Flat cable assembling device and robot

Abstract

The utility model provides a flat cable assembling device and a robot, and relates to the technical field of flat cable assembling. The flat cable assembling device comprises a mounting base and a clamping assembly, the mounting base comprises a first plate body, the two ends, in the X direction, of the first plate body are provided with a second plate body and a third plate body which are folded in the opposite directions of the Y direction respectively, the first plate body and the second plate body define a first containing space, and the first plate body and the third plate body define an avoiding space; the clamping assembly comprises a first Z-direction driving piece contained in the first containing space, a Y-direction driving piece arranged at the bottom end of the first Z-direction driving piece and a clamping part arranged at the driving end of the Y-direction driving piece. A vacuum pressure head is fixedly arranged at the bottom of the third plate body, the vacuum pressure head and the clamping component are both located in the lower space of the avoiding space, and the vacuum pressure head is located in the middle of the clamping component in the clamping direction. The flat cable assembling device is good in accuracy of the buckling position of the buckling head, compact in structure, small in size and small in occupied space.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible cable assembly, in particular to a flexible cable assembly device and a robot. Background Art

[0002] BTB flexible cables and FPC flexible cables are widely used as connection bridges for electrical connection between two electronic components. In the prior art, a flexible cable assembly device is generally used to pick up the fastening head of the flexible cable and assemble it to the fastening seat of the electronic component to improve the fastening assembly efficiency compared with manual assembly. However, the existing flexible cable assembly device has poor accuracy in the fastening position of the fastening head, and is large in size and occupies a large space. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a flexible cable assembly device and a robot, so as to solve the technical problems that the existing flexible cable assembly device has poor accuracy in the fastening position of the fastening head, and is large in size and occupies a large space.

[0004] To solve the above problems, the utility model provides a flexible cable assembly device, which includes a mounting seat and a clamping assembly. The mounting seat includes a first plate body, and second and third plate bodies that are respectively folded in opposite directions along the Y direction at both ends of the first plate body along the X direction. Among them, the first plate body and the second plate body enclose a first accommodating space, and the first plate body and the third plate body enclose an avoidance space.

[0005] The clamping assembly includes a first Z-direction driving member accommodated in the first accommodating space, a Y-direction driving member provided at the bottom end of the first Z-direction driving member, and a clamping member provided at the driving end of the Y-direction driving member; a vacuum chuck is fixedly provided at the bottom of the third plate body. The vacuum chuck and the clamping member are both located in the lower space of the avoidance space, and the vacuum chuck is located at the middle position of the clamping member along the clamping direction.

[0006] Optionally, the vacuum chuck is located at the bottom of the end of the third plate body facing away from the first plate body.

[0007] Optionally, an avoidance groove is provided at the bottom of the third plate body.

[0008] Optionally, the clamping member includes a clamping driving member provided at the driving end of the Y-direction driving member. The driving end of the clamping driving member facing the vacuum chuck is connected with two clamping jaws for driving the two clamping jaws to move towards or away from each other along the X direction; a clamping groove extending along the Y direction and adapted to the side of the fastening head is provided on the clamping end face of each clamping jaw.

[0009] Optionally, one end of the clamping groove is provided with a through hole, and a limiting boss is provided at the other end of the clamping groove on the clamping end face.

[0010] Optionally, the cable assembly device also includes a bending component, which includes a second Z-axis driving member fixedly connected to the side of the third plate body away from the avoidance space, and the bottom end of the second Z-axis driving member is connected to a bending pressure head, and the bending pressure head is located on the side of the vacuum pressure head away from the clamping component along the Y direction.

[0011] Optionally, an extension plate extends from one end of the first plate body and the third plate body corresponding to one end, and the second Z-direction driving member is connected to the extension plate body.

[0012] Optionally, a bending groove penetrating along the X direction is provided at a corner of the bottom of the bending pressure head facing the vacuum pressure head, and a radial cross-section of the bending groove is an arc with a notch facing the vacuum pressure head.

