An electric connector cable welding manipulator

Abstract

The present invention relates to the technical field of welding manipulators, and specifically to an electric connector cable welding manipulator. An electric connector cable welding manipulator comprises a manipulator arm, a U-shaped block is fixedly connected to the end of the manipulator arm, a limiting pressure block is fixedly connected to the bottom of the U-shaped block, a cushion block is fixedly connected to the inner peripheral wall of the limiting pressure block, a clamp block is provided on one side of the cushion block, and the clamp block is slidably connected to the limiting pressure block. The beneficial effect of the present invention is that the electric connector cable welding manipulator can indirectly drive the clamp block to slide in the limiting pressure block during the downward movement of the linkage block, thereby reducing the distance between the clamp block and the cushion block, and then the other structures in the manipulator can separate the outer sheath of the cable from the intact cable by the movable clamp block after cutting the outer sheath of the cable, and then expose the conductor in the cable, so that the manipulator can conveniently weld the conductor with the corresponding electric connector, so as to achieve the effect of automatically peeling the cable to be welded.

Description

Technical Field

[0001] The invention relates to the technical field of welding manipulators, in particular to an electric connector cable welding manipulator. Background Art

[0002] Electrical connectors are widely used in various industries as signal transmission units between devices and are used in large quantities. For a long time, manual assembly and cable soldering have been used to complete the process, which can no longer meet the growing market demand. The use of automation to replace manual assembly and welding will inevitably become an urgent development trend. In particular, an electrical connector cable welding robot is needed to perform all-round welding on the cables clamped by the fixture.

[0003] The electric connector cable welding robot is an automated equipment specially used for electric connector cable welding operations. It combines mechanical, electronic, computer and welding technologies, and realizes the automation and intelligence of cable welding through high-precision motion control and flexible programming capabilities. The working principle of the electric connector cable welding robot is mainly based on teaching reproduction and computer programming. First, the operator guides the robot through the teaching pendant to perform the operation according to the actual welding task. The robot automatically memorizes the position, posture, motion parameters and welding parameters of each action during the operation. Then, the robot will automatically generate a program for continuous execution of all operations based on the memorized information. After completing the teaching, just give the robot a start command, and it will accurately complete the cable welding task step by step according to the teaching action;

[0004] When the cable is welded, the user needs to cut off the outer sheath of the cable to expose the conductor.

[0005] However, it is difficult for the existing welding manipulator to cut off the cable sheath by itself before welding, so that the user wastes time in manual cutting, and the automatic effect of the manipulator is easily affected. Summary of the invention

[0006] The present invention aims at the technical problems existing in the prior art and provides an electric connector cable welding manipulator to solve the above-mentioned problem that the existing electric connector cable welding manipulator is difficult to cut off the cable sheath by itself before welding.

[0007] The technical solution of the present invention for solving the above-mentioned technical problems is as follows: an electric connector cable welding robot comprises a robot arm, the end of the robot arm is fixedly connected with a U-shaped block, the bottom of the U-shaped block is fixedly connected with a limiting pressure block, the inner peripheral wall of the limiting pressure block is fixedly connected with a cushion block, a clamping block is provided on one side of the cushion block, the clamping block is slidably connected to the limiting pressure block, two sliding grooves are symmetrically provided in the limiting pressure block, a protrusion is slidably connected in the sliding groove, one end of the protrusion is fixedly connected to the clamping block, the other end of the protrusion is hingedly connected to a connecting rod, and the end of the connecting rod is fixedly connected to a connecting shaft.

