Manipulator for PIN machining

Abstract

The utility model discloses a mechanical arm for PIN machining. The mechanical arm comprises a transverse moving mechanism, a longitudinal moving mechanism and mechanical fingers. A transverse sliding rail is arranged at the upper part of the transverse moving mechanism; a transverse sliding seat at the lower part of the longitudinal moving mechanism is arranged on the transverse sliding rail; a plurality of transverse position sensors are arranged on the side surface of the transverse moving mechanism; a longitudinal sliding rail is arranged on a transverse sliding seat of the longitudinal moving mechanism through a supporting plate, a longitudinal sliding seat is arranged on the longitudinal sliding rail through a rail sliding block connected with the lower portion of the longitudinal sliding seat, and a plurality of longitudinal position sensors are arranged on the outer side of the supporting plate of the transverse sliding seat. And each mechanical finger comprises a finger main body seat, a clamping finger and a finger positioning rod. According to the mechanical finger feeding mechanism, the mechanical finger is automatically, rapidly and accurately conveyed to a preset position, the mechanical finger completes operations such as grabbing, feeding and segmented feeding of PINs, the mechanical finger is matched with the PIN processing device to complete automatic feeding and feeding, and full-automatic operation of the PIN processing device is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of PIN needle processing equipment, and in particular relates to a manipulator used for PIN needle processing. Background Art

[0002] PIN pins are generally used in connectors to complete the conductive transmission function. PIN pins are used in some connectors with different degrees of bending. The device that completes the flattening and bending of the PIN pins requires the cooperation of the PIN pin robot when working. The PIN pin clamping robot completes the tasks of picking up materials, feeding materials, and segmented feeding. When the PIN pin robot completes these complex tasks, its structural design will directly affect its work efficiency. Whether the work efficiency of the PIN pin robot is high is also an important factor affecting the efficiency of the entire PIN pin processing. Utility Model Content

[0003] The utility model aims to solve the above-mentioned problems and provide a manipulator for PIN needle processing, which cooperates with PIN needle flattening, bending and other processing devices to complete efficient material picking, feeding, and segmented feeding, so that the entire PIN needle processing process is fast and efficient.

[0004] The utility model is realized by the following technical solutions:

[0005] A robot for PIN needle processing, comprising a transverse moving mechanism, a longitudinal moving mechanism and a robot finger; the lower part of the transverse moving mechanism is mounted on a frame, and a transverse slide rail is provided on the upper part; the transverse slide seat at the lower part of the longitudinal moving mechanism is mounted on the transverse slide rail and is driven by a transverse screw motor of the transverse moving mechanism to move transversely along the transverse slide rail; a transverse sensor mounting groove is provided on the side of the transverse moving mechanism, and a plurality of transverse position sensors are installed on the transverse sensor mounting groove; a transverse position sensing sheet is installed on the lower part of the transverse slide seat; a longitudinal screw motor is installed on the transverse slide seat of the longitudinal moving mechanism, and the longitudinal slide rail is installed upwardly through a support plate on the transverse slide seat, and the longitudinal slide seat is placed on the longitudinal slide rail through a track slider connected at the lower part, and a screw nut is provided at the lower part of the longitudinal slide seat, and the screw nut is sleeved on the longitudinal slide connected to the longitudinal screw motor On the screw rod; a longitudinal sensor mounting plate is provided on the outer side of the support plate of the transverse slide, and a plurality of longitudinal position sensors are arranged on the longitudinal sensor mounting plate, and a longitudinal position sensing sheet is installed on the track slider; the mechanical finger comprises a finger body seat, a clamping finger and a finger positioning rod, a vertical finger mounting plate is installed on the longitudinal slide, the upper part of the finger mounting plate is connected to the finger body seat through a fine-tuning connecting seat, and the fine-tuning connecting seat is provided with a vertical adjustment rod and a horizontal adjustment rod for adjusting the vertical position and the horizontal position of the finger body seat respectively; a vertical track is provided at the other end of the finger body seat, and two clamping fingers driven by a cylinder and opposite to each other up and down are arranged in the vertical track, a finger positioning rod mounting plate is installed on the finger body seat, and a finger positioning rod located between the two clamping fingers is installed at the end of the finger positioning rod mounting plate.

