Transfer manipulator for terminal wire

Abstract

The utility model discloses a transfer manipulator for a terminal wire. The transfer manipulator comprises a mounting part, a swing arm, a first driving part, a connecting shaft, a clamping jaw part and a linkage assembly, when the clamping jaw part clamps the terminal wire at the material taking position, one of the two jaw bodies is located above the terminal wire, the other one is located below the terminal wire, the two jaw bodies make contact with each wire on the terminal wire, the terminal wire is stably clamped, and damage such as dislocation and distortion of connection between every two adjacent wires is avoided. The lower claw body can swing relative to the connecting block, after the clamping claw part is loosened, the lower claw body is inclined, and the terminal wire can fall down along the clamping claw part. Through the linkage assembly, the swing arm swings by an angle relative to the mounting part, and the connecting shaft reversely rotates by an angle of the same numerical value relative to the swing arm. The two clamping jaws keep the same orientation of the clamping openings at the material taking position and the material placing position, and the orientation of the terminal wire is also the same when the terminal wire is taken away and put down. The device has the beneficial effects that the structure is simple, the debugging is convenient, and the rhythm can be set more quickly in a swinging matched linkage mode.

Description

Technical Field

[0001] The utility model relates to the production and processing of terminal wires, in particular to a terminal wire transfer manipulator. Background Art

[0002] Terminal wires consist of two terminals and a cable connected between them. Currently, automated equipment is commonly used to produce terminal wires. The cable is fed out, cut into sections of wire of appropriate length, split at both ends of this section to separate the two adjacent conductors, and then two terminals are installed at each end of this section. After the terminal wires are produced, a transfer robot is typically used to transfer the terminal wires from the equipment's discharge position to a designed discharge position. This prevents the terminal wires from accumulating at the equipment's discharge position and facilitates direct collection of the terminal wires at the discharge position. Current transfer robots generally include a gripper that grabs the terminal wires and two linear mechanisms that move the gripper along the X and Y axes. Utility Model Content

[0003] The present application provides a terminal wire transfer robot, which can solve the problems of the existing transfer robot having a complex structure, inconvenient debugging, and efficiency that needs to be improved.

[0004] In this application, a terminal wire transfer robot is provided, comprising:

[0005] Installation Department;

[0006] a swing arm, a first end of which is hinged to the mounting portion about a vertical axis;

[0007] A first driving part is used to drive the swing arm to swing between the material taking position and the material discharging position;

[0008] A connecting shaft is rotatably connected to the second end of the swing arm around a vertical axis; the lower end passes through the swing arm and is also fixed with a connecting block;

[0009] The clamping jaw portion is provided on the connecting block and includes: two claw bodies for clamping / releasing the clamping opening in the upper and lower directions, and a second driving portion for driving the two claw bodies to switch between clamping / releasing; the lower claw body can swing relative to the connecting block;

[0010] The linkage assembly is used to drive the connecting shaft to rotate by the swing of the swing arm, so that the two claws keep the clamping openings in the same direction at the material picking position and the material discharging position.

[0011] In some embodiments, the connection point of the clamping claw portion to the connecting block is: a side of the connecting block away from the connecting shaft; in the material taking position, the connecting block is perpendicular to the swing arm.

[0012] In some embodiments, the linkage assembly includes: a first synchronous wheel fixedly connected to the mounting portion, a second synchronous wheel fixedly connected to the connecting shaft, and a synchronous belt connected therebetween.

[0013] In some implementations, the connection block further includes at least one of the following settings:

[0014] The connecting block can be rotatably adjusted around the axis of the connecting shaft to a fixed position on the connecting shaft;

[0015] The connecting block can be adjusted in a vertical direction to a fixed position on the connecting shaft.

[0016] In some embodiments, the second driving portion uses a second cylinder to drive the two claws to switch between clamping and releasing by: the piston rod is extended and retracted in the vertical direction to drive the lower claw to swing.

[0017] In some embodiments, the swing arm includes: a first arm body for being hinged to the mounting portion, and a second arm body for being connected to the connecting shaft; the second arm body is fixedly connected to the first arm body, and the fixed position can be adjusted to switch the synchronous belt between tightening / relaxing.

[0018] In some embodiments, the swing arm swings at an angle of 90 degrees between the material taking position and the material discharging position.

[0019] In summary, in the present application, a terminal wire transfer robot comprises a mounting portion, a swing arm, a first drive portion, a connecting shaft, a clamping jaw portion and a linkage assembly. When the clamping jaw portion clamps the terminal wire at the material picking position, the two claw bodies, one above the terminal wire and the other below the terminal wire, both contact each wire on the terminal wire, stably clamp the terminal wire, and prevent the connection between two adjacent wires from being damaged by dislocation, twisting, etc. The lower claw body can swing relative to the connecting block. After the clamping jaw portion is released, the lower claw body is tilted, and the terminal wire can fall along it. Through the linkage assembly, the swing arm swings relative to the mounting portion at the same angle as the connecting shaft rotates in the opposite direction relative to the swing arm at the same value. The two clamping jaws maintain the same orientation of the clamping port at the material picking position and the material discharging position, and the terminal wire is also oriented in the same direction when being taken away and put down. The beneficial effects are: simple structure, easy debugging, and the swinging and linkage method enables the beat to be set faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0021] Figure 1 This is a schematic diagram of the present application when the swing arm is in the material retrieving position;

[0022] Figure 2This is a schematic diagram of another perspective of the present application when the swing arm is in the material retrieving position;

[0023] Figure 3 for Figure 2 A magnified schematic diagram of part A;

[0024] Figure 4 It is a side view of the present application when the swing arm is in the material retrieving position;

[0025] Figure 5 It is a cross-sectional view of the swing arm and the connecting shaft at the connection;

[0026] Figure 6 This is a schematic diagram of the present application when the swing arm is in the discharge position.

[0027] In the figure,

[0028] 1. Mounting portion; 1a. Extension portion; 1b. Baffle; 1b1. Through groove; 1c. First groove;

[0029] 2. Swing arm; 2a. First arm body; 2a1. Second groove; 2a2. Second bolt; 2b. Second arm body; 2b1. Mounting hole; 2b2. Waist-shaped groove;

[0030] 3. First driving unit; 3a. First cylinder; 3b. Sliding block; 3c. First connecting bar;

[0031] 4. Connecting shaft; 4a. Connecting block; 4a1. First bolt;

[0032] 5. Clamping jaw; 5a. Claw body; 5b. Second driving unit; 5b1. Second cylinder; 5b2. Second connecting bar;

[0033] 6. Linkage assembly; 6a. First synchronous wheel; 6b. Second synchronous wheel; 6c. Synchronous belt. DETAILED DESCRIPTION

[0034] The following is further explained with reference to the accompanying drawings, which are provided for illustrative purposes only and are not drawn to scale. Unless otherwise defined, technical or scientific terms used in this disclosure should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar expressions used in this disclosure do not denote any order, quantity, or importance, but are used only to distinguish between different components. Terms such as "include" or "comprising" mean that the element or object preceding the term includes the elements or objects listed after the term, and their equivalents, without excluding other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; if the absolute position of the described object changes, the relative positional relationship may also change accordingly. The embodiments of this application are combinable unless there is a conflict.

[0035] See also Figure 1 A terminal wire transfer robot includes a mounting part 1, a swing arm 2, a first driving part 3, a connecting shaft 4, a clamping claw part 5 and a linkage assembly 6.

[0036] The mounting portion 1 is used to mount the blanking robot on equipment for producing terminal lines.

[0037] The first end of the swing arm 2 is hinged to the mounting portion 1 about a vertical axis. More specifically, the top and bottom surfaces of the mounting portion 1 are both screw-connected with extensions 1a. One side of the extension 1a extends beyond the mounting portion 1, and each portion has a socket. A first pin is fixed to the first end of the swing arm 2, with both ends of the first pin inserted into the two sockets. For the sake of convenience in the following description, the axis around which the swing arm 2 rotates will be referred to as the reference axis.

[0038] The first driving part 3 is used to drive the swing arm 2 to swing between the material taking position and the material discharging position.

[0039] In some embodiments, a servo motor may be used to drive the swing arm 2 to swing. More specifically, the output shaft of the motor and the first pin on the swing arm 2 are connected using a coupling.

