Flat cable carrying mechanism

Abstract

The invention relates to a flat cable carrying mechanism which comprises a mechanical arm and an end effector, the end effector comprises a fixing frame, a first material suction unit, a second material suction unit and an adjusting unit, the fixing frame is installed on the mechanical arm, the first material suction unit is fixedly installed on the fixing frame, and the second material suction unit is movably installed on the fixing frame; the first material suction unit comprises a first material suction air cylinder and a first suction nozzle, the first material suction air cylinder can drive the first suction nozzle to move in the first direction, the second material suction unit comprises a second material suction air cylinder and a second suction nozzle, the second material suction air cylinder can drive the second suction nozzle to move in the first direction, and the adjusting unit is installed on the fixing frame. The adjusting unit can drive the second material suction unit to move in the second direction, and an included angle a is formed between the first direction and the second direction and is larger than 0. According to the carrying mechanism, automatic carrying of the flat cable can be achieved, manual operation is avoided, and the quality of the flat cable and accurate control over the carrying position are guaranteed.

Description

Technical Field

[0001] This application relates to automated assembly technology, specifically to a cable handling mechanism. Background Technology

[0002] During the production of flat panels, the ribbon cable needs to be bent. Before bending, the ribbon cable needs to be placed in the work position. Currently, this is all done manually. The operator picks up the ribbon cable by hand and puts it into the fixture for bending. This not only causes the ribbon cable to deform, but also contaminates the ribbon cable with the sweat from the worker's hands. In addition, the work efficiency is extremely low and the production cost is high. Summary of the Invention

[0003] To overcome the above-mentioned defects, this application provides a cable handling mechanism that can realize the automatic handling of cables, avoid manual operation, ensure the quality of cables and the precise control of handling position, and improve production efficiency.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] A cable handling mechanism includes a robotic arm and an end effector mounted on the robotic arm. The end effector includes a fixed frame, a first suction unit, a second suction unit, and an adjustment unit. The fixed frame is mounted on the robotic arm. The first suction unit is fixedly mounted on the fixed frame, and the second suction unit is movably mounted on the fixed frame. The first suction unit includes a first suction cylinder and a first suction nozzle connected to the first suction cylinder. The first suction cylinder can drive the first suction nozzle to move along a first direction. The second suction unit includes a second suction cylinder and a second suction nozzle connected to the second suction cylinder. The second suction cylinder can drive the second suction nozzle to move along the first direction. The adjustment unit is mounted on the fixed frame and can drive the second suction unit to move along a second direction to adjust the distance between the first suction nozzle and the second suction nozzle. An angle α, where α > 0, is formed between the first direction and the second direction.

[0006] Optionally, the first suction unit further includes a first linear slide rail and a first support frame. The first linear slide rail and the first suction cylinder are fixedly installed on the fixed frame. The first support frame is slidably installed on the first linear slide rail. The first suction cylinder is connected to the first support frame. The first suction nozzle is installed on the first support frame. A spring is provided between the first suction nozzle and the first support frame.

[0007] Optionally, the first suction cylinder is provided with a first piston rod, and a first connector is fixedly provided on the first piston rod. A first mounting groove is provided on the first support frame. The first mounting groove has a T-shaped groove structure. The first connector is inserted into the first mounting groove to connect the first support frame to the first piston rod.

[0008] Optionally, the second suction unit further includes a second linear slide rail and a second support frame. The second linear slide rail and the second suction cylinder are slidably mounted on the fixed frame. The second support frame is slidably mounted on the second linear slide rail. The second suction cylinder is connected to the second support frame. The second suction nozzle is mounted on the second support frame. A spring is provided between the second suction nozzle and the second support frame.

[0009] Optionally, the second suction cylinder is provided with a second piston rod, and a second connector is fixedly provided on the second piston rod. A second mounting groove is provided on the second support frame. The second mounting groove has a T-shaped groove structure. The second connector is inserted into the second mounting groove to connect the second support frame to the second piston rod.

[0010] Optionally, the adjustment unit includes an adjustment cylinder and a third linear slide rail. The adjustment cylinder and the third linear slide rail are fixedly mounted on a fixed frame. The second linear slide rail and the second suction cylinder are movably mounted on the third linear slide rail. The adjustment cylinder is connected to the second linear slide rail and can drive the second linear slide rail to slide along the third linear slide rail.

[0011] Optionally, the robotic arm is mounted on a base, and a suction-breaking integrated valve is fixedly provided on the base. The suction-breaking integrated valve is connected to the first suction nozzle and the second suction nozzle. A connecting rod is fixedly installed on the robotic arm, and an installation groove is provided on the fixing frame. The connecting rod is fixedly installed in the installation groove.

[0012] The beneficial effects of this application are as follows: This application includes a robotic arm, a first suction unit, a second suction unit, and an adjustment unit. The robotic arm enables the first and second suction units to switch between the picking and unloading stations. The first and second suction units can simultaneously pick up two sets of cables, improving handling efficiency. The adjustment unit adjusts the distance between the first and second suction nozzles to accommodate trays with different spacings, broadening the application range of this handling mechanism. Using this handling mechanism to transport cables allows for fully automated control throughout the entire process, avoiding manual operation, ensuring cable quality and precise control of the handling position, improving production efficiency, saving significant labor costs, and enhancing product competitiveness. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the cable handling mechanism in this application;

[0014] Figure 2 This is a schematic diagram of the robotic arm in this application;

[0015] Figure 3 This is a schematic diagram of the end effector in this application;

[0016] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0017] Figure 5 This is an exploded view of the end effector in this application;

[0018] In the diagram: 100-robotic arm, 110-base, 111-suction-break integrated valve, 120-connecting rod, 200-end actuator, 210-fixed frame, 211-mounting slot, 220-first suction unit, 221-first suction cylinder, 222-first piston rod, 223-first connector, 224-first linear slide rail, 225-first support frame, 226-first mounting slot, 227-first suction nozzle, 230-second suction unit, 231-second suction cylinder, 232-second piston rod, 233-second connector, 234-second linear slide rail, 235-second support frame, 236-second mounting slot, 237-second suction nozzle, 240-adjustment unit, 241-adjustment cylinder, 242-third linear slide rail. Detailed Implementation

[0019] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the embodiments of this application. Obviously, the embodiments described in this application are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of the terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0022] Example: Figure 1-5 As shown, a cable handling mechanism includes a robotic arm 100 and an end effector 200 mounted on the robotic arm 100. The end effector 200 includes a mounting frame 210, a first suction unit 220, a second suction unit 230, and an adjustment unit 240. The mounting frame 210 is mounted on the robotic arm 100. The first suction unit 220 is fixedly mounted on the mounting frame 210, and the second suction unit 230 is movably mounted on the mounting frame 210. The first suction unit 220 includes a first suction cylinder 221 and a first suction nozzle 227 connected to the first suction cylinder 221. The material cylinder 221 can drive the first suction nozzle 227 to run along a first direction. The second suction unit 230 includes a second suction cylinder 231 and a second suction nozzle 237 connected to the second suction cylinder. The second suction cylinder 231 can drive the second suction nozzle 237 to run along the first direction. The adjustment unit 240 is mounted on the fixed frame 210. The adjustment unit 240 can drive the second suction unit 237 to run along a second direction to adjust the distance between the first suction nozzle 227 and the second suction nozzle 237. The first direction and the second direction form an angle α, where α > 0. That is, the first direction and the second direction are not parallel. Optionally, the first direction and the second direction are perpendicular to each other. The robot 100 includes a six-axis robot or a four-axis robot. The first suction nozzle 227 and the second suction nozzle 237 are used to pick up cables.

[0023] like Figure 3As shown, optionally, the first direction is vertical and the second direction is horizontal. That is, the first suction cylinder 221 can drive the first suction nozzle 227 to move vertically to pick up or put down the cable, the second suction cylinder 231 can drive the second suction nozzle 237 to move vertically to pick up or put down the cable, and the adjustment unit 240 can drive the second suction unit 230 to move horizontally, thereby adjusting the horizontal distance between the first suction nozzle 227 and the second suction nozzle 237.

