Tail end clamp of wire harness taking robot

Abstract

A wire harness material taking robot tail end clamp is used for being installed at the tail end of a material taking robot and comprises an installation plate provided with two installation arms which are arranged side by side; the clamping unit comprises two first clamping air cylinders which are fixedly arranged on the mounting arms respectively; and the wire clamping unit is arranged between the two mounting arms and comprises a second clamping air cylinder and a clamping plate. The fixture seat is clamped and fixed by the clamping unit, and the wire part of the wire harness is clamped by the wire clamping unit, so that the head of the wire harness and the fixture seat can be ensured to be inserted and kept fixed, and the head of the wire harness does not shake on the fixture seat when the wire harness swings under the action of gravity in the conveying process of the wire harness; therefore, the wire harness and the jig seat are prevented from loosening or even being separated from each other, and the stability and reliability of wire harness conveying are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of wire harness picking fixture technology, and in particular to an end effector for a wire harness picking robot. Background Technology

[0002] Wire harnesses are common components used for transmitting electrical signals. For example... Figure 1 As shown, this is a wire harness 410 used for transmitting electrical signals. The wire harness needs to be pre-installed on a fixture base 400, as... Figure 1 As shown, the wire harness 410 includes a head 411 and a wire portion 412. The pins of the head 411 are inserted into the fixture base 400 to fix the wire harness head 411, thereby fixing the wire harness 410. However, in the process of gripping and transferring the wire harness, the fixture base is usually clamped to allow multiple wire harnesses to be transferred simultaneously.

[0003] However, because the wire harness has a long section of wire, during the transfer process, the weight of the wire will cause it to hang downwards and swing back and forth during transport, which may cause the wire harness to fall off the fixture and affect the reliability of the wire harness transport.

[0004] Therefore, there is an urgent need for a new technology to solve at least one of the aforementioned technical problems. Utility Model Content

[0005] The purpose of this utility model is to provide an end effector for a wire harness picking robot to solve at least one of the above-mentioned technical problems.

[0006] The technical solution adopted in this utility model is:

[0007] A wire harness picking robot end effector, for mounting on the end effector of the picking robot, includes:

[0008] The mounting plate has one end configured as a connection end for connecting to the material handling robot, and the other end configured with two mounting arms arranged side by side, with a gap between the mounting arms.

[0009] The clamping unit includes two first clamping cylinders respectively fixedly mounted on the mounting arm, and two relatively moving first grippers are driven on the first clamping cylinders.

[0010] A wire clamping unit is disposed between two mounting arms. It includes a second clamping cylinder, which is drivenly connected to two relatively movable linkages. Each linkage is fixedly mounted with a clamping plate. The two clamping plates extend in the width direction between the two mounting arms and are arranged side by side. The downward-facing edges of the two clamping plates are formed with a number of clamping blocks arranged side by side at fixed intervals. The second clamping cylinder drives the two clamping plates to move towards each other, so that the clamping blocks located on the two clamping plates respectively move closer to each other or separate, thereby achieving clamping or releasing.

[0011] Furthermore, the first gripper includes:

[0012] The connecting part is connected to the first clamping cylinder in a driving manner;

[0013] An extension portion is formed at the lower end of the connecting portion and extends along the length direction of the mounting arm;

[0014] A clamping portion is formed on the end of the extension away from the connecting portion and extends downward;

[0015] The two first grippers connected to the same first gripping cylinder are arranged side by side in the vertical direction.

[0016] Furthermore, a wire pushing unit is also provided on the mounting plate. The wire pushing unit includes a wire pushing plate and a wire pushing drive device that drives the wire pushing plate to reciprocate along the extension direction of the mounting arm. The wire pushing plate is disposed between the clamping plate and the clamping block.

[0017] Furthermore, the wire push drive device includes:

[0018] A wire-pushing cylinder, wherein the wire-pushing drive is fixedly mounted on the mounting plate;

[0019] A sliding plate is slidably connected to the surface of the connecting part along the length direction of the mounting plate and is driven by the push-wire cylinder to reciprocate along the extension direction of the mounting arm. The push-wire plate is disposed on the end of the sliding plate away from the push-wire cylinder.