[0040] In some embodiments, the first cylinder 3a can be used to drive the swing arm 2 to swing. More specifically, the first driving part 3 can further include a sliding block 3b and a connecting strip in addition to the first cylinder 3a. One vertical side of the mounting part 1 is provided with a first recess 1c, and the vertical side is further fixedly connected with a baffle 1b by means of a screw, and the baffle 1b and the first recess 1c form a horizontal sliding groove; the sliding block 3b is slidingly connected in the sliding groove, and one end of the sliding block 3b close to the swing arm 2 is hingedly connected to the first connecting strip 3c, and the other end of the first connecting strip 3c is hingedly connected to the swing arm 2; the cylinder body of the first cylinder 3a is fixedly connected to the mounting part 1, and the piston rod is fixedly connected to the sliding block 3b, that is, the first cylinder 3a directly drives the sliding block 3b to slide; the side of the baffle 1b close to the swing arm 2 is further provided with a through groove 1b1, and the width of the through groove 1b1 is smaller than the width of the first recess 1c on the mounting part 1, which does not affect the sliding of the sliding block 3b and provides a space for the end of the first connecting strip 3c close to the sliding block 3b to enter.

[0041] Compared with a servo motor, the use of the first cylinder 3a has a lower cost. The two stroke limits of the first cylinder 3a correspond to the material taking position / material placing position, and the debugging is more convenient.

[0042] Please refer to Figure 1 and Figure 6 In some embodiments, the swing angle of the swing arm 2 between the material taking position / material placing position is 90 degrees.

[0043] It is more convenient to design the length required by the swing arm 2, and the length of the swing arm 2 is more utilized.

[0044] Please refer to Figure 2 and Figure 6 In addition, the swing arm 2 can be provided with a second recess 2a1, and the connecting strip extends into the second recess 2a1 to be hingedly connected. In this way, when the swing arm 2 rotates 90 degrees to the material placing position, the swing arm 2 abuts against the end face of the mounting part 1, that is, the end face of the mounting part 1 can be used as a hard limit for the material placing position of the swing arm 2.

[0045] Please refer to Figure 1 and Figure 5 The connecting shaft 4 is rotatably connected to the second end of the swing arm 2 about a vertical axis, and the lower end of the connecting shaft 4 penetrates out of the swing arm 2. More specifically, the second end of the swing arm 2 is provided with a mounting hole 2b1, and the upper part and the lower part of the mounting hole 2b1 have a larger diameter for mounting an upper bearing and a lower bearing; the upper part of the connecting shaft 4 has a shaft shoulder for abutting against the upper bearing; and the lower part of the connecting shaft 4 is clamped with a check ring for abutting against the lower bearing.

[0046] The lower end of the connecting shaft 4 is further fixedly provided with a connecting block 4a.

[0047] The clamping jaw part 5 is arranged on the connecting block 4a, that is, the clamping jaw part 5 rotates relative to the swing arm 2 through the connecting shaft 4.

[0048] Please refer to Figure 2 and Figure 4 In some embodiments, the clamping jaw part 5 is at the connecting position of the connecting block 4a: the connecting block 4a is away from one side of the connecting shaft 4. That is, in the top view, the clamping jaw part 5 and the connecting shaft 4 are staggered. In the picking position, the connecting block 4a is perpendicular to the swing arm 2. That is, in the picking position, the clamping jaw part 5 can be extended from the swing arm 2 to the terminal wire, so that the clamping jaw part 5 is more easily avoided from interfering with the device and enters the picking position.

[0049] Please refer to Figure 1 The clamping jaw part 5 includes two jaw bodies 5a and a second driving part 5b for driving the two jaw bodies 5a to switch between clamping and releasing.

[0050] For the terminal wire produced on the device, the multiple wires connected between the two terminals are in a horizontal row. Therefore, when the clamping jaw part 5 clamps the terminal wire in the picking position, the two jaw bodies 5a need to be one above the terminal wire and one below the terminal wire. That is, the clamping openings of the two jaw bodies 5a are in the up-down direction to clamp / release. In this way, the clamping jaw part 5 clamps the terminal wire, and both clamping jaws contact each wire on the terminal wire, so as to stably clamp the terminal wire and avoid damage such as misalignment and distortion between the connections of the adjacent two wires.

