Robot gripper for overturning inner tank of multi-type refrigerator

Abstract

The utility model provides a robot hand claw of turning over multi -type refrigerator inner container relates to refrigerator manufacturing field. The robot hand claw of turning over multi -type refrigerator inner container includes frame part, first robot hand claw fixed mounting is in frame part, width adjustment subassembly is installed in frame part, second robot hand claw is installed in width adjustment subassembly, and forms the clamping space with first robot hand claw, and first robot hand claw and second robot hand claw can mutually cooperate and hold refrigerator inner container to reverse refrigerator inner container, width adjustment subassembly can adjust the width of clamping space between second robot hand claw and first robot hand claw. The robot hand claw of turning over multi -type refrigerator inner container provided by the utility model can be in flexible production line to each type refrigerator inner container mixed production turnover, satisfies the width identification and automatic regulation when mixed production, realizes each type refrigerator inner container mixed production turnover.

Description

Technical Field

[0001] This utility model relates to the field of refrigerator manufacturing, and more specifically, to a robotic gripper for flipping the inner liner of various types of refrigerators. Background Technology

[0002] On the refrigerator assembly line, various refrigerator liners need to be rotated 180 degrees and precisely placed inside the refrigerator shell. Traditionally, this is done manually or by using a single-function robotic gripper to rotate some of the refrigerator liners. Currently, robotic grippers cannot automatically recognize and grasp different widths of grippers, making it impossible to mix refrigerators of different widths in production. Utility Model Content

[0003] To overcome the aforementioned shortcomings in the prior art, the purpose of this utility model is to provide a robotic gripper for flipping various types of refrigerator liners. This robotic gripper can handle mixed production and flipping of different types of refrigerator liners in flexible production lines; it can recognize and automatically adjust the width during mixed production, thus achieving mixed production and flipping of different types of refrigerator liners.

[0004] This utility model provides a robotic gripper for flipping various types of refrigerator liners. The robotic gripper for flipping various types of refrigerator liners includes: Frame components; The first robotic gripper is fixedly mounted on the frame component; A width adjustment component, the width adjustment component being mounted on the frame component; The second robotic gripper is mounted on the width adjustment component and forms a clamping space with the first robotic gripper. The first robotic gripper and the second robotic gripper can cooperate to clamp the refrigerator liner to reverse the refrigerator liner. The width adjustment component can adjust the width of the clamping space between the second robotic gripper and the first robotic gripper.

[0005] Further, in an optional embodiment, the width adjustment component includes a width sensor, an adjustment drive structure, and a gripper mounting component. The second robot gripper is mounted on the gripper mounting component, and the gripper mounting component is slidably engaged with the frame component. The width sensor is mounted on the gripper mounting component, and the adjustment drive structure is mounted on the frame component and is drively connected to the gripper mounting component, so that the gripper mounting component slides relative to the frame component, thereby adjusting the width of the clamping space.

[0006] Further, in an optional embodiment, the adjustment drive structure includes an adjustment motor, a transmission wheel, and a transmission belt. The adjustment motor is mounted on the frame component, the transmission wheel is driven by the adjustment motor, the transmission belt is driven by the transmission wheel, the gripper mounting component is fixed on the transmission belt, the adjustment motor drives the transmission wheel to rotate, the transmission wheel drives the transmission belt to move, and the transmission belt drives the gripper mounting component to move linearly.

[0007] Furthermore, in an optional embodiment, the frame component is provided with a first linear guide rail, and the gripper mounting component is provided with a second linear guide rail that slides in cooperation with the first linear guide rail. When the transmission belt drives the gripper mounting component to move, it can drive the second linear guide rail to slide along the first linear guide rail.

[0008] Furthermore, in an optional embodiment, the second linear guide rail includes two sets, respectively disposed on both sides of the gripper mounting member, the first linear guide rail corresponds to the second linear guide rail, and the transmission belt is connected to the middle of the gripper mounting member.

