CN108526849A - A kind of washing machine counter weight mounting tool and washing machine installation system - Google Patents
A kind of washing machine counter weight mounting tool and washing machine installation system Download PDFInfo
- Publication number
- CN108526849A CN108526849A CN201810759291.0A CN201810759291A CN108526849A CN 108526849 A CN108526849 A CN 108526849A CN 201810759291 A CN201810759291 A CN 201810759291A CN 108526849 A CN108526849 A CN 108526849A
- Authority
- CN
- China
- Prior art keywords
- washing machine
- drive component
- clump weight
- image acquiring
- clamp assemblies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005406 washing Methods 0.000 title claims abstract description 71
- 238000009434 installation Methods 0.000 title claims abstract description 20
- 230000007306 turnover Effects 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000000712 assembly Effects 0.000 claims description 76
- 238000000429 assembly Methods 0.000 claims description 76
- 238000006467 substitution reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machinery fields, in particular to a kind of washing machine counter weight mounting tool and washing machine installation system.A kind of washing machine counter weight mounting tool, including：First image acquiring device, manipulator, the second image acquiring device, turnover device, control device, the first image acquiring device, manipulator, the second image acquiring device and turnover device are communicated to connect with control device.Control device captures self-balanced upper rotary according to the information control machinery hand that the first image acquiring device, the second image acquiring device obtain, and control turnover device overturns clump weight.By images acquisition locations information, manipulator and grasping mechanism capture self-balanced upper rotary, and turnover device overturns clump weight, and the clump weight after overturning is moved to washing machine corresponding position by manipulator.The clump weight of washing machine is installed by automation, substitution is manually installed, increases installation effectiveness, reduces cost.
Description
Technical field
The present invention relates to machinery fields, are installed in particular to a kind of washing machine counter weight mounting tool and washing machine
System.
Background technology
The clump weight of washing machine is for pushing down washing machine, making to reduce vibrations in its work and rocking.It is installed on washing machine
Clump weight is all at present during the installation process manually to install at present, efficiency is low, high labor cost.
Invention content
The purpose of the present invention is to provide a kind of washing machine counter weight mounting tool and washing machine installation systems, are intended to change
The problem of kind existing manually installed efficiency is low, high labor cost.
The present invention provides a kind of technical solution：
A kind of washing machine counter weight mounting tool, washing machine counter weight mounting tool include：
First image acquiring device, the first image acquiring device are used to obtain the position of clump weight；
Manipulator, manipulator is for capturing self-balanced upper rotary；
Second image acquiring device, the second image acquiring device are set to manipulator free end, the second image acquiring device
Position for the mounting hole for obtaining clump weight；
Turnover device, turnover device is for overturning clump weight；
Control device, the first image acquiring device, manipulator, the second image acquiring device and turnover device with control
Device communicates to connect；
Control device is captured according to the information control machinery hand that the first image acquiring device, the second image acquiring device obtain
Self-balanced upper rotary, and control turnover device overturn clump weight.
In other embodiments of the invention, above-mentioned washing machine counter weight mounting tool further includes：
Third image acquiring device, third image acquiring device is for obtaining clump weight position to be installed；Third image obtains
Device is taken to be communicated to connect with control device；The information control machinery hand that control device is obtained according to third image acquiring device will be turned over
Clump weight crawl after rotary device overturning is moved to position to be installed.
In other embodiments of the invention, above-mentioned washing machine counter weight mounting tool further includes washing machine conveying device,
Washing machine conveying device is matched with third image acquiring device, and third image acquiring device is for obtaining washing machine position.
In other embodiments of the invention, above-mentioned manipulator includes the mechanical arm being mutually rotatablely connected, grasping mechanism；The
Two image acquiring devices are set to the one end of manipulator close to grasping mechanism；
Grasping mechanism includes the first clamp assemblies, the second clamp assemblies, switching drive component, the first clamp assemblies, second
Clamp assemblies are slidably connected with grasping mechanism, and the first clamp assemblies, the second clamp assemblies can be respectively protruding into two of clump weight
Mounting hole；
The opposite both ends of switching drive component are connect with the first clamp assemblies, the second clamp assemblies respectively, switch driving group
Part can drive the first clamp assemblies, the second clamp assemblies close to each other or separate.
In other embodiments of the invention, above-mentioned second clamp assemblies include elastic drive component, two collets, elastic
Drive component can drive two collets close to each other or separate.
In other embodiments of the invention, above-mentioned turnover device includes：
It is used to support the objective table of clump weight, is set to the support division of objective table one end；
First drive component, the first drive component can drive clump weight to be abutted with support division far from objective table；
Second drive component, the second drive component can drive clump weight to overturn；
Third drive component, third drive component are connect with the second drive component, and third drive component can drive the second drive
Dynamic component movement, and the one end of clump weight far from support division is made to be abutted with the second drive component.
In other embodiments of the invention, above-mentioned first drive component, the second drive component and third drive component
It include cylinder.
In other embodiments of the invention, above-mentioned first drive component, the second drive component and third drive component
Communicated to connect with control device.
In other embodiments of the invention, above-mentioned turnover device further includes the lifting platform for carrying clump weight, lifting
Platform is set to objective table, and lifting platform is connect with the first drive component.
The present invention also provides a kind of technical solutions：
A kind of washing machine installation system, washing machine installation system include above-mentioned washing machine counter weight mounting tool.
The advantageous effect of washing machine counter weight mounting tool and washing machine installation system provided in an embodiment of the present invention is：
By images acquisition locations information, manipulator and grasping mechanism capture self-balanced upper rotary, and turnover device is by counterweight
Block is overturn, and the clump weight after overturning is moved to washing machine corresponding position by manipulator.By automating the counterweight to washing machine
Block is installed, and substitution is manually installed, is increased installation effectiveness, is reduced cost.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structural schematic diagram of washing machine counter weight mounting tool provided in an embodiment of the present invention；
Fig. 2 shows manipulator, the structural schematic diagrams of the first image acquiring device；
Fig. 3 shows III in Fig. 1 enlarged drawing；
Fig. 4 shows the structural schematic diagram of grasping mechanism provided in an embodiment of the present invention；
Fig. 5 shows the structural schematic diagram of turnover device provided in an embodiment of the present invention.
Icon：100- washing machine counter weight mounting tools；101- washing machines；102- clump weights；103- mounting holes；110-
First image acquiring device；120- manipulators；121- mechanical arms；The second image acquiring devices of 130-；140- turnover devices；
141- objective tables；142- support divisions；The first drive components of 143-；The second drive components of 144-；145- third drive components；
146- holders；147- lifting platforms；150- grasping mechanisms；151- pedestals；The first clamp assemblies of 152-；The second clamp assemblies of 153-；
154- switches drive component；The elastic drive components of 155-；156- collets；160- third image acquiring devices.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the embodiment of the present invention, it is to be understood that the orientation or positional relationship of instruction is based on attached drawing institute
The orientation or positional relationship the shown invention product using when the orientation or positional relationship or ability usually put
The orientation or positional relationship that field technique personnel usually understand, is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified equipment or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot manage
Solution is limitation of the present invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment
Fig. 1 shows the structural schematic diagram of washing machine counter weight mounting tool 100 provided in an embodiment of the present invention.It please refers to
Fig. 1 is mainly used for installing the clump weight of washing machine 101 the present embodiment provides a kind of washing machine counter weight mounting tool 100
102。
In detail, washing machine counter weight mounting tool 100 includes the first image acquiring device 110, manipulator 120, second
Image acquiring device 130, turnover device 140, control device (not shown).First image acquiring device 110, manipulator
120, the second image acquiring device 130, turnover device 140 are communicated to connect with control device.
First image acquiring device 110 is used to obtain the position of clump weight 102；In detail, the first image acquiring device 110
For obtaining position of the clump weight 102 in material frame.In the present embodiment, the first image acquiring device 110 is camera, can be with
Understand, in other embodiments of the invention, the first image acquiring device 110 or video camera etc..First image
Acquisition device 110 shoots the picture of clump weight 102 and material frame, which is transferred to control device, control device
According to the position of the information analysis clump weight 102.
Manipulator 120, manipulator 120 is for capturing self-balanced upper rotary 102；From the above, control device is according to the first figure
As 110 feedack of acquisition device analyzes the position of clump weight 102, the free end movement of control device control machinery hand 120
To 102 position of clump weight.
Fig. 2 shows manipulator 120, the structural schematic diagrams of the first image acquiring device 110, please refer to Fig. 2.
Second image acquiring device 130 is set to the free end of manipulator 120, and the second image acquiring device 130 is for obtaining
Take the position of the mounting hole 103 of clump weight 102.
In detail, the free end of control device control machinery hand 120 is moved to after 102 position of clump weight, machinery
Hand 120 needs to be captured with the cooperation of the mounting hole 103 of clump weight 102.Second image acquiring device 130 shoots clump weight 102
Image, and the image information is transferred to control device, the letter that control device is fed back according to the first image acquiring device 110
103 position of breath analysis mounting hole, to which control machinery hand 120 and the cooperation of mounting hole 103 are captured.
In the present embodiment, the second image acquiring device 130 is camera, it is to be understood that in other realities of the present invention
Apply in example, the second image acquiring device 130 or video camera etc. other can obtain the device of picture.
From the above, after control device control machinery hand 120 is captured with the cooperation of mounting hole 103, by clump weight 102
It is moved to 140 corresponding position of turnover device, clump weight 102 is overturn 180 ° by turnover device 140, control device secondary control again
Manipulator 120 and mounting hole 103 coordinate self-balanced upper rotary 102 to the opposite position of washing machine 101.
It should be noted that in the present embodiment, control device is to the processing of image information and identifies counterweight in picture
Block 102, mounting hole 103 position be all made of the prior art, the present embodiment will not be described in great detail.
In the present embodiment, washing machine counter weight mounting tool 100 further includes third image acquiring device 160, third figure
As acquisition device 160 and control device communicate to connect.
Third image acquiring device 160 is for obtaining 102 position to be installed of clump weight, and further, third image obtains
Device 160 obtains the picture at 102 position to be installed of clump weight, and the pictorial information is transferred to control device, control device
Identify that turnover device 140 is turned in 102 position to be installed of clump weight, control device control machinery hand 120 according to the pictorial information
The crawl of clump weight 102 after turning is moved to position to be installed.
In the present embodiment, third image acquiring device 160 is camera, it is to be understood that in other realities of the present invention
Apply in example, third image acquiring device 160 or video camera etc. other can obtain the device of picture.
Further, in the present embodiment, washing machine counter weight mounting tool 100 further includes washing machine conveying device (figure
In be not shown), washing machine conveying device is matched with third image acquiring device 160, and third image acquiring device 160 is for obtaining
The position of washing machine 101.In detail, third image acquiring device 160 obtains the position of washing machine 101, to confirm washing machine
101 are in predeterminated position, are then installed again.
Fig. 3 shows III in Fig. 1 enlarged drawing, please refers to Fig. 3.
In the present embodiment, manipulator 120 includes mechanical arm 121, the grasping mechanism 150 being mutually rotatablely connected；Second figure
As acquisition device 130 is set to manipulator 120 close to one end of grasping mechanism 150.
In detail, in the present embodiment, mechanical arm 121 is rotatablely connected with grasping mechanism 150, and mechanical arm 121 is mainly used for
Mobile grasping mechanism 150 and clump weight 102；Grasping mechanism 150 is mainly used for capturing clump weight 102.Mechanical arm 121 with grab
Mechanism 150 is taken to be communicated to connect with control device.
In the present embodiment, mechanical arm 121 uses existing six shaft mechanicals arm 121, the control of control device and mechanical arm 121
Relationship processed also uses the prior art, the present embodiment will not be described in great detail.
In the present embodiment, above-mentioned control device is microcontroller, in other embodiments of the invention, above-mentioned control device
May be PLC.
The primary structure of grasping mechanism 150 introduced below.
Fig. 4 shows the structural schematic diagram of grasping mechanism 150 provided in an embodiment of the present invention.Please refer to Fig. 4.
In the present embodiment, grasping mechanism 150 include pedestal 151, the first clamp assemblies 152, the second clamp assemblies 153,
Switch drive component 154, the first clamp assemblies 152, the second clamp assemblies 153 are slidably connected with pedestal 151, the first clamping group
Part 152, the second clamp assemblies 153 end can stretch into above-mentioned mounting hole 103.In detail, the end of the first clamp assemblies 152
Portion stretches into a mounting hole 103, another mounting hole 103 is stretched into the end of the second clamp assemblies 153.
The opposite both ends of switching drive component 154 are connect with the first clamp assemblies 152, the second clamp assemblies 153 respectively, are cut
Changing drive component 154 can drive the first clamp assemblies 152, the second clamp assemblies 153 close to each other or separate.
During clump weight 102 are clamped, an installation of clump weight 102 is stretched into the end of the first clamp assemblies 152
Another mounting hole 103 of clump weight 102, the first clamp assemblies 152, are stretched into the end in hole 103, the second clamp assemblies 153
Two clamp assemblies 153 grip clump weight 102, can self-balanced upper rotary 102, switching drive component 154 driving first
Clamp assemblies 152, the second clamp assemblies 153 are close to each other or separate, according to the distance between above-mentioned two mounting hole 103, make
The position of first clamp assemblies 152, the second clamp assemblies 153 and two mounting holes 103, which corresponds, to be clamped.
Further, switching drive component 154 drive the first clamp assemblies 152, the second clamp assemblies 153 close to each other or
It is separate, make the active force between the first clamp assemblies 152, the second clamp assemblies 153 and mounting hole 103 that clump weight 102 to be clamped
It is fixed.
In the present embodiment, switching drive component 154 includes cylinder, and the cylinder barrel of cylinder is connect with the second clamp assemblies 153,
The piston rod of cylinder is connect with the first clamp assemblies 152.
It is understood that in other embodiments of the invention, switching drive component 154 can also include hydraulic cylinder,
The cylinder barrel of hydraulic cylinder is connect with the second clamp assemblies 153, and the piston rod of hydraulic cylinder is connect with the first clamp assemblies 152.
In the present embodiment, the first clamp assemblies 152 include 155, two collets 156 of elastic drive component, elastic driving
Component 155 can drive two collets 156 close to each other or separate.
In detail, the both ends of elastic drive component 155 are connect with two collets 156 respectively, and two collets 156 are in elastic drive
It can be close to each other or separate under the driving of dynamic component 155.
From the above, a mounting hole 103 of clump weight 102, the first clamping group are stretched into the end of the first clamp assemblies 152
The cooperation of 152 end of part and mounting hole 103 is to grip clump weight 102.Mounting hole is stretched into the end of first clamp assemblies 152
After 103, elastic drive component 155 drives two collets 156 to be located remotely from each other, and makes end and the mounting hole of the first clamp assemblies 152
103 interference fits, clump weight 102 is clamped and is moved.When not needing the first clamp assemblies 152 clamping clump weight 102, elastic drive
Dynamic component 155 drives two collets 156 close to each other, and mounting hole 103 is stretched out in the end of the first clamp assemblies 152.
In the present embodiment, elastic drive component 155 includes cylinder, and the cylinder barrel of cylinder is connect with one of collet 156,
The piston rod of cylinder is connect with another collet 156.It is understood that in other embodiments of the invention, elastic driving
Component 155 can also include hydraulic cylinder, and the cylinder barrel of hydraulic cylinder connect with one of collet 156, the piston rod of hydraulic cylinder and separately
One collet 156 connects.
In the present embodiment, the second clamp assemblies 153 are identical as the structure of the first clamp assemblies 152, construction, the present embodiment
It will not be described in great detail the structure of the second clamp assemblies 153.
It should be noted that in other embodiments of the invention, the second clamp assemblies 153 and the first clamp assemblies 152
Structure can not also be identical.
In addition, the structure of the first clamp assemblies 152 and the second clamp assemblies 153, construction are also not limited to above-mentioned set
Set mode.For example, in other embodiments of the invention, the first clamp assemblies 152 can also be configured to across mounting hole
The matching of 103 grab, grab and mounting hole 103 is with clamping clump weight 102.
Switch drive component 154 to communicate to connect with control device.Control device control switching drive component 154, further
Distance between the first clamp assemblies 152 and the second clamp assemblies 153 is controlled, the first clamp assemblies 152, the second clamp assemblies are made
153 is corresponding with the mounting hole 103 of clump weight 102 is set to.It is understood that in other embodiments of the invention, first
Clamp assemblies 152, the second clamp assemblies 153 control device can also be separately provided.
Further, in the present embodiment, elastic drive component of the above-mentioned control device also with the first clamp assemblies 152
155, the elastic drive component 155 of the second clamp assemblies 153 communicates to connect, control device control above-mentioned two collet 156 it
Between distance, so that the first clamp assemblies 152 or the second clamp assemblies 153 is interference fitted with mounting hole 103, or make the first folder
Component 152 or the second clamp assemblies 153 are held to stretch out from mounting hole 103.
Fig. 5 shows the structural schematic diagram of turnover device 140 provided in an embodiment of the present invention.Please refer to Fig. 5.
In the present embodiment, turnover device 140 includes objective table 141, support division 142；Support division 142 is placed in objective table
141 one end, objective table 141 are used to support clump weight 102.
Turnover device 140 further includes the first drive component 143, the second drive component 144, third driving group for providing power
Part 145.
First drive component 143 is connect with objective table 141, and the main function of the first drive component 143 is to drive counterweight
Block 102 makes one end of clump weight 102 be abutted with support division 142 far from objective table 141.
Third drive component 145 is connect with the second drive component 144, and third drive component 145 can drive the second driving group
Part 144 moves, and makes the second drive component 144 close to clump weight 102, makes the one end of clump weight 102 far from support division 142 and second
Drive component 144 abuts.The second drive component 144 is set to make clump weight 102 is clamped to fix close to support division 142.
Further, third drive component 145 can drive the second drive component 144 far from support division 142, make clump weight
102 are no longer gripped by support division 142, the second drive component 144；First drive component 143 can drive matching after being reversed
Pouring weight 102 is moved to objective table 141.
Second drive component 144 can drive clump weight 102 along 102 axial-rotation of clump weight, and clump weight 102 is made to be reversed
180°。
First drive component 143 makes clump weight 102 be moved to the height of overturning, third drive component 145 and support division 142
Cooperation makes clump weight 102 be fixed, and the second drive component 144 driving clump weight 102 is overturn.It is provided in this embodiment to turn over
Rotary device 140 can replace manually overturning clump weight 102, and automatic rollover increases efficiency, reduces cost.
In the present embodiment, turnover device 140 further includes holder 146, and objective table 141, support division 142 may be contained within holder
146。
Further, turnover device 140 further includes the lifting platform 147 for carrying the clump weight 102, lifting platform 147
It is set to objective table 141, lifting platform 147 is connect with the first drive component 143.
In the present embodiment, clump weight 102 is positioned over lifting platform 147, the first drive component 143 drive clump weight 102 with
And lifting platform 147 moves up and down, and clump weight 102 is made to be supported with support division 142.
In the present embodiment, the first drive component 143 includes cylinder, and the cylinder barrel of cylinder is connect with holder 146, cylinder
Piston rod is connect with lifting platform 147.
It should be noted that in other embodiments of the invention, the first drive component 143 can also include hydraulic cylinder,
The cylinder barrel of hydraulic cylinder is connect with holder 146, and the piston rod of hydraulic cylinder is connect with lifting platform 147.