[0013] Optionally, a pressure sensor is fixedly connected to a side of the second plate body facing away from the first accommodating space, and the pressure sensor is used to detect the fastening pressure of the vacuum pressure head on the fastening head and the clamping pressure of the clamping component on the fastening head.

[0014] The utility model also provides a robot, comprising a mechanical arm and the above-mentioned wire arrangement assembly device, wherein a mounting base of the wire arrangement assembly device is fixedly connected to the end of the mechanical arm.

[0015] The cable assembly device provided by the utility model is applied to a robot. On the one hand, it can pick up the snap-fitting head of the cable under the drive of the robot arm through the vacuum pressure head to preliminarily position it, and then clamp the snap-fitting head through the coordinated use of the first Z-axis driving member, the Y-axis driving member and the clamping component in the clamping assembly, so as to realize the centering correction and secondary fixation of the position of the snap-fitting head adsorbed on the vacuum pressure head, as well as the clamping and positioning of the snap-fitting head during the snap-fitting process, which correspondingly improves the position accuracy and stability of the snap-fitting head adsorbed on the vacuum pressure head, as well as the position stability during the snap-fitting process, ensures the precise snap-fitting of the snap-fitting head and the snap-fitting seat, and has high assembly efficiency and good effect for the cable, which can effectively reduce manual labor; on the other hand, the mounting seat is angled The arranged first plate body, second plate body and third plate body can be divided into a first accommodating space and an avoidance space by the two side enclosures of the first plate body along the Y direction, and the space below the two is respectively used as the second accommodating space and the working space. By arranging the first Z-direction driving member of the clamping assembly in the first accommodating space, the Y-direction driving member in the second accommodating space, the clamping component in the second accommodating space or the working space, the vacuum pressure head is arranged in the working space. The arrangement of each component is not only compact in structure, small in size, small in space occupation and high in position stability. At the same time, the avoidance space above the working space is in a vacant state. During use, it will not cause interference to the vacuum pressure head and the clamping component, thereby ensuring the coordinated use of the vacuum pressure head and the clamping component. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 The top view of the wire harness assembly device provided by the embodiment of the present invention;

[0018] Figure 2 The first perspective axonometric view of the wire harness assembly device provided by the embodiment of the present invention;

[0019] Figure 3 The second perspective axonometric view of the wire harness assembly device provided by the embodiment of the present invention;

[0020] Figure 4 The third perspective axonometric view of the wire harness assembly device provided by the embodiment of the present invention;

[0021] Figure 5 For Figure 4 The partial enlarged view of A in

[0022] Explanation of reference numerals:

[0023] 10 - wire harness; 11 - fastening head; 12 - fastening part; 100 - mounting base; 110 - first plate body; 120 - second plate body; 130 - third plate body; 131 - avoidance groove; 140 - extension plate body; 151 - first accommodation space; 152 - avoidance space; 153 - second accommodation space; 154 - working space; 155 - third accommodation space; 156 - fourth accommodation space; 200 - clamping assembly; 210 - first Z - direction driving member; 220 - Y - direction driving member; 230 - clamping member; 231 - clamping driving member; 232 - clamping jaw; 232a - clamping groove; 232b - limiting boss; 300 - vacuum pressing head; 400 - bending assembly; 410 - second Z - direction driving member; 420 - bending pressing head; 421 - bending groove; 500 - pressure sensor. Specific embodiments

[0024] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0026] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "coupling" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0027] This embodiment provides a wire arrangement assembly device, as Figures 1 - 4 shown, which includes a mounting base 100 and a clamping assembly 200. The mounting base 100 includes a first plate body 110. Second plate bodies 120 and third plate bodies 130 that are respectively folded in opposite directions along the Y direction are provided at both ends of the first plate body 110 along the X direction. Among them, the first plate body 110 and the second plate body 120 enclose a first accommodation space 151, and the first plate body 110 and the third plate body 130 enclose an avoidance space 152; the clamping assembly 200 includes a first Z-direction driving member 210 accommodated in the first accommodation space 151, a Y-direction driving member 220 provided at the bottom end of the first Z-direction driving member 210, and a clamping member 230 provided at the driving end of the Y-direction driving member 220; a vacuum chuck 300 is fixedly provided at the bottom of the third plate body 130. Both the vacuum chuck 300 and the clamping member 230 are located in the lower space of the avoidance space 152, and the vacuum chuck 300 is located at the middle position of the clamping member 230 along the clamping direction.

