Clamp jaw driving mechanism, clamp jaw mechanism, and wire harness clamp jaw transfer device

Abstract

The application discloses a clamping jaw driving mechanism, a clamping jaw mechanism and a wire harness clamping jaw transfer device. The clamping jaw driving mechanism is used for driving a first clamping jaw and a second clamping jaw to translate on a same guide shaft. The clamping jaw mechanism comprises a first clamping jaw, a second clamping jaw, a third clamping jaw and a fourth clamping jaw which are movably arranged on the same guide shaft. The wire harness clamping jaw transfer device comprises the clamping jaw driving mechanism, the clamping jaw mechanism and a turnover assembly. The wire harness clamping jaw device designed according to the scheme is mainly used for clamping wire harness, butt-jointing two wire harnesses, sleeving a sleeve at a butt-jointing position and transporting the whole wire harness during riveting, sleeving and heat shrinking of the wire harness. The clamping jaw has high efficiency and high precision.

Description

Technical Field

[0001] This invention relates to the field of wire harness gripper technology, and specifically to a gripper drive mechanism, a gripper mechanism, and a wire harness gripper transfer device. Background Technology

[0002] Riveting, sleeve, and heat shrinking are common processes in wire harness manufacturing. These include riveting, sleeve, and heat shrinking of single wire harnesses, as well as riveting, sleeve, and heat shrinking of two wire harnesses after they are joined. In the traditional process of processing two wire harnesses, the two wire harnesses are joined manually. After joining, they are transferred to a riveting machine for riveting at the joint. After riveting, the riveted area is protected with a sleeve, and finally, heat shrinking is performed. The entire process consumes a lot of manpower and resources, and the processing accuracy cannot be guaranteed, which affects the production quality of the wire harness.

[0003] It should be noted that the above description of the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of the present invention and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this invention. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings, the present invention aims to provide a gripper drive mechanism, a gripper mechanism, and a wire harness gripper transfer device, thereby effectively solving the above-mentioned technical problems.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a gripper driving mechanism, wherein the gripper driving mechanism is used to drive a first gripper and a second gripper to translate on the same guide shaft; the gripper driving mechanism includes:

[0006] A driving device is used to drive the first gripper to translate on the guide shaft;

[0007] An adapter block is fixedly connected to the second gripper and moves synchronously with the second gripper.

[0008] Positioning pins are provided, which correspond to the positioning holes opened on the adapter block;

[0009] A telescopic electric cylinder, wherein the base of the telescopic electric cylinder is fixedly connected to the first gripper, and the piston rod of the telescopic electric cylinder is correspondingly arranged with the adapter block;

[0010] A locking block is movably mounted on the adapter block, and the locking block is correspondingly mounted to the piston rod of the telescopic electric cylinder.

[0011] During the riveting and sleeve application of wire harnesses, due to the considerable length of the harnesses, two parallel jaws are required to simultaneously clamp one harness. During the docking of two harnesses, these jaws need to meet two requirements: simultaneous movement of both jaws and movement of one jaw while the other remains stationary. The aforementioned solution discloses a structure that can simultaneously satisfy both of these requirements. Its specific working principle is as follows:

[0012] 1. When the first and second grippers need to move simultaneously, the locking block locks the piston rod of the telescopic electric cylinder, and the telescopic electric cylinder does not work. At this time, the piston rod of the telescopic electric cylinder is fixedly connected to the adapter block, and the base of the telescopic electric cylinder is fixedly connected to the first gripper. Therefore, when the drive device drives the first gripper to move horizontally, the first gripper will drive the adapter block to move synchronously. The adapter block is fixedly connected to the second gripper, so the first and second grippers move synchronously.

[0013] 2. When only the first gripper needs to move while the second gripper remains stationary, the locking block no longer locks the piston rod of the telescopic electric cylinder. During operation, the piston rod of the telescopic electric cylinder can extend and retract. First, a positioning pin is inserted into the positioning hole on the adapter block to limit the adapter block and keep it stationary. At this time:

[0014] If the first gripper needs to move inward, the drive device is not activated, and the telescopic electric cylinder starts to work. When the piston rod of the telescopic electric cylinder extends, it will press against the adapter block, and the adapter block is limited and cannot move. Therefore, the reaction force of the telescopic electric cylinder will act directly on the first gripper it is connected to, thereby realizing the movement of the first gripper inward.

