院有限公司 | Robotic gripper for feeding and discharging compressors of household appliances |
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Patent Citations (5)
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| US6494516B1 (en) * | 2001-08-21 | 2002-12-17 | Millo Bertini | Gripper device |
| US20050046213A1 (en) * | 2003-09-03 | 2005-03-03 | Ontario Power Generation, Inc. | Gripper mechanism for conveying an object |
| CN202151864U (en) * | 2011-07-14 | 2012-02-29 | 张家港长力机械有限公司 | Cover-grabbing mechanical hand on smoke guide vehicle |
| CN203092580U (en) * | 2013-02-05 | 2013-07-31 | 昆山艾博机器人系统工程有限公司 | Mechanical arm clamping jaw |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103963055B (en) * | 2014-05-20 | 2016-02-24 | 上海圣岛实业有限公司 | A kind of method of controller |
| CN103963055A (en) * | 2014-05-20 | 2014-08-06 | 王光树 | Method for controller |
| CN105216004B (en) * | 2015-10-21 | 2018-09-28 | 珠海智新自动化科技有限公司 | Air-conditioning general assembly fills compressor equipment automatically |
| CN105216004A (en) * | 2015-10-21 | 2016-01-06 | 珠海智新自动化科技有限公司 | Air-conditioning general assembly fills compressor equipment automatically |
| CN105299301A (en) * | 2015-11-06 | 2016-02-03 | 安徽中家智锐科技有限公司 | Mechanical-arm-based cold and hot water adjusting actuator for adjustable water mixing valve |
| CN105299301B (en) * | 2015-11-06 | 2017-12-01 | 安徽中家智锐科技有限公司 | A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm |
| CN105773123A (en) * | 2016-03-05 | 2016-07-20 | 温州职业技术学院 | Robot-assisted automatic assembly and lubricating oil addition equipment for rolling wheel assemblies |
| CN105773123B (en) * | 2016-03-05 | 2019-08-09 | 温州职业技术学院 | Robot assisted roll wheel assembly automatic assembling and lubricating oil add equipment |
| CN107486852A (en) * | 2017-09-29 | 2017-12-19 | 广东美的制冷设备有限公司 | The clamping device of compressor and the transfer robot of compressor |
| CN107553094A (en) * | 2017-09-29 | 2018-01-09 | 广东美的制冷设备有限公司 | The clamping device and compressor transfer robot of compressor |
| CN107553516A (en) * | 2017-10-24 | 2018-01-09 | 安徽理工大学 | The adaptive handgrip of dual-purpose type inside and outside foundry robot |
| CN107553516B (en) * | 2017-10-24 | 2023-04-25 | 安徽理工大学 | Internal and external dual-purpose self-adaptive gripper of casting robot |
| CN107877532A (en) * | 2017-12-10 | 2018-04-06 | 无锡特恒科技有限公司 | For clamping the handling device of flexible material |
| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| CN108656124B (en) * | 2018-04-08 | 2021-11-02 | 谢娟 | Robot |
| CN108406817A (en) * | 2018-04-28 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of knuckle grasp handling robot both hands jaw arrangement |
| CN113260586A (en) * | 2019-01-04 | 2021-08-13 | 康宁股份有限公司 | Fluid-operated clamping apparatus and method for holding a workpiece in a working orientation |
| CN111498516A (en) * | 2020-04-16 | 2020-08-07 | 牟立兵 | Mechanical arm |
| CN111498516B (en) * | 2020-04-16 | 2021-08-27 | 山东神力索具有限公司 | Mechanical arm |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140115 |