[0020] Furthermore, the second clamping cylinder is fixedly mounted on the lower surface of the sliding plate and moves back and forth with the sliding plate.

[0021] Furthermore, it also includes a wire pressing unit, which includes a wire pressing plate that is slidably connected to the end of the mounting arm in a vertical direction. The mounting arm is also provided with an elastic support structure that provides downward elastic support to the wire pressing plate, so that the wire pressing plate extends elastically downward.

[0022] Furthermore, a top plate is provided on the mounting arm, one end of which extends out of the mounting arm and is suspended above the pressure plate. Compression springs are provided on the top plate and the pressure plate, with both ends of the compression springs abutting between the top plate and the pressure plate, respectively.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] This utility model provides an end effector for a wire harness picking robot. During the wire harness picking and gripping process, a first gripping cylinder drives a first gripper to open and close, thus gripping the fixture seat. In this embodiment, the fixture seat is horizontally positioned, meaning that both ends of the fixture seat are close to two mounting arms. The second gripping cylinder in the wire clamping unit drives two clamping plates to slide relative to each other via a linkage, causing the clamping blocks on the two clamping plates to move closer or separate, thereby clamping the wire portion of the wire harness. By clamping and fixing the fixture seat through the clamping unit and clamping the wire portion of the wire harness through the wire clamping unit, the head of the wire harness is kept fixed in the fixture seat. Therefore, during the wire harness transport process, when the wire harness swings due to gravity, the head of the wire harness will not shake on the fixture seat, thus preventing the wire harness from loosening or even detaching from the fixture seat, thereby ensuring the stability and reliability of the wire harness transport.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the wire harness that needs to be processed, which is involved in the background technology of this utility model.

[0027] Figure 2 This is a schematic diagram of the structure of this utility model.

[0028] Figure 3 This is an exploded structural diagram of the present invention.

[0029] Figure 4 This is a schematic diagram of the push-wire unit in this utility model.

[0030] Figure 5 This is a schematic diagram of the wire clamping unit in this utility model.

[0031] Figure 6 This is a structural schematic diagram of the voltage line unit in this utility model. Detailed Implementation

[0032] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0033] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0034] Furthermore, the use of terms such as "first" and "second" in the embodiments of this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0035] This utility model embodiment provides a fixture for clamping and picking up wire harness 410. During the clamping process of wire harness 410, the first gripper 220 of the clamping unit 200 clamps the fixture seat 400 of wire harness 410. At this time, the clamping plate 312 in the clamping unit 300 slides relative to each other under the drive of the second clamping cylinder 310, so that the clamping blocks on the two clamping plates 312 can separate or move closer to each other, thereby clamping the wire part 412 of wire harness 410. By clamping the fixture seat 400 and the wire part 412, the head 411 of wire harness 410 can still be kept stable when the wire part 412 swings under the action of gravity during the transfer of wire harness 410. This avoids the situation where the head 411 of wire harness 410 becomes loose and falls off the fixture seat 400 due to the swing of the wire part 412, thus ensuring the reliability and stability of gripping and transferring wire harness 410.

[0036] Specifically, such as Figure 2-6As shown, this utility model embodiment provides a wire harness 410 picking fixture for mounting on the end of a picking robot. It includes a mounting plate 100, a clamping unit 200, and a wire clamping unit 300. One end of the mounting plate 100 is configured as a connection end 110 for connecting to the picking robot, and the other end has two parallel mounting arms 120 with a gap between them. The clamping unit 200 includes two first clamping cylinders 210 respectively fixedly mounted on the mounting arms 120, and two relatively movable first grippers 220 are driven on the first clamping cylinders 210. The wire clamping unit 300... The 0 is positioned between two mounting arms 120 and includes a second clamping cylinder 310. The second clamping cylinder 310 is driven to connect two relatively movable linkages 311, and a clamping plate 312 is fixedly mounted on each linkage 311. The two clamping plates 312 extend in the width direction between the two mounting arms 120 and are arranged side by side. The downward-facing edges of the two clamping plates 312 are formed with a number of clamping blocks arranged side by side at fixed intervals. The second clamping cylinder 310 drives the two clamping plates 312 to move towards each other, so that the clamping blocks located on the two clamping plates 312 respectively approach or separate from each other, thereby achieving clamping or releasing.