[0015] If the first gripper needs to move outward, the drive unit is activated while the telescopic electric cylinder is deactivated. At this time, when the drive unit moves the first gripper, the adapter block is limited and cannot move. In addition, since the telescopic cylinder of the telescopic electric cylinder is not locked, there is no linkage structure between the first gripper and the adapter block. Therefore, even if the adapter block is limited, it will not affect the movement of the first gripper.

[0016] In summary, the beneficial effects of the above-mentioned invention are: enabling the two grippers in the gripper mechanism to move simultaneously and for one gripper to move while the other remains stationary, thereby achieving high gripper operation accuracy and strong controllability.

[0017] Furthermore, the driving device includes a first telescopic cylinder and a connecting rod. One end of the connecting rod is hinged to the working end of the first telescopic cylinder, and the other end of the connecting rod is hinged to the first gripper. The first telescopic cylinder and the first gripper adopt a connecting rod structure, which can convert the driving force of the first telescopic cylinder, thereby driving the first gripper to translate on the guide shaft.

[0018] Furthermore, the piston rod end of the telescopic electric cylinder is provided with a locking block, and the locking block is provided with a locking groove corresponding to the locking block; the structure of the locking block locking the piston rod of the telescopic electric cylinder is such that when the locking block at the end of the piston rod is engaged in the locking groove on the locking block, the locking block can lock the piston rod.

[0019] Furthermore, the positioning pin is connected to the working end of the second telescopic cylinder, and the working end of the second telescopic cylinder is also connected to the pressure block. The pressure block is correspondingly arranged with the locking block. A return spring is provided on the adapter block, and the return spring is connected to the locking block. The positioning pin realizes the lifting function by connecting to the second telescopic cylinder, and the working end of the second telescopic cylinder is also connected to the pressure block. The specific working principle is as follows:

[0020] In its initial state, the piston rod of the telescopic electric cylinder extends into the adapter block, and the locking block at the end of the telescopic rod engages in the slot of the locking block. The locking block can lock the piston rod of the telescopic electric cylinder, and the first and second grippers can move synchronously. When it is necessary to keep the second gripper stationary and allow the first gripper to move independently, the second telescopic cylinder drives the positioning pin downward to insert into the positioning hole on the adapter block, limiting the position of the adapter block. At the same time, the telescopic cylinder drives the pressure block downward, which applies pressure to the locking block. As the locking block moves downward, the spring is compressed, and the locking block at the end of the piston rod disengages from the slot. The locking block no longer locks the piston rod, and the piston rod can extend and retract. When the second telescopic cylinder drives the pressure block upward, the locking block is no longer under pressure, and the spring's rebound force can reset the locking block to continue locking the piston rod.

[0021] The present invention also discloses a gripper mechanism, comprising:

[0022] The first gripper, the second gripper, the third gripper, and the fourth gripper are movably mounted on the same guide shaft;

[0023] In the aforementioned gripper drive mechanism, one gripper drive mechanism is used to drive the first gripper and the second gripper to translate on the guide shaft, and the other gripper drive mechanism is used to drive the third gripper and the fourth gripper to translate on the guide shaft.

[0024] In the process of riveting and sleeve-fitting two wire harnesses, the two wire harnesses need to be joined from both sides first. After joining, a riveting machine is used to rivet the joint of the two wire harnesses. After riveting, sleeve-fitting is performed at the riveted area. The gripper mechanism disclosed in the above solution can automatically complete the entire process of riveting and sleeve-fitting two wire harnesses. The specific principle is as follows:

[0025] The first wire harness is gripped by the first and second jaws, and the second wire harness is gripped by the third and fourth jaws. Since both sets of jaws (first and second, third and fourth) are driven by the jaw drive mechanism described above, the first and second jaws can move synchronously, or the first jaw can move independently while the second jaw remains stationary; similarly, the third and fourth jaws can move synchronously, or the third jaw can move independently while the fourth jaw remains stationary. Therefore, the first and second jaws are first controlled to move inward synchronously, and the third and fourth jaws move inward synchronously as well. This brings the two wire harnesses closer together, creating a mating point at their ends. Then, a riveting machine is used to rivet the ends at the mating point. After riveting is completed... Since the sleeves to be fitted onto the wire harnesses at the riveting points have been pre-fitted onto the wire harnesses using other methods before riveting, after the two wire harnesses are riveted, the first and third clamps are controlled to move outwards (when the first and third clamps move outwards, the clamping blocks of the clamps are released and the wire harnesses are not clamped, so the first and third clamps will not move the head end of the wire harnesses during the movement). While the first and third clamps move outwards, the second and fourth clamps remain stationary. When the first and third clamps move outwards to abut the sleeves on the wire harnesses, they stop moving outwards and begin to move inwards with the sleeves. The sleeves move to the riveting point of the two wire harnesses, thus completing the work of the sleeves at the riveting point.