[0008] The beneficial effects of the present invention are:

[0009] The electrical connector cable welding robot has a better effect. The present invention is improved on the existing basis. During the downward movement of the linkage block, the clamping block can be indirectly driven to slide in the limiting pressure block, thereby reducing the distance between the clamping block and the cushion block. Then, after the other structures in the robot cut the outer skin (i.e., protective layer, insulating layer, etc.) of the cable, the movable clamping block can separate the outer skin from the intact cable, and then expose the conductor in the cable, which makes it convenient for the robot to weld the conductor with the corresponding electrical connector, thereby achieving the effect of automatically peeling the cable to be welded.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, the U-shaped block is symmetrically provided with two inner cavities, wherein the inner circumferential wall of one of the inner cavities is fixedly connected to a servo motor, the end of the output shaft of the servo motor is fixedly connected to a rotating screw, the outer circumferential wall of the rotating screw is threadedly connected to a screw sleeve block, one side of the screw sleeve block is fixedly connected to two guide rods, the ends of the two guide rods are slidingly connected to the inner circumferential wall of the other inner cavity, the outer circumferential walls of the two guide rods are sleeved with a linkage block, the bottom of the linkage block is fixedly connected to the connecting shaft, and the linkage block is hingedly connected to the connecting rod through the connecting shaft.

[0012] The beneficial effect of adopting the above further scheme is that the inner cavity is opened in the U-shaped block, and the servo motor is fixed on the inner circumferential wall of the inner cavity, and the output shaft end of the servo motor is fixed to the rotating screw, and the screw sleeve block is sleeved on the outer circumferential wall of the rotating screw, and at the same time the screw sleeve block itself is limited by the inner cavity so that the screw sleeve block cannot rotate, so that after the servo motor is running, it can drive the screw sleeve block to move along the rotating screw, thereby changing the height of the screw sleeve block and the guide rod on one side, and the linkage block sleeved on the outer circumferential wall of the guide rod also moves with the deviation of the guide rod, and because the linkage block and the guide rod are slidably connected, it can also move up and down. It is capable of lateral movement, whereby the height of the linkage block is offset, which drives the crossing angle of the two connecting rods to change, and the position of the connecting shaft is changed, so that the linkage block can be laterally offset based on this. Then, under this action, the linkage block can be moved downward and laterally, and the welding head fixed on the linkage block can be further brought into contact with the cable in the limiting pressure block, and then welding is performed here. At the same time, before the welding head contacts the cable, the position change of the linkage block can indirectly drive the clamping block to separate and remove the cut cable sheath from the cable, so that the two are linked to ensure that the welding head can directly contact the conductor for welding.

[0013] Furthermore, a cavity is opened in the limiting pressure block, and six positioning shafts are fixedly connected to the inner circumferential wall of the cavity. The six positioning shafts are divided into two groups and are symmetrically fixed in the cavity. The outer circumferential walls of the two groups of positioning shafts are meshingly connected with tracks, and the opposite positions of the two tracks are fixedly connected with cutting pieces. The inner circumferential wall of the cavity is fixedly connected with a compression spring, and the end of the compression spring is fixedly connected with an elastic block. Two pull rods are symmetrically arranged on the outer circumferential wall of the elastic block, and the two ends of the pull rods are respectively hinged to the elastic block and the track.

[0014] Furthermore, the beneficial effect of adopting the above further scheme is that the cavity is opened in the limiting pressure block and is located in the cushion block, and then the six positioning shafts are divided into two groups and fixed to the inner peripheral wall of the cavity in a symmetrical state, that is, three positioning shafts are one group and are in a triangular state, so that the track sleeved on the outer peripheral wall of the three positioning shafts can be in a triangular state, and the cutting blades are fixed on the opposite positions of the two tracks respectively, that is, after the mechanical arm drives the limiting pressure block to press on the outer peripheral wall of the cable, the cutting blade can be located on both sides of the cable, and because a compression spring is also arranged in the cavity, it is then fixed by the compression spring and the elastic block, so that the elastic block has a downward elastic force, and then as the cable passes through the limiting pressure block After the bottom opening continuously deviates into the limiting pressure block, the cable first collides with the cutting disc and contacts with the bottom of the elastic block during the collision. Then, when the limiting pressure block presses down on the cable, the cable has a force to squeeze the elastic block, so that the elastic block moves upward in the cavity, and thereby pulls the track through the pull rod, so that the track rolls on the outer peripheral walls of the three positioning axes, thereby driving the cutting disc to deviate, so that the cutting disc can surround the outer peripheral wall of the cable and cut the outer skin of the cable, thereby increasing the cutting distance of the cutting disc, and increasing the gap between the outer skin of the cable and the cable after cutting, so that it is easier to separate it from the cable when the clamping block is moved later. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a front cross-sectional structural schematic diagram of the present invention;

