Wiring manipulator

Abstract

The utility model discloses a wiring manipulator, which comprises a base, a bottom arm hinged above the base, a top arm hinged above the bottom arm, a pay-off mechanism arranged on the top arm, the pay-off mechanism comprises a reel, the free end of the reel for winding a wire harness penetrates through a wire inlet hole to enter the top arm, and the free end of the reel penetrates through a wire outlet hole to enter the top arm. A wiring shell is arranged at the end of the top arm, and a wiring device and a slitting device are arranged on the inner side of the wiring shell. According to the utility model, the pay-off mechanism is arranged, the wire harness can be wound on the reel, and the free end of the wire harness penetrates through the wire inlet hole and extends into the top arm, so that the free end of the wire harness is separated and moves along the top arm under the condition that the reel rotates, the wire harness is further moved into the wiring shell, and the moving direction of the wire harness is limited under the action of the wiring device; and then under the work of the slitting device, the wire harnesses with the corresponding lengths are output and installed at the corresponding positions, the wire harness grabbing and laying mode of a mechanical arm is changed, and the wire harness laying efficiency is correspondingly improved.

Description

Technical Field

[0001] The utility model relates to the field of wiring equipment, in particular to a wiring manipulator. Background Technique

[0002] In large-scale electronic product production lines, in order to improve production efficiency, manipulators are usually placed at each work station to replace manual labor with machinery, thereby achieving high-efficiency production of electronic products. Among them, the manipulator can quickly and accurately complete operations such as cable grasping, laying, and connection. Compared with manual operation, the speed is faster. It can complete a large amount of wiring work in a short time and improve production efficiency.

[0003] From the known technologies, there are many manipulators for cable grasping and laying. For example, a wiring manipulator disclosed in a Chinese patent with the publication number CN107689603B includes: a main body mechanism, which includes a driving mechanism composed of a number of symmetrically arranged rotating wheels; a wiring hand, which is arranged below the transmission mechanism; a wire harness claw mechanism and a wiring device are arranged on the wiring hand, and the wire harness claw mechanism is arranged at the front end of the wiring device; the wiring device includes a first moving rod and a second moving rod; the first moving rod is connected to the front end of the second moving rod in a manner that can rotate 0-90° around the second moving rod. Although the manipulator provided by the above patent can accurately control the position and angle of the cable, ensure the accurate laying and connection of the cable, avoid errors that may occur in manual operation, and improve the wiring quality. When performing wiring operations, each action is consistent, which can ensure the consistency and stability of the product. It avoids quality fluctuations caused by individual differences in manual operation.

[0004] However, the above manipulator has some problems, that is, it needs to adjust its own state multiple times to complete multiple steps such as wire harness grasping and laying, or the manipulator cooperates with other feeding mechanisms to achieve continuous feeding of the wire harness. That is, the existing wiring manipulator lacks an effective wire harness continuous feeding structure, and it takes more energy and time to complete steps such as wire harness grasping and laying. In addition, if the grasping step can be omitted, the wiring efficiency of the wire harness will be improved. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a wiring manipulator, aiming to improve the problem that the efficiency of the manipulator for wire harness wiring needs to be improved.

[0006] The utility model is realized as follows:

[0007] A wiring manipulator includes a base. Above the base, a bottom arm is hingedly arranged. Above the bottom arm, a top arm is hingedly arranged. An unwinding mechanism is arranged on the top arm. The unwinding mechanism includes a reel. The free end of the wire harness wound on the reel penetrates through the inlet hole and enters the top arm. At the end of the top arm, a wiring housing is arranged. Inside the wiring housing, a wiring device and a cutting device are arranged. The wiring device restricts the movement of the free end of the wire harness, and the cutting device cuts the wire harness.

[0008] Preferably, a first servo motor and a second servo motor are arranged on the side of the base. The first servo motor can control the rotation of the bottom arm. A side arm is also arranged on the side of the base. The bottom of the side arm is connected to the second servo motor, and the top is connected to the top frame. The top frame is hingedly arranged on the top of the bottom arm and is connected to the top arm.