[0037] During the process of clamping and picking up the wire harness 410, the first clamping cylinder 210 drives the first gripper 220 to open and close, thereby clamping the fixture seat 400. In this embodiment, as shown... Figure 2-3 As shown, the fixture base 400 is arranged horizontally at this time, that is, the two ends of the fixture base 400 are close to the two mounting arms 120 respectively. The second clamping cylinder 310 in the wire clamping unit 300 drives the two clamping plates 312 to slide relative to each other through the linkage 311, so that the clamping blocks on the two clamping plates 312 approach or separate from each other, thereby clamping the wire part 412 of the wire harness 410. The clamping unit 200 clamps and fixes the fixture seat 400, and the wire clamping unit 300 clamps the wire portion 412 of the wire harness 410. This ensures that the head 411 of the wire harness 410 is inserted into and fixed to the fixture seat 400. Therefore, when the wire harness 410 is transported and swings due to gravity, the head 411 of the wire harness 410 will not shake on the fixture seat 400, thus preventing the wire harness 410 from loosening or even detaching from the fixture seat 400, thereby ensuring the stability and reliability of the wire harness 410 transport.

[0038] In this embodiment, the structure of the first gripper 220 is specifically described. The first gripper 220 includes a connecting portion 221, an extension portion 222, and a clamping portion 223. Specifically, the connecting portion 221 is connected to the first clamping cylinder 210; the extension portion 222 is formed at the lower end of the connecting portion 221 and extends along the length direction of the mounting arm 120; the clamping portion 223 is formed on the end of the extension portion away from the connecting portion 221 and extends downward.

[0039] Two first grippers 220 connected to the same first gripping cylinder 210 are arranged side by side in a vertical direction. By moving the two first grippers 220 relative to each other, the gripping part 223 is separated and brought closer together, thereby achieving the clamping action on the fixture seat 400.

[0040] In this embodiment, in order to make the insertion between the head 411 and the fixture seat 400 of the wire harness 410 more secure, a wire pushing unit 500 is also provided on the mounting plate 100. The wire pushing unit 500 includes a wire pushing plate 510 and a wire pushing drive device 520 that drives the wire pushing plate 510 to reciprocate along the extension direction of the mounting arm 120. The wire pushing plate 510 is disposed between the clamping plate 312 and the clamping block.

[0041] After the clamping unit 200 clamps the fixture seat 400, the wire pusher drive device 520 drives the wire pusher plate 510 to move toward the fixture seat 400, thereby pushing the head 411 toward the fixture seat 400, making the head 411 and the fixture seat 400 more stably connected and improving the stability of the wire harness 410.

[0042] In this embodiment, the wire pushing drive device 520 includes a wire pushing cylinder 521 and a sliding plate 522. The wire pushing drive is fixedly mounted on the mounting plate. The sliding plate 522 is slidably connected to the surface of the connecting part 221 along the length direction of the mounting plate 100 and is connected to the wire pushing cylinder 521 for transmission. It is driven by the cylinder to reciprocate along the extension direction of the mounting arm 120. The wire pushing plate 510 is disposed on the end of the sliding plate 522 away from the wire pushing cylinder 521.

[0043] In this embodiment, in order to ensure that the clamped wire portion 412 does not cause interference during the pushing of the head 411, the second clamping cylinder 310 is fixedly mounted on the lower surface of the sliding plate 522 and moves back and forth with the sliding plate 522.

[0044] In this embodiment, in order to prevent the head 411 from tilting upwards when it is pushed, the pressure unit 600 includes a pressure plate 610 that is slidably connected to the end of the mounting arm 120 in a vertical direction. The mounting arm 120 is also provided with an elastic support structure that provides downward support to the pressure plate 610, so that the pressure plate 610 extends downwards elastically.

