Manipulator and connector clamping device

Abstract

The invention discloses a mechanical arm and a connector clamping device, and belongs to the technical field of mechanical arms, the mechanical arm comprises a clamping jaw air cylinder, the execution end of the clamping jaw air cylinder is connected with a clamp, the outer side wall of the clamping jaw air cylinder is further provided with limiting pieces in pairs, the two limiting pieces are oppositely arranged, and the opposite faces of the limiting pieces are provided with two protruding protection plates and protruding columns; the protruding column is located between the two protection plates, the two limiting pieces define a cavity, the cavity is divided into two limiting cavities by the two protruding columns, the clamps are installed in the corresponding limiting cavities in a sliding fit mode and can slide left and right relative to the limiting pieces, limiting screws are further installed on the protection plates, and the clamping ends of the clamps are located below the limiting cavities. And a plurality of positioning teeth which are arranged at intervals are arranged at the bottom of the clamping end of one clip. The clamp has the beneficial effects that the movement of the clamp has double constraints, and the linear precision of the movement of the clamp is improved, so that the clamp is longer and smaller in size, can have a higher length-width ratio, and can be used in a use environment with a narrow space and a smaller product.

Description

Technical Field

[0001] The invention relates to the clamping of a connector, in particular to a manipulator and a connector clamping device. Background Art

[0002] Connectors are usually composed of several parts and components, among which the core components include connecting terminals. During the production process, the connecting terminals are usually conveyed by strips, then stamped and formed on the strips several times, and then punched and separated from the strips to obtain independent connecting terminals.

[0003] Since the connecting terminals are usually not regular parts, such as the spring sheets of the connecting terminals belong to the bending mechanism, it is difficult for conventional cutting devices to achieve continuous feeding of the connecting terminals, and in order to improve production efficiency, it is necessary to continuously cut the connecting terminals. Therefore, after cutting, the connecting terminals need to be removed. However, since the structure of the connecting terminals themselves is relatively small, clamping is more difficult, and the middle part of the connecting terminals is a plastic package, and its structural strength is not high, and the clamping force requirement is also very high. In the clamping process, the manipulator cannot contact the conductive parts on the connecting terminals. Most importantly, since the structure of the connecting terminals themselves is relatively small, the grabbing holes on the cutting mold are also small, which leads to a smaller width of the clamping end of the manipulator, and the manipulator has to go deep into the concave mold of the cutting mold to clamp the connecting terminals, which leads to a smaller length of the clamping end of the manipulator. In addition, during the clamping process, the positioning accuracy requirements for the manipulator are very high. Therefore, when the length and width are relatively large, it is difficult for the current manipulator to meet the clamping accuracy of the clamping end. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a robot and a connector clamping device.

[0005] The purpose of the present invention is achieved through the following technical scheme: a manipulator comprises a gripper cylinder, the execution end of the gripper cylinder is connected to a gripper, and limiting members are installed in pairs on the outer wall of the gripper cylinder, the two limiting members are arranged opposite to each other, and two raised guard plates and convex columns are arranged on the opposite surfaces of the limiting members, the convex column is located between the two guard plates, and the two limiting members surround a cavity, and the cavity is divided into two limiting cavities by the two convex columns, the gripper is slidably installed in the corresponding limiting cavity, and the gripper can slide left and right relative to the limiting member, and a limiting screw is also installed on the guard plate, and the clamping end of the clamp is located below the limiting cavity, and a plurality of positioning teeth arranged at intervals are arranged at the bottom of the clamping end of one of the clamps.

[0006] Optionally, a dovetail groove is opened and closed on the clamping jaw cylinder, and dovetail blocks are installed in pairs in the dovetail groove, and the dovetail blocks are slidably matched with the dovetail groove. The clamping jaw cylinder drives the dovetail block to slide in the dovetail groove, and the top of the clamp is connected to the dovetail block.

[0007] Optionally, a connecting arm is provided on the top of the clip, a mounting groove is provided on the connecting arm, a connecting block is provided on the dovetail block, and the connecting block is detachably installed in the mounting groove.