[0017] Figure 3 A schematic diagram of a top cross-sectional structure of the U-shaped block of the present invention;

[0018] Figure 4 It is a side cross-sectional structural schematic diagram of the present invention;

[0019] Figure 5 It is a schematic diagram of the cross-sectional structure of one side of the limit pressing plate in the present invention;

[0020] Figure 6 It is a schematic diagram of the cross-sectional structure of another side of the limiting pressure plate in the present invention.

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0022] 1. Robotic arm; 2. U-shaped block; 201. Inner cavity; 202. Servo motor; 203. Rotating screw; 204. Screw sleeve block; 205. Guide rod; 206. Linkage block; 3. Limiting pressure block; 301. Pad block; 302. Clamp block; 303. Connecting rod; 304. Slide groove; 305. Bump; 306. Connecting shaft; 4. Welding head; 5. Cavity; 501. Positioning shaft; 502. Track; 503. Cutting disc; 504. Compression spring; 505. Elastic block; 506. Pull rod; 6. Fixing fixture. DETAILED DESCRIPTION

[0023] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0024] The electric connector cable welding manipulator is an automated equipment specially used for electric connector cable welding operations. It combines mechanical, electronic, computer and welding technologies, and realizes the automation and intelligence of cable welding through high-precision motion control and flexible programming capabilities. The working principle of the electric connector cable welding manipulator is mainly based on teaching reproduction and computer programming. First, the operator guides the manipulator to perform an operation according to the actual welding task through the teaching pendant. The manipulator automatically memorizes the position, posture, motion parameters and welding parameters of each action during the operation. Then, the manipulator automatically generates a program for continuously executing all operations based on the memorized information. After completing the teaching, just give the manipulator a start command, and it will accurately complete the cable welding task step by step according to the teaching action. In this regard, the inventor proposes an electric connector cable welding manipulator to solve the above problems.

[0025] The present invention provides the following preferred embodiments

[0026] like Figure 1-Figure 6As shown, an electric connector cable welding manipulator includes a manipulator arm 1, a U-shaped block 2 is fixedly connected to the end of the manipulator arm 1, a limit pressure block 3 is fixedly connected to the bottom of the U-shaped block 2, a cushion block 301 is fixedly connected to the inner peripheral wall of the limit pressure block 3, a clamping block 302 is arranged on one side of the cushion block 301, the clamping block 302 is slidably connected to the limit pressure block 3, two slide grooves 304 are symmetrically provided in the limit pressure block 3, a protrusion 305 is slidably connected in the slide groove 304, one end of the protrusion 305 is connected to the clamping block 30 2 is fixedly connected, the other end of the protrusion 305 is hingedly connected to the connecting rod 303, the end of the connecting rod 303 is fixedly connected to the connecting shaft 306, the cushion block 301 is fixed to the inner circumferential wall of the limiting pressure block 3, and is adapted to the curvature of the limiting pressure block 3, then the clamping block 302 is set on one side of the cushion block 301, and the clamping block 302 can slide on the inner circumferential wall of the limiting pressure block 3, and then the clamping block 302 is connected to the connecting rod 303 through the protrusion 305, and the end of the connecting rod 303 is connected through the connecting shaft The connecting shaft 306 is connected to the linkage block 206, and at the same time, the connecting shaft 306 is secondarily connected to the limiting pressure block 3 through the other two connecting rods 303, so that the two connecting rods 303 and the limiting pressure block 3 can form a triangular state, and then after the height of the linkage block 206 changes, the force exerted on the connecting rod 303 during the change can change the intersection angle between the linkage block 206 and the connecting rod 303, and the protrusion 305 can slide in the slide groove 304, so that when the linkage block 206 moves downward, it can indirectly drive the clamping block 302 to slide in the limiting pressure block 3, thereby reducing the distance between the clamping block 302 and the cushion block 301, and then after the other structures in the manipulator cut the outer skin (i.e., protective layer, insulating layer, etc.) of the cable, the movable clamping block 302 can separate the outer skin from the intact cable, and then expose the conductor in the cable, which can facilitate the manipulator to weld the conductor with the corresponding electrical connector, thereby achieving the effect of automatically stripping the cable to be welded.