[0024] In this application, a robotic arm 100 is used to switch the first suction unit 220 and the second suction unit 230 between the picking station and the unloading station. The first suction unit 220 and the second suction unit 230 can simultaneously pick up two sets of cables, improving handling efficiency. The distance between the first suction nozzle 227 and the second suction nozzle 237 is adjusted by the adjustment unit 240 to accommodate trays with different spacing, thus broadening the application range of the handling mechanism. Using this handling mechanism to transport cables, the entire handling process can be fully automated, avoiding manual operation, ensuring the quality of the cables and precise control of the handling position, improving production efficiency, saving a significant amount of labor costs, and enhancing product competitiveness.

[0025] like Figure 3 and Figure 4 As shown, the first suction unit 220 further includes a first linear slide rail 224 and a first support frame 225. The first linear slide rail 224 and the first suction cylinder 221 are fixedly mounted on the fixed frame 210. The first support frame 225 is slidably mounted on the first linear slide rail 224. The first suction cylinder 221 is connected to the first support frame 225. The first suction nozzle 227 is mounted on the first support frame 225, and a spring is provided between the first suction nozzle 227 and the first support frame 225. The spring can buffer the pressure applied to the cable by the first suction nozzle 227, thus protecting the cable. The first linear slide rail 224 is vertically mounted on the fixed frame 210. The first support frame 225 is slidably mounted on the first linear slide rail 224 through a slide groove. The first suction cylinder 221 drives the first support frame 225 to slide along the first linear slide rail 224. Multiple first suction nozzles 227 are fixedly mounted on the lower end of the first support frame 225. The shape of the arrangement of the first suction nozzles 227 can be adjusted according to the wiring harness to achieve the purpose of flatly sucking up the wiring harness.

[0026] like Figure 4As shown, the first suction cylinder 221 is provided with a first piston rod 222, and a first connector 223 is fixedly provided on the first piston rod 222. A first mounting groove 226 is provided on the first support frame 225. The first mounting groove 226 has a T-shaped groove structure. The first connector 223 is inserted into the first mounting groove 226 to connect the first support frame 225 to the first piston rod 222. Optionally, the first connector 223 includes a cylindrical retaining ring, which is inserted into the first mounting groove 226 for easy connection and disassembly. The first suction cylinder 221 is fixedly installed on the fixed frame 210 and is arranged vertically. The first connector 223 is fixedly installed on the upper end of the first piston rod 222. The first support frame 225 moves up and down by driving the first piston rod 222, so that the first suction nozzle 227 contacts or moves away from the cable.

[0027] like Figure 3 and Figure 5 As shown, the second suction unit 230 further includes a second linear slide rail 234 and a second support frame 235. The second linear slide rail 234 and the second suction cylinder 231 are slidably mounted on the fixed frame 210. The second support frame 235 is slidably mounted on the second linear slide rail 234. The second suction cylinder 231 is connected to the second support frame 235. The second suction nozzle 237 is mounted on the second support frame 235, and a spring is provided between the second suction nozzle 237 and the second support frame 235. The second linear slide rail 234 and the second suction cylinder 231 can be slidably mounted on the fixed frame 210 via a support plate. The spring can buffer the pressure applied to the cable by the second suction nozzle 237, thus protecting the cable. The second linear slide rail 234 is vertically mounted on the fixed frame 210. The second support frame 235 is slidably mounted on the second linear slide rail 234 via a slide groove. The second suction cylinder 231 drives the second support frame 235 to slide along the second linear slide rail 234. Multiple second suction nozzles 237 are fixedly mounted on the lower end of the second support frame 235. The shape of the arrangement of the second suction nozzles 237 can be adjusted according to the wiring harness to pick up the wiring harness flat.