[0051] Please refer to Figure 3 In some embodiments, the connecting block 4a can be rotationally adjusted in the fixed position of the connecting shaft 4 around the axis of the connecting shaft 4. More specifically, the connecting block 4a can be provided with multiple threaded holes, which are communicated with the through hole for the connecting shaft 4 to pass through, and the first bolts 4a1 are also threadedly connected to the threaded holes.

[0052] After the connecting block 4a is installed to the connecting shaft 4, it can also be adjusted in this way to ensure that the clamping jaw part 5 is directly opposite the terminal wire in the picking position.

[0053] Please refer to Figure 3 In some embodiments, the connecting block 4a can be adjusted in the fixed position of the connecting shaft 4 along the vertical direction. More specifically, the above-mentioned way of using the first bolts 4a1 can be referred to. That is, the two adjustment methods can exist together.

[0054] After the connecting block 4a is installed to the connecting shaft 4, it can also be adjusted in this way to make the clamping jaw part 5 adapt to the vertical position on the terminal wire.

[0055] Please refer to Figure 1The clamping jaw 5 needs to be released at the discharge position and put down the terminal wire clamped at the pick-up position. Therefore, for the two claws 5a, the lower claw 5a must be movable so that it can swing relative to the connecting block 4a. After the clamping jaw 5 is released, the lower claw 5a is tilted, and the terminal wire can fall along it.

[0056] In some embodiments, the gripper portion 5 may use pneumatic fingers.

[0057] See also Figure 3 In some embodiments, the second drive unit 5b utilizes a second cylinder 5b1 to switch the two claws 5a between clamping and releasing by vertically extending and retracting the piston rod to swing the lower claw 5a. More specifically, in addition to the second cylinder 5b1, the second drive unit 5b also includes a second connecting bar 5b2. The upper claw 5a is fixedly connected to the connecting block 4a. The middle of the lower claw 5a is hinged to the second connecting bar 5b2, the other end of which is hinged to the connecting block 4a. One side of the lower claw 5a is used to clamp the terminal wire, and the other side is hinged to the piston rod of the second cylinder 5b1.

[0058] Compared with the use of pneumatic fingers, the piston rod of the second cylinder 5b1 is designed to be retracted in the vertical direction, reducing the size of the clamping jaw 5 in the horizontal direction, making it easier for the clamping jaw 5 to avoid interference from the equipment and enter the material picking position.

[0059] See also Figure 1 and Figure 6 The linkage assembly 6 is used to rotate the connecting shaft 4 by the swinging of the swing arm 2, ensuring that the two clamping jaws maintain the same orientation of the gripping openings in both the pick-up and discharge positions. In other words, for every degree of swing arm 2's relative movement relative to the mounting portion 1 (denoted as the first degree), the connecting shaft 4 rotates in the opposite direction relative to the swing arm 2 by the same degree (denoted as the second degree).

[0060] The two clamping jaws keep the clamping openings in the same direction at the material taking position and the material putting position, and the terminal wire is also in the same direction when being taken away and put down.

[0061] In some embodiments, the linkage assembly 6 may include a first gear, a second gear, and a rack. The first gear is fixedly connected to the mounting portion 1, with its axis coinciding with the reference axis. The second gear is fixedly connected to the connecting shaft 4. The rack is slidably connected to the swing arm 2, sliding in a direction between the first and second ends of the swing arm 2. The rack is also meshed with the first and second gears.

[0062] See also Figure 1In some embodiments, the linkage assembly 6 may include a first synchronous pulley 6a, a second synchronous pulley 6b, and a synchronous belt 6c (for ease of illustration, the teeth are not shown in the drawings). The first synchronous pulley 6a is fixedly connected to the mounting portion 1, and the second synchronous pulley 6b is fixedly connected to the connecting shaft 4. The synchronous belt 6c is connected between the first synchronous pulley 6a and the second synchronous pulley 6b.

[0063] In principle, the use of synchronous wheels and synchronous belts 6c is similar to the use of gears and racks, but the synchronous wheels and synchronous belts 6c are easier to set up and install, and the error between the first angle and the second angle is smaller after long-term use.