[0008] Optionally, part of the connecting block is located outside the mounting groove, and a gasket is installed between the connecting block and the mounting groove.

[0009] Optionally, a threaded through hole is provided in the boss, and the two limit members are locked by a locking screw installed in the threaded through hole.

[0010] Optionally, the threaded through hole of one of the protruding columns is a stepped hole, and the head of the locking screw is located in the large hole of the stepped hole.

[0011] Optionally, the clamp located below the limiting cavity has a thick-walled section, a shortened section and a thin-walled section connected in sequence from top to bottom, the thickness of the thick-walled section and the shortened section are the same, the width of the shortened section is smaller than the width of the thick-walled section, and the thickness of the thin-walled section is smaller than the thickness of the shortened section.

[0012] Optionally, the outer side of the shortened section of one clip is a wedge-shaped surface, and the positioning teeth are installed at the bottom of the shortened section of the other clip.

[0013] A connector clamping device comprises a linear moving module, a sliding plate is arranged on the linear moving module, and a manipulator is installed on the sliding plate.

[0014] The present invention has the following advantages: 1. The stroke of the two clamps of the manipulator of the present invention can be adjusted according to the product's external dimensions, thereby increasing the interchangeability of different types of products; 2. The movement of the clamp is constrained by the dovetail groove, the dovetail block and the limit cavity, so the movement of the clamp has double constraints, which improves the linear accuracy of the clamp movement, thereby greatly improving the clamping accuracy. Therefore, the size of the clamp is longer and smaller, and can have a higher aspect ratio. It can be used in environments with narrow space and smaller products, thereby improving the reliability and practicality of the robot gripping the connection terminals, and solving the technical problems of lengthening the traditional clamp, which will lead to error amplification and unstable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the structural diagram of the robot; Figure 2 Schematic diagram of the relative positions of the two clips; Figure 3 is a schematic diagram of the structure of the clamp; Figure 4 It is a schematic diagram of the structure in which the clip is located in the limiting cavity; Figure 5 It is a schematic diagram of the structure of the limiting cavity; Figure 6 It is a structural schematic diagram of a connecting terminal clamping device; Figure 7 is a partial schematic diagram of the connection terminal; In the figure, 100-linear moving module, 200-sliding plate, 300-manipulator, 1-gripper cylinder, 2-limiting member, 3-clamp, 4-dovetail groove, 5-dovetail block, 6-connecting block, 21-limiting cavity, 22-convex column, 23-guard plate, 24-limiting screw, 31-positioning tooth, 32-connecting arm, 33-mounting groove, 34-thick wall section, 35-shortened section, 36-thin wall section. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0019] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0020] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] like Figure 1 and Figure 6 As shown, a connector clamping device includes a linear moving module 100, on which a sliding plate 200 is arranged, and on which a manipulator 300 is installed. The linear moving module 100 is a prior art and will not be described in detail. In this embodiment, the linear moving module 100 drives the sliding plate 200 to move up and down, that is, the manipulator 300 moves up and down with the sliding plate 200. When the sliding plate 200 moves to the lower stroke, the manipulator 300 works to clamp the connector, and then the sliding plate 200 moves to the upper stroke, thereby taking the connector out vertically from the die.