[0009] Preferably, the unwinding mechanism further includes a hoop and two vertical plates. The hoop is sleeved on the top arm. The two vertical plates are fixedly arranged above the hoop. The reel is arranged between the two vertical plates, and the central axis can be connected to a motor.

[0010] Preferably, the wiring housing includes two symmetrically arranged upper and lower housings. Perforations are arranged on the side walls of the two housings. The perforations are arranged along the width direction of the housing. At the end of the housing, a clamping arc plate is arranged. The two clamping arc plates are connected by bolts and sleeved on a connecting pipe. The connecting pipe is installed at the end of the top arm.

[0011] Preferably, the connecting pipe is inserted into the top arm through a bearing connection. A driven gear is sleeved on the connecting pipe. A driving gear is meshed and connected to the side of the driven gear. The driving gear is connected to a motor, and the motor is installed on the top arm.

[0012] Preferably, the wiring device includes two sets arranged symmetrically up and down. Guide grooves are arranged on the mutually close sides of the two sets of wiring devices. The guide grooves are arranged along the length direction of the wiring housing. Jacks are arranged on the two sets of wiring devices. The jacks are arranged parallel to the perforations and have the same length as the length of the perforations.

[0013] Preferably, the cutting device includes two cutting knives and two rotating shafts. The two cutting knives are arranged symmetrically up and down and respectively penetrate through the two perforations. In addition, the cutting edges of the cutting knives can penetrate through the jacks. End plates are arranged at the ends of the two cutting knives. The two rotating shafts are distributed at the two ends of the two cutting knives, and two groups of thread structures are arranged symmetrically up and down. The upper and lower ends of the rotating shafts respectively penetrate through the end plates by threads.

[0014] Preferably, a motor is arranged on the wiring housing. Sprockets are arranged on the motor and the rotating shafts. Multiple sprockets are connected by a chain. A motor is also arranged on the side of the wiring housing. This motor can control the rotation of the driving rollers. Two driving rollers are arranged up and down and are both located inside the wiring housing. The gap between the two driving rollers is opposite to the interface of the two sets of wiring devices.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] The present utility model is provided with a wire pay-off mechanism, which can wind the wire harness on a reel, and the free end penetrates through the wire inlet hole and extends into the top arm. Therefore, when the reel rotates, the free end of the wire harness can be separated and move along the top arm, so that the wire harness moves into the wiring shell, and the moving direction of the wire harness is restricted by the action of the wiring device. Then, under the operation of the cutting device, a wire harness of a corresponding length is output and installed at a corresponding position, changing the way of using a manipulator to grab and lay the wire harness, and correspondingly improving the efficiency of wire harness layout.

[0017] The present utility model is provided with a cutting device, in which two cutting knives distributed up and down penetrate through the wiring shell and the wiring device respectively. At the same time, two rotating shafts are respectively arranged at both ends of the two cutting knives, and the upper and lower ends of the rotating shafts thread through the two cutting knives at the same time. Therefore, when the rotating shafts rotate, the two cutting knives can be controlled to move relatively, which facilitates the cutting of the wire harness. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the first schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 is the second schematic diagram of the overall structure of the present utility model;

[0020] Figure 3 is the schematic diagram of the structure of the wiring shell and the wiring device of the present utility model;

[0021] Figure 4 is the schematic diagram of the structure of the wiring shell of the present utility model;

[0022] Figure 5 is the schematic diagram of the structure of the wiring device, the cutting device and the driving roller of the present utility model;

[0023] Figure 6 is the schematic diagram of the structure of the wiring device of the present utility model;

[0024] Figure 7 is the schematic diagram of the structure of the cutting device of the present utility model;

[0025] Figure 8 is the schematic diagram of the structure of the cutting device of the present utility model;

[0026] Figure 9 is the schematic diagram of the structure of the wire pay-off mechanism of the present utility model.