In the present embodiment, objective table 141 is provided with through-hole (not marked in figure), and the first drive component 143 can pass through logical
Hole drives clump weight 102.
In the present embodiment, the first drive component 143 drives clump weight 102 to move from bottom to top, in other of the present invention
In embodiment, the top that the first drive component 143 can also be set to objective table 141 drives clump weight 102.
Second drive component 144 is connect with third drive component 145, and the second drive component 144 is set close to support division 142
It sets.
Second drive component of the driving of third drive component 145 144 is separate or close to support division 142.
In the present embodiment, third drive component 145 includes cylinder, and the cylinder barrel of cylinder is connect with holder 146, cylinder
Piston rod is connect with the second drive component 144.
It should be noted that in other embodiments of the invention, third drive component 145 can also include hydraulic cylinder,
The cylinder barrel of hydraulic cylinder is connect with holder 146, and the piston rod of hydraulic cylinder is connect with the second drive component 144.
From the above, the second drive component 144 can drive clump weight 102 along 102 axial-rotation of clump weight, make clump weight
102 are reversed.
In the present embodiment, the second drive component 144 includes rotary cylinder, cylinder barrel and the third drive component of rotary cylinder
145 connections, the piston rod of rotary cylinder can abut clump weight 102 and overturn clump weight 102.
It should be noted that in other embodiments of the invention, the second drive component 144 can also include rotation liquid
The cylinder barrel of cylinder pressure, rotating hydraulic cylinder is connect with third drive component 145, and the piston rod of rotating hydraulic cylinder can abut clump weight 102
Clump weight 102 is overturn.
In embodiment, the first drive component 143, the second drive component 144, third drive component 145 are filled with control
Set communication connection.
Control device controls the distance of the first drive component 143 driving clump weight 102, and control device controls third driving group
Part 145 drives the distance of the second drive component 144, control device to control the torque of the second drive component 144 output.
It should be noted that the present embodiment will not be described in great detail 100 used power supply of washing machine counter weight mounting tool etc..
In addition, the first image acquiring device 110, manipulator 120, the second image acquiring device 130, turnover device 140,
Control device can select the position of installation according to workbench, for example, being installed on pedestal or ground, metope etc..
The major advantage of washing machine counter weight mounting tool 100 provided in an embodiment of the present invention is：
By images acquisition locations information, manipulator 120 and grasping mechanism 150 capture self-balanced upper rotary 102, overturning dress
It sets 140 to overturn clump weight 102, the clump weight 102 after overturning is moved to 101 corresponding position of washing machine by manipulator 120.It is logical
It crosses automation the clump weight 102 of washing machine 101 is installed, substitution is manually installed, increases installation effectiveness, reduces cost.
The present invention also provides a kind of washing machine installation system, washing machine installation system includes that above-mentioned washing machine counter weight is pacified
Fill tooling 100.Further, washing machine installation system further includes 102 conveying device of clump weight (such as can be belt), counterweight
Clump weight 102 is delivered in material frame by 102 conveying device of block, 110 corresponding position of the first image acquiring device.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of washing machine counter weight mounting tool, which is characterized in that the washing machine counter weight mounting tool includes：
First image acquiring device, described first image acquisition device are used to obtain the position of clump weight；
Manipulator, the manipulator is for capturing the mobile clump weight；
Second image acquiring device, second image acquiring device are set to the manipulator free end, second image
Acquisition device is used to obtain the position of the mounting hole of the clump weight；
Turnover device, the turnover device is for overturning the clump weight；
Control device, described first image acquisition device, the manipulator, second image acquiring device and the overturning
Device is communicated to connect with the control device；
The control device controls institute according to the information that described first image acquisition device, second image acquiring device obtain
The mobile clump weight of manipulator crawl is stated, and the control turnover device overturns the clump weight.