[0006] Furthermore, a drag chain mounting plate is installed on the side of the transverse slide close to the mechanical finger, a drag chain groove is provided on the frame, a drag chain is provided in the drag chain groove, one end of the drag chain is fixed in the drag chain groove, and the other end is installed on the drag chain mounting plate.

[0007] Furthermore, the longitudinal section of the lateral sensor installation groove is C-shaped, and the lateral position sensor is installed in the C-shaped groove. The lateral installation position is adjustable and the installation position is fixed by bolts.

[0008] Furthermore, the longitudinal sensor mounting plate is provided with a strip hole, and the longitudinal position sensor is fixed to the strip hole of the longitudinal sensor mounting plate by bolts, so as to facilitate adjustment of the installation position of the longitudinal position sensor.

[0009] Furthermore, the cross-section of the track slider is I-shaped, which is convenient for maintaining the stability of the track slider when sliding.

[0010] The beneficial effects of the utility model are as follows: the robot arm for PIN needle processing designed by the utility model is designed with a lateral moving mechanism, a longitudinal moving mechanism and a mechanical finger. The lateral moving mechanism and the longitudinal moving mechanism can move simultaneously and respectively set a position sensing device, so as to automatically and quickly and accurately send the mechanical finger to the predetermined position. The mechanical finger completes operations such as grasping, feeding and segmented feeding of the PIN needle, and cooperates with the PIN needle processing device to complete automatic loading and feeding, thereby realizing the fully automated operation of the PIN needle processing device and making the entire PIN needle processing process fast and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural diagram of the utility model.

[0012] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0013] Figure 3 This is a three-dimensional structural diagram from another viewing angle of the utility model.

