Cable grabbing and feeding mechanism

Abstract

The utility model discloses a cable grabbing and feeding mechanism which comprises a mounting base, a first pneumatic clamping finger, a second pneumatic clamping finger and a third pneumatic clamping finger, the first pneumatic clamping finger is vertically arranged at the bottom of the mounting base and points to the upper portion, an adapter block is arranged on the front side of the first pneumatic clamping finger, and the adapter block is connected with the second pneumatic clamping finger. The second pneumatic clamping finger is arranged on the front side of the adapter block and points to the lower portion, the third pneumatic clamping finger is vertically arranged at the bottom of the mounting base and located behind the first pneumatic clamping finger, first clamping arms are symmetrically arranged at the bottom of the first pneumatic clamping finger, and second clamping arms are symmetrically arranged at the bottom of the second pneumatic clamping finger. And clamping rods are symmetrically arranged at the bottom of the third pneumatic clamping finger. By means of the mode, according to the cable grabbing and feeding mechanism, through cooperation of the first pneumatic clamping finger, the second pneumatic clamping finger and the third pneumatic clamping finger, a section of cable located at the head can be stably clamped, and the success rate of feeding the cable to a cable jig is increased.

Description

Technical Field

[0001] The utility model relates to the field of cable grabbing and feeding equipment, in particular to a cable grabbing and feeding mechanism. Background Art

[0002] In the process of automatic processing or connection of cables, it is necessary to grasp and load the materials. Since the cables are flexible to a certain extent and the longer the cables are, the easier they are to bend, it is difficult to accurately position them before grasping, which brings difficulties to automatic grasping.

[0003] In the process of grabbing the cable, the position of the cable end can be obtained through the visual sensor to grab the cable end. However, the part of the cable other than the grabbing point is prone to bending and sagging, causing the grabbing point to tilt, which is not conducive to the transfer and loading after grabbing. The success rate is low and needs to be improved. Utility Model Content

[0004] The main technical problem solved by the utility model is to provide a cable grabbing and feeding mechanism, so as to achieve stable grabbing of cables and improve the feeding success rate.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a cable grabbing and feeding mechanism, including: a mounting seat, a first pneumatic clamping finger, a second pneumatic clamping finger and a third pneumatic clamping finger, the first pneumatic clamping finger is vertically arranged at the bottom of the mounting seat and points upward, a transfer block is arranged on the front side of the first pneumatic clamping finger, the second pneumatic clamping finger is arranged on the front side of the transfer block and points downward, the third pneumatic clamping finger is vertically arranged at the bottom of the mounting seat and is located behind the first pneumatic clamping finger, the first pneumatic clamping finger is symmetrically arranged with a first clamping arm at the bottom, and semicircular grooves are respectively arranged at the inner bottom of the first clamping arm, the second pneumatic clamping finger is symmetrically arranged with a second clamping arm at the bottom, and arc grooves with lower openings are respectively arranged at the inner bottom of the second clamping arm, and the third pneumatic clamping finger is symmetrically arranged with a clamping rod at the bottom.

[0006] In a preferred embodiment of the present invention, an end surface connecting flange is provided on the mounting seat.

[0007] In a preferred embodiment of the present invention, the end surface connecting flange is located directly above the first pneumatic clamping finger.

[0008] In a preferred embodiment of the present invention, the first pneumatic clamping finger and the second pneumatic clamping finger are flat clamping fingers.

[0009] In a preferred embodiment of the present invention, the third pneumatic clamping finger is a Y-shaped clamping finger.

[0010] In a preferred embodiment of the present invention, the arc groove is a quarter-circular groove.

[0011] In a preferred embodiment of the present invention, the cross section of the clamping rod is circular.

[0012] In a preferred embodiment of the utility model, the mounting seat adopts a strip plate, and the mounting seat is provided with a waist hole located above the third pneumatic clamping finger and extending along the length direction of the mounting seat, and a screw connected to the third pneumatic clamping finger is provided in the waist hole.

[0013] In a preferred embodiment of the utility model, it also includes a cable fixture, wherein the top surface of the cable fixture is concavely provided with a cable groove, and the cable is placed in the cable groove after being grabbed.