2. washing machine counter weight mounting tool according to claim 1, which is characterized in that the washing machine counter weight installation
Tooling further includes：
Third image acquiring device, the third image acquiring device is for obtaining clump weight position to be installed；Described
Three image acquiring devices are communicated to connect with the control device；The control device is obtained according to the third image acquiring device
Information control the manipulator by the turnover device overturn after the clump weight crawl be moved to the position to be installed.
3. washing machine counter weight mounting tool according to claim 2, which is characterized in that the washing machine counter weight installation
Tooling further includes washing machine conveying device, and the washing machine conveying device is matched with the third image acquiring device, and described
Three image acquiring devices are for obtaining washing machine position.
4. washing machine counter weight mounting tool according to claim 1, which is characterized in that the manipulator includes mutually turning
Mechanical arm, the grasping mechanism of dynamic connection；Second image acquiring device is set to the manipulator close to the grasping mechanism
One end；
The grasping mechanism includes the first clamp assemblies, the second clamp assemblies, switches drive component, first clamp assemblies,
Second clamp assemblies are slidably connected with the grasping mechanism, first clamp assemblies, the second clamp assemblies energy
It is respectively protruding into two mounting holes of clump weight；
The opposite both ends of the switching drive component are connect with first clamp assemblies, second clamp assemblies respectively, institute
Stating switching drive component can drive first clamp assemblies, second clamp assemblies close to each other or separate.
5. washing machine counter weight mounting tool according to claim 4, which is characterized in that second clamp assemblies include
Elastic drive component, two collets, the elastic drive component can drive two collets close to each other or separate.
6. washing machine counter weight mounting tool according to claim 1, which is characterized in that the turnover device includes：
It is used to support the objective table of the clump weight, is set to the support division of described objective table one end；
First drive component, first drive component can drive the clump weight to be supported far from the objective table and the support division
It connects；
Second drive component, second drive component can drive the clump weight to overturn；
Third drive component, the third drive component are connect with second drive component, and the third drive component can drive
The dynamic second drive component movement, and the one end of the clump weight far from the support division is made to be supported with second drive component
It connects.
7. washing machine counter weight mounting tool according to claim 6, which is characterized in that first drive component, institute
It includes cylinder to state the second drive component and the third drive component.
8. washing machine counter weight mounting tool according to claim 6, which is characterized in that first drive component, institute
The second drive component and the third drive component is stated to communicate to connect with the control device.
9. washing machine counter weight mounting tool according to claim 6, which is characterized in that the turnover device further includes using
In the lifting platform for carrying the clump weight, the lifting platform is set to the objective table, and the lifting platform drives with described first
Component connects.
10. a kind of washing machine installation system, which is characterized in that the washing machine installation system includes any one of claim 1-9
The washing machine counter weight mounting tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810759291.0A CN108526849A (en) | 2018-07-11 | 2018-07-11 | A kind of washing machine counter weight mounting tool and washing machine installation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810759291.0A CN108526849A (en) | 2018-07-11 | 2018-07-11 | A kind of washing machine counter weight mounting tool and washing machine installation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108526849A true CN108526849A (en) | 2018-09-14 |
Family