[0027] In the figure: 1. Base; 11. First servo; 12. Bottom arm; 13. Side arm; 14. Second servo; 15. Top frame; 16. Top arm; 17. Connecting pipe; 18. Driving gear; 19. Inlet hole; 2. Wire laying mechanism; 21. Hoop; 22. Reel; 23. Vertical plate; 3. Wiring housing; 31. Housing; 32. Perforation; 33. Clamping arc plate; 4. Wiring device; 41. Guide groove; 42. Jack; 5. Slitting device; 51. Slitting knife; 52. End plate; 53. Rotating shaft; 54. Thread structure; 6. Driving roller; 7. Third servo. Detailed implementation manners

[0028] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. 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 situations.

[0029] The following will be further described in conjunction with the drawings and specific embodiments: Embodiment 1

[0030] In order to relatively improve the efficiency of the wire laying of the manipulator, this embodiment provides a wire laying manipulator, which can realize automatic feeding. That is, during the operation of the manipulator, it does not need to rely on other feeding mechanisms and does not need to change its own state to complete the step of wire harness grasping, thereby saving the time of wire laying and improving the wire laying efficiency. The specific scheme of this manipulator is as follows.

[0031] As Figure 1 shown, this wire laying manipulator includes a base 1, a bottom arm 12, a top arm 16, a side arm 13, a top frame 15, a first servo 11 and a second servo 14. The base 1 is installed on the chassis, and a third servo 7 is installed on the base 1. Under the action of the third servo 7, the base 1 can be controlled to rotate relative to the chassis. The bottom arm 12 is hinged to the base 1, and the first servo 11 is installed outside the base 1, which can control the bottom arm 12 to rotate around the axis. The top arm 16 can be adjusted and arranged at the top of the bottom arm 12 under the action of the top frame 15. At the same time, the side arm 13 is arranged on the side of the bottom arm 12. The top of the side arm 13 is connected to the top frame 15, and the bottom is connected to the second servo 14. And the second servo 14 is installed on the base 1. Therefore, under the action of the second servo 14, the top arm 16 can be controlled to rotate around the axis and cooperate with the rotation of the bottom arm 12 around the axis to realize the large-range movement of the end of the top arm 16.

[0032] As Figure 1 , Figure 2 ,Figure 3 As shown, in order to complete the laying of the wire harness through the above-mentioned manipulator, a wire releasing mechanism 2 is provided on the top arm 16, and a wiring shell 3, wiring device 4, cutting device 5, etc. are provided at the end of the top arm 16. Specifically, the wire harness is wound on the wire releasing mechanism 2, and the free end can pass through the wire inlet hole 19 and enter the top arm 16, and then output from the end of the top arm 16 and enter the wiring shell 3, and move along the track of the wiring device 4. The wire harness that moves to the end of the wiring shell 3 is operated by the cutting device 5, cut to be separated from it, and then output from the wiring shell 3 under the action of gravity and fall to its installation position.

[0033] As Figure 8 , Figure 9 shown, in order to realize the loose release of the wire harness, the wire releasing mechanism 2 includes a reel 22, a hoop 21 and two vertical plates 23. The hoop 21 is sleeved on the top arm 16, and the two vertical plates 23 are fixedly arranged above the hoop 21. The reel 22 is arranged between the two vertical plates 23. Therefore, the reel 22 can be stably installed above the hoop 21 and the top arm 16. At the same time, the wire harness is wound on the reel 22. When the reel 22 rotates, the wire harness will be output from the reel 22. In order to be able to control the rotation of the reel 22, a motor can be arranged outside the vertical plate 23, and the central axis of the reel 22 is connected to the motor. Therefore, the rotation of the reel 22 can be controlled under the operation of the motor to realize the loose release of the wire harness. In order to be able to adapt to different working conditions, multiple reels 22 can be provided, but their thickness can be adjusted according to requirements, and the distance between the two vertical plates 23 can also be adjusted so as to be able to lay multiple different wire harnesses at their installation positions at the same time.

[0034] As Figure 4 , Figure 8 shown, in order to be able to install the wiring device 4 and the cutting device 5, and to be able to disassemble the wiring device 4 and the cutting device 5 according to requirements, the wiring shell 3 includes two symmetrically arranged upper and lower shells 31. Clamping arc plates 33 are provided at the ends of the shells 31. The two clamping arc plates 33 are connected by bolts and sleeved on the connecting pipe 17. Therefore, under the action of the bolts, the two clamping arc plates 33 are stably connected, and then the two upper and lower shells 31 can be controlled to be stably connected. At the same time, it provides convenience for disassembling the two shells 31 according to requirements to expose and disassemble the wiring device 4 and the cutting device 5.