[0026] In summary, the beneficial effects of the above-mentioned invention are as follows: the four grippers in a set, in conjunction with the gripper drive mechanism in the above-mentioned solution, can effectively realize a series of operations such as docking, riveting, and sleeve installation of two wire harnesses, making the gripper operation highly accurate and easy to control.

[0027] Furthermore, the first, second, third, and fourth clamps form a wire clamping structure for simultaneously clamping two wire harnesses; the clamping mechanism is provided with several sets of wire clamping structures with the same structure arranged in parallel; this structure can realize that the double wire harness riveting sleeve work can be carried out in multiple groups at the same time, thereby effectively improving work efficiency.

[0028] Furthermore, sliders are provided at both ends of the guide shaft, and the sliders are movably mounted on a straight track on the mounting plate. A first magnetic attraction structure is provided on the inner side of the first gripper and the inner side of the third gripper. A second magnetic attraction structure acting on the slider is provided on the mounting plate.

[0029] In the above-mentioned simultaneous riveting of multiple sets of double wire harness sleeves, due to the limited workspace of the riveting machine, multiple sets of wire harnesses need to be riveted one group at a time. Additionally, when the clamps pick up the wire harnesses, due to the small size of the wire harness fixture, multiple clamping structures are also needed to clamp the wires one group at a time. However, since these clamping structures are arranged in parallel, it is necessary to use an action of extending and retracting each clamp individually. The specific principle is as follows:

[0030] When the gripper in the wire clamping structure needs to be translated, the second magnetic attraction mechanism on the mounting plate will hold the slider, thus preventing the slider from moving on the straight track. In this way, the guide shaft cannot be translated up and down, and the gripper in the wire clamping structure cannot be lifted up and down, but can only be translated.

[0031] When the grippers in the clamping structure need to extend in groups, the first and third grippers are brought together first, so that the first magnetic attraction mechanism located inside the first and third grippers attracts the two grippers. At the same time, the second magnetic attraction mechanism located on the mounting plate no longer attracts the slider, so that the slider can move on the linear track. At this time, when the telescopic cylinder pushes the connecting rod, the entire group of grippers will rise and fall together with the guide shaft, thereby realizing the action of extending and retracting the grippers one by one.

[0032] The present invention also discloses a wire harness gripper transfer device, comprising:

[0033] The aforementioned gripper mechanism;

[0034] A flipping component, which drives the gripper mechanism to flip;

[0035] A translation component that drives the gripper mechanism to translate.

[0036] The wire harness clamping and transfer device disclosed in this invention has the structure of the above two schemes, thereby automatically completing the clamping and transfer of wire harnesses, assisting wire harnesses in riveting, sleeve and heat shrinking and other processing, without consuming a lot of manpower and material resources, while ensuring processing accuracy and not affecting the production quality of wire harnesses.

[0037] The specific working principle is as follows:

[0038] 1. Wire Harness Clamping: The wire harness is placed in the jig tray. Multiple sets of parallel clamping structures need to extend one group at a time to clamp the wire harness. Therefore, first, bring the first and third clamping jaws together so that the first magnetic attraction mechanism located inside the first and third clamping jaws can hold the two jaws. At the same time, the second magnetic attraction mechanism located on the mounting plate can no longer hold the slider, so that the slider can move on the linear track. At this time, when the telescopic cylinder pushes the connecting rod, the clamping structures will extend one group at a time to complete the clamping action and clamp the wire harness out of the jig tray.

[0039] 2. Wire Harness Transfer: After the wire harness is clamped from the jig, the gripper mechanism needs to move the wire harness to the riveting machine station for riveting. Therefore, the flipping and translation components connected to the gripper mechanism drive it to translate and flip to adjust the angle. When the gripper mechanism moves to the designated position, multiple sets of parallel wire clamping structures need to extend one by one to send the wire harness to the riveting machine station for riveting. The principle of extending in sequence is the same as when the wire harness is clamped.

[0040] 3. Double wire harness connection: When riveting wire harnesses, it is necessary to connect two wire harnesses. The first wire harness is held by the first and second jaws, and the second wire harness is held by the third and fourth jaws. Therefore, when connecting the first and second wire harnesses, the first and second jaws are controlled to move inward synchronously, and the third and fourth jaws are moved inward synchronously. This allows the two jaws to come together, so that the ends of the two wire harnesses have a connection point. Then, the riveting machine is used to rivet at the connection point.

