Flat cable carrying mechanism

Abstract

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

Description

Technical Field

[0001] The present application relates to automated assembly technology, and in particular to a cable handling mechanism. Background Art

[0002] During the production process of flat panels, the cables need to be bent. Before bending, they need to be placed on the work station. Currently, this is done manually. The operator picks up the cables by hand and places them into the jig for bending. This not only causes the cables to deform, but the sweat on the workers' hands will also contaminate the cables. In addition, the work efficiency is extremely low and the production cost is high. Utility Model Content

[0003] In order to overcome the above-mentioned defects, the present application provides a cable handling mechanism, which can realize automatic handling of the cable, avoid manual operation, ensure the quality of the cable and precise control of the handling position, and improve production efficiency.

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

[0005] A wire arrangement and handling mechanism includes a manipulator and an end effector installed on the manipulator, the end effector includes a fixed frame, a first material suction unit, a second material suction unit and an adjustment unit, the fixed frame is installed on the manipulator, the first material suction unit is fixedly installed on the fixed frame, the second material suction unit is movably installed on the fixed frame, the first material suction unit includes a first material suction cylinder and a first suction nozzle connected to the first material suction cylinder, the first material suction cylinder can drive the first suction nozzle to move along the first direction, the second material suction unit includes a second material suction cylinder and a second suction nozzle connected to the second material suction cylinder, the second material suction cylinder can drive the second suction nozzle to move along the first direction, the adjustment unit is installed on the fixed frame, the adjustment unit can drive the second material suction unit to move along the second direction to adjust the distance between the first suction nozzle and the second suction nozzle, and an angle a is formed between the first direction and the second direction, a>0.

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

[0007] Optionally, the first suction cylinder is provided with a first piston rod, the first piston rod is fixed with a first joint, the first support frame is provided with a first mounting groove, the first mounting groove is a T-slot structure, and the first joint is inserted into the first mounting groove to connect the first support frame to the first piston rod.

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

[0009] Optionally, a second piston rod is provided on the second suction cylinder, a second joint is fixed on the second piston rod, a second mounting groove is opened on the second support frame, the second mounting groove is a T-slot structure, and the second joint is inserted into the second mounting groove to connect the second support frame to the second piston rod.

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

[0011] Optionally, the manipulator is installed on a base, a suction and breaking integrated valve is fixed on the base, the suction and breaking integrated valve is connected to the first suction nozzle and the second suction nozzle, a connecting rod is fixedly installed on the manipulator, an installation groove is provided on the fixed frame, and the connecting rod is fixedly installed in the installation groove.

[0012] The beneficial effects of the present application are as follows: the present application includes a manipulator, a first material suction unit, a second material suction unit, and an adjustment unit. The manipulator is used to switch the first material suction unit and the second material suction unit between the material picking station and the material unloading station. The first material suction unit and the second material suction unit can simultaneously suck two groups of cable trays, thereby improving handling efficiency. The adjustment unit is used to adjust the distance between the first suction nozzle and the second suction nozzle to accommodate trays with different spacings, thereby broadening the application range of the handling mechanism. The handling mechanism is used to handle the cable trays, and the entire handling process can be fully automated, avoiding manual operation, ensuring the quality of the cable trays and the precise control of the handling position, improving production efficiency, saving a large amount of labor costs, and enhancing the competitiveness of the product. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0014] Figure 2 Schematic diagram of the structure of the robot in this application;

[0015] Figure 3 Schematic diagram of the structure of the end effector in this application;

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

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

[0018] In the figure: 100-manipulator, 110-base, 111-suction and breaking integrated valve, 120-connecting rod, 200-end effector, 210-fixed frame, 211-mounting slot, 220-first suction unit, 221-first suction cylinder, 222-first piston rod, 223 first joint, 224-first linear slide, 225-first support frame, 226-first mounting slot, 227-first suction nozzle, 230-second suction unit, 231-second suction cylinder, 232-second piston rod, 233-second joint, 234-second linear slide, 235-second support frame, 236-second mounting slot, 237-second suction nozzle, 240-adjustment unit, 241-adjustment cylinder, 242-third linear slide. DETAILED DESCRIPTION

[0019] The following will be combined with the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described in this application are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the following drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

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

[0022] Example: Figure 1-5 As shown, a wire handling mechanism includes a manipulator 100 and an end effector 200 installed on the manipulator 100, the end effector 200 includes a fixed frame 210, a first material suction unit 220, a second material suction unit 230 and an adjustment unit 240, the fixed frame 210 is installed on the manipulator 100, the first material suction unit 220 is fixedly installed on the fixed frame 210, the second material suction unit 230 is movably installed on the fixed frame 210, the first material suction unit 220 includes a first material suction cylinder 221 and a first suction nozzle 227 connected to the first material suction cylinder 221, the first suction The material cylinder 221 can drive the first suction nozzle 227 to run along the first direction. The second material suction unit 230 includes a second material suction cylinder 231 and a second suction nozzle 237 connected to the second material suction cylinder. The second material suction cylinder 231 can drive the second suction nozzle 237 to run along the first direction. The adjustment unit 240 is installed on the fixed frame 210. The adjustment unit 240 can drive the second material suction unit 230 to run along the second direction to adjust the distance between the first suction nozzle 227 and the second suction nozzle 237. An angle a is formed between the first direction and the second direction, and a>0. That is, the first direction and the second direction are arranged non-parallel. Optionally, the first direction and the second direction are perpendicular to each other. The manipulator 100 includes a six-axis manipulator or a four-axis manipulator. The first suction nozzle 227 and the second suction nozzle 237 are used to suck the cable.

