Material taking clamping jaw for sensor assembly testing machine

Abstract

The utility model relates to the technical field of testing machine material taking, in particular to a material taking clamping jaw for a sensor assembly testing machine, which comprises a mechanical claw, a buffer device is arranged at the upper end of the mechanical claw, a direction adjusting device is arranged at the upper end of the buffer device, and a hydraulic mechanical arm is arranged at the upper end of the direction adjusting device. A steering device is arranged at the lower end of the hydraulic mechanical arm, a moving device is arranged at the lower end of the steering device, the buffer device comprises a first supporting plate, a second supporting plate, a spring and a limiting rod, the first supporting plate is connected with the direction adjusting device, the second supporting plate is connected with the mechanical claw, and the limiting rod is connected with the hydraulic mechanical arm. The direction adjusting device comprises a supporting box, a rotating rod and a control motor, the steering device is an electric rotating rod, the moving device comprises a sliding box, a control magnetic rail and a control magnetic block, the grabbing angle requirements of different stations are rapidly met, and the assembling and positioning consistency is improved.

Description

Technical Field

[0001] This utility model relates to the field of material handling technology for testing machines, specifically to material handling grippers for sensor assembly testing machines. Background Technology

[0002] As we all know, with the rapid development of existing industrial automation technology, sensors, as the core sensing components of modern intelligent manufacturing systems, directly affect the performance stability of end products through their assembly accuracy and testing efficiency. Especially in high-precision fields such as automotive electronics, consumer electronics, and aerospace, the sensor assembly and testing process must meet stringent requirements such as micron-level positioning accuracy, flexible adjustment with multiple degrees of freedom, and high-frequency non-destructive grasping.

[0003] However, traditional grippers generally use pneumatic drive or single motor direct drive structures, which can achieve basic gripping functions, but expose many technical bottlenecks under complex working conditions.

[0004] Existing grippers rely on fixed robotic arms or simple rotary joints for position adjustment during use, making it difficult for sensors to adapt to multi-dimensional spatial poses (such as tilting insertion, obstacle avoidance path adjustment, etc.) when gripping. This requires repeated adjustment of the gripper or stopping the machine to reset the coordinates, which greatly affects assembly efficiency. In addition, the problem of rigid mechanical structure transmitting vibration further weakens the stability of dynamic adjustment. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this utility model provides a material handling gripper for a sensor assembly and testing machine.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a material handling gripper for a sensor assembly and testing machine, comprising a mechanical gripper, a buffer device at the upper end of the mechanical gripper, a direