Manipulator structure of pneumatic grabbing mechanism of automatic wire plugging machine

Abstract

The invention discloses a pneumatic grabbing mechanism manipulator structure of an automatic wire plugging machine, which comprises a driving bin, one side of the driving bin is provided with a moving mechanism B, one end of the moving mechanism B is provided with a moving mechanism A, one end of the moving mechanism A is provided with a lifting rod, the bottom of the lifting rod is provided with a mounting plate A, the bottom of the mounting plate A is provided with a fixing plate A, and the bottom of the fixing plate A is provided with a clamping mechanism. A mounting plate B is arranged on one side of the fixing plate A, and a sliding groove is formed in one side of the mounting plate B; under the cooperation of the fixing plate A, the mounting plate B, the mounting frame, the suction cups, the annular pipe, the threaded pipe and the mounting head, in the process that objects need to be grabbed and transported, multiple sets of objects can be grabbed at a time for transportation in a suction mode, and under the action of the multiple suction cups, the objects can be conveniently transported. In the grabbing process, the objects can be effectively arranged, and in the process that the objects are grabbed to other stations, the objects can be effectively prevented from being stacked.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a pneumatic grasping mechanism manipulator structure of an automatic wire insertion machine. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The automatic wire insertion machine also needs to use a manipulator in the process of transporting materials in order to improve work efficiency.

[0003] The current automatic wire insertion machine manipulator has certain shortcomings:

[0004] Generally, when a robot grasps an object, it basically grasps it individually. However, in this way, the grasping efficiency cannot be guaranteed. If a large number of objects need to be processed, the transportation of objects in this way will seriously affect the processing speed of subsequent objects. In addition, the stability of some objects cannot be guaranteed in the grasping process. If the objects are transported too fast, they may fall.

[0005] In order to ensure that the mechanical claw can pick up objects more accurately, the objects need to be sorted before grabbing them. This can effectively prevent the objects from shifting and causing the mechanical claw to be unable to grab the objects. However, some production lines are sorted manually, while some workstations that use mechanical equipment for sorting have more cumbersome sorting operations, which can easily affect the processing speed under certain circumstances. Summary of the invention

[0006] The purpose of the present invention is to provide a pneumatic grasping mechanism manipulator structure and method for an automatic wire insertion machine, so as to solve the problem proposed in the above background technology that the general manipulator basically grasps objects individually during the grasping process, but the grasping efficiency cannot be well guaranteed during this grasping process. If large-scale processing is required, the objects will be transported in this way, which will seriously affect the processing speed of subsequent objects. In addition, some objects cannot be well guaranteed in stability during the grasping process. If the transportation is too fast, these objects may fall. In order to ensure that the mechanical claw can take the objects more accurately, the objects need to be sorted before grabbing them. This can effectively avoid the situation where the objects are offset and the mechanical claw cannot grab the objects. However, some production lines are sorted manually, while some workstations that use mechanical equipment for sorting have relatively cumbersome sorting operations, which can easily affect the processing speed-related problems under certain circumstances.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a pneumatic grasping mechanism manipulator structure of an automatic wire insertion machine comprises a driving warehouse, a moving mechanism B is provided on one side of the driving warehouse, a moving mechanism A is provided on one end of the moving mechanism B, a lifting rod is provided on one end of the moving mechanism A, a mounting plate A is provided at the bottom of the lifting rod, a fixed plate A is provided at the bottom of the mounting plate A, a mounting plate B is provided on one side of the fixed plate A, a slide groove is provided on one side of the mounting plate B, a mounting frame is slidably connected inside the slide groove, an electric rod is hinged on one side of the mounting frame, a hinge A is provided at the top of one side of the fixed plate A, one side of the hinge A is hinged to the hinge B, the hinge B and the fixed plate B are hinged to each other, the output end of the electric rod is connected to the fixed plate B, an annular tube is provided at the bottom of the fixed plate B, a ventilation duct is provided on one side of the top of the annular tube, a plurality of groups of suction cups are evenly provided at the bottom of the annular tube, extension tubes are symmetrically provided on both sides of the suction cup, and a sorting component is provided at the bottom of one side of the fixed plate A.

[0008] Preferably, the sorting assembly consists of an electric cylinder, a baffle, a connecting block, a push plate, an articulated rod A, an articulated rod B, a moving block, a mounting tube and a connecting rod. A mounting tube is provided at the bottom of one side of the fixed plate A, an electric cylinder is provided on one side of the mounting tube, a connecting rod is provided at the output end of the electric cylinder, a moving block is provided on one side of the connecting rod, articulated rods B are symmetrically hinged on both sides of the moving block, a push plate is hinged on one side of the articulated rod B, a connecting block is provided at one end of the connecting rod, an articulated rod A is hinged between the connecting block and the push plate, and a baffle is provided at one end of the connecting block.

[0009] Preferably, a mounting head is provided on the top of the suction cup, and a threaded tube is provided on the outer side of the mounting head.

[0010] Preferably, limit plates are symmetrically provided at both ends of the installation frame, and the limit plates are located inside the slide grooves. One end of the installation plate B is provided with a connecting bolt, and the connecting bolt is connected to the limit plate.

[0011] Preferably, through grooves are symmetrically provided on both sides of the moving block, and the through grooves and the hinge rod B are adapted to each other.

[0012] Preferably, the bottom of the baffle is made of a conical structure, and the baffle is fixedly connected to the connecting block.

[0013] Preferably, a collar is provided at the bottom of the fixing plate A, and the mounting tube is located inside the collar.

[0014] Preferably, a plurality of groups of threaded holes are evenly arranged at the bottom of the annular tube, and the mounting heads are located inside the threaded holes.

[0015] Preferably, a connector is provided on one side of the extension tube, and the connector is connected to the extension tube via a flange.

[0016] Preferably, the moving block is made of a cylindrical structure, and the moving block and the interior of the mounting tube are adapted to each other.

[0017] Compared with the prior art, the present invention provides a pneumatic gripping mechanism manipulator structure of an automatic wire insertion machine, which has the following beneficial effects:

[0018] 1. The present invention, through the cooperation of the fixing plate A, the mounting plate B, the mounting frame, the suction cup, the annular tube, the threaded tube and the mounting head, can grab multiple groups of objects at one time for transportation by means of suction when objects need to be grabbed and transported, and through the action of multiple suction cups, the objects can be effectively arranged during the grabbing process, and in the process of grabbing to other workstations, the objects can be effectively prevented from being stacked, which is convenient for subsequent sorting work, and in the process of transporting the objects, the objects can be prevented from falling, and when the objects arrive at the designated position, the unloading work can be carried out quickly to ensure the efficiency of object transportation.

[0019] 2. Through the cooperation of the electric cylinder, baffle, connecting block, through groove, push plate, articulated rod A, articulated rod B, moving block, mounting tube and connecting rod, when the objects are transported to the bottom of the mechanical claw, the objects can be automatically sorted so that the objects can be neatly arranged in two rows. In the subsequent grasping process of the manipulator, the objects can be transported to the bottom of the manipulator more accurately, so that the manipulator can effectively grasp the objects, preventing deviation during the grasping process and causing some suction cups to fail to grasp the objects. In addition, the sorting operation is simple and does not require multiple operations, thereby ensuring efficiency during the sorting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view of the present invention;

[0021] Figure 2 A bottom view of the annular tube of the present invention;

[0022] Figure 3 It is a front cross-sectional view of the suction cup of the present invention;

[0023] Figure 4 A top sectional view of the electric cylinder of the present invention;

[0024] Figure 5 A three-dimensional diagram of the baffle of the present invention;

[0025] Figure 6 It is a side view of the mounting plate B of the present invention.