[0023] In this embodiment, if Figure 1 As shown, the manipulator 300 includes a clamping cylinder 1, and the execution end of the clamping cylinder 1 is connected to a clamp 3. In this embodiment, the clamping cylinder 1 is a double-headed clamp. When the clamping cylinder 1 works, the two clamps 3 move toward or away from each other, thereby realizing the clamping and release of the connector. Further, as shown in FIG. Figure 1 , Figure 4 and Figure 5As shown, the outer wall of the clamping jaw cylinder 1 is also equipped with a pair of limiting members 2, the two limiting members 2 are arranged opposite to each other, and two raised guard plates 23 and a convex column 22 are arranged on the opposite surfaces of the limiting members 2, the convex column 22 is located between the two guard plates 23, and the two limiting members 2 surround a cavity, and the cavity is divided into two limiting cavities 21 by the two convex columns 22, the clip 3 is slidably installed in the corresponding limiting cavity 21, and the clip 3 can slide left and right relative to the limiting member 2, and the limiting screw 24 is also installed on the guard plate 23, the clamping end of the clip 3 is located below the limiting cavity 21, and the bottom of the clamping end of one of the clips 3 is provided with a plurality of positioning teeth 31 arranged at intervals, and the limiting screw 24 is adjusted to change the position of the clip 3 in the limiting cavity 21. The travel within the range can adjust the maximum distance between the two clips 3, and in the present embodiment, when the two clips 3 are at the shortest distance, the two clips 3 just clamp the connector, and the width of the protrusion 22 determines the shortest distance between the two clips 3. That is to say, during the design, the width of the protrusion 22 can be reasonably designed according to the model of the connecting terminal, so as to ensure the stability of the clamping force of the clip 3 on the connecting terminal, thereby ensuring the reliability of the clamping of the connecting terminal, and the limiting cavity 21 can limit the movement of the clip 3, that is, the front and rear side walls of the clip 3 and the corresponding side walls of the limiting member 2 are in a sliding fit relationship, so as to ensure the linear accuracy of the movement of the clip 3 in the left and right directions. Further, as Figure 1 As shown, a dovetail groove 4 is opened and closed on the clamping jaw cylinder 1, and dovetail blocks 5 are installed in pairs in the dovetail groove 4, and the dovetail blocks 5 are slidably matched with the dovetail groove 4. The clamping jaw cylinder 1 drives the dovetail block 5 to slide in the dovetail groove 4, and the top of the clamp 3 is connected to the dovetail block 5. Therefore, the movement of the clamp 3 in the left and right directions is constrained by the dovetail groove 4 and the dovetail block 5 and the limit cavity 21, so that the linear movement accuracy of the clamp 3 is high. In this embodiment, the manipulator 300 needs to extend into the concave mold of the cutting mold to clamp the connecting terminal. Therefore, the size of the clamp 3 needs to be longer and smaller, that is, the length and width of the clamp 3 is relatively large. , it needs to be at least 5 times or more. With such a large aspect ratio, when the top of the clip 3 moves left and right, if its straightness cannot be guaranteed, the clamping accuracy of its clamping end will be further amplified, resulting in the accuracy of the clamping end of the clip 3 cannot be guaranteed, and then the connecting terminal cannot be reliably clamped. In this embodiment, the top of the clip 3 is constrained by the dovetail groove 4 and the dovetail block 5 and the limit cavity 21, and can be longer and smaller than the traditional clip 3, that is, the aspect ratio can reach more than 5 times, and can be used in a small space and a smaller product environment, so that the connecting terminal in the concave mold of the cutting mold can be clamped.

[0024] In this embodiment, if Figure 2 and Figure 3As shown, a connecting arm 32 is provided on the top of the clip 3, and a mounting groove 33 is opened on the connecting arm 32. A connecting block 6 is provided on the dovetail block 5. The connecting block 6 is detachably installed in the mounting groove 33, so as to facilitate the replacement of the clip 3, so that it can be suitable for more types of connecting terminals. Furthermore, part of the connecting block 6 is located on the outside of the mounting groove 33, and a gasket is installed between the connecting block 6 and the mounting groove 33. In this embodiment, according to different connecting terminals, the maximum spacing of the clip 3 in the limiting cavity 21 can be changed by adding or removing gaskets and adjusting the limit screws 24.

[0025] In this embodiment, if Figure 4 As shown, a threaded through hole is opened in the boss 22, and the two limit members 2 are locked by locking screws installed in the threaded through holes. The locking screws are locked to ensure the stability of the limit cavity 21 structure, thereby ensuring the limiting of the clamp 3 by the limit cavity 21. Furthermore, the threaded through hole of one of the bosses 22 is a step hole, and the head of the locking screw is located in the large hole of the step hole, thereby making the structure of the entire limit member 2 simpler and occupying less space.