ID=63488055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810759291.0A Pending CN108526849A (en) | 2018-07-11 | 2018-07-11 | A kind of washing machine counter weight mounting tool and washing machine installation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108526849A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385909A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Manipulator for assembling V-shaped thrust rod |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009090442A (en) * | 2007-10-12 | 2009-04-30 | Toyota Motor Corp | Chucking device |
| CN105059969A (en) * | 2015-08-10 | 2015-11-18 | 苏州均华精密机械有限公司 | Material sheet turnover device and method |
| CN106413999A (en) * | 2014-06-02 | 2017-02-15 | 库卡系统有限责任公司 | Gripping jaw safety device with tongue and groove for HRC |
| CN107263046A (en) * | 2017-06-02 | 2017-10-20 | 珠海格力智能装备有限公司 | Installing mechanism and the air conditioner processing unit (plant) with it |
| CN108188814A (en) * | 2018-03-23 | 2018-06-22 | 上海先德机械工程有限公司 | Workpiece feeding feed mechanism |
| CN208584161U (en) * | 2018-07-11 | 2019-03-08 | 青岛北洋天青数联智能股份有限公司 | A kind of washing machine counter weight mounting tool and washing machine installation system |
-
2018
- 2018-07-11 CN CN201810759291.0A patent/CN108526849A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009090442A (en) * | 2007-10-12 | 2009-04-30 | Toyota Motor Corp | Chucking device |
| CN106413999A (en) * | 2014-06-02 | 2017-02-15 | 库卡系统有限责任公司 | Gripping jaw safety device with tongue and groove for HRC |
| CN105059969A (en) * | 2015-08-10 | 2015-11-18 | 苏州均华精密机械有限公司 | Material sheet turnover device and method |
| CN107263046A (en) * | 2017-06-02 | 2017-10-20 | 珠海格力智能装备有限公司 | Installing mechanism and the air conditioner processing unit (plant) with it |
| CN108188814A (en) * | 2018-03-23 | 2018-06-22 | 上海先德机械工程有限公司 | Workpiece feeding feed mechanism |
| CN208584161U (en) * | 2018-07-11 | 2019-03-08 | 青岛北洋天青数联智能股份有限公司 | A kind of washing machine counter weight mounting tool and washing machine installation system |
Non-Patent Citations (1)
| Title |
|---|
| 罗宇华: "《计算机视觉》", 人民邮电出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385909A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Manipulator for assembling V-shaped thrust rod |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205200851U (en) | Flexible grasping system is used in welding | |
| CN203316970U (en) | Robot welding pneumatic roll-over workbench | |
| CN210763085U (en) | Pneumatic balance manipulator | |
| CN205169803U (en) | Automatic rotating device | |
| CN106695784A (en) | Visual control system for robot | |
| CN109319476A (en) | A kind of automatic clamping feeding machinery clamp hand | |
| CN206811470U (en) | A kind of rotating disc type GPS assembling mechanisms | |
| CN107263189A (en) | Auxiliary processing device, semi-automatic assistance processing method and automatic assistance processing method | |
| CN108526849A (en) | A kind of washing machine counter weight mounting tool and washing machine installation system | |
| CN208584161U (en) | A kind of washing machine counter weight mounting tool and washing machine installation system | |
| CN209582969U (en) | A kind of manipulator loading and unloading structure | |
| CN107750119A (en) | A kind of electronic product manipulator for assembling | |
| CN108372514A (en) | A kind of mechanical arm assembly and manipulator | |
| CN213197553U (en) | Anti-shake mechanical arm | |
| CN206436243U (en) | A kind of production line of two Digit Control Machine Tools of mechanical hand-motion | |
| CN206632714U (en) | A kind of rapid interchangeable fixture external member of processing mobile phone Kato | |
| CN211388836U (en) | Self-adaptation cylinder bottle diameter electromechanical clamping jaw | |
| CN207596039U (en) | Cover board fetching device | |
| JPH04115885A (en) | Traveling robot and device therewith | |
| CN213916927U (en) | Automobile rotating shaft assembling manipulator convenient to position | |
| CN106006021A (en) | Automatic material taking and feeding device | |
| CN205838005U (en) | A kind of automatic material taking pay-off | |
| CN205290948U (en) | Electron automatic control's arm | |
| CN207209366U (en) | Auxiliary processing device and feeder | |
| CN208278951U (en) | A kind of full-automatic handling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 266000 Floor 3, Building 4, No. 266, Jiushui East Road, Licang District, Qingdao, Shandong Applicant after: Qingdao Beiyang Tianqing Digital Intelligence Co.,Ltd. Address before: 266000 Building 5, No. 123, Jinrong Road, High tech Zone, Chengyang District, Qingdao, Shandong Applicant before: QINGDAO BYTQ UNITED DIGITAL INTELLIGENCE CO.,LTD. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |
|
| RJ01 | Rejection of invention patent application after publication |