[0028] This embodiment also provides a robot, which includes a robotic arm and the above-mentioned wire arrangement assembly device. The mounting base of the wire arrangement assembly device is fixedly connected to the end of the robotic arm.

[0029] The flexible cable assembly device provided in this embodiment is applied to a robot and is used to fasten the fastening head 11 of the flexible cable 10 to a fastening seat on a PCB (Printed Circuit Board), a module, etc. Among them, the plate surface of the first plate body 110 is parallel to the X-Z plane, and the plate surfaces of the second plate body 120 and the third plate body 130 are parallel to the Y-Z plane. The first plate body 110 and the second plate body 120 enclose a first accommodating space 151, and the lower space of the first accommodating space 151 serves as a second accommodating space 153; the first plate body 110 and the third plate body 130 enclose an avoidance space 152, and the lower space of the avoidance space 152 serves as an operation space 154; among them, the vacuum chuck 300 is located in the operation space 154, the first Z-direction driving member 210 is located in the first accommodating space 151 and its top can extend upward, and its bottom end serves as a driving end and can extend downward even into the second accommodating space 153; the Y-direction driving member 220 is accommodated in the second accommodating space 153, and the clamping member 230 can be located in the second accommodating space 153 or the operation space 154, and it can move to the operation space 154 under the driving of the Y-direction driving member 220 along the Y direction to clamp the fastening head 11 picked up by the vacuum chuck 300.

[0030] Initially, the first Z-direction driving member 210 and the Y-direction driving member 220 respectively drive the clamping member 230 to move upward along the Z direction and move away from the vacuum chuck 300 along the Y direction to a position where the vacuum chuck 300 is avoided, and the two jaws 232 of the clamping member 230 are in an open state; a vacuum channel penetrating the end of the vacuum chuck 300 is provided inside the vacuum chuck 300, and the vacuum channel is connected to a vacuum assembly.

[0031] During use, the robotic arm drives the cable assembly device to move closer to the cable 10 until the end of the vacuum chuck 300 abuts against the fastening head 11 of the cable 10. The vacuum assembly is activated, and the vacuum channel sucks the fastening head 11 to the end of the vacuum chuck 300. Then, the first Z-direction driving member 210 drives the Y-direction driving member 220 and the clamping member 230 to descend until the jaws 232 are at the same height as the fastening head 11. The Y-direction driving member 220 drives the clamping member 230 to move in the Y-direction towards the fastening head 11 until the fastening head 11 is located between the two jaws 232. Subsequently, the clamping member 230 drives the two jaws 232 to move towards each other to clamp the opposite sides of the fastening head 11, and the bottom ends of the jaws 232 are higher than the fastening portion 12 at the bottom of the fastening head 11. Thus, on the basis of ensuring that the fastening portion 12 is fully fastened to the fastening seat, the alignment deviation of the fastening head 11 at the end of the vacuum chuck 300 is corrected and the position is limited, correspondingly improving the position accuracy and position stability of the fastening head 11 adsorbed at the end of the vacuum chuck 300, and ensuring the precise fit between the fastening head 11 and the fastening seat. Subsequently, the robotic arm carries the cable assembly device to move to a position where its fastening portion 12 faces the fastening seat and moves towards the fastening seat. The vacuum chuck 300 presses down the fastening portion 12 to fasten it to the fastening seat. During the fastening process, the clamping member 230 keeps clamping the fastening head 11, thereby completing the fastening operation of the cable 10 and ensuring the fastening accuracy. Then, the clamping member 230 releases the fastening head 11, the vacuum assembly stops sucking the fastening head 11, and the first Z-direction driving member 210 and the Y-direction driving member 220 drive the clamping member 230 to return to the initial position to avoid the vacuum chuck 300. The robotic arm drives the cable assembly device to move to the next cable 10 to pick up and fasten and assemble the next cable 10.

