Mechanical hand structure of pneumatic gripping mechanism of automatic wire inserting machine

Abstract

The application discloses a pneumatic grabbing mechanism mechanical hand structure of an automatic wiring 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 fixed plate A, one side of the fixed plate A is provided with a mounting plate B, and one side of the mounting plate B is provided with a sliding groove; through cooperation of the fixed plate A, the mounting plate B, a mounting frame, a suction disc, an annular pipe, a threaded pipe and a mounting head, a plurality of objects can be grabbed and transported at a time through suction in the process of transporting the objects, the objects can be effectively arranged in the process of grabbing through the suction disc, and the objects can be effectively prevented from being stacked in the process of being grabbed to other stations.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to the structure of a pneumatic gripping mechanism robotic arm for an automatic wire insertion machine. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its key feature is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and is therefore widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors. Similarly, automatic wiring machines also utilize robotic arms in the process of transporting materials to improve work efficiency.

[0003] Current automated cable insertion machine robotic arms have certain shortcomings:

[0004] Generally, robotic arms grasp objects one by one. However, this method cannot guarantee the efficiency of grasping. If large-scale processing is required, transporting objects in this way will seriously affect the processing speed of subsequent objects. Furthermore, the stability of the grasping process cannot be guaranteed. If the transportation is too fast, these objects may fall.

[0005] To ensure that the robotic gripper can pick up objects more accurately, the objects need to be sorted before gripping them. This can effectively prevent the objects from shifting and causing the robotic gripper to fail to grasp them. However, some production lines use manual sorting, while some workstations use mechanical equipment for sorting. The sorting operation is quite cumbersome, which can easily affect the processing speed under certain circumstances. Summary of the Invention

[0006] The purpose of this invention is to provide a pneumatic gripping mechanism robot structure and method for an automatic wire insertion machine, to solve the problems mentioned in the background art. Generally, in the process of gripping objects, robots typically grip one object at a time. However, this method cannot guarantee gripping efficiency. If large-scale processing is required, transporting objects in this way will seriously affect the processing speed of subsequent objects. Furthermore, stability cannot be guaranteed during gripping; if transported too quickly, these objects may fall. To ensure that the robotic gripper can pick up objects more accurately, the objects need to be sorted before gripping. This effectively prevents objects from shifting and causing the robotic gripper to fail to grasp them. However, some production lines use manual sorting, while others use mechanical equipment. The sorting operation is cumbersome, which can easily affect processing speed under certain circumstances.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a pneumatic gripping mechanism manipulator structure for an automatic cable insertion machine, comprising a drive chamber, a moving mechanism B on one side of the drive chamber, a moving mechanism A at one end of the moving mechanism B, a lifting rod at one end of the moving mechanism A, a mounting plate A at the bottom of the lifting rod, a fixed plate A at the bottom of the mounting plate A, a mounting plate B on one side of the fixed plate A, a sliding groove on one side of the mounting plate B, a mounting frame slidably connected inside the sliding groove, an electric rod hinged to one side of the mounting frame, a hinge A at the top of one side of the fixed plate A, a hinge B on one side of the hinge A, the hinge B and the fixed plate B being hinged to each other, the output end of the electric rod being connected to the fixed plate B, an annular tube at the bottom of the fixed plate B, a ventilation duct on one side of the top of the annular tube, multiple sets of suction cups evenly distributed at the bottom of the annular tube, extension tubes symmetrically distributed on both sides of the suction cups, and a sorting component at the bottom of one side of the fixed plate A.

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

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

[0010] Preferably, the mounting frame is provided with limiting plates symmetrically at both ends, and the limiting plates are located inside the sliding groove. One end of the mounting plate B is provided with a connecting bolt, and the connecting bolt is connected to the limiting plate.

[0011] Preferably, the movable block has symmetrical through slots on both sides, and the through slots are adapted to the hinge rod B.

[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, the bottom of the fixing plate A is provided with a collar, and the mounting tube is located inside the collar.

[0014] Preferably, the bottom of the annular tube is provided with multiple sets of threaded holes evenly distributed, and the mounting head is 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 through a flange.