[0027] In this embodiment, Figure 1 , Figure 2 and Figure 3As shown, in order to further enable the manipulator to have the effect of linkage between welding and peeling, two inner cavities 201 are symmetrically opened inside the U-shaped block 2, the inner circumferential wall of one of the inner cavities 201 is fixedly connected to a servo motor 202, the output shaft end of the servo motor 202 is fixedly connected to a rotating screw 203, the outer circumferential wall of the rotating screw 203 is threadedly connected to a screw sleeve block 204, one side of the screw sleeve block 204 is fixedly connected to two guide rods 205, the ends of the two guide rods 205 are slidably connected to the inner circumferential wall of the other inner cavity 201, and the outer circumferential walls of the two guide rods 205 are sleeved and connected to The linkage block 206, the bottom of the linkage block 206 is fixedly connected to the connecting shaft 306, the linkage block 206 is hingedly connected to the connecting rod 303 through the connecting shaft 306, the inner cavity 201 is opened in the U-shaped block 2, and the servo motor 202 is fixed on the inner circumferential wall of the inner cavity 201, and the output shaft end of the servo motor 202 is fixed to the rotating screw 203, and the screw sleeve block 204 is sleeved on the outer circumferential wall of the rotating screw 203, and the screw sleeve block 204 itself is limited by the inner cavity 201, so that the screw sleeve block 204 cannot rotate, so that the servo motor 202 can be rotated. After the operation, the screw sleeve block 204 can be driven to move along the rotating screw 203, thereby changing the height of the screw sleeve block 204 and the guide rod 205 on one side, and the linkage block 206 sleeved on the outer peripheral wall of the guide rod 205 also moves along with the deviation of the guide rod 205, and because the linkage block 206 and the guide rod 205 are slidably connected, it can also move horizontally during the up and down movement. Therefore, after the height of the linkage block 206 is deviated and the crossing angle of the two connecting rods 303 is changed, the position of the connecting shaft 306 The linkage block 206 is changed, and the linkage block 206 is laterally offset based on this. Then, under this action, the linkage block 206 can be moved downward and laterally, and the welding head 4 fixed on the linkage block 206 can be further brought into contact with the cable in the limiting pressure block 3, and then welding is performed here. At the same time, before the welding head 4 contacts the cable, the position change of the linkage block 206 can indirectly drive the clamping block 302 to separate the cut cable sheath from the cable, so that the two are linked to ensure that the welding head 4 can directly contact the conductor for welding.

[0028] In this embodiment, Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, in order to further assist the manipulator in welding, a cavity 5 is provided in the limiting pressure block 3, and the inner wall of the cavity 5 is fixedly connected with six positioning shafts 501, and the six positioning shafts 501 are divided into two groups and symmetrically fixed in the cavity 5, and the outer walls of the two groups of positioning shafts 501 are meshed and connected with tracks 502, and the opposite positions of the two tracks 502 are fixedly connected with cutting blades 503, and the inner wall of the cavity 5 is fixedly connected with a compression spring 504, and the end of the compression spring 504 is fixedly connected with an elastic block 505, and the outer wall of the elastic block 505 is symmetrically provided with two pull rods 506, and the two ends of the pull rod 506 are respectively hingedly connected to the elastic block 505 and the track 502, and the cavity 5 is provided in the limiting pressure block 3 and is located in the cushion block 301, and then the six positioning shafts 501 are divided into two groups and symmetrically fixed to the inner wall of the cavity 5, that is, three positioning shafts 501 are fixed to the inner wall of the cavity 5. The positioning axes 501 are a group and are in a triangular state, so that the tracks 502 sleeved on the outer walls of the three positioning axes 501 can be in a triangular state, and the opposite positions of the two tracks 502 are respectively fixed with cutting blades 503, that is, after the robot arm 1 drives the limiting pressure block 3 to press on the outer wall of the cable, the cutting blades 503 can be located on both sides of the cable, and because the compression spring 504 is also arranged in the cavity 5, it is then fixed by the compression spring 504 and the elastic block 505, so that the elastic block 505 has a downward elastic force, and then as the cable continues to deviate into the limiting pressure block 3 through the bottom opening of the limiting pressure block 3, the cable first collides with the cutting blade 503, and contacts with the bottom of the elastic block 505 during the collision. During the cable cutting process, when the cable enters the cavity through the bottom opening of the limiting pressure block, the cable first contacts with the cutting blade 503. Since the cable is pressed in the upward direction along the limit pressure block 3, as the cable is continuously pressed in, the cable exerts an upward pressure on the elastic block 505, causing the elastic block 505 to move upward in the cavity, and the compression spring 504 will also be compressed to store elastic force; when the cable is taken out after processing, the compression spring 504 will drive the elastic block 505 to reset (that is, the elastic block 505 moves downward under the elastic force of the compression spring 504).