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

[0024] In this application, the manipulator 100 is used to switch the first suction unit 220 and the second suction unit 230 between the material collection station and the material unloading station. The first suction unit 220 and the second suction unit 230 can simultaneously absorb two sets of cable trays, thereby improving handling efficiency. The adjustment unit 240 adjusts the distance between the first suction nozzle 227 and the second suction nozzle 237 to accommodate trays with different spacings, thereby broadening the application range of the handling mechanism. The handling mechanism is used to handle cable trays, and the entire handling process can be fully automated, eliminating manual operation, ensuring cable quality and precise control of handling positions, improving production efficiency, saving a large amount of labor costs, and enhancing product competitiveness.

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

[0026] like Figure 4As shown, the first suction cylinder 221 is provided with a first piston rod 222, and the first joint 223 is fixedly provided on the first piston rod 222. The first support frame 225 is provided with a first mounting groove 226, and the first mounting groove 226 is a T-slot structure. The first joint 223 is snapped into the first mounting groove 226 to connect the first support frame 225 to the first piston rod 222. Optionally, the first joint 223 includes a cylindrical snap ring, which is snapped into the first mounting groove 226, making the connection convenient and easy to assemble and disassemble. The first suction cylinder 221 is fixedly mounted on the fixing frame 210, and the first suction cylinder 221 is arranged vertically. The first joint 223 is fixedly mounted on the upper end of the first piston rod 222. The first support frame 225 is driven up and down by the first piston rod 222 to make the first suction nozzle 227 contact with or away from the cable.

[0027] like Figure 3 and Figure 5 As shown, the second suction unit 230 also includes a second linear slide 234 and a second support frame 235. The second linear slide 234 and the second suction cylinder 231 are slidably mounted on the fixed frame 210. The second support frame 235 is slidably mounted on the second linear slide 234. The second suction cylinder 231 is connected to the second support frame 235. The second suction nozzle 237 is mounted on the second support frame 235. A spring is provided between the second suction nozzle 237 and the second support frame 235. The second linear slide 234 and the second suction cylinder 231 can be slidably mounted on the fixed frame 210 via a support plate. The spring can buffer the pressure applied to the traversing cable by the second suction nozzle 237, thereby protecting the traversing cable. The second linear slide rail 234 is vertically mounted on the fixed frame 210, and the second support frame 235 is slidably mounted on the second linear slide rail 234 through a slide groove. The second suction cylinder 231 drives the second support frame 235 to slide along the second linear slide rail 234. A plurality of second suction nozzles 237 are fixedly mounted on the lower end of the second support frame 235. The shape of the arrangement of the second suction nozzles 237 can be adjusted according to the arrangement of the cables to smoothly absorb the cables.

[0028] like Figure 5As shown, the second suction cylinder 231 is provided with a second piston rod 232, and the second joint 233 is fixedly provided on the second piston rod 232. A second mounting groove 236 is provided on the second support frame 235. The second mounting groove 236 is a T-slot structure. The second joint 233 is snapped into the second mounting groove 236 to connect the second support frame 235 to the second piston rod 232. Optionally, the second joint 233 includes a cylindrical snap ring, which is snapped into the second mounting groove 236, making the connection convenient and easy to assemble and disassemble. The second suction cylinder 231 is movably mounted on the fixed frame 210, and the second suction cylinder 231 is arranged vertically. The second joint 233 is fixedly mounted on the upper end of the second piston rod 232. The second support frame 235 is driven up and down by the second piston rod 232 to make the second suction nozzle 237 contact or move away from the cable.

[0029] like Figure 3 and Figure 5 As shown, the adjustment unit includes an adjustment cylinder 241 and a third linear slide 242. The adjustment cylinder 241 and the third linear slide 242 are fixedly mounted on the fixed frame 210. The second linear slide 234 and the second suction cylinder 231 are movably mounted on the third linear slide 242. The adjustment cylinder 241 is connected to the second linear slide 324 and can drive the second linear slide 234 to slide along the third linear slide 242 to adjust the distance between the first suction nozzle 227 and the second suction nozzle 237. The third linear slide 242 is installed on the fixed frame 210 in the horizontal direction, the second linear slide 234 and the second suction cylinder 231 are fixedly installed on the support plate, and the support plate is slidably installed on the third linear slide 242 through a slide groove. The adjusting cylinder 241 is connected to the support plate and drives the support plate to run horizontally. The support plate runs synchronously with the second suction unit 230, that is, the second suction nozzle 237 realizes horizontal operation, thereby achieving the purpose of adjusting the horizontal distance between the first suction nozzle 227 and the second suction nozzle 237.