[0035] As Figure 8As shown, in order to adjust the inclination angles of the wiring device 4 and the slitting device 5 according to requirements, the connecting pipe 17 is inserted into the top arm 16 through a bearing connection, that is, the connecting pipe 17 is movably installed relative to the top arm 16, providing support for controlling the rotation of the wiring housing 3 around the axis. A driven gear is sleeved on the connecting pipe 17, and a driving gear 18 is meshed and connected to the side of the driven gear. The driving gear 18 is connected to the motor, and the motor is installed on the top arm 16. When the motor works, the driven gear can be controlled by the driving gear 18 to rotate, thereby driving the connecting pipe 17 to rotate, facilitating the adjustment of the inclination angles of the wiring device 4 and the slitting device 5.

[0036] As Figure 5 、 Figure 6 shown, in order to control the moving direction of the wire harness, two sets of the wiring device 4 are symmetrically arranged up and down. Guide grooves 41 are provided on the sides of the two sets of the wiring device 4 that are close to each other. The guide grooves 41 are arranged along the length direction of the wiring housing 3. Therefore, the two vertically aligned guide grooves 41 form a channel for the wire harness to move, controlling the moving direction of the wire harness and facilitating the installation of the wire harness at the corresponding position.

[0037] As Figure 4 、 Figure 6 、 Figure 7 shown, in order to realize the slitting process of the wire harness, through holes 32 are provided on the side walls of the two housings 31. The through holes 32 are arranged along the width direction of the housing 31. Jacks 42 are provided on both sets of the wiring device 4. The jacks 42 are arranged parallel to the through holes 32 and have the same length as the through holes 32. In addition, the slitting device 5 includes two slitting knives 51 and two rotating shafts 53. The two slitting knives 51 are symmetrically arranged up and down and respectively penetrate through the two through holes 32. In addition, the cutting edges of the slitting knives 51 can penetrate through the jacks 42. Therefore, when the two slitting knives 51 approach each other, they can penetrate through the jacks 42 to cut the wire harness, causing the end of the wire harness to break away and move downward under the action of gravity. In order to make the two slitting knives 51 move relative to each other, end plates 52 are provided at the ends of the two slitting knives 51. Threaded holes are provided on the end plates 52. The two rotating shafts 53 are distributed at both ends of the two slitting knives 51, and two sets of threaded structures 54 are symmetrically arranged up and down. The threaded structures 54 provided at the upper and lower ends of the rotating shafts 53 respectively penetrate through the end plates 52 of the upper and lower two slitting knives 51. Therefore, when controlling the rotation of the rotating shafts 53, the lifting of the slitting knives 51 can be controlled to realize the relative movement of the two slitting knives 51.

[0038] As Figure 3 、 Figure 7 shown, in order to control the rotation of the rotating shafts 53, a motor is provided on the wiring housing 3. Sprockets are provided on both the motor and the rotating shafts 53. Multiple sprockets are connected by a chain. Therefore, when the motor works, the two rotating shafts 53 rotate synchronously, and the movement of the two slitting knives 51 distributed up and down can be controlled. Embodiment 2

[0039] As Figure 3 , Figure 5 shown, on the basis of Embodiment 1, in order to effectively control the movement of the wire harness, a motor is further provided on the outer side edge of the wiring case 3, and a driving roller 6 is provided inside the wiring case 3. Two driving rollers 6 are arranged vertically. At the same time, a rubber layer is provided on the outer side of the driving roller 6. When the wire harness passes through the two driving rollers 6 and contacts the rubber layer, the movement of the wire harness can be controlled when the driving roller 6 rotates. In addition, because the rubber layer can be deformed, it can adapt to wire harnesses of different sizes. The end shaft of the driving roller 6 is connected through a bearing and penetrates the side wall of the wiring case 3, and the output shaft of the motor is connected to one of the driving rollers 6. Therefore, under the operation of the motor, the two driving rollers 6 are controlled to rotate, and then the movement of the wire harness is controlled under the cooperation of the two driving rollers 6.