[0032] Then the flexible cable assembly device provided in this embodiment is applied to a robot. On the one hand, it can be driven by a robotic arm to initially position the snap head 11 of the flexible cable 10 through the vacuum chuck 300, and then clamp the snap head 11 through the coordinated use of the first Z-direction driving member 210, Y-direction driving member 220, and clamping member 230 in the clamping assembly 200, so as to realize the centering deviation correction and secondary fixation of the position where the snap head 11 is adsorbed on the vacuum chuck 300, as well as the clamping and positioning of the snap head 11 during the snapping process, correspondingly improving the position accuracy and stability of the snap head 11 adsorbed on the vacuum chuck 300, and the position stability during the snapping process, ensuring the precise snapping of the snap head 11 and the snap seat, with high assembly efficiency and good effect for the flexible cable, and effectively reducing the manual labor force. On the other hand, the first plate body 110, second plate body 120, and third plate body 130 of the mounting seat 100 arranged in a folded angle can be enclosed and separated into a first accommodation space 151 and an avoidance space 152 on both sides of the first plate body 110 along the Y direction, and the lower spaces of the two are used as the second accommodation space 153 and the working space 154 respectively. By arranging the first Z-direction driving member 210 of the clamping assembly 200 in the first accommodation space 151, the Y-direction driving member 220 in the second accommodation space 153, the clamping member 230 in the second accommodation space 153 or the working space 154, and the vacuum chuck 300 in the working space 154, the layout of each component is not only compact in structure, small in volume, small in occupied space, but also high in position stability. At the same time, the avoidance space 152 located above the working space 154 is in a vacant state, and during use, it will not interfere with the vacuum chuck 300 and the clamping member 230, thus ensuring the coordinated use of the vacuum chuck 300 and the clamping member 230.

[0033] Optionally, in this embodiment, as Figure 1 and Figure 2 shown, the vacuum chuck 300 is located at the bottom of one end of the third plate body 130 away from the first plate body 110. The area of the working space 154 between the vacuum chuck 300 and the Y-direction driving member 220 is the movable area of the clamping member 230. On the basis of realizing the cooperation between the clamping member 230 and the vacuum chuck 300 to position the snap head 11, the telescopic stroke of the Y-direction driving member 220 driving the clamping member 230 in the Y direction is increased, so as to ensure that the Y-direction driving member 220 can effectively avoid the vacuum chuck 300, and correspondingly ensure the stable picking of the snap head 11 by the vacuum chuck 300.

[0034] In this embodiment, as Figure 2 shown, an avoidance groove 131 is provided at the bottom of the third plate body 130 to reduce the interference caused by the bottom end of the third plate body 130 and surrounding components such as the PCB board during the process of the vacuum chuck 300 picking up the snap head 11, so as to ensure the use of the flexible cable assembly device and improve its applicability.

[0035] For the specific form of the clamping member 230, in this embodiment, as Figures 2 - 5 shown, the clamping member 230 includes a clamping drive member 231 provided at the drive end of the Y-direction drive member 220. The drive end of the clamping drive member 231 facing the vacuum chuck 300 is connected with two jaws 232, which are used to drive the two jaws 232 to move towards or away from each other in the X direction; a clamping end surface of each jaw 232 is provided with a clamping groove 232a extending in the Y direction and adapted to the side portion of the fastening head 11. After the vacuum chuck 300 picks up the fastening head 11, under the combined drive of the first Z-direction drive member 210 and the Y-direction drive member 220, the two jaws 232 are located on both sides of the fastening head 11, and the clamping grooves 232a provided on the inner clamping end surfaces of the two jaws 232 are at the same height as the fastening head 11. The clamping drive member 231 drives the two jaws 232 to move towards each other to clamp the fastening head 11. The two sides of the fastening head 11 in the X direction are respectively snapped into the two clamping grooves 232a one by one. Then, the bottom of the two clamping grooves 232a can clamp and limit the position of the fastening head 11 in the X direction, and the two side walls of the clamping groove 232a can limit the fastening head 11 in the Z direction, thereby improving the position accuracy and stability of the jaw 232 clamping the fastening head 11, and correspondingly further improving the position adjustment accuracy of the clamping member 230 for the fastening head 11 relative to the vacuum chuck 300, as well as the position accuracy of the fastening head 11 when fastening to the fastening seat.