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

[0017] Compared with the prior art, the present invention provides a pneumatic gripping mechanism manipulator structure for an automatic cable insertion machine, which has the following advantages:

[0018] 1. This invention, through the cooperation of a fixed plate A, a mounting plate B, a mounting frame, suction cups, an annular tube, a threaded tube, and a mounting head, can simultaneously grasp and transport multiple groups of objects using suction. Furthermore, the multiple suction cups effectively arrange these objects during the grasping process, preventing them from stacking and facilitating subsequent sorting. They also prevent objects from falling during transport and allow for rapid unloading once the objects reach their designated locations, ensuring efficient object delivery.

[0019] 2. Through the cooperation of electric cylinder, baffle, connecting block, through groove, push plate, hinge rod A, hinge rod B, moving block, mounting tube and connecting rod, when the object is transported to the bottom of the mechanical claw, it can automatically sort the object so that it can be neatly arranged into two rows. During the subsequent grasping process of the robotic arm, it can more accurately transport the object to the bottom of the robotic arm, so that the robotic arm can effectively grasp the object and prevent the object from being deviated during the grasping process, which would cause some suction cups to miss the object. Moreover, the sorting operation is simple and does not require multiple operations, ensuring the efficiency of the sorting process. Attached Figure Description

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

[0021] Figure 2 This is a bottom view of the annular tube of the present invention;

[0022] Figure 3 This is a front sectional view of the suction cup portion of the present invention;

[0023] Figure 4 This is a top sectional view of the electric cylinder of the present invention;

[0024] Figure 5 This is a perspective view of the baffle of the present invention;

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

[0026] In the diagram: 1. Drive compartment; 2. Moving mechanism A; 3. Lifting rod; 4. Moving mechanism B; 5. Ventilation duct; 6. Electric rod; 7. Mounting plate A; 8. Fixing plate A; 9. Mounting plate B; 10. Mounting frame; 11. Electric cylinder; 12. Hinge A; 13. Hinge B; 14. Suction cup; 15. Ring tube; 16. Threaded tube; 17. Mounting head; 18. Extension tube; 19. Slide groove; 20. Connecting rod; 21. Fixing plate B; 22. Baffle; 23. Connecting block; 24. Through groove; 25. Push plate; 26. Hinge rod A; 27. Hinge rod B; 28. Moving block; 29. ​​Mounting tube. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1-6This invention provides a technical solution: a pneumatic gripping mechanism manipulator structure for an automatic cable insertion machine, including a drive chamber 1, a moving mechanism B4 on one side of the drive chamber 1, a moving mechanism A2 at one end of the moving mechanism B4, a lifting rod 3 at one end of the moving mechanism A2, a mounting plate A7 at the bottom of the lifting rod 3, a fixing plate A8 at the bottom of the mounting plate A7, a mounting plate B9 on one side of the fixing plate A8, a sliding groove 19 on one side of the mounting plate B9, and a mounting frame 10 slidably connected inside the sliding groove 19. An electric rod 6 is hinged to one side of the fixed plate A8. 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 is hinged to the fixed plate B21. 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. Multiple 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. A sorting component is provided at the bottom of one side of the fixed plate A8.

[0029] As a preferred embodiment, the sorting assembly comprises an electric cylinder 11, a baffle 22, a connecting block 23, a push plate 25, a hinge rod A26, a hinge rod B27, a moving block 28, a mounting tube 29, and a connecting rod 20. The mounting tube 29 is located at the bottom of one side of the fixed plate A8, and an electric cylinder 11 is located on one side of the mounting tube 29. A connecting rod 20 is located at the output end of the electric cylinder 11. A moving block 28 is located on one side of the connecting rod 20. Hinges B27 are symmetrically hinged to both sides of the moving block 28. A push plate 25 is hinged to one side of the hinge rod B27. The connecting rod... One end of 20 is provided with a connecting block 23, and a hinge rod A26 is hinged between the connecting block 23 and the push plate 25. One end of the connecting block 23 is provided with a baffle 22. When the object is transported to the bottom of the mechanical claw, it can automatically sort the object so that the object can be neatly arranged into two rows. In the subsequent grasping process of the robotic arm, the object can be transported to the bottom of the robotic arm more accurately, so that the robotic arm can effectively grasp the object and prevent the object from being deviated during the grasping process, which would cause some suction cups 14 to fail to grasp the object.