[0014] The beneficial effect of the utility model is that the cable grabbing and feeding mechanism pointed out by the utility model can be installed on a manipulator for movement, and after the cable is identified by the visual sensor and the thread end is found, the first clamping arm on the first pneumatic clamping finger is first used to clamp and position a section of the thread end behind the thread end, and then the second clamping arm on the second pneumatic clamping finger is used to clamp and position the thread end to avoid deviation, and then the clamping rod at the bottom of the third pneumatic clamping finger is used to center and lift the cable at a section of the rear of the first clamping arm, reducing the influence of the bending of the rear cable on the cable in the first clamping arm, so that a section of the cable at the head can be clamped smoothly, thereby improving the success rate of transferring and feeding to the cable fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0016] Figure 1 It is a structural schematic diagram of a preferred embodiment of a cable grabbing and feeding mechanism of the utility model before grabbing;

[0017] Figure 2 The utility model is a structural schematic diagram of a preferred embodiment of a cable grabbing and feeding mechanism during grabbing. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0019] See also Figure 1~Figure 2, the utility model embodiment includes:

[0020] like Figure 1 and Figure 2 The cable grabbing and feeding mechanism shown is used to grab and feed the cable 9 and transfer it to the cable fixture 14. The top surface of the cable fixture 14 is concavely provided with a wire groove 15. The cable 9 is grabbed and placed in the wire groove 15.

[0021] The cable grabbing and feeding mechanism includes: a mounting seat 4, a first pneumatic clamping finger 1, a second pneumatic clamping finger 2 and a third pneumatic clamping finger 3. The first pneumatic clamping finger 1 is vertically arranged at the bottom of the mounting seat 4 and points upward. The bottom of the first pneumatic clamping finger is symmetrically provided with a first clamping arm 11. The inner bottom of the first clamping arm is respectively provided with a semicircular groove 8, which has good adaptability to the outer circle of the cable 9 and can clamp and position the cable 9.

[0022] An adapter block 7 is arranged at the front side of the first pneumatic gripper finger 1, and the second pneumatic gripper finger 2 is arranged at the front side of the adapter block 7 and points downward. In this embodiment, a second gripper arm 12 is symmetrically arranged at the bottom of the second pneumatic gripper finger 2. The second gripper arm 12 is thinner and has good adaptability to various processing equipment and fixtures. It can go deep into the narrow space of the processing equipment or fixture to assist in cable processing and then withdraw after the processing is completed. The first pneumatic gripper finger 1 and the second pneumatic gripper finger 2 adopt flat grippers, which can be controlled by solenoid valves, have sensitive responses, small movement amplitudes, and good adaptability to the operating space.

[0023] like Figure 2 As shown, the distance between the first pneumatic clamping finger 1 and the second pneumatic clamping finger 2 is relatively close. After the first clamping arm 11 is used to clamp and position the cable 9 at a position behind the cable end, the cable end is relatively straight, and then the second clamping arm 12 is used to clamp the cable end to ensure the straightness of the cable end. The bottom of the inner side of the second clamping arm 12 is respectively provided with an arc groove 10 with an open lower part. In this embodiment, the arc groove 10 is a quarter-circular groove, which can not only clamp and position the cable end, but also expose the bottom of the cable end, without affecting the coordination and processing between the bottom of the cable end and the fixture.

[0024] The third pneumatic clamping finger 3 is vertically arranged at the bottom of the mounting seat 4 and is located behind the first pneumatic clamping finger 1. The bottom of the third pneumatic clamping finger 3 is symmetrically provided with a clamping rod 13. In this embodiment, the third pneumatic clamping finger 3 adopts a Y-shaped clamping finger with a large movement amplitude and good bending adaptability to the cable 9 before grasping.