[0040] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wiring manipulator, characterized in that: The invention comprises a base (1), a bottom arm (12) is hingedly arranged above the base (1), a top arm (16) is hingedly arranged above the bottom arm (12), a wire-releasing mechanism (2) is arranged on the top arm (16), the wire-releasing mechanism (2) comprises a reel (22), the free end of the wire harness rolled up by the reel (22) passes through a wire entry hole (19) and enters the top arm (16), a wiring shell (3) is arranged at the end of the top arm (16), a wiring device (4) and a slitting device (5) are arranged on the inner side of the wiring shell (3), the wiring device (4) limits the movement of the free end of the wire harness, and the slitting device (5) slits the wire harness.

2. The wiring robot according to claim 1, characterized in that: A first steering gear (11) and a second steering gear (14) are arranged on the side of the base (1); the first steering gear (11) can control the rotation of the bottom arm (12); a side arm (13) is also arranged on the side of the base (1); the bottom of the side arm (13) is connected to the second steering gear (14), and the top is connected to a top frame (15); the top frame (15) is hingedly arranged on the top of the bottom arm (12) and connected to the top arm (16).

3. The wiring robot according to claim 1, characterized in that: The wire-releasing mechanism (2) further comprises a hoop (21) and two vertical plates (23); the hoop (21) is sleeved on the top arm (16); the two vertical plates (23) are fixedly arranged above the hoop (21); the reel (22) is arranged between the two vertical plates (23); and the central axis can be connected to the motor.

4. The wiring robot according to claim 1, characterized in that: The wiring shell (3) comprises two shells (31) symmetrically arranged in an upper and lower direction, and the side walls of the two shells (31) are each provided with a through hole (32), and the through hole (32) is arranged along the width direction of the shell (31). A clamping arc plate (33) is arranged at the end of the shell (31), and the two clamping arc plates (33) are connected by bolts and sleeved on a connecting pipe (17), and the connecting pipe (17) is installed at the end of the top arm (16).

5. The wiring robot according to claim 4, characterized in that: The connecting tube (17) is inserted into the top arm (16) through a bearing connection, and a driven gear is sleeved on the connecting tube (17). A driving gear (18) is meshed and connected to the side of the driven gear. The driving gear (18) is connected to a motor, and the motor is installed on the top arm (16).

6. The wiring robot according to claim 4, characterized in that: The wiring device (4) comprises two sets symmetrically arranged in an upper and lower direction. The sides of the two sets of wiring devices (4) close to each other are both provided with guide grooves (41). The guide grooves (41) are arranged along the length direction of the wiring shell (3). The two sets of wiring devices (4) are both provided with plug holes (42). The plug holes (42) are arranged parallel to the through holes (32) and have a length equal to that of the through holes (32).

7. The wiring robot according to claim 6, characterized in that: The slitting device (5) comprises two slitting knives (51) and two rotating shafts (53). The two slitting knives (51) are symmetrically arranged up and down and respectively penetrate the two through holes (32). In addition, the blades of the slitting knives (51) can penetrate the insertion holes (42). End plates (52) are arranged at the ends of the two slitting knives (51). The two rotating shafts (53) are distributed at the two ends of the two slitting knives (51) and are symmetrically arranged up and down with two groups of threaded structures (54). The upper and lower ends of the rotating shaft (53) are respectively threadedly penetrated through the end plates (52).

8. The wiring robot according to claim 7, characterized in that: A motor is arranged on the wiring shell (3), and sprockets are arranged on the motor and the rotating shaft (53), and the plurality of sprockets are connected by a chain; a motor is also arranged on the side of the wiring shell (3), and the motor can control the rotation of a driving roller (6), and the driving roller (6) is provided with two upper and lower distributed ones, and both are located on the inner side of the wiring shell (3), and the gap between the two driving rollers (6) is directly opposite to the interface between the two sets of wiring components (4).

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