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

[0031] As a preferred embodiment, the mounting frame 10 is provided with symmetrical limiting plates at both ends, and the limiting plates are located inside the slide groove 19. One end of the mounting plate B9 is provided with a connecting bolt, and the connecting bolt is connected to the limiting plate. In 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 sets of parts.

[0032] As a preferred embodiment, the movable block 28 is provided with symmetrical through slots 24 on both sides. The through slots 24 are adapted to the hinge rod B27, so that the through slots 24 can extend to the outside of the mounting tube 29 and be flipped. At the same time, the hinge rod B27 can also slide along the through slots 24 during the flipping process, ensuring the stability during the flipping process and preventing the hinge rod B27 from shifting.

[0033] As a preferred 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 displacement 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. It also facilitates the separation of objects between the connecting block 23 and the push plate 25 for collection.

[0034] As a preferred embodiment, the bottom of the fixing plate A8 is provided with a collar, and the mounting tube 29 is located inside the collar, which facilitates fixing the position of the mounting tube 29 and prevents the mounting tube 29 from shifting or becoming unstable.

[0035] As a preferred embodiment, the bottom of the annular tube 15 is provided with multiple sets of threaded holes evenly, and the mounting head 17 is located inside the threaded holes, so that the annular tube 15 can be fitted with the suction cup 14, and it is also convenient to disassemble and replace the suction cup 14 later.

[0036] As a preferred embodiment, the extension tube 18 is provided with a connector on one side, and the connector is connected to the extension tube 18 through a flange, so that the extension tube 18 can be replaced and facilitates subsequent adsorption.

[0037] As a preferred embodiment, the movable block 28 is made of a cylindrical structure and is adapted to the interior of the mounting tube 29. During the movement of 28, it can slide along 29, thereby effectively preventing it from shaking and ensuring stability during the movement.

[0038] Example 1: As Figure 1-6As shown, during the object grasping process, the conveying device first transports the object to the push plate 25. At this time, the electric cylinder 11 is activated. During the activation process, the electric cylinder 11 pulls the connecting rod 20 and the moving block 28 to move. During the movement of the moving block 28, the hinge rod B27 moves. At this time, the hinge rod B27 moves one end of the push plate 25. Then, the push plate 25 drives the hinge rod A26 to flip, so that the push plate 25 remains in a straight line during the movement and does not flip. During the transportation process, due to the limiting effect of the baffle 22, the objects can be pushed to both sides of the baffle 22, so that the objects are transported between the baffle 22 and the push plate 25. Then, under the pressure of the lateral movement of the push plate 25, the objects are pressed and arranged in a straight line, which facilitates subsequent grasping.

[0039] Example 2: As Figure 1-6 As shown, after all the objects are arranged, the moving mechanism A2 is activated. Moving mechanism A2 slides along moving mechanism B4. When it reaches the designated position, the lifting rod 3 moves up and down along moving mechanism A2, thereby adjusting the vertical position of the mechanical gripper. After adjustment, the electric rod 6 is activated. The electric rod 6 drives the annular tube 15 and the mounting frame 10 to rotate. When the annular tube 15 rotates to the designated position, external equipment is activated to generate negative pressure suction inside the annular tube 15, causing the suction cup 14 to pick up the objects. The object is then adsorbed onto the bottom of the suction cup 14. During the adsorption process, the extension tube 18 also adsorbs the object from both sides, ensuring that multiple positions of the object are affected by the suction force. This guarantees the stability of the adsorption process and prevents the object from falling. Then, the device is moved to the designated position by controlling the movement of the device. At this point, the external electrical equipment is stopped, causing the negative pressure suction inside the annular tube 15 to disappear. The suction cup 14 and the extension tube 18 no longer adsorb the object, and the object falls from the bottom of the suction cup 14, completing the object conveying process.