[0029] During the upward movement of the elastic block 505, the track 502 is pulled through the pull rod 506, so that the track 502 rolls on the outer wall of the three positioning shafts 501, thereby driving the cutting blade 503 to deflect, so that the cutting blade 503 can surround the outer wall of the cable to cut the outer skin of the cable, thereby increasing the cutting distance of the cutting blade 503, and increasing the gap between the outer skin of the cable and the cable after cutting, so that it is easier to separate it from the cable when the clamping block 302 is moved later. At the same time, after welding is completed, the elastic force of the elastic block 505 on the cable can facilitate the separation of the cable from the limiting pressure block 3, thereby avoiding the movement of the limiting pressure block 3 and driving the cable to move together.

[0030] As a supplement, an adjustable fixing fixture 6 (such as an adjustable clamping claw or a clamping wheel) can be added on the other side of the limiting pressure block 3 (i.e., the side opposite to the clamping block 302). The fixing fixture 6 is located below the limiting pressure block 3 and is used to press the cable upward. This fixing fixture can quickly adjust its position and firmly clamp the other end of the cable after the cable is cut and stripped through the precise control of the robot arm 1 to ensure the stability of the cable during the welding process. At the same time, the design of the fixing fixture should take into account the range of variation of the cable diameter to ensure that cables of different specifications can be effectively clamped, which will not be described in detail here.

[0031] As a supplement, a conical scraper 3021 is added to the front end of the clamp block 302. When the clamp block 302 moves toward the cushion block 301 driven by the connecting rod 303, the scraper will simultaneously act on the cut cable sheath, completely stripping it from the cable and removing it from the welding area. The design of this scraper should ensure its sharpness and durability so as to effectively remove the cable sheath without damaging the conductor inside the cable.

[0032] As a supplement, Figure 2 As shown, the cavity 5 is opened inside the limiting pressure block 3 and is located below the cushion block 301. The clamping block 302 is arranged on one side of the cushion block 301 and is slidably connected to the inner peripheral wall of the limiting pressure block 3. Through the transmission of the connecting rod 303 and the connecting shaft 306, the clamping block 302 can move during the cable cutting and stripping process to achieve the separation of the cable outer skin.

[0033] The specific working process of the present invention is as follows:

[0034] control

[0035] First, the U-shaped block 2 and the limiting pressing block 3 are moved by controlling the operation of the robot arm 1, and are located at the corresponding positions of the electrical connector to be welded, and then the cable is located on the inner peripheral wall of the limiting pressing block 3;

[0036] Cutting

[0037] Then, after the cable is located at the inner wall of the limiting pressure block 3 and contacts the cutting blade 503, the cutting blade 503 cuts the outer skin of the cable, and as the cable continues to go deeper into the limiting pressure block 3, the cutting blade 503 moves, and then the cutting blade 503 continues to cut the cable accordingly during the moving process, thereby expanding the gap in the outer skin of the cable.