[0014] In the figure, 1, frame, 2, horizontal moving mechanism, 3, longitudinal moving mechanism, 4, mechanical finger, 5, drag chain, 6, drag chain slot, 21, horizontal slide rail, 22, horizontal screw motor, 23, horizontal sensor mounting slot, 24, horizontal position sensor, 25, horizontal position sensor sheet, 31, horizontal slide seat, 32, longitudinal screw motor, 33, longitudinal slide rail, 34, longitudinal slide seat, 35, track slider, 36, longitudinal sensor mounting plate, 37, longitudinal position sensor, 38, longitudinal position sensor sheet, 39, longitudinal screw, 41, finger mounting plate, 42, fine-tuning connecting seat, 43, finger main body seat, 44, vertical track, 45, finger positioning rod mounting plate, 46, clamping finger, 47, finger positioning rod, 51, drag chain mounting plate, 421, vertical adjustment rod, 422, horizontal adjustment rod. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0016] like Figure 1-Figure 3As shown, a manipulator for PIN needle processing includes a transverse moving mechanism 2, a longitudinal moving mechanism 3 and a manipulator finger 4; the lower part of the transverse moving mechanism 2 is mounted on the frame 1, and the upper part is provided with a transverse slide rail 21, the transverse slide seat 31 at the lower part of the longitudinal moving mechanism 3 is mounted on the transverse slide rail 21 and is driven by the transverse screw motor 22 of the transverse moving mechanism 2 to move transversely along the transverse slide rail 21; a transverse sensor mounting groove 23 is provided on the side of the transverse moving mechanism 2, three transverse position sensors 24 are installed on the transverse sensor mounting groove 23, and a transverse position sensor sheet 25 is installed at the lower part of the transverse slide seat 31; the longitudinal section of the transverse sensor mounting groove 23 is C-shaped, the transverse position sensor 24 is installed in the C-shaped groove, the transverse mounting position is adjustable, and the mounting position is fixed by bolts. A longitudinal screw motor 32 is mounted on the transverse slide 31 of the longitudinal moving mechanism 3. A longitudinal slide rail 33 is mounted on the transverse slide 31 through a support plate. A longitudinal slide 34 is placed on the longitudinal slide rail 33 through a track slider 35 connected at the bottom. The cross section of the track slider 35 is an I-shaped shape, which is convenient for maintaining the stability of the track slider 35 when sliding. A screw nut is arranged at the bottom of the longitudinal slide 34, and the screw nut is sleeved on a longitudinal screw 39 connected to the longitudinal screw motor 32; a longitudinal sensor mounting plate 36 is arranged on the outer side of the support plate of the transverse slide 31, and three longitudinal position sensors 37 are arranged on the longitudinal sensor mounting plate 36. A longitudinal position sensor sheet 38 is mounted on the track slider 35; the longitudinal sensor mounting plate 36 is provided with a strip hole, and the longitudinal position sensor 37 is fixed to the strip hole of the longitudinal sensor mounting plate 36 by bolts, which is convenient for adjusting the installation position of the longitudinal position sensor 37. The mechanical finger 4 includes a finger body seat 43, a clamping finger 46 and a finger positioning rod 47. A vertical finger mounting plate 41 is installed on the longitudinal slide 34. The upper part of the finger mounting plate 41 is connected to the finger body seat 43 through a fine-tuning connecting seat 42. The fine-tuning connecting seat 42 is provided with a vertical adjustment rod 421 and a horizontal adjustment rod 422 for adjusting the vertical position and horizontal position of the finger body seat 43 respectively; a vertical rail 44 is provided at the other end of the finger body seat 43, and two clamping fingers 46 driven by a cylinder and opposite to each other up and down are provided in the vertical rail 44 (the cylinder is not shown in the figure to clearly show other structures), and a finger positioning rod mounting plate 45 is installed on the finger body seat 43. A finger positioning rod 47 located between the two clamping fingers 46 is installed at the end of the finger positioning rod mounting plate 45.

[0017] A drag chain mounting plate 51 is installed on the side of the transverse slide 31 close to the mechanical finger 4, a drag chain groove 6 is provided on the frame 1, a drag chain 5 is provided in the drag chain groove 6, one end of the drag chain 5 is fixed in the drag chain groove 6, and the other end is installed on the drag chain mounting plate 51 (in order to clearly show other structures, the wires of the longitudinal screw motor 32 installed on the drag chain 5, the air pipe of the driving cylinder of the clamping finger 46 and the connecting wire of the longitudinal position sensor 37 are not shown in the figure).

[0018] The manipulator designed by the utility model for PIN needle processing, before working, first sets the position and number of the lateral position sensors 24 (for example, if there are two lateral travels, three lateral position sensors 24 are set), as well as the position and number of the longitudinal position sensors 37, according to the position and number of travel segments where the manipulator needs to grab the PIN needle and transfer the PIN needle, and finely adjusts the vertical position and lateral position of the finger body seat 43 respectively by fine-tuning the vertical adjustment rod 421 and the lateral adjustment rod 422 of the connecting seat 42, so that the end of the finger positioning rod 47 is aligned with the PIN needle position, ensuring that the manipulator can accurately grab the PIN needle during operation. During operation, the lateral screw motor 22 of the lateral moving mechanism 2 drives the lateral slide 31 to move horizontally, and a lateral position sensor sheet 25 installed at the lower part of the lateral slide 31 passes through the corresponding lateral position sensor 24, so that the lateral travel reaches the preset control travel. During the lateral movement of the lateral slide 31, the longitudinal moving mechanism 3 also drives the mechanical finger 4 to complete the longitudinal movement. The longitudinal position sensing piece 38 installed on the track slider 35 detects the longitudinal movement distance of the track slider 35 through the longitudinal position sensor 37, and the longitudinal position sensor 37 detects the longitudinal movement distance of the track slider 35, thereby controlling the longitudinal movement stroke of the longitudinal moving mechanism 3. When the clamping finger 46 of the mechanical finger 4 reaches the PIN needle position, the lateral moving mechanism 2 and the longitudinal moving mechanism 3 both stop moving, and the clamping finger 46 is driven by the cylinder, and the two clamping fingers 46 are relatively clamped. Subsequently, the lateral moving mechanism 2 and the longitudinal moving mechanism 3 move simultaneously to the PIN needle processing position. After the clamping device of the PIN needle processing device clamps the PIN needle, the mechanical finger 4 is released and enters the next feeding cycle action.