[0009] Further, in an optional embodiment, the second robot gripper includes a gripper assembly, a gripper chuck, and a clamping cylinder. The gripper assembly is connected to the gripper mounting component, the clamping cylinder is mounted on the gripper assembly, and the clamping cylinder is throttle-connected to the gripper chuck.

[0010] Furthermore, in an optional embodiment, the second robotic gripper further includes an arc-shaped baffle connected to the gripper assembly.

[0011] Furthermore, in an optional embodiment, the arc-shaped baffle is provided with a mounting hole, through which the gripper head protrudes.

[0012] Furthermore, in an optional embodiment, the second robotic gripper further includes a pad block connected to the gripper gripper head.

[0013] Furthermore, in an optional embodiment, an aluminum support plate is provided at the middle and rear part of the frame component.

[0014] Compared with the prior art, this utility model has the following advantages: The frame component is used to install components such as the width adjustment component and the first robot gripper. The first and second robot grippers are used to form a clamping space and clamp the refrigerator liner. In this utility model embodiment, the width adjustment component is installed on the frame component, and the second robot gripper is installed on the width adjustment component. The width adjustment component enables the second robot gripper to move relative to the frame component, that is, the width adjustment component can adjust the distance between the second robot gripper and the first robot gripper, thereby adjusting the width of the clamping space to accommodate air conditioner liners of different widths. The robot gripper for flipping multiple types of refrigerator liners provided in this utility model embodiment can perform mixed production flipping and handling of various types of refrigerator liners in a flexible production line; it meets the requirements of width recognition and automatic adjustment during mixed production, realizing mixed production flipping and handling of various types of refrigerator liners. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the structure of the robotic gripper for flipping various types of refrigerator liners provided in an embodiment of this utility model; Figure 2 A schematic diagram of the structure of the robotic gripper for flipping the inner liner of multiple types of refrigerators provided in an embodiment of this utility model, from another perspective. Figure 3 This is a schematic diagram of the structure of the second robotic gripper provided in an embodiment of the present invention.

[0017] Icons: 100. Robotic gripper for flipping various types of refrigerator liners; 101. Gripping space; 110. Frame component; 111. First linear guide rail; 112. Aluminum pallet; 120. First robotic gripper; 130. Width adjustment component; 131. Width sensor; 132. Adjustment drive structure; 1321. Adjustment motor; 1322. Transmission wheel; 1323. Transmission belt; 133. Gripper mounting component; 1331. Second linear guide rail; 140. Second robotic gripper; 141. Gripper assembly; 142. Gripper chuck; 143. Clamping cylinder; 144. Arc-shaped baffle; 1441. Mounting hole; 145. Pad. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Please see Figure 1 This utility model provides a robotic gripper 100 for flipping various types of refrigerator liners. This robotic gripper 100 can handle mixed production and flipping of different types of refrigerator liners in a flexible production line; it can recognize and automatically adjust the width during mixed production, thus achieving mixed production and flipping of different types of refrigerator liners.

[0025] like Figure 1 and Figure 2 As shown, the robotic gripper 100 for flipping various types of refrigerator liners is used to flip refrigerator liners by grasping and clamping them, and then flipping and transporting the refrigerator liners. The robotic gripper 100 for flipping various types of refrigerator liners includes: a frame component 110; a first robotic gripper 120, which is fixedly mounted on the frame component 110; a width adjustment component 130, which is mounted on the frame component 110; and a second robotic gripper 140, which is mounted on the width adjustment component 130 and forms a clamping space 101 with the first robotic gripper 120. The first robotic gripper 120 and the second robotic gripper 140 can cooperate to clamp the refrigerator liners to flip them. The width adjustment component 130 can adjust the width of the clamping space 101 between the second robotic gripper 140 and the first robotic gripper 120.