[0038] As a supplement, the cable targeted by the present invention has a complete outer sheath before entering the welding manipulator, that is, it has not been stripped. After the cable enters the cavity through the bottom opening of the limit pressure block, it is first cut by the cutting blade 503, and then the cut cable outer sheath is separated from the cable body by the movement of the clamping block 302, so that the conductor in the cable is exposed for subsequent welding work.

[0039] During the cable cutting process, when the cable enters the cavity through the bottom opening of the limiting pressure block, the cable first contacts the cutting blade 503. Since the cable is pressed upward along the limiting pressure block 3, as the cable is continuously pressed in, the cable exerts upward pressure on the elastic block 505, causing the elastic block 505 to move upward in the cavity, and the compression spring 504 is also compressed to store elastic force. When the cable is taken out after processing, the compression spring 504 drives the elastic block 505 to reset (i.e., the elastic block 505 moves downward under the elastic force of the compression spring 504).

[0040] This upward movement process is transmitted to the track 502 through the pull rod 506, so that the track 502 rolls on the outer peripheral wall of the positioning shaft 501. Since the track 502 is fixedly connected to the cutting blade 503, the rolling of the track 502 will drive the cutting blade 503 to move around the outer peripheral wall of the cable, thereby achieving the cutting of the cable sheath. As the cable continues to go deeper, the cutting distance of the cutting blade 503 gradually increases, so that the gap between the cable sheath and the cable is enlarged, which facilitates the subsequent movement of the clamping block 302 and the separation of the cable sheath.

[0041] segmentation

[0042] After the cable is cut and the outer sheath is initially stripped, the segmentation stage begins. At this time, the servo motor 202 starts to operate, driving the rotating screw 203 to rotate. Since the screw sleeve block 204 is threadedly connected to the rotating screw 203 and is limited by the inner cavity 201 and cannot rotate, the screw sleeve block 204 will move along the axial direction of the rotating screw 203. The movement of the screw sleeve block 204 is transmitted to the linkage block 206 through the guide rod 205. Since the linkage block 206 is slidably connected to the guide rod 205, the linkage block 206 will not only move up and down with the guide rod 205, but also move laterally at a specific position.

[0043] The lateral movement of the linkage block 206 is transmitted to the clamp block 302 through the connecting shaft 306 and the connecting rod 303. Since the two connecting rods 303 and the limiting pressure block 3 form a triangular structure, when the height of the linkage block 206 changes, the crossing angle of the connecting rod 303 will change, and then the protrusion 305 will slide in the slide groove 304, so that the clamp block 302 slides on the inner circumferential wall of the limiting pressure block 3. As the clamp block 302 moves toward the cushion block 301, the conical scraper 3021 at the front end of the clamp block 302 will further peel off and remove the cable sheath, and at the same time, the clamp block 302 will completely separate the cut cable sheath from the cable body, so that the conductor in the cable is completely exposed.

[0044] welding

[0045] Finally, after the cable sheath is completely stripped and the conductor is exposed, the welding head 4 begins to enter the welding stage. At this time, the servo motor 202 continues to operate, driving the linkage block 206 to move further downward. Since the linkage block 206 is fixedly connected to the welding head 4, the welding head 4 will also approach the cable conductor as the linkage block 206 moves downward.

[0046] Before the welding head 4 contacts the cable conductor, the position change of the linkage block 206 has ensured the complete separation of the cable sheath from the cable body, providing a good preparation for welding. When the welding head 4 contacts the cable conductor, the welding device starts working and welds the cable conductor using preset welding parameters.

[0047] During the welding process, the welding head 4 will be precisely controlled according to the preset program to ensure the welding quality. At the same time, the precise control of the robot arm 1 and the U-shaped block 2 also ensures the accurate alignment of the welding head 4 and the cable conductor, avoiding welding deviation.