[0019] The above embodiments are only preferred implementation modes of the present invention and are only used to explain the present invention rather than to limit the present invention. Any changes, substitutions, combinations, simplifications, modifications, etc. made by those skilled in the art without departing from the spirit and principles of the present invention shall be considered as equivalent replacement modes and shall be included in the protection scope of the present invention.

Claims

1. A manipulator for PIN needle processing, characterized in that: It comprises a transverse movement mechanism, a longitudinal movement mechanism and a mechanical finger; the lower part of the transverse movement mechanism is mounted on the frame, and a transverse slide rail is provided on the upper part; the transverse slide seat at the lower part of the longitudinal movement mechanism is mounted on the transverse slide rail and is driven by a transverse screw motor of the transverse movement mechanism to move transversely along the transverse slide rail; a transverse sensor mounting groove is provided on the side of the transverse movement mechanism, and a plurality of transverse position sensors are installed on the transverse sensor mounting groove, and a transverse position sensing sheet is installed on the lower part of the transverse slide seat; a longitudinal screw motor is installed on the transverse slide seat of the longitudinal movement mechanism, and the longitudinal slide rail is installed upwardly through a support plate on the transverse slide seat, and the longitudinal slide seat is placed on the longitudinal slide rail through a track slider connected at the lower part, and a screw nut is provided at the lower part of the longitudinal slide seat, and the screw nut is sleeved on the longitudinal screw connected to the longitudinal screw motor; the transverse A longitudinal sensor mounting plate is provided on the outer side of the support plate of the slide seat, and a plurality of longitudinal position sensors are arranged on the longitudinal sensor mounting plate, and a longitudinal position sensing plate is installed on the track slider; the mechanical finger comprises a finger body seat, a clamping finger and a finger positioning rod, a vertical finger mounting plate is installed on the longitudinal slide seat, the upper part of the finger mounting plate is connected to the finger body seat through a fine-tuning connecting seat, and the fine-tuning connecting seat is provided with a vertical adjustment rod and a horizontal adjustment rod for adjusting the vertical position and horizontal position of the finger body seat respectively; a vertical track is provided at the other end of the finger body seat, and two clamping fingers driven by a cylinder and opposite to each other up and down are arranged in the vertical track, a finger positioning rod mounting plate is installed on the finger body seat, and a finger positioning rod located between the two clamping fingers is installed at the end of the finger positioning rod mounting plate.

2. The robot for PIN needle processing according to claim 1, characterized in that: A drag chain mounting plate is installed on the side of the transverse slide close to the mechanical finger, a drag chain groove is provided on the frame, a drag chain is provided in the drag chain groove, one end of the drag chain is fixed in the drag chain groove, and the other end is installed on the drag chain mounting plate.

3. The robot for PIN needle processing according to claim 1, characterized in that: The longitudinal section of the transverse sensor installation groove is C-shaped. The transverse position sensor is installed in the C-shaped groove. The transverse installation position is adjustable and the installation position is fixed by bolts.

4. The robot for PIN needle processing according to claim 1, characterized in that: The longitudinal sensor mounting plate is provided with a strip hole, and the longitudinal position sensor is fixed on the strip hole of the longitudinal sensor mounting plate by bolts.

5. The robot for PIN needle processing according to claim 1, characterized in that: The cross section of the track slider is an I-shape.

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