[0026] It should be noted that, in this embodiment of the present invention, the frame component 110 is used to install components such as the width adjustment component 130 and the first robot gripper 120. The first robot gripper 120 and the second robot gripper 140 are used to form the clamping space 101 and clamp the refrigerator liner. In this embodiment of the present invention, the width adjustment component 130 is mounted on the frame component 110, and the second robot gripper 140 is mounted on the width adjustment component 130. The width adjustment component 130 enables the second robot gripper 140 to move relative to the frame component 110, that is, the width adjustment component 130 can adjust the distance between the second robot gripper 140 and the first robot gripper 120, thereby adjusting the width of the clamping space 101 to accommodate air conditioner liners of different widths. The robot gripper 100 for flipping multiple types of refrigerator liners provided in this embodiment of the present invention can perform mixed production flipping and handling of various types of refrigerator liners in a flexible production line; it meets the requirements of width recognition and automatic adjustment during mixed production, realizing mixed production flipping and handling of various types of refrigerator liners.

[0027] It should also be noted that the frame component 110 can be assembled from high-strength aluminum alloy profiles using connectors and fasteners to form a robust rectangular main frame that conforms to the contour of the refrigerator's inner liner opening. This assembly structure not only achieves lightweighting and reduces the robot's load requirements but also ensures sufficient structural rigidity to withstand the tilting inertial moment. In an optional embodiment, an aluminum support plate 112 is provided at the middle and rear of the frame component 110. The aluminum support plate 112, located at the middle and rear of the frame, is used to support the crossbeams of the French-style refrigerator's inner liner, ensuring that the refrigerator remains flat during gripping.

[0028] like Figure 3 As shown, in an optional embodiment, the width adjustment assembly 130 includes a width sensor 131, an adjustment drive structure 132, and a gripper mounting component 133. The second robot gripper 140 is mounted on the gripper mounting component 133, and the gripper mounting component 133 is slidably engaged with the frame component 110. The width sensor 131 is mounted on the gripper mounting component 133, and the adjustment drive structure 132 is mounted on the frame component 110 and is connected to the gripper mounting component 133 in a transmission manner, so that the gripper mounting component 133 slides relative to the frame component 110, thereby adjusting the width of the clamping space 101.

[0029] It should be noted that the gripper mounting component 133 is used to mount the second robot gripper 140 and slides in cooperation with the frame component 110. The adjustment drive structure 132 is mounted on the frame component 110 and is connected to the gripper mounting component 133 for driving the gripper mounting component 133 to slide relative to the frame component 110. The width sensor 131 is used to sense the width of the refrigerator liner so that the adjustment drive structure 132 can adjust the gripper mounting component 133 and the second robot gripper 140.

[0030] Optionally, the width sensor 131 can be a width-sensing limit switch, which is electrically connected to the adjustment drive structure 132 to adjust the gripper mounting 133 and the second robot gripper 140 mounted on the gripper mounting 133. Of course, it is not limited to this. In other embodiments of this utility model, the width sensor 131 can also be other structures, and this utility model does not make specific requirements or limitations on this.

[0031] Further, in an optional embodiment, the adjustment drive structure 132 includes an adjustment motor 1321, a transmission wheel 1322, and a transmission belt 1323. The adjustment motor 1321 is mounted on the frame component 110, the transmission wheel 1322 is connected to the adjustment motor 1321, the transmission belt 1323 is connected to the transmission wheel 1322, and the gripper mounting component 133 is fixed on the transmission belt 1323. The adjustment motor 1321 is used to drive the transmission wheel 1322 to rotate, the transmission wheel 1322 is used to drive the transmission belt 1323 to move, and the transmission belt 1323 is used to drive the gripper mounting component 133 to move linearly. The adjusting motor 1321 is mounted on the frame component 110. The transmission wheel 1322 is used to cooperate with the transmission belt 1323, which is connected to the gripper mounting component 133. Through the transmission wheel 1322 and the transmission belt 1323, the output motion of the adjusting motor 1321 is converted into the linear motion of the gripper mounting component 133, thereby realizing the position adjustment of the second robot gripper 140 relative to the first robot gripper 120, so that the first robot gripper 120 and the second robot gripper 140 can clamp the refrigerator liner, realizing the flipping and handling of the refrigerator liner. Synchronous belt drive has the characteristics of smoothness, low noise, and long transmission distance, and can realize the adjustment of the gripper mounting component 133 and the clamping space 101.