[0026] In the figure: 1. drive bin; 2. moving mechanism A; 3. lifting rod; 4. moving mechanism B; 5. ventilation duct; 6. electric rod; 7. mounting plate A; 8. fixed plate A; 9. mounting plate B; 10. mounting frame; 11. electric cylinder; 12. hinge A; 13. hinge B; 14. suction cup; 15. annular tube; 16. threaded tube; 17. mounting head; 18. extension tube; 19. slide groove; 20. connecting rod; 21. fixed plate B; 22. baffle; 23. connecting block; 24. through groove; 25. push plate; 26. articulated rod A; 27. articulated rod B; 28. moving block; 29. ​​mounting tube. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-6The present invention provides a technical solution: a pneumatic gripping mechanism manipulator structure of an automatic wire insertion machine, comprising a driving bin 1, a moving mechanism B4 is provided on one side of the driving bin 1, a moving mechanism A2 is provided on one end of the moving mechanism B4, a lifting rod 3 is provided on one end of the moving mechanism A2, a mounting plate A7 is provided at the bottom of the lifting rod 3, a fixing plate A8 is provided at the bottom of the fixing plate A8, a mounting plate B9 is provided on one side of the fixing plate A8, a slide groove 19 is provided on one side of the mounting plate B9, a mounting frame 10 is slidably connected to the inside of the slide groove 19, and the mounting frame 10 An electric rod 6 is hinged on one side, a hinge A12 is provided on the top of one side of the fixed plate A8, one side of the hinge A12 is hinged to the hinge B13, the hinge B13 and the fixed plate B21 are hinged to each other, the output end of the electric rod 6 is connected to the fixed plate B21, an annular tube 15 is provided at the bottom of the fixed plate B21, a ventilation duct 5 is provided on one side of the top of the annular tube 15, a plurality of groups of suction cups 14 are evenly arranged on the bottom of the annular tube 15, extension tubes 18 are symmetrically provided on both sides of the suction cups 14, and a sorting component is provided at the bottom of one side of the fixed plate A8.

[0029] As a preferred solution of this embodiment: the sorting component is composed of an electric cylinder 11, a baffle 22, a connecting block 23, a push plate 25, an articulated rod A26, an articulated rod B27, a moving block 28, a mounting tube 29 and a connecting rod 20. A mounting tube 29 is provided at the bottom of one side of the fixed plate A8, an electric cylinder 11 is provided on one side of the mounting tube 29, a connecting rod 20 is provided on the output end of the electric cylinder 11, a moving block 28 is provided on one side of the connecting rod 20, and both sides of the moving block 28 are symmetrically hinged with an articulated rod B27, and one side of the articulated rod B27 is hinged with a push plate 25, and the connecting rod A connecting block 23 is provided at one end of 20, and a hinge rod A26 is hinged between the connecting block 23 and the push plate 25. A baffle 22 is provided at one end of the connecting block 23. When the objects are transported to the bottom of the mechanical claw, the objects can be automatically sorted so that the objects can be neatly arranged in two rows. In the subsequent grasping process of the manipulator, the objects can be transported to the bottom of the manipulator more accurately, so that the manipulator can effectively grasp the objects and prevent deviation during the grasping process, which may cause some suction cups 14 to fail to grasp the objects.

[0030] As a preferred solution of this embodiment: a mounting head 17 is provided on the top of the suction cup 14, and a threaded tube 16 is provided on the outer side of the mounting head 17. When a suction cup 14 is damaged, it can be disassembled, thereby facilitating the replacement of the damaged suction cups 14 and improving convenience.

[0031] As a preferred solution of this embodiment: limit plates are symmetrically provided at both ends of the mounting frame 10, and the limit plates are located inside the slide groove 19; a connecting bolt is provided at one end of the mounting plate B9, and the connecting bolt is connected to the limit plate. During subsequent use, the position of the annular tube 15 can be adjusted to ensure that the annular tube 15 can be adjusted to a more suitable position, thereby facilitating the adaptation of multiple groups of parts.

[0032] As a preferred solution of this embodiment: through grooves 24 are symmetrically provided on both sides of the moving block 28, and the through grooves 24 and the hinged rod B27 are adapted to each other, so that the through grooves 24 can extend to the outside of the mounting tube 29 and be flipped. At the same time, during the flipping process, the hinged rod B27 can also slide along the through grooves 24 to ensure stability during the flipping process, so that the hinged rod B27 will not be offset.

[0033] As a preferred solution of this embodiment: the bottom of the baffle 22 is made of a conical structure, and the baffle 22 is fixedly connected to the connecting block 23. During the downward movement of the baffle 22, the objects at the bottom of the displaced baffle 22 can be guided to prevent the objects from accumulating at the bottom of the baffle 22, thereby affecting the downward movement of the baffle 22, and it is also convenient to separate the objects between the connecting block 23 and the push plate 25 for collection.

[0034] As a preferred solution of this embodiment: a ring is provided at the bottom of the fixing plate A8, and the mounting tube 29 is located inside the ring, so as to fix the position of the mounting tube 29 and prevent the mounting tube 29 from being offset and the connection being unstable.