[0041] IV. Wire Harness Sleeves: Since the wire harnesses have been fitted with sleeves that need to be fitted onto the riveting points before riveting, after the two wire harnesses are riveted, the first and third clamps are controlled to move outward. While the first and third clamps are moving outward, the second and fourth clamps remain stationary. When the first and third clamps move outward to abut the sleeve on the wire harness, they stop moving outward and begin to move inward with the sleeve. The sleeve moves to the riveting point of the two wire harnesses, thus completing the work of the sleeve at the riveting point.

[0042] 5. Wire harness heat shrinking: After the wire harness has completed the sleeve work, the flipping component and the translation component work together to move the gripper mechanism with the wire harness to the heat shrinking station for heat shrinking.

[0043] Furthermore, the flipping assembly includes a base, a cantilever, a first flipping motor, and a second flipping motor, wherein:

[0044] The first end of the cantilever is hinged to the base via a first rotating shaft, and the first tilting motor is connected to the first rotating shaft;

[0045] The second end of the cantilever is hinged to the gripper mechanism via a second rotating shaft, and the second flipping motor is connected to the second rotating shaft.

[0046] Furthermore, the translation component includes a crossbeam, on which a ball screw motor module is mounted, and the base is fixedly connected to the screw nut in the ball screw motor module. Attached Figure Description

[0047] Figure 1This is a schematic diagram of the gripper drive mechanism according to Embodiment 1 of the present invention.

[0048] Figure 2 This is a schematic diagram of the locking block structure inside the adapter block in Embodiment 1 of the present invention.

[0049] Figure 3 This is a schematic diagram of the piston rod head end structure according to Embodiment 1 of the present invention.

[0050] Figure 4 This is a schematic diagram of the gripper mechanism in Embodiment 2 of the present invention.

[0051] Figure 5 This is a schematic diagram of the overall structure of the wire harness transplanting device according to Embodiment 3 of the present invention.

[0052] In the picture:

[0053] 1. Adapter block; 2. Positioning pin; 3. Telescopic electric cylinder; 4. Piston rod; 5. Locking block; 6. First telescopic cylinder; 7. Connecting rod; 8. Locking block; 9. Locking groove; 10. Pressing block; 11. Return spring; 12. Slider; 13. Mounting plate; 14. First magnetic attraction structure; 15. Second magnetic attraction structure; 16. Base; 17. Cantilever; 18. First flip motor; 19. Second flip motor; 20. Crossbeam; 21. Ball screw motor module; 22. Linear track.

[0054] a. First gripper; b. Second gripper; c. Third gripper; d. Fourth gripper. Detailed Implementation

[0055] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0056] Please see Figures 1-5 It should be noted that in the description of this invention, 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 is in use. These terms are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component must be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0057] In the description of this invention, 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 communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] like Figures 1-3 As shown, this embodiment discloses a gripper driving mechanism, which drives a first gripper a and a second gripper b to translate on the same guide shaft. The gripper driving mechanism includes a driving device for driving the first gripper a to translate on the guide shaft; it also includes a transition block 1, which is fixedly connected to the second gripper b and moves synchronously with the second gripper b; it also includes a positioning pin 2, which is correspondingly disposed with a positioning hole opened on the transition block 1; it also includes a telescopic electric cylinder 3, whose base 16 is fixedly connected to the first gripper a, and whose piston rod 4 is correspondingly disposed with the transition block 1; and it also includes a locking block 5, which is movably disposed on the transition block 1 and is correspondingly disposed with the piston rod 4 of the telescopic electric cylinder 3.

[0059] During the riveting and sleeve application of wire harnesses, due to the considerable length of the harnesses, two parallel jaws are required to simultaneously clamp one harness. During the docking of two harnesses, these jaws need to meet two requirements: simultaneous movement of both jaws and movement of one jaw while the other remains stationary. The aforementioned solution discloses a structure that can simultaneously satisfy both of these requirements. Its specific working principle is as follows:

[0060] When the first gripper a and the second gripper b need to move simultaneously, the locking block 5 locks the piston rod 4 of the telescopic electric cylinder 3, and the telescopic electric cylinder 3 does not work. At this time, the piston rod 4 of the telescopic electric cylinder 3 is fixedly connected to the adapter block 1, and the base 16 of the telescopic electric cylinder 3 is fixedly connected to the first gripper a. Therefore, when the driving device drives the first gripper a to move horizontally, the first gripper a will drive the adapter block 1 to move synchronously. The adapter block 1 is fixedly connected to the second gripper b, so the first gripper a and the second gripper b move synchronously.