[0036] Furthermore, in this embodiment, as Figure 5 shown, one end of the clamping groove 232a is provided in a through manner, and a limiting boss 232b is provided at the other end of the clamping end surface for the clamping groove 232a. When the two jaws 232 clamp the fastening head 11, the two ends of the fastening head 11 in the X direction are respectively snapped into the clamping grooves 232a of the two jaws 232 on both sides, and one end of the fastening head 11 in the Y direction can extend out through the through end of the clamping groove 232a, and the other end abuts against the limiting boss 232b. Then, the setting of the limiting boss 232b can limit the position of the fastening head 11 clamped by the jaw 232 in the Y direction, and the extending length of the clamping groove 232a is not limited by the length of the fastening head 11, thereby further improving the position accuracy and stability of the jaw 232 clamping the fastening head 11, and at the same time increasing the application range of the jaw 232 for clamping the fastening head 11.

[0037] Optionally, in this embodiment, as Figure 1 and Figure 2As shown, the cable assembly device also includes a bending component 400, which includes a second Z-axis driving member 410 fixedly connected to the side of the third plate 130 away from the avoidance space 152, and the bottom end of the second Z-axis driving member 410 is connected to a bending pressure head 420, which is located on the side of the vacuum pressure head 300 away from the clamping component 230 along the Y direction. The spaces on both sides of the third plate 130 along the X direction are respectively the avoidance space 152 and the third accommodating space 155, and the second Z-direction driving member 410 of the bending assembly 400 is accommodated in the third accommodating space 155, and the bending pressure head 420 connected to its bottom end is located outside the working space 154, and is arranged with the vacuum pressure head 300 in the Y direction at intervals; during the fastening process, the second Z-direction driving member 410 drives the bending pressure head 420 to rise to a position higher than the vacuum pressure head 300 to ensure that the vacuum pressure head 300 absorbs and fastens the fastening head 11; after the fastening is completed, the vacuum pressure head 300 maintains the absorption and positioning of the fastening head 11, and the clamping component 2 30 maintains the clamping and positioning of the snap-fit ​​head 11; at this time, the bending pressure head 420 is located above the edge of the cable on the PCB board, and then the second Z-axis driving member 410 drives the bending pressure head 420 to move downward, and the bending pressure head 420 correspondingly presses the cable downward at the edge of the PCB board to bend it, thereby completing the bending process of the cable to improve the stability of the cable connection to the PCB board, and during the bending process, the vacuum pressure head 300 and the clamping component 230 maintain the absorption and clamping of the snap-fit ​​head 11, which can effectively reduce the occurrence of the snap-fit ​​head 11 being tilted due to force during the bending process, and accordingly ensure the stable snap-fitting of the snap-fit ​​head 11 with the snap-fit ​​seat.

[0038] The arrangement of the bending assembly 400 can utilize the third accommodating space 155 on the other side of the third plate 130, thereby providing the cable assembly device with a bending function and improving the functionality of the cable assembly device, further improving the structural compactness of each component and reducing its space occupancy.