[0045] The pusher unit 500 is used to push the head 411 toward the fixture seat 400, thereby ensuring that the head 411 and the fixture seat 400 are firmly inserted. However, during the process of pushing the head 411, the pusher plate 510 contacts and pushes the upper part of the head 411. Therefore, during this process, the head 411 is prone to tilting upwards due to the pushing force, which exacerbates the loosening of the head 411 and the fixture seat 400. In this embodiment, the pressure plate 610 presses the wire portion 412 downwards under the action of elastic support during the process of pushing the head 411, thereby pressing down the head 411 that is tilted upwards, so that the head 411 can be kept in a horizontal state. Under the action of the pusher plate 510, the head 411 and the fixture seat 400 can be firmly inserted together.

[0046] In this embodiment, a top plate 611 is also provided on the mounting arm 120. One end of the top plate 611 extends out of the mounting arm 120 and is suspended above the pressure plate 610. A compression spring (not shown in the figure) is provided on the top plate 611 and the pressure plate 610. The two ends of the compression spring (not shown in the figure) abut against the top plate 611 and the pressure plate 610 respectively.

[0047] For those skilled in the art, various other corresponding changes and modifications can be obtained based on the structure and principles disclosed in this utility model, and all such changes and modifications fall within the protection scope of this utility model.

Claims

1. A wire harness picking robot end effector to be mounted on a picking robot end, characterized by, The utility model relates to a kind of installation plate, clamping unit and line clamping unit, including: Installation plate, one end of the installation plate is provided as a connection end to be connected with the material taking robot, the other end is provided with two mutually side-by-side mounting arms, and a spacing space is provided between the mounting arms; Clamping unit, the clamping unit includes two first clamping cylinders respectively fixedly installed on the mounting arm, and the first clamping cylinder drives two opposite moving first clamps on it; Wire clamping unit, the wire clamping unit is arranged between two mounting arms, and it includes a second clamping cylinder, the second clamping cylinder is drivingly connected with two opposite moving links, and a clamping plate is fixedly installed on each link, two clamping plates are arranged side by side in the width direction between two mounting arms, and the edges of two clamping plates towards the bottom are shaped by a plurality of clamping blocks arranged at regular intervals, the second clamping cylinder drives two clamping plates to move towards each other, so that the clamping blocks respectively located on two clamping plates are close to each other or separated, to realize clamping or relaxation.

2. The wire harness picking robot end effector of claim 1, wherein, The first clamps include: Connection part, the connection part is drivingly connected with the first clamping cylinder; Extension part, the extension part is shaped at the lower end of the connection part and extends along the length direction of the mounting arm; Clamping part, the clamping part is shaped on the end of the extension part away from the connection part and extends towards the bottom; Wherein, two first clamps connected on the same first clamping cylinder are arranged side by side in the vertical direction.

3. A wire harness picking robot end effector according to claim 2, wherein, The installation plate is also provided with a wire pushing unit, the wire pushing unit includes a wire pushing plate and a wire pushing drive device for driving the wire pushing plate to reciprocate along the extension direction of the mounting arm, and the wire pushing plate is arranged between the clamping plate and the clamping block.

4. The wire harness picking robot end effector of claim 3, wherein, The wire pushing drive device includes: Wire pushing cylinder, the wire pushing cylinder is fixedly installed on the installation plate; Sliding plate, the sliding plate is slidingly connected on the surface of the connection part along the length direction of the installation plate and is drivingly connected with the wire pushing cylinder to drive it to reciprocate along the extension direction of the mounting arm, and the wire pushing plate is arranged on the end of the sliding plate away from the wire pushing cylinder.

5. A wire harness picking robot end effector as claimed in claim 4, wherein, The second clamping cylinder is fixedly installed on the lower side surface of the sliding plate and reciprocates with the sliding plate.

6. A wire harness picking robot end effector according to claim 5, wherein, It also includes a line pressing unit, the line pressing unit includes a line pressing plate slidingly connected on the end of the mounting arm in the vertical direction, and the mounting arm is also provided with an elastic support structure for providing the line pressing plate with a downward direction, so that the line pressing plate elastically extends downwards.

7. A wire harness picking robot end effector according to claim 6, wherein, The mounting arm is also provided with a top plate, one end of the top plate extends out of the mounting arm and suspends above the line pressing plate, and the top plate and the line pressing plate are provided with a compression spring, and the two ends of the compression spring are respectively abutted between the top plate and the line pressing plate.

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