[0035] As a preferred solution of this embodiment: a plurality of groups of threaded holes are evenly arranged at the bottom of the annular tube 15, and the mounting head 17 is located inside the threaded holes, so that the annular tube 15 can be equipped with the suction cup 14, and it is also convenient to disassemble the suction cup 14 for replacement later.

[0036] As a preferred solution of this embodiment: a connector is provided on one side of the extension tube 18, and the connector is connected to the extension tube 18 via a flange, so that the extension tube 18 can be replaced, which is convenient for subsequent adsorption.

[0037] As a preferred solution of this embodiment: the moving block 28 is made of a cylindrical structure, and the moving block 28 and the interior of the mounting tube 29 are adapted to each other. During the movement of 28, it can slide along 29, thereby effectively preventing it from shaking during the sliding process, thereby ensuring stability during the movement process.

[0038] Example 1: Figure 1-6As shown, in the process of grabbing objects, the conveying equipment first conveys the objects to the push plate 25, and then the electric cylinder 11 is started. During the starting process, the electric cylinder 11 pulls the connecting rod 20 and the moving block 28 to move, and the moving block 28 drives the hinged rod B27 to move during the movement. At this time, the hinged rod B27 drives one end of the push plate 25 to move, and the push plate 25 drives the hinged rod A26 to flip over, so that the push plate 25 always remains in a straight line during the movement process without flipping, and during the transportation of objects, due to the limiting effect of the baffle 22, these objects can be pushed to both sides of the baffle 22, and then these objects are conveyed between the baffle 22 and the push plate 25, and then these objects are pressed under the pressure of the lateral movement of the push plate 25, so that these objects are arranged in a straight line, which is convenient for subsequent grabbing.

[0039] Example 2: Figure 1-6 As shown, when all the objects are arranged, the moving mechanism A2 is started. At this time, the moving mechanism A2 slides along the moving mechanism B4. After sliding to the specified position, the lifting rod 3 moves up and down along the moving mechanism A2, so as to adjust the up and down position of the mechanical claw. After the adjustment is completed, the electric rod 6 is started. At this time, the electric rod 6 drives the annular tube 15 and the installation frame 10 to flip. When the annular tube 15 flips to the specified position, the external device is started to generate negative pressure suction inside the annular tube 15, and then the suction cup 14 sucks the object. , thereby adsorbing the object to the bottom of the suction cup 14, and during the adsorption process, the extension tube 18 will also adsorb both sides of the object, so that multiple positions of the object can be affected by the suction force, thereby ensuring the stability of the adsorption process and preventing the object from falling. Then control the movement of the equipment to move the annular tube 15 to the specified position, and then stop the external electrical equipment to make the inside of the annular tube 15 lose the negative pressure suction, the suction cup 14 and the extension tube 18 no longer adsorb the object, and then the object falls from the bottom of the suction cup 14, completing the object transportation work.

[0040] Working principle: In the process of grabbing objects, the conveying equipment first conveys the objects to the push plate 25, and then the electric cylinder 11 is started. During the starting process, the electric cylinder 11 pulls the connecting rod 20 and the moving block 28 to move. During the moving process, the moving block 28 drives the hinged rod B27 to move. At this time, the hinged rod B27 drives one end of the push plate 25 to move. At this time, the push plate 25 drives the hinged rod A26 to flip, so that the push plate 25 always remains in a straight line during the moving process without flipping. In addition, during the transportation of objects, due to the limiting effect of the baffle 22, these objects can be pushed to both sides of the baffle 22, and then these objects are conveyed between the baffle 22 and the push plate 25. Then, under the pressure of the lateral movement of the push plate 25, these objects are pressed, so that these objects are arranged in a straight line, which is convenient for subsequent grabbing.