[0032] It should be noted that the transmission method of the adjustment drive structure 132 is not limited to the transmission belt 1323 and the transmission wheel 1322. In other embodiments of this utility model, the adjustment drive structure 132 can also adopt other transmission methods, such as cylinders, gear rack and pinion structures, etc. This utility model does not make specific requirements or limitations in this regard. Optionally, the adjustment motor 1321 can be a servo motor.

[0033] Furthermore, in an optional embodiment, the frame component 110 is provided with a first linear guide rail 111, and the gripper mounting component 133 is provided with a second linear guide rail 1331 that slides with the first linear guide rail 111. When the transmission belt 1323 drives the gripper mounting component 133 to move, it can drive the second linear guide rail 1331 to slide along the first linear guide rail 111.

[0034] As shown in the figure, optionally, in this embodiment, the second linear guide rail 1331 includes two sets, which are respectively disposed on both sides of the gripper mounting member 133. The first linear guide rail 111 corresponds to the second linear guide rail 1331, and the transmission belt 1323 is connected to the middle of the gripper mounting member 133.

[0035] It should be noted that the first linear guide rail 111 and the second linear guide rail 1331 can precisely guide the second robot gripper 140, ensuring smooth and wobbly movement. In this embodiment of the invention, the adjusting motor 1321 drives the gripper mounting piece 133, which is equipped with the width sensor 131, to move via the transmission wheel 1322 and the transmission belt 1323. When the width sensor 131 confirms that it has contacted the actual side of the refrigerator liner, the adjusting motor 1321 immediately stops, thereby accurately matching the current width of the refrigerator liner. In addition, since the condenser tube is slidable, it can be filtered out by the width sensor 131 with appropriate force during the edge-finding process, avoiding false triggering.

[0036] As shown in the figure, in an optional embodiment, the second robot gripper 140 includes a gripper assembly 141, a gripper chuck 142, and a clamping cylinder 143. The gripper assembly 141 is connected to the gripper mounting component 133, the clamping cylinder 143 is mounted on the gripper assembly 141, and the clamping cylinder 143 is connected to the gripper chuck 142 in a transmission connection.

[0037] It should be noted that the first robot gripper 120 and the second robot gripper 140 can adopt similar or identical structures. Furthermore, the arc-shaped baffle 144 is provided with mounting holes 1441, through which the gripper 142 protrudes. In an optional embodiment, the second robot gripper 140 further includes an arc-shaped baffle 144, which is connected to the gripper assembly 141. The arc-shaped baffle 144 is mainly used for guidance and has an anti-snagging function. Arc-shaped baffles 144 are installed on both sides of the opening of each gripper 142 (i.e., at the positions corresponding to the mounting holes 1441) to ensure that the condenser tubes do not snag on the grippers when released from the housing.

[0038] Furthermore, in an optional embodiment, the second robotic gripper 140 further includes a pad 145, which is connected to the gripper chuck 142. Optionally, the pad 145 may be made of polyurethane material, which has moderate elasticity, a high coefficient of friction, and excellent wear resistance. This effectively prevents hard contact from scratching the surface of the refrigerator liner and increases friction to prevent the refrigerator liner from slipping during the flipping process.