[0061] When only the first gripper a needs to move and the second gripper b needs to remain stationary, the locking block 5 no longer locks the piston rod 4 of the telescopic electric cylinder 3. When the telescopic electric cylinder 3 is working, its piston rod 4 can extend and retract. First, the positioning pin 2 is inserted into the positioning hole on the adapter block 1, thereby limiting the adapter block 1 and keeping it stationary. At this time:

[0062] If the first gripper a needs to move inward, the drive device is not working, and the telescopic electric cylinder 3 starts working. When the piston rod 4 of the telescopic electric cylinder 3 extends, it will press against the adapter block 1, and the adapter block 1 is limited and cannot move. Therefore, the reaction force of the telescopic electric cylinder 3 will directly act on the first gripper a connected to it, thereby realizing the movement of the first gripper a inward.

[0063] If the first gripper a needs to move outward, the drive device is activated and the telescopic electric cylinder 3 is deactivated. At this time, when the drive device moves the first gripper a, the adapter block 1 is limited and cannot move. In addition, since the telescopic cylinder of the telescopic electric cylinder 3 is not locked, there is no linkage structure between the first gripper a and the adapter block 1. Therefore, even if the adapter block 1 is limited, it will not affect the movement of the first gripper a.

[0064] In summary, the advantages of Embodiment 1 are: it enables the two grippers in the gripper mechanism to move simultaneously and for one gripper to move while the other remains stationary, thus achieving high gripper operation accuracy and strong controllability.

[0065] Based on the above embodiment one, specifically, the driving device includes a first telescopic cylinder 6 and a connecting rod 7. One end of the connecting rod 7 is hinged to the working end of the first telescopic cylinder 6, and the other end of the connecting rod 7 is hinged to the first gripper a.

[0066] The first telescopic cylinder 6 and the first gripper a are connected by a connecting rod 7 structure, which can convert the driving force of the first telescopic cylinder 6, thereby driving the first gripper a to translate on the guide shaft.

[0067] Based on the above embodiment one, specifically, the piston rod 4 end of the telescopic electric cylinder 3 is provided with a locking block 8, and the locking block 5 is provided with a locking groove 9 corresponding to the locking block 8.

[0068] The locking block 5 locks the piston rod 4 of the telescopic electric cylinder 3 in the following way: when the locking block 8 at the end of the piston rod 4 is engaged in the slot 9 opened on the locking block 5, the locking block 5 can lock the piston rod 4.

[0069] Based on the above embodiment one, specifically, the positioning pin 2 is connected to the working end of the second telescopic cylinder, and the working end of the second telescopic cylinder is also connected to the pressure block 10. The pressure block 10 is correspondingly arranged with the locking block 5. The adapter block 1 is provided with a return spring 11, and the return spring 11 is connected to the locking block 5.

[0070] The positioning pin 2 achieves the lifting function by connecting to the second telescopic cylinder. Simultaneously, the working end of the second telescopic cylinder is also connected to the pressure block 10. The specific working principle is as follows:

[0071] When the spring is in its initial state, the piston rod 4 of the telescopic cylinder 3 extends into the adapter block 1, and the locking block 8 at the end of the telescopic rod is engaged in the slot 9 of the locking block 5. The locking block 5 can lock the piston rod 4 of the telescopic cylinder 3. At this time, the first gripper a and the second gripper b can move synchronously. When it is necessary to keep the second gripper b stationary and the first gripper a moving independently, the second telescopic cylinder drives the positioning pin 2 to move downward and insert it into the positioning hole on the adapter block 1 to limit the movement of the adapter block 1. At the same time, the second telescopic cylinder drives the pressure block 10 to move downward. The pressure block 10 applies pressure to the locking block 5 as it moves downward. The spring is compressed, and the locking block 8 at the end of the piston rod 4 disengages from the slot 9. The locking block 5 no longer locks the piston rod 4, and the piston rod 4 can extend and retract. When the second telescopic cylinder drives the pressure block 10 upward, the locking block 5 is no longer under pressure, and the spring's rebound force can reset the locking block 5 to continue locking the piston rod 4.

[0072] Example 2:

[0073] like Figure 4 As shown, this embodiment discloses a gripper mechanism, including a first gripper a, a second gripper b, a third gripper c, and a fourth gripper d movably disposed on the same guide shaft, and two corresponding gripper drive mechanisms. The drive mechanism is the gripper drive mechanism in the first embodiment above, with the same structure and principle. One gripper drive mechanism is used to drive the first gripper a and the second gripper b to translate on the guide shaft, and the other gripper drive mechanism is used to drive the third gripper c and the fourth gripper d to translate on the guide shaft.