[0041] After all the objects are arranged, the moving mechanism A2 is started. At this time, the moving mechanism A2 slides along the moving mechanism B4. After sliding to the specified position, the lifting rod 3 moves up and down along the moving mechanism A2, so as to adjust the up and down position of the mechanical claw. After the adjustment is completed, the electric rod 6 is started. At this time, the electric rod 6 drives the annular tube 15 and the mounting frame 10 to flip. When the annular tube 15 flips to the specified position, the external equipment is started to generate negative pressure suction inside the annular tube 15, and then the suction cup 14 sucks the object, so that the object is adsorbed to the bottom of the suction cup 14, and during the adsorption process, the extension tube 18 will also adsorb both sides of the object, so that multiple positions of the object can be affected by the suction, so as to ensure the stability during the adsorption process and prevent the object from falling. Then the equipment is controlled to move, and the annular tube 15 is moved to the specified position. At this time, the external electrical equipment is stopped, so that the negative pressure suction inside the annular tube 15 is lost, and the suction cup 14 and the extension tube 18 no longer adsorb the object, and then the object falls from the bottom of the suction cup 14, completing the object transportation work.

[0042] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A pneumatic gripping mechanism manipulator structure of an automatic wire insertion machine, comprising a drive bin (1), characterized in that: A moving mechanism B (4) is provided on one side of the driving bin (1), a moving mechanism A (2) is provided on one end of the moving mechanism B (4), a lifting rod (3) is provided on one end of the moving mechanism A (2), a mounting plate A (7) is provided at the bottom of the lifting rod (3), a fixing plate A (8) is provided at the bottom of the fixing plate A (7), a mounting plate B (9) is provided on one side of the fixing plate A (8), a sliding groove (19) is provided on one side of the fixing plate B (9), a mounting frame (10) is slidably connected to the inside of the sliding groove (19), an electric rod (6) is hinged on one side of the mounting frame (10), and the fixing plate A ( A hinged part A (12) is provided at the top of one side of the electric rod (6), one side of the hinged part A (12) is hinged to a hinged part B (13), the hinged part B (13) and a fixed plate B (21) are hinged to each other, the output end of the electric rod (6) is connected to the fixed plate B (21), an annular tube (15) is provided at the bottom of the fixed plate B (21), a ventilation duct (5) is provided at one side of the top of the annular tube (15), a plurality of groups of suction cups (14) are evenly provided at the bottom of the annular tube (15), extension tubes (18) are symmetrically provided on both sides of the suction cups (14), and a sorting component is provided at the bottom of one side of the fixed plate A (8).

2. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: The arranging assembly is composed of an electric cylinder (11), a baffle (22), a connecting block (23), a push plate (25), an articulated rod A (26), an articulated rod B (27), a moving block (28), a mounting tube (29) and a connecting rod (20). A mounting tube (29) is provided at the bottom of one side of the fixed plate A (8), one side of the mounting tube (29) is provided with an electric cylinder (11), an output end of the electric cylinder (11) is provided with a connecting rod (20), one side of the connecting rod (20) is provided with a moving block (28), both sides of the moving block (28) are symmetrically hinged with articulated rods B (27), one side of the articulated rod B (27) is hinged with a push plate (25), one end of the connecting rod (20) is provided with a connecting block (23), an articulated rod A (26) is hinged between the connecting block (23) and the push plate (25), and one end of the connecting block (23) is provided with a baffle (22).

3. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: A mounting head (17) is provided on the top of the suction cup (14), and a threaded tube (16) is provided on the outer side of the mounting head (17).

4. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: The two ends of the installation frame (10) are symmetrically provided with limit plates, and the limit plates are located inside the slide groove (19); one end of the installation plate B (9) is provided with a connecting bolt, and the connecting bolt is connected to the limit plate.

5. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 2 is characterized in that: Through slots (24) are symmetrically provided on both sides of the moving block (28), and the through slots (24) and the hinge rod B (27) are adapted to each other.

6. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 2 is characterized in that: The bottom of the baffle (22) is made of a conical structure, and the baffle (22) is fixedly connected to the connecting block (23).

7. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: A collar is provided at the bottom of the fixing plate A (8), and the mounting tube (29) is located inside the collar.

8. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: The bottom of the annular tube (15) is evenly provided with a plurality of groups of threaded holes, and the mounting head (17) is located inside the threaded holes.

9. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 1 is characterized in that: A connector is provided on one side of the extension pipe (18), and the connector is connected to the extension pipe (18) via a flange.

10. The pneumatic gripping mechanism manipulator structure of the automatic wire insertion machine according to claim 2, characterized in that: The moving block (28) is made of a cylindrical structure, and the moving block (28) and the interior of the mounting tube (29) are adapted to each other.

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