[0039] Specifically, in this embodiment, Figure 5 As shown, a bending groove 421 penetrating along the X direction is provided at the corner of one side of the bottom of the bending head 420 facing the vacuum head 300, and the radial section of the bending groove 421 is an arc with the notch facing the vacuum head 300. When the bending head 420 moves toward the cable to bend it, the bending groove 421 corresponds to the edge of the PCB board. As the bending head 420 is pressed down, the bending head 420 presses down the area of ​​the cable protruding from the PCB board, and the top wall of the bending groove 421 overlaps and presses down the area of ​​the cable close to the edge of the PCB board and located above the PCB board, thereby reducing the degree of upward warping of this area during the bending process of the cable, and correspondingly ensuring the positional accuracy of the cable connection to the PCB board and reducing the occurrence of the buckling head 11 being lifted off the buckling seat.

[0040] In this embodiment, Figure 1 andFigure 3 As shown, at one corresponding end of the first plate body 110 and the third plate body 130, an extended plate body 140 extends. The second Z-direction driving member 410 is connected to the extended plate body 140. The extended plate body 140 and the third plate body 130 enclose a third accommodation space 155. The second Z-direction driving member 410 can be connected to at least one of the third plate body 130 and the extended plate body 140 according to the shape, thereby improving the installation convenience and stability of the second Z-direction driving member 410; and the extended plate body 140 can also play a role in blocking and protecting the second Z-direction driving member 410.

[0041] Optionally, in this embodiment, as Figures 1 - 4 shown, a pressure sensor 500 is fixedly connected to the side of the second plate body 120 facing away from the first accommodation space 151. The pressure sensor 500 is used to detect the buckling pressure of the vacuum chuck 300 on the buckling head 11 and the clamping pressure of the clamping member 230 on the buckling head 11. On both sides of the second plate body 120 along the X direction are the first accommodation space 151 and the fourth accommodation space 156 respectively. The pressure sensor 500 is arranged in the fourth accommodation space 156 and the pressure sensor 500 is fixedly connected to the second plate body 120. Based on the fact that the vacuum chuck 300 is fixedly connected to the second plate body 120 through the third plate body 130 and the first plate body 110, the clamping member 230 is fixedly connected to the second plate body 120 through the Y-direction driving member 220 and the first Z-direction driving member 210, and the bending chuck 420 is fixedly connected to the second plate body 120 through the second Z-direction driving member 410, the third plate body 130 and the first plate body 110, during the process of the vacuum chuck 300 pressing down the buckling head 11, the process of the clamping member 230 clamping the buckling head 11, and the process of the bending chuck 420 pressing down the bending wire harness, the acting force can be transmitted to the pressure sensor 500, and the pressure sensor 500 can correspondingly detect in real time the downward buckling acting force of the vacuum chuck 300 on the buckling head 11, the clamping acting force of the clamping member 230 on the buckling head 11, and the bending acting force of the bending chuck 420 on the wire harness.

[0042] During use, the pressure sensor 500, the robotic arm, the first Z-direction driving member 210, the Y-direction driving member 220, the clamping member 230, and the second Z-direction driving member 410 are all communicatively connected to the control module. The control module can control the start / stop and driving strokes of the robotic arm, the first Z-direction driving member 210, the Y-direction driving member 220, the clamping member 230, and the second Z-direction driving member 410. Specifically, during the process of the clamping member 230 clamping the fastening head 11, the pressure sensor 500 can feedback the detected clamping force to the control module. When the clamping force reaches the clamping threshold, the control module controls the clamping member 230 to stop further clamping, preventing the occurrence of damage to the fastening head 11 due to excessive clamping force while ensuring the stable clamping of the fastening head 11 by the clamping member 230; during the fastening process, the pressure sensor 500 can feedback the detected fastening force to the control module. When the fastening force reaches the fastening threshold, the control module controls the robotic arm to stop pressing down, preventing the occurrence of damage to the fastening head 11 and the fastening base due to excessive fastening force while ensuring that the fastening portion 12 is fully fastened to the base of the fastening seat; during the bending process, the pressure sensor 500 can feedback the detected bending force to the control module. When the bending force reaches the bending threshold, the control module controls the second Z-direction driving member 410 to stop the downward pressing drive, preventing the occurrence of damage to the wiring harness and the PCB board due to excessive bending force while ensuring the effective bending of the wiring harness by the bending head 420, thereby improving the control accuracy of the fastening process, the clamping process, and the bending process.