[0039] Please refer to the following: Figures 1 to 3The present invention provides a robotic gripper 100 for flipping multiple types of refrigerator liners: a frame component 110 is used to install components such as a width adjustment component 130 and a first robotic gripper 120. The first robotic gripper 120 and the second robotic gripper 140 are used to form a clamping space 101 and clamp the refrigerator liners. In this embodiment, the width adjustment component 130 is mounted on the frame component 110, and the second robotic gripper 140 is mounted on the width adjustment component 130. The width adjustment component 130 enables the second robotic gripper 140 to move relative to the frame component 110, that is, the width adjustment component 130 can adjust the distance between the second robotic gripper 140 and the first robotic gripper 120, thereby adjusting the width of the clamping space 101 to accommodate air conditioner liners of different widths. The robotic gripper 100 for flipping multiple types of refrigerator liners provided in this embodiment can perform mixed production flipping and handling of various types of refrigerator liners in a flexible production line; it meets the requirements of width recognition and automatic adjustment during mixed production, realizing mixed production flipping and handling of various types of refrigerator liners.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The above descriptions are merely various embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robotic gripper for flipping various types of refrigerator liners, characterized in that, The robotic gripper for flipping various types of refrigerator liners includes: Frame components; The first robotic gripper is fixedly mounted on the frame component; A width adjustment component, the width adjustment component being mounted on the frame component; The second robotic gripper is mounted on the width adjustment component and forms a clamping space with the first robotic gripper. The first robotic gripper and the second robotic gripper can cooperate to clamp the refrigerator liner to reverse the refrigerator liner. The width adjustment component can adjust the width of the clamping space between the second robotic gripper and the first robotic gripper.

2. The robotic gripper for flipping multiple types of refrigerator liners according to claim 1, characterized in that, The width adjustment assembly includes a width sensor, an adjustment drive structure, and a gripper mounting component. The second robot gripper is mounted on the gripper mounting component, and the gripper mounting component is slidably engaged with the frame component. The width sensor is mounted on the gripper mounting component, and the adjustment drive structure is mounted on the frame component and is connected to the gripper mounting component for transmission, so that the gripper mounting component slides relative to the frame component, thereby adjusting the width of the clamping space.

3. The robotic gripper for flipping various types of refrigerator liners according to claim 2, characterized in that, The adjustment drive structure includes an adjustment motor, a transmission wheel, and a transmission belt. The adjustment motor is mounted on the frame component. The transmission wheel is driven by the adjustment motor. The transmission belt is driven by the transmission wheel. The gripper mounting component is fixed on the transmission belt. The adjustment motor drives the transmission wheel to rotate. The transmission wheel drives the transmission belt to move. The transmission belt drives the gripper mounting component to move linearly.

4. The robotic gripper for flipping various types of refrigerator liners according to claim 3, characterized in that, The frame component is provided with a first linear guide rail, and the gripper mounting component is provided with a second linear guide rail that slides in cooperation with the first linear guide rail. When the transmission belt drives the gripper mounting component to move, it can drive the second linear guide rail to slide along the first linear guide rail.

5. The robotic gripper for flipping various types of refrigerator liners according to claim 4, characterized in that, The second linear guide rail includes two sets, which are respectively disposed on both sides of the gripper mounting component. The first linear guide rail corresponds to the second linear guide rail, and the transmission belt is connected to the middle of the gripper mounting component.

6. The robotic gripper for flipping multiple types of refrigerator liners according to any one of claims 2-5, characterized in that, The second robot gripper includes a gripper assembly, a gripper chuck, and a clamping cylinder. The gripper assembly is connected to the gripper mounting component, the clamping cylinder is mounted on the gripper assembly, and the clamping cylinder is connected to the gripper chuck for transmission.

7. The robotic gripper for flipping various types of refrigerator liners according to claim 6, characterized in that, The second robot gripper also includes an arc-shaped baffle, which is connected to the gripper assembly.

8. The robotic gripper for flipping multiple types of refrigerator liners according to claim 7, characterized in that, The arc-shaped baffle is provided with mounting holes, and the gripper head protrudes from the mounting holes.

9. The robotic gripper for flipping multiple types of refrigerator liners according to claim 6, characterized in that, The second robotic gripper also includes a pad, which is connected to the gripper chuck.

10. The robotic gripper for flipping multiple types of refrigerator liners according to any one of claims 1-5, characterized in that, An aluminum support plate is provided in the middle and rear part of the frame component.

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