[0028] like Figure 5As shown, the second suction cylinder 231 is provided with a second piston rod 232, and a second connector 233 is fixedly provided on the second piston rod 232. A second mounting groove 236 is provided on the second support frame 235. The second mounting groove 236 has a T-shaped groove structure. The second connector 233 is inserted into the second mounting groove 236 to connect the second support frame 235 to the second piston rod 232. Optionally, the second connector 233 includes a cylindrical retaining ring, which is inserted into the second mounting groove 236 for easy connection and disassembly. The second suction cylinder 231 is movably mounted on the fixed frame 210 and is arranged vertically. The second connector 233 is fixedly installed at the upper end of the second piston rod 232. The second support frame 235 moves up and down by driving the second piston rod 232, so that the second suction nozzle 237 contacts or moves away from the cable.

[0029] like Figure 3 and Figure 5 As shown, the adjustment unit includes an adjustment cylinder 241 and a third linear slide rail 242. The adjustment cylinder 241 and the third linear slide rail 242 are fixedly mounted on the mounting bracket 210. The second linear slide rail 234 and the second suction cylinder 231 are movably mounted on the third linear slide rail 242. The adjustment cylinder 241 is connected to the second linear slide rail 224, and the adjustment cylinder 241 can drive the second linear slide rail 234 to slide along the third linear slide rail 242 to adjust the distance between the first suction nozzle 227 and the second suction nozzle 237. The third linear slide rail 242 is mounted horizontally on the fixed frame 210. The second linear slide rail 234 and the second suction cylinder 231 are fixedly mounted on the support plate. The support plate is slidably mounted on the third linear slide rail 242 through a slide groove. The adjusting cylinder 241 is connected to the support plate and drives the support plate to run horizontally. The support plate moves synchronously with the second suction unit 230, that is, the second suction nozzle 237 achieves horizontal movement, thereby achieving the purpose of adjusting the horizontal distance between the first suction nozzle 227 and the second suction nozzle 237.

[0030] like Figure 1-3As shown, the robotic arm 100 is mounted on the base 110, and the base 110 is fixedly provided with a suction-breaking integrated valve 111. The suction-breaking integrated valve 111 is connected to the first suction nozzle 227 and the second suction nozzle 237. A connecting rod 120 is fixedly mounted on the robotic arm 100, and an installation groove 211 is opened on the fixing frame 210. The connecting rod 120 is fixedly installed in the installation groove 211. The robotic arm 100 is mounted on the machine platform via the base 110. The robotic arm 100 can control the end effector 200 to reciprocate between the picking station and the unloading station. When the end effector 200 is in the picking station, the first suction cylinder 221 and the second suction cylinder 231 drive the first suction nozzle 227 and the second suction nozzle 237 to run to the surface of the cable. The suction-breaking integrated valve 111 controls the first suction nozzle 227 and the second suction nozzle 237 to suck air to hold the cable. Then the robotic arm 100 drives the end effector 200 to run to the unloading station. The suction-breaking integrated valve 111 controls the first suction nozzle 227 and the second suction nozzle 237 to close the suction to release the cable, thereby realizing the automatic handling operation of the cable.

[0031] The operation method of this application includes the following steps:

[0032] Step 1: The robotic arm 100 moves the end effector 200 to the material handling station;

[0033] Step 2: The first suction cylinder 221 and the second suction cylinder 231 extend to drive the first suction nozzle 227 and the second suction nozzle 237 to run to the surface of the cable. The suction and breaking integrated valve 111 controls the first suction nozzle 227 and the second suction nozzle 237 to suck air to hold the cable.

[0034] Step 3: The first suction cylinder 221 and the second suction cylinder 231 retract, and the first suction nozzle 227 and the second suction nozzle 237 rise with the cable.

[0035] Step 4: The robotic arm 100 moves the end effector 200 to the unloading station;

[0036] Step 5: The first suction cylinder 221 extends, driving the first suction nozzle 227 and the cable downward. The suction and breaking integrated valve 111 closes, the first suction nozzle 227 releases the cable, and the cable falls to the preset position.

[0037] Step 6: The second suction cylinder 231 extends, driving the second suction nozzle 237 and the cable downward. The suction and breaking integrated valve 111 closes, the second suction nozzle 237 releases the cable, and the cable falls to the preset position.

[0038] Step 7: The robotic arm 100 moves the end effector 200 back to the material handling station and repeats the above steps;

[0039] Step 8: When using trays with different spacing, before picking up the material, the second suction nozzle 237 is driven to run by the adjustment unit 240 to adjust the distance between the first suction nozzle 227 and the second suction nozzle 237.