[0043] Specifically, the pressure sensor 500 can adopt a six-axis force sensor.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cable assembly device, characterized in that: The invention comprises a mounting seat (100) and a clamping assembly (200), wherein the mounting seat (100) comprises a first plate body (110), and the first plate body (110) is provided with a second plate body (120) and a third plate body (130) at two ends along the X direction, the second plate body (120) and the third plate body (130) being folded in opposite directions in the Y direction, respectively, wherein the first plate body (110) and the second plate body (120) enclose a first accommodating space (151), and the first plate body (110) and the third plate body (130) enclose an avoidance space (152); The clamping assembly (200) comprises a first Z-axis driving member (210) accommodated in the first accommodating space (151), a Y-axis driving member (220) arranged at the bottom end of the first Z-axis driving member (210), and a clamping component (230) arranged at the driving end of the Y-axis driving member (220); a vacuum pressure head (300) is fixedly provided at the bottom of the third plate body (130), the vacuum pressure head (300) and the clamping component (230) are both located in the space below the avoidance space (152), and the vacuum pressure head (300) is located in the middle position of the clamping component (230) along the clamping direction.

2. The cable assembly device according to claim 1, characterized in that: The vacuum pressure head (300) is located at the bottom of one end of the third plate body (130) away from the first plate body (110).

3. The cable assembly device according to claim 2, characterized in that: The bottom of the third plate body (130) is provided with an avoidance groove (131).

4. The cable assembly device according to any one of claims 1 to 3, characterized in that: The clamping component (230) comprises a clamping driving member (231) arranged at the driving end of the Y-direction driving member (220); the clamping driving member (231) is connected to the driving end facing the vacuum pressure head (300) with two clamping claws (232) for driving the two clamping claws (232) to move toward or away from each other along the X-direction; the clamping end surface of each clamping claw (232) is provided with a clamping groove (232a) extending along the Y-direction and adapted to the side of the snap-fit ​​head (11).

5. The cable assembly device according to claim 4, characterized in that: One end of the clamping slot (232a) is through-set, and the clamping end surface is provided with a limiting boss (232b) at the other end of the clamping slot (232a).

6. The cable assembly device according to any one of claims 1 to 3, characterized in that: The cable assembly device also includes a bending component (400), and the bending component (400) includes a second Z-axis driving member (410) fixedly connected to the side of the third plate (130) away from the avoidance space (152), and the bottom end of the second Z-axis driving member (410) is connected to a bending pressure head (420), and the bending pressure head (420) is located on the side of the vacuum pressure head (300) away from the clamping component (230) along the Y direction.

7. The cable assembly device according to claim 6, characterized in that: An extension plate (140) is extended from one end of the first plate (110) and the third plate (130) corresponding to the other end, and the second Z-direction driving member (410) is connected to the extension plate (140).

8. The cable assembly device according to claim 6, characterized in that: A bending groove (421) penetrating along the X direction is provided at the corner of the bottom of the bending pressure head (420) facing the vacuum pressure head (300), and the radial cross section of the bending groove (421) is an arc with the notch facing the vacuum pressure head (300).

9. The cable assembly device according to any one of claims 1 to 3, characterized in that: A pressure sensor (500) is fixedly connected to the side of the second plate body (120) facing away from the first accommodating space (151), and the pressure sensor (500) is used to detect the fastening pressure of the vacuum pressure head (300) on the fastening head (11) and the clamping pressure of the clamping component (230) on the fastening head (11).

10. A robot, characterized in that: It comprises a mechanical arm and the cable arrangement assembly device according to any one of claims 1 to 9, wherein the mounting seat (100) of the cable arrangement assembly device is fixedly connected to the end of the mechanical arm.

Images