[0026] In this embodiment, if Figure 3 As shown, the clip 3 located below the limiting cavity 21 has a thick-walled section 34, a shortened section 35 and a thin-walled section 36 connected in sequence from top to bottom. The thickness of the thick-walled section 34 and the shortened section 35 are the same, and the width of the shortened section 35 is smaller than the width of the thick-walled section 34, and the thickness of the thin-walled section 36 is smaller than the thickness of the shortened section 35. The thick-walled section 34 can ensure the structural strength of the clip 3, while the shortened section 35 can make the clip 3 more narrow and long, which is convenient for inserting into the deep hole, and the thin-walled section 36 can be suitable for small and deep deep holes. Furthermore, the outer side of the shortened section 35 of one clip 3 is a wedge-shaped surface, which can facilitate the clip 3 to extend into the deep hole, and the thickness of the wedge-shaped surface decreases from top to bottom, which can also ensure that the clip 3 extends into the deep hole while increasing the structural strength of the clip 3. The positioning tooth 31 is installed at the bottom of the shortened section 35 of another clip 3. In this embodiment, as Figure 7 As shown, the middle part of the connecting terminal is a plastic sealing part, and the plastic sealing parts are connected in a row. There is a positioning groove between two adjacent plastic sealing parts, and the positioning tooth 31 is stuck in the positioning groove. When clamping, the manipulator 300 moves downward, and the positioning tooth 31 is stuck in the positioning groove. Then the clamping claw cylinder 1 works to make the two clamps 3 approach each other, so that the two clamps 3 clamp the plastic sealing part, and then the manipulator 300 moves upward to clamp the connecting terminal.

[0027] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that: It includes a clamp cylinder, the execution end of the clamp cylinder is connected to a clamp, and limiting pieces are installed in pairs on the outer wall of the clamp cylinder, the two limiting pieces are arranged opposite to each other, and two raised guard plates and convex columns are arranged on the opposite surfaces of the limiting pieces, the convex column is located between the two guard plates, and the two limiting pieces form a cavity, and the cavity is divided into two limiting cavities by the two convex columns, the clamp is slidably installed in the corresponding limiting cavity, and the clamp can slide left and right relative to the limiting piece, and a limiting screw is also installed on the guard plate, the clamping end of the clamp is located below the limiting cavity, and a plurality of positioning teeth arranged at intervals are arranged at the bottom of the clamping end of one of the clamps.

2. A robot according to claim 1, characterized in that: The clamping jaw cylinder is provided with a dovetail groove, in which dovetail blocks are installed in pairs, and the dovetail blocks are slidably matched with the dovetail groove. The clamping jaw cylinder drives the dovetail blocks to slide in the dovetail groove, and the top of the clamp is connected to the dovetail block.

3. A robot according to claim 2, characterized in that: A connecting arm is arranged on the top of the clip, a mounting groove is provided on the connecting arm, a connecting block is arranged on the dovetail block, and the connecting block can be detachably installed in the mounting groove.

4. A robot according to claim 3, characterized in that: Part of the connection block is located outside the installation groove, and a gasket is installed between the connection block and the installation groove.

5. A robot according to any one of claims 1 to 4, characterized in that: A threaded through hole is provided in the protruding column, and the two limiting members are locked by locking screws installed in the threaded through holes.

6. A robot according to claim 5, characterized in that: The threaded through hole of one of the protruding columns is a stepped hole, and the head of the locking screw is located in the large hole of the stepped hole.

7. A robot according to claim 1, characterized in that: The clamp located below the limiting cavity has a thick-walled section, a shortened section and a thin-walled section connected in sequence from top to bottom, the thickness of the thick-walled section and the shortened section are the same, the width of the shortened section is smaller than the width of the thick-walled section, and the thickness of the thin-walled section is smaller than the thickness of the shortened section.

8. A robot according to claim 7, characterized in that: The outer side of the shortened section of one of the clips is a wedge-shaped surface, and the positioning teeth are installed at the bottom of the shortened section of the other clip.

9. A connector clamping device, comprising a linear moving module, wherein a sliding plate is provided on the linear moving module, characterized in that: The sliding plate is equipped with a robot as described in any one of claims 1 to 8.

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