[0074] In the process of riveting and sleeve-fitting two wire harnesses, the two wire harnesses need to be joined from both sides first. After joining, a riveting machine is used to rivet the joint of the two wire harnesses. After riveting, sleeve-fitting is performed at the riveted area. The gripper mechanism disclosed in the above solution can automatically complete the entire process of riveting and sleeve-fitting two wire harnesses. The specific principle is as follows:

[0075] The first wire harness is gripped by the first jaw a and the second jaw b, and the second wire harness is gripped by the third jaw c and the fourth jaw d. Since both jaws (first jaw a and second jaw b, third jaw c and fourth jaw d) are driven by the jaw drive mechanism described above, meaning jaws a and b can move synchronously or independently while jaw b remains stationary, and jaws c and d can move synchronously or independently while jaw d remains stationary, the first jaws a and b are first controlled to move inward synchronously, and the third jaws c and d are controlled to move inward synchronously. This allows the jaws to come together, creating a mating point between the ends of the two wire harnesses. Then, a riveting machine is used to rivet the ends at the mating point. After riveting... After completion, since the wire harness has already been fitted with a sleeve that needs to be placed on the riveting point through other means before riveting, after the two wire harnesses are riveted, the first clamp a and the third clamp c are controlled to move outward (when the first clamp a and the third clamp c move outward, the clamping block of the clamps is released and the wire harness is not clamped, so the first clamp a and the third clamp c will not drive the head end of the wire harness to move during the movement). While the first clamp a and the third clamp c move outward, the second clamp b and the fourth clamp d remain stationary. When the first clamp a and the third clamp c move outward to abut the sleeve on the wire harness, the first clamp a and the third clamp c stop moving outward and begin to move inward with the sleeve. The sleeve moves to the riveting point of the two wire harnesses, thus completing the work of the sleeve at the riveting point.

[0076] In summary, the advantages of the above embodiments are: the four grippers in a set, in conjunction with the gripper drive mechanism in the above scheme, can effectively realize a series of operations such as docking, riveting, and sleeve installation of two wire harnesses, resulting in high gripper operation accuracy and strong controllability.

[0077] Based on the above embodiment 2, specifically, the first gripper a, the second gripper b, the third gripper c, and the fourth gripper d form a set of wire clamping structures for simultaneously clamping two wire bundles; the gripper mechanism is provided with four sets of wire clamping structures with the same structure and arranged in parallel.

[0078] This structure allows for the simultaneous operation of two wire harnesses as a group for double wire harness riveting sleeves, and up to four groups can be operated at the same time, thereby effectively improving work efficiency.

[0079] Based on the above embodiment 2, specifically, sliders 12 are provided at both ends of the guide shaft. The sliders 12 are movably arranged on the linear track 22 opened on the mounting plate 13. A first magnetic attraction structure 14 is provided on the inner side of the first gripper and the inner side of the third gripper c. A second magnetic attraction structure 15 acting on the sliders 12 is provided on the mounting plate 13.

[0080] In the above-mentioned simultaneous riveting of four sets of double wire harness sleeves, due to the limited workspace of the riveting machine, the four sets of wire harnesses need to be riveted one group at a time. Additionally, when the clamps pick up the wire harnesses, due to the small size of the wire harness fixture, four clamping structures also need to clamp the wires one group at a time. However, since the four clamping structures are arranged in parallel, it is necessary to use the action of extending and retracting each clamping jaw individually to complete this task. The specific principle is as follows:

[0081] When the gripper in the wire clamping structure needs to be translated, the second magnetic attraction mechanism on the mounting plate 13 will attract the slider 12, so that the slider 12 cannot move on the linear track 22. In this way, the guide shaft cannot be translated up and down, and the gripper in the wire clamping structure cannot be lifted up and down, but can only be translated.

[0082] When the grippers in the clamping structure need to extend in groups, the first gripper a and the third gripper c are brought together first, so that the first magnetic attraction mechanism located inside the first gripper a and the third gripper c attracts the two grippers. At the same time, the second magnetic attraction mechanism located on the mounting plate 13 no longer attracts the slider 12, so that the slider 12 can move on the linear track 22. At this time, when the telescopic cylinder 6 pushes the connecting rod 7, the entire group of grippers will rise and fall together with the guide shaft, thereby realizing the action of extending and retracting the grippers one by one.