[0025] like Figure 1As shown, the cross-section of the clamp rod 13 is circular, and a V-shaped angle is formed at the bottom when the clamp rods 13 on both sides are closed, so that the cable 9 can be centrally positioned and lifted, reducing the impact of the bending of the rear cable on the cable in the first clamp arm 11, so that a section of the cable at the head can be clamped smoothly. During transportation, the clamp rod 13 keeps the drooping part of the cable away from the first clamp arm 11, which is beneficial to reducing the rising stroke of the first clamp arm 11.

[0026] In this embodiment, the mounting seat 4 adopts a strip plate, and a waist hole 6 is provided on the mounting seat 4, which is located above the third pneumatic clamping finger 3 and extends along the length direction of the mounting seat 4. A screw connected to the third pneumatic clamping finger 3 is provided in the waist hole 6, which is conducive to adjusting the distance between the second pneumatic clamping finger 2 and the third pneumatic clamping finger 3. Within the range allowed by the operating space, the larger the distance between the second pneumatic clamping finger 2 and the third pneumatic clamping finger 3, the better.

[0027] like Figure 1 As shown, the mounting seat 4 is provided with an end surface connection flange 5, through which the mounting seat 4 can be mounted on a manipulator to move. In this embodiment, the end surface connection flange 5 is located directly above the first pneumatic gripper finger 1, which is conducive to locating the coordinates of the first pneumatic gripper finger 1 in the control system.

[0028] After the cable 9 is identified and the thread end is found by the visual sensor, the first clamping arm 11 on the first pneumatic clamping finger 1 is first used to clamp and position a section of the thread end behind the thread end, and then the second clamping arm 12 on the second pneumatic clamping finger 2 is used to clamp and position the thread end to avoid deflection and ensure the position accuracy of the thread end. The clamping rod 13 at the bottom of the third pneumatic clamping finger 3 is then used to center and lift the cable at a section of the rear of the first clamping arm 11 to reduce the influence of the bending of the rear cable on the cable in the first clamping arm, so that a section of the cable at the head can be clamped smoothly and then transferred to the wire groove 15 on the top surface of the cable fixture 14 to complete the loading.

[0029] In summary, the cable grabbing and feeding mechanism disclosed in the utility model can smoothly grab and feed the cable, ensure the straightness of the cable head, and improve the feeding success rate.

[0030] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A cable grabbing and feeding mechanism for grabbing and feeding cables, characterized in that: include: A mounting seat, a first pneumatic gripper finger, a second pneumatic gripper finger and a third pneumatic gripper finger, wherein the first pneumatic gripper finger is vertically arranged at the bottom of the mounting seat and points upward, a transfer block is arranged at the front side of the first pneumatic gripper finger, the second pneumatic gripper finger is arranged at the front side of the transfer block and points downward, the third pneumatic gripper finger is vertically arranged at the bottom of the mounting seat and is located behind the first pneumatic gripper finger, a first gripper arm is symmetrically arranged at the bottom of the first pneumatic gripper finger, and semicircular grooves are respectively arranged at the inner bottom of the first gripper arm, a second gripper arm is symmetrically arranged at the bottom of the second pneumatic gripper finger, and arc grooves with lower openings are respectively arranged at the inner bottom of the second gripper arm, and a clamping rod is symmetrically arranged at the bottom of the third pneumatic gripper finger.

2. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The mounting seat is provided with an end surface connecting flange.

3. The cable grabbing and feeding mechanism according to claim 2, characterized in that: The end surface connecting flange is located directly above the first pneumatic clamping finger.

4. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The first pneumatic clamping finger and the second pneumatic clamping finger are flat clamping fingers.

5. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The third pneumatic clamping finger is a Y-shaped clamping finger.

6. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The arc groove adopts a quarter circle groove.

7. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The cross section of the clamping rod is circular.

8. The cable grabbing and feeding mechanism according to claim 1, characterized in that: The mounting seat adopts a strip plate, and is provided with a waist hole located above the third pneumatic clamping finger and extending along the length direction of the mounting seat, and a screw connected to the third pneumatic clamping finger is provided in the waist hole.

9. The cable grabbing and feeding mechanism according to claim 1, characterized in that: It also includes a cable fixture, the top surface of which is concavely provided with a cable groove, and the cable is placed in the cable groove after being grasped.

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