[0048] In summary: The beneficial effects of the present invention are specifically embodied in that the structure is improved on the existing basis, and the electric connector cable welding robot has better effect. The cushion block 301 is fixed to the inner wall of the limiting pressure block 3 and is adapted to the curvature of the limiting pressure block 3. Then the clamping block 302 is set on one side of the cushion block 301, and the clamping block 302 is enabled to slide on the inner wall of the limiting pressure block 3. Then the clamping block 302 is connected to the connecting rod 303 through the protrusion 305, and the end of the connecting rod 303 is connected to the linkage block 206 through the connecting shaft 306. At the same time, this connecting shaft 306 is connected to the limiting pressure block 3 for a second time through the other two connecting rods 303, so that the two connecting rods 303 and the limiting pressure block 3 can form a triangular state, thereby making the linkage After the height of block 206 changes, the force exerted on connecting rod 303 during the change can change the intersection angle between linkage block 206 and connecting rod 303. In addition, protrusion 305 can slide in slide groove 304, so that linkage block 206 can indirectly drive clamping block 302 to slide in limiting pressure block 3 when moving downward, so that the distance between clamping block 302 and cushion block 301 is reduced, and then other structures in the manipulator can separate the outer skin (i.e. protective layer, insulating layer, etc.) of the cable from the intact cable by the movable clamping block 302 after cutting the outer skin of the cable, and then expose the conductor in the cable, so that the manipulator can conveniently weld the conductor to the corresponding electrical connector, so as to achieve the effect of automatically peeling the cable to be welded.

[0049] When the manipulator is in use, the inner cavity 201 is opened in the U-shaped block 2, and the servo motor 202 is fixed on the inner peripheral wall of the inner cavity 201, and the output shaft end of the servo motor 202 is fixed to the rotating screw 203, and the screw sleeve block 204 is sleeved on the outer peripheral wall of the rotating screw 203, and the screw sleeve block 204 itself is limited by the inner cavity 201 so that the screw sleeve block 204 cannot rotate, so that after the servo motor 202 is running, it can drive the screw sleeve block 204 to move along the rotating screw 203, thereby changing the height of the screw sleeve block 204 and the guide rod 205 on one side, and the linkage block 206 sleeved on the outer peripheral wall of the guide rod 205 also moves with the deviation of the guide rod 205, and because the linkage block 206 and the guide rod 205 are in sliding connection, This allows it to move laterally during the up and down movement process. As a result, after the height of the linkage block 206 is offset and the crossing angle of the two connecting rods 303 is changed, the position of the connecting shaft 306 is changed, and the linkage block 206 can be laterally offset based on this. Then, under this action, the linkage block 206 can be moved downward and horizontally, and the welding head 4 fixed on the linkage block 206 can be further brought into contact with the cable in the limiting pressure block 3, and then welding can be performed here. At the same time, before the welding head 4 contacts the cable, the position change of the linkage block 206 can indirectly drive the clamping block 302 to separate the cut cable sheath from the cable, so that the two are linked to ensure that the welding head 4 can directly contact the conductor for welding.