[0083] Example 3:

[0084] like Figure 5 As shown, this embodiment also discloses a wire harness gripper transfer device, including:

[0085] In Embodiment 1, there are two gripper drive mechanisms for driving the first gripper a, the second gripper b, the third gripper c, and the fourth gripper d to translate on the same guide axis. Through the gripper drive mechanism, the entire gripper mechanism has the function of controlling the first gripper a, the second gripper b, the third gripper c, and the fourth gripper d to move synchronously, and the first gripper a and the third gripper c to move synchronously while the second gripper b and the fourth gripper d remain stationary.

[0086] The gripper mechanism in Embodiment 2 consists of four sets of wire clamping structures. Each set of wire clamping mechanisms includes a first gripper a, a second gripper b, a third gripper c, and a fourth gripper d, all simultaneously mounted on a guide shaft. It also includes a first magnetic attraction structure 14 and a second magnetic attraction structure 15. Due to the small working space of the riveting machine, the four sets of wire harnesses need to be riveted one group at a time. Furthermore, when the grippers pick up the wire harnesses, because the wire harness fixture is small, the four sets of wire clamping structures also need to clamp the wires one group at a time. Therefore, the first magnetic attraction structure 14 and the second magnetic attraction structure 15 need to cooperate to achieve the requirement that each gripper extends and retracts when the four sets of wire clamping structures are arranged in parallel.

[0087] It also includes a flipping component, which drives the entire gripper mechanism to flip;

[0088] It also includes a translation component, which drives the entire gripper mechanism to translate.

[0089] The wire harness clamping and transfer device in this embodiment three has the structure of the schemes in the above embodiments one and two, so it can automatically complete the clamping and transfer of wire harnesses, assist wire harnesses in riveting, sleeve and heat shrinking and other processing, without consuming a lot of manpower and material resources, and at the same time the processing accuracy can be guaranteed, without affecting the production quality of wire harnesses.

[0090] The specific working principle is as follows:

[0091] Step 1: Wire Harness Clamping. The wire harness is placed in the jig tray. Multiple sets of parallel clamping structures need to extend one by one to clamp the wire harness. So, first, bring the first clamp a and the third clamp c together so that the first magnetic attraction mechanism located inside the first clamp a and the third clamp c can attract the two clamps. At the same time, the second magnetic attraction mechanism located on the mounting plate 13 can no longer attract the slider 12. In this way, the slider 12 can move on the linear track 22. At this time, when the telescopic cylinder 6 pushes the connecting rod 7, the clamping structures will extend one by one to complete the clamping action and clamp the wire harness out of the jig tray.

[0092] Step 2: Wire harness transfer. After the wire harness is clamped from the jig, the gripper mechanism needs to move the wire harness to the riveting machine station for riveting. Therefore, the flipping and translation components connected to the gripper mechanism drive it to translate and flip to adjust the angle. When the gripper mechanism moves to the designated position, multiple sets of parallel wire clamping structures need to extend one by one to send the wire harness to the riveting station of the riveting machine for riveting. The principle of extending in sequence is the same as when the wire harness is clamped.

[0093] Step 3: Connecting the two wire harnesses. Before riveting the wire harnesses, the two harnesses need to be connected. The first wire harness is held by the first jaw a and the second jaw b, while the second wire harness is held by the third jaw c and the fourth jaw d. Therefore, when connecting the first and second wire harnesses, first control the first jaw a and the second jaw b to move inwards synchronously, and the third jaw c and the fourth jaw d to move inwards synchronously. This allows the two jaws to come together, creating a connection point at the ends of the two wire harnesses. Then, the riveting machine is used to rivet the wire harnesses at this connection point.

[0094] Step 4: Wire harness sleeve. Since the wire harness has already been fitted with a sleeve that needs to be fitted onto the riveting point before riveting, after the two wire harnesses are riveted, the first clamp a and the third clamp c are controlled to move outward. While the first clamp a and the third clamp c are moving outward, the second clamp b and the fourth clamp d remain stationary. When the first clamp a and the third clamp c move outward to abut the sleeve on the wire harness, they stop moving outward and begin to move inward with the sleeve. The sleeve moves to the riveting point of the two wire harnesses, thus completing the work of the sleeve at the riveting point.

[0095] The fifth step is wire harness heat shrinking. After the wire harness has completed the sleeve work, the flipping component and the translation component work together to move the gripper mechanism with the wire harness to the heat shrinking station for heat shrinking.