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

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

[0032] Step 1: The manipulator 100 drives the end effector 200 to move to the material picking station;

[0033] Step 2: The first suction cylinder 221 and the second suction cylinder 231 extend to drive the first suction nozzle 227 and the second suction nozzle 237 to move to the surface of the traversing wire respectively. The integrated suction and breaking valve 111 controls the first suction nozzle 227 and the second suction nozzle 237 to suck air to suck the traversing wire;

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

[0035] Step 4: The robot 100 drives the end effector 200 to move to the unloading station;

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

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

[0038] Step 7: The manipulator 100 drives the end effector 200 to move back to the material retrieving station and repeat the above steps;

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

[0040] It should be noted that those skilled in the art may make a number of modifications and improvements without departing from the concept of this application, and these modifications and improvements are all within the scope of protection of this application. Therefore, the scope of protection of this patent application shall be based on the appended claims.

Claims

1. A cable handling mechanism, characterized in that: The invention comprises a manipulator (100) and an end effector (200) mounted on the manipulator (100), wherein the end effector (200) comprises a fixed frame (210), a first material suction unit (220), a second material suction unit (230) and an adjustment unit (240), wherein the fixed frame (210) is mounted on the manipulator (100), the first material suction unit (220) is fixedly mounted on the fixed frame (210), the second material suction unit (230) is movably mounted on the fixed frame (210), the first material suction unit (220) comprises a first material suction cylinder (221) and a first suction nozzle (227) connected to the first material suction cylinder (221), and the first material suction unit (221) is provided with a first suction nozzle (227). The cylinder (221) is capable of driving the first suction nozzle (227) to move along a first direction, the second suction unit (230) includes a second suction cylinder (231) and a second suction nozzle (237) connected to the second suction cylinder, the second suction cylinder (231) is capable of driving the second suction nozzle (237) to move along the first direction, the adjusting unit (240) is installed on the fixing frame (210), the adjusting unit (240) is capable of driving the second suction unit (230) to move along a second direction to adjust the distance between the first suction nozzle (227) and the second suction nozzle (237), and an angle a is formed between the first direction and the second direction, and a>0.

2. The cable handling mechanism according to claim 1, wherein: The first suction unit (220) also includes a first linear slide rail (224) and a first support frame (225), the first linear slide rail (224) and the first suction cylinder (221) are fixedly mounted on the fixed frame (210), the first support frame (225) is slidably mounted on the first linear slide rail (224), the first suction cylinder (221) is connected to the first support frame (225), the first suction nozzle (227) is mounted on the first support frame (225), and a spring is provided between the first suction nozzle (227) and the first support frame (225).

3. The cable transport mechanism according to claim 2, wherein: The first suction cylinder (221) is provided with a first piston rod (222), the first piston rod (222) is fixedly provided with a first joint (223), the first support frame (225) is provided with a first mounting groove (226), the first mounting groove (226) is in a T-slot structure, and the first joint (223) is inserted into the first mounting groove (226) to connect the first support frame (225) to the first piston rod (222).

4. The cable handling mechanism according to claim 1, wherein: The second suction unit (230) also includes a second linear slide rail (234) and a second support frame (235), the second linear slide rail (234) and the second suction cylinder (231) are slidably mounted on the fixed frame (210), the second support frame (235) is slidably mounted on the second linear slide rail (234), the second suction cylinder (231) is connected to the second support frame (235), the second suction nozzle (237) is mounted on the second support frame (235), and a spring is provided between the second suction nozzle (237) and the second support frame (235).

5. The cable transport mechanism according to claim 4, wherein: The second suction cylinder (231) is provided with a second piston rod (232), the second piston rod (232) is fixedly provided with a second joint (233), the second support frame (235) is provided with a second mounting groove (236), the second mounting groove (236) is in a T-slot structure, and the second joint (233) is inserted into the second mounting groove (236) to connect the second support frame (235) to the second piston rod (232).

6. The cable transport mechanism according to claim 4, wherein: The adjusting unit (240) includes an adjusting cylinder (241) and a third linear slide rail (242), wherein the adjusting cylinder (241) and the third linear slide rail (242) are fixedly mounted on a fixed frame (210), and the second linear slide rail (234) and the second suction cylinder (231) are movably mounted on the third linear slide rail (242), and the adjusting cylinder (241) is connected to the second linear slide rail (234), and the adjusting cylinder (241) can drive the second linear slide rail (234) to slide along the third linear slide rail (242).

7. The cable transport mechanism according to claim 1, wherein: The manipulator (100) is mounted on a base (110), a suction-break integrated valve (111) is fixedly provided on the base (110), the suction-break integrated valve (111) is connected to the first suction nozzle (227) and the second suction nozzle (237), a connecting rod (120) is fixedly mounted on the manipulator (100), a mounting groove (211) is provided on the fixing frame (210), and the connecting rod (120) is fixedly mounted in the mounting groove (211).

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