[0040] It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application shall be determined by the appended claims.

Claims

1. A wire arranging mechanism characterized by comprising: The robot (100) and the end effector (200) mounted on the robot (100) are provided, the end effector (200) comprises a fixing frame (210), a first suction unit (220), a second suction unit (230) and an adjusting unit (240), the fixing frame (210) is mounted on the robot (100), the first suction unit (220) is fixedly mounted on the fixing frame (210), the second suction unit (230) is movably mounted on the fixing frame (210), the first suction unit (220) comprises a first suction cylinder (221) and a first suction nozzle (227) connected to the first suction cylinder (221), the first suction cylinder (221) can drive the first suction nozzle (227) to run along a first direction, the second suction unit (230) comprises a second suction cylinder (231) and a second suction nozzle (237) connected to the second suction cylinder, the second suction cylinder (231) can drive the second suction nozzle (237) to run along the first direction, the adjusting unit (240) is mounted on the fixing frame (210), the adjusting unit (240) can drive the second suction unit (230) to run along a second direction to adjust the distance between the first suction nozzle (227) and the second suction nozzle (237), the first direction and the second direction form an included angle a, a>0.

2. The wire carrying mechanism according to claim 1, characterized by: The first suction unit (220) further comprises a first linear slide rail (224) and a first support frame (225), the first linear slide rail (224) and the first suction cylinder (221) are fixedly mounted on the fixing frame (210), the first support frame (225) is slidably mounted on the first linear slide rail (224), the first suction cylinder (221) is connected to the first support frame (225), the first suction nozzle (227) is mounted on the first support frame (225), and a spring is arranged between the first suction nozzle (227) and the first support frame (225).

3. The wire carrying mechanism according to claim 2, characterized by: A first piston rod (222) is arranged on the first suction cylinder (221), a first connector (223) is fixedly arranged on the first piston rod (222), a first mounting groove (226) is formed on the first support frame (225), the first mounting groove (226) is a T-shaped groove structure, and the first connector (223) is clamped into the first mounting groove (226) to connect the first support frame (225) to the first piston rod (222).

4. The wire carrying mechanism according to claim 1, characterized by: The second suction unit (230) further comprises a second linear slide rail (234) and a second support frame (235), the second linear slide rail (234) and the second suction cylinder (231) are slidingly installed on the fixed frame (210), the second support frame (235) is slidingly installed on the second linear slide rail (234), the second suction cylinder (231) is connected to the second support frame (235), the second suction nozzle (237) is installed on the second support frame (235), and a spring is arranged between the second suction nozzle (237) and the second support frame (235).

5. The wire carrying mechanism according to claim 4, characterized by: The second suction cylinder (231) is provided with a second piston rod (232), the second piston rod (232) is fixedly provided with a second connector (233), the second support frame (235) is provided with a second installation groove (236), the second installation groove (236) is a T-shaped groove structure, and the second connector (233) is clamped into the second installation groove (236) to connect the second support frame (235) to the second piston rod (232).

6. The wire carrying mechanism according to claim 4, characterized by: The adjusting unit (240) comprises an adjusting cylinder (241) and a third linear slide rail (242), the adjusting cylinder (241) and the third linear slide rail (242) are fixedly installed on the fixed frame (210), the second linear slide rail (234) and the second suction cylinder (231) are movably installed on the third linear slide rail (242), the adjusting cylinder (241) is connected to the second linear slide rail (324), and the adjusting cylinder (241) can drive the second linear slide rail (234) to slide along the third linear slide rail (242).

7. The wire carrying mechanism of claim 1, wherein: The mechanical hand (100) is installed on the base (110), the base (110) is fixedly provided with a suction and breaking integrated valve (111), the suction and breaking integrated valve (111) is connected to the first suction nozzle (227) and the second suction nozzle (237), the mechanical hand (100) is fixedly installed with a connecting rod (120), the fixed frame (210) is provided with an installation groove (211), and the connecting rod (120) is fixedly installed in the installation groove (211).

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