[0096] Based on the above embodiment 3, specifically, the flipping assembly includes a base 16, a cantilever 17, a first flipping motor 18, and a second flipping motor 19, wherein: the first end of the cantilever 17 is hinged to the base 16 via a first rotating shaft, and the first flipping motor 18 is connected to the first rotating shaft; the second end of the cantilever 17 is hinged to the gripper mechanism via a second rotating shaft, and the second flipping motor 19 is connected to the second rotating shaft.

[0097] The first flipping motor 18 and the second flipping motor 19, together with the cantilever 17, can drive the gripper mechanism to flip, thereby effectively adjusting the angle of the gripper mechanism, facilitating the gripper mechanism to clamp the wire and feed the material during riveting.

[0098] Based on the above embodiment 3, specifically, the translation component includes a crossbeam 20, on which a ball screw motor module 21 is provided, and the base 16 is fixedly connected to the screw nut in the ball screw motor module 21.

[0099] The motor of the ball screw motor module 21 drives the screw to rotate. When the screw rotates, the screw nut on the screw will move. The screw nut drives the base 16 to move. The wire clamping mechanism is connected to the base 16 through the flipping component, so the wire clamping mechanism and the base 16 move synchronously.

[0100] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A gripper mechanism, characterized by: Comprise: The first jaw (a), the second jaw (b), the third jaw (c) and the fourth jaw (d) are movably arranged on the same guide shaft, Two jaw driving mechanisms, one of which is used to drive the first jaw (a) and the second jaw (b) to translate on the guide shaft, and the other is used to drive the third jaw (c) and the fourth jaw (d) to translate on the guide shaft, The jaw driving mechanism comprises: The adapter block (1) is fixedly connected with the second jaw (b) and moves synchronously with the second jaw (b); The limiting part can limit the adapter block (1); The telescopic cylinder (3) is fixedly connected with the first jaw (a), and the piston rod (4) of the telescopic cylinder (3) is correspondingly arranged on the adapter block (1); The lock block (5) is movably arranged on the adapter block (1), and the lock block (5) is correspondingly arranged with the piston rod (4) of the telescopic cylinder (3) and can lock the piston rod (4) of the telescopic cylinder (3), The first jaw (a) moves under the action of the driving device, the driving device comprises a first telescopic cylinder (6) and a connecting rod (7), one end of the connecting rod (7) is hinged with the acting end of the first telescopic cylinder (6), and the other end of the connecting rod (7) is hinged with the first jaw (a), The end of the piston rod (4) of the telescopic cylinder (3) is provided with a clamping block (8), and the lock block (5) is provided with a clamping groove (9) corresponding to the clamping block (8), The limiting part is a positioning pin (2), the positioning pin (2) is connected with the acting end of the second telescopic cylinder, and the acting end of the second telescopic cylinder is also connected with a pressing block (10), the pressing block (10) is correspondingly arranged with the lock block (5), the adapter block (1) is provided with a reset spring (11), and the reset spring (11) is connected with the lock block (5), The first jaw (a), the second jaw (b), the third jaw (c) and the fourth jaw (d) form a group of wire clamping structures for clamping two wire harnesses at the same time; A plurality of groups of wire clamping structures with the same structure and arranged side by side are arranged in the jaw mechanism, Both ends of the guide shaft are provided with sliding blocks (12), the sliding blocks (12) are movably arranged on the linear rails (22) opened on the mounting plate (13), the inner sides of the first jaw (a) and the third jaw (c) are provided with first magnetic attraction structures (14); The mounting plate (13) is provided with a second magnetic attraction structure (15) acting on the sliding block (12).

2. A harness jaw transfer device characterized by: Comprise: The jaw mechanism of claim 1; The turnover assembly drives the jaw mechanism to turn over; The translation assembly drives the jaw mechanism to translate.

3. The wire harness gripper transfer device of claim 2, wherein: The turnover assembly comprises a base (16), a cantilever (17), a first turnover motor (18) and a second turnover motor (19), wherein: The first end of the cantilever (17) is hinged with the base (16) through a first rotating shaft, and the first overturning motor (18) is connected with the first rotating shaft; The second end of the cantilever (17) is hinged with the clamping jaw mechanism through a second rotating shaft, and the second overturning motor (19) is connected with the second rotating shaft.

4. The wire harness jaw transfer device according to claim 3, characterized by: The translation assembly comprises a cross beam (20), and a ball screw motor module (21) is arranged on the cross beam (20), and the base (16) is fixedly connected with a screw nut in the ball screw motor module (21).

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