[0064] See also Figure 1 and Figure 2 In some embodiments, based on the above-mentioned embodiment in which "the linkage assembly 6 may include a first synchronous pulley 6a, a second synchronous pulley 6b, and a synchronous belt 6c," the swing arm 2 includes a first arm body 2a and a second arm body 2b. The first arm body 2a is hingedly connected to the mounting portion 1 and, accordingly, is also connected to the first synchronous pulley 6a. The second arm body 2b is connected to the connecting shaft 4 and, accordingly, is also connected to the second synchronous pulley 6b. The second arm body 2b is fixedly connected to the first arm body 2a, and its fixed position can be adjusted to switch the synchronous belt 6c between tightening and loosening. In other words, the spacing between the two synchronous pulleys can be adjusted by adjusting the fixed position of the second arm body 2b on the first arm body 2a. More specifically, the second arm body 2b may have a notch, and the first arm body 2a may have a protrusion that is inserted into the notch; the second arm body 2b may have multiple waist-shaped grooves 2b2 on both sides of the notch, and a second bolt 2a2 is passed through the waist-shaped grooves 2b2 and threadedly connected to the protrusion.

[0065] The structure is simple and can easily tighten / loosen the synchronous belt 6c. Although such an adjustment method will cause a small change in the length of the swing arm 2, as long as the two clamping jaws have an appropriate length, the effect can be directly balanced and the terminal wire can still be stably clamped.

Claims

1. A terminal wire transfer robot, characterized in that: include: Mounting portion (1); A swing arm (2), a first end of which is hinged to the mounting portion (1) around a vertical axis; A first driving part (3) is used to drive the swing arm (2) to swing between a material taking position and a material discharging position; A connecting shaft (4) is connected to the second end of the swing arm (2) by rotating around a vertical axis; the lower end passes through the swing arm (2) and is also fixed with a connecting block (4a); The clamping claw portion (5) is arranged on the connecting block (4a), and comprises: two claw bodies (5a) for clamping / releasing in the upper and lower directions of the clamping opening, and a second driving portion (5b) for driving the two claw bodies (5a) to switch between clamping / releasing; the lower claw body (5a) can swing relative to the connecting block (4a); The linkage assembly (6) is used to drive the connecting shaft (4) to rotate by swinging the swing arm (2), so that the two claw bodies (5a) maintain the same orientation of the clamping openings at the material taking position and the material discharging position.

2. The terminal wire transfer robot according to claim 1, characterized in that: The connection point of the clamping claw portion (5) to the connecting block (4a) is: the side of the connecting block (4a) away from the connecting shaft (4); in the material taking position, the connecting block (4a) is perpendicular to the swing arm (2).

3. The terminal wire transfer robot according to claim 1, characterized in that: The linkage assembly (6) comprises: a first synchronous wheel (6a) fixedly connected to the mounting portion (1), a second synchronous wheel (6b) fixedly connected to the connecting shaft (4), and a synchronous belt (6c) connected therebetween.

4. The terminal wire transfer robot according to claim 1, characterized in that: The connection block (4a) further comprises at least one of the following arrangements: The connecting block (4a) can be rotatably adjusted around the axis of the connecting shaft (4) to a fixed position on the connecting shaft (4); The connecting block (4a) can be adjusted in a vertical direction to a fixed position on the connecting shaft (4).

5. The terminal wire transfer robot according to claim 1, characterized in that: The second driving part (5b) uses a second cylinder (5b1) to drive the two claw bodies (5a) to switch between clamping and loosening in the following manner: the piston rod is extended and retracted in the vertical direction to drive the lower claw body (5a) to swing.

6. The terminal wire transfer robot according to claim 3, characterized in that: The swing arm (2) comprises: a first arm body (2a) for being hinged to the mounting portion (1), and a second arm body (2b) for being connected to the connecting shaft (4); the second arm body (2b) is fixedly connected to the first arm body (2a), and the fixed position can be adjusted to switch the synchronous belt (6c) between tightening and loosening.

7. The terminal wire transfer robot according to claim 1, characterized in that: The swinging angle of the swing arm (2) between the material taking position and the material discharging position is 90 degrees.

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