[0050] When the manipulator is in use, the cavity 5 is opened in the limiting pressure block 3 and is located in the cushion block 301, and then the six positioning shafts 501 are divided into two groups and fixed to the inner wall of the cavity 5 in a symmetrical state, that is, three positioning shafts 501 are one group and are in a triangular state, so that the track 502 sleeved on the outer wall of the three positioning shafts 501 can be in a triangular state, and the opposite positions of the two track 502 are respectively fixed with cutting blades 503, that is, after the manipulator 1 drives the limiting pressure block 3 to press on the outer wall of the cable, the cutting blade 503 can be located on both sides of the cable, and because the cavity 5 is also provided with a compression spring 504, it is fixed by the compression spring 504 and the elastic block 505, so that the elastic block 505 has a downward elastic force, and then the cable passes through the bottom opening of the limiting pressure block 3. After continuously deviating into the limiting pressure block 3, the cable first collides with the cutting piece 503 and contacts with the bottom of the elastic block 505 during the collision. Then, when the limiting pressure block 3 presses down on the cable, the cable has a force to squeeze the elastic block 505, so that the elastic block 505 moves up in the cavity 5, and thereby pulls the track 502 through the pull rod 506, so that the track 502 rolls on the outer peripheral wall of the three positioning shafts 501, thereby driving the cutting piece 503 to deviate, so that the cutting piece 503 can surround the outer peripheral wall of the cable and cut the outer skin of the cable, thereby increasing the cutting distance of the cutting piece 503, and increasing the gap between the outer skin of the cable and the cable after cutting, so that it is easier to separate it from the cable when the clamping block 302 moves later.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electrical connector cable welding robot, characterized in that: The invention comprises a mechanical arm (1), wherein the end of the mechanical arm (1) is fixedly connected to a U-shaped block (2), the bottom of the U-shaped block (2) is fixedly connected to a limit pressure block (3), the inner peripheral wall of the limit pressure block (3) is fixedly connected to a cushion block (301), a clamping block (302) is provided on one side of the cushion block (301), the clamping block (302) is slidably connected to the limit pressure block (3), two sliding grooves (304) are symmetrically provided in the limit pressure block (3), a protrusion (305) is slidably connected in the sliding groove (304), and one end of the protrusion (305) is fixedly connected to the clamping block (302); A cavity (5) is provided in the limiting pressure block (3), and six positioning shafts (501) are fixedly connected to the inner peripheral wall of the cavity (5), and the six positioning shafts (501) are symmetrically fixed in the cavity (5) in two groups; The outer peripheral walls of the two groups of positioning shafts (501) are meshedly connected with tracks (502), and the opposing positions of the two tracks (502) are fixedly connected with cutting blades (503); A compression spring (504) is fixedly connected to the inner peripheral wall of the cavity (5), and an elastic block (505) is fixedly connected to the end of the compression spring (504); The outer peripheral wall of the elastic block (505) is symmetrically provided with two pull rods (506), and the two ends of the pull rods (506) are respectively hingedly connected to the elastic block (505) and the crawler (502); the other end of the protrusion (305) is hingedly connected to a connecting rod (303), and the end of the connecting rod (303) is fixedly connected to a connecting shaft (306); the U-shaped block (2) has two inner cavities (201) symmetrically provided inside, and the inner peripheral wall of one of the inner cavities (201) is fixedly connected to a servo motor (202), and the end of the output shaft of the servo motor (202) is fixedly connected to a rotating screw (203); The outer peripheral wall of the rotating screw (203) is threadedly connected to a screw sleeve block (204), one side of the screw sleeve block (204) is fixedly connected to two guide rods (205), and the ends of the two guide rods (205) are slidably connected to the inner peripheral wall of another inner cavity (201); The outer peripheral walls of the two guide rods (205) are sleeved with a linkage block (206), the bottom of the linkage block (206) is fixedly connected to the connecting shaft (306), the linkage block (206) is hingedly connected to the connecting rod (303) through the connecting shaft (306), and the connecting shaft (306) is secondarily connected to the limiting pressure block (3) through the other two connecting rods (303), so that the two connecting rods (303) and the limiting pressure block (3) can form a triangular state; a conical scraper (3021) is added to the front end of the clamping block (302), when the clamping block (302) moves toward the cushion block (301) driven by the connecting rod (303), the scraper will simultaneously act on the cut cable sheath, completely strip it from the cable and remove it from the welding area; after the servo motor (202) is running, it can drive the screw sleeve block (204) to rotate along the screw (203) moves, thereby changing the height of the screw sleeve block (204) and the guide rod (205) on one side thereof, and the linkage block (206) sleeved on the outer peripheral wall of the guide rod (205) also moves following the displacement of the guide rod (205), and because the linkage block (206) and the guide rod (205) are slidably connected, it can also move laterally during the up and down movement process, so that after the height of the linkage block (206) is offset and the crossing angle of the two connecting rods (303) is changed, the position of the connecting shaft (306) is changed, and the linkage block (206) can be laterally offset based on this, and then under this action, the welding head (4) fixed on the linkage block (206) can be brought into contact with the cable in the limit pressure block (3) during the downward and horizontal movement of the linkage block (206), and then welding is performed here.

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