[0040] Working principle: During the object grasping process, the conveying device first transports the object to the push plate 25. At this time, the electric cylinder 11 is activated. During the activation process, the electric cylinder 11 pulls the connecting rod 20 and the moving block 28 to move. During the movement of the moving block 28, the hinge rod B27 moves. At this time, the hinge rod B27 moves one end of the push plate 25. Then, the push plate 25 drives the hinge rod A26 to flip, so that the push plate 25 remains in a straight line during the movement and does not flip. During the transportation process, due to the limiting effect of the baffle 22, the objects can be pushed to both sides of the baffle 22, so that the objects are transported between the baffle 22 and the push plate 25. Then, under the pressure of the lateral movement of the push plate 25, the objects are pressed and arranged in a straight line, which facilitates subsequent grasping.

[0041] After all the objects are arranged, the moving mechanism A2 is activated. The moving mechanism A2 slides along the moving mechanism B4. When it slides to the designated position, the lifting rod 3 moves up and down along the moving mechanism A2 to adjust the vertical position of the mechanical claw. After the adjustment is completed, the electric rod 6 is activated. The electric rod 6 drives the annular tube 15 and the mounting frame 10 to rotate. When the annular tube 15 rotates to the designated position, the external equipment is activated to generate negative pressure suction inside the annular tube 15. Then, the suction cup 14 picks up the object, thus adsorbing the object to the bottom of the suction cup 14. During the adsorption process, the extension tube 18 also adsorbs the two sides of the object, so that multiple positions of the object are affected by the suction, thus ensuring the stability of the adsorption process and preventing the object from falling. Then, the equipment is controlled to move the annular tube 15 to the designated position. At this time, the external electrical equipment is stopped, so that the negative pressure suction inside the annular tube 15 is lost. 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 conveying work.

[0042] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A pneumatic gripping mechanism robotic arm structure for an automatic cable insertion machine, comprising a drive chamber (1), characterized in that: A moving mechanism B (4) is provided on one side of the drive compartment (1). A moving mechanism A (2) is provided at one end of the moving mechanism B (4). A lifting rod (3) is provided at 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 mounting 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 mounting plate B (9). A mounting frame (10) is slidably connected inside the sliding groove (19). An electric rod (6) is hinged to one side of the mounting frame (10). The fixing plate A ( 8) A hinge A (12) is provided on the top of one side. One side of the hinge A (12) is hinged to the hinge B (13). The hinge B (13) is hinged to the fixed plate B (21). The output end of the electric rod (6) is connected to the fixed plate B (21). The bottom of the fixed plate B (21) is provided with an annular tube (15). One side of the top of the annular tube (15) is provided with a ventilation duct (5). Multiple 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). A sorting component is provided at the bottom of one side of the fixed plate A (8). The sorting assembly consists of an electric cylinder (11), a baffle (22), a connecting block (23), a push plate (25), a hinge rod A (26), a hinge rod B (27), a moving block (28), an installation tube (29), and a connecting rod (20). The bottom of one side of the fixed plate A (8) is provided with an installation tube (29), and one side of the installation tube (29) is provided with an electric cylinder (11). The 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). The two sides of the moving block (28) are symmetrically hinged with hinge rods B (27). One side of the hinge rod B (27) is hinged with a push plate (25). One end of the connecting rod (20) is provided with a connecting block (23). The connecting block (23) and the push plate (25) are hinged with a hinge rod A (26). One end of the connecting block (23) is provided with a baffle (22). 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 object at the bottom of the displacement baffle (22) can be guided, and the object can be separated between the connecting block (23) and the push plate (25) for collection.

2. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The suction cup (14) has a mounting head (17) on its top, and a threaded tube (16) is provided on the outside of the mounting head (17).

3. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The mounting frame (10) has symmetrically provided limiting plates at both ends, and the limiting plates are located inside the slide groove (19). One end of the mounting plate B (9) is provided with a connecting bolt, and the connecting bolt is connected to the limiting plate.

4. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The movable block (28) has symmetrical through slots (24) on both sides, and the through slots (24) are adapted to the hinge rod B (27).

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

6. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The bottom of the annular tube (15) is uniformly provided with multiple sets of threaded holes, and the mounting head (17) is located inside the threaded holes.

7. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The extension tube (18) is provided with a connector on one side, and the connector is connected to the extension tube (18) through a flange.

8. The pneumatic gripping mechanism manipulator structure of the automatic cable insertion machine according to claim 1, characterized in that: The movable block (28) is made of a cylindrical structure and is adapted to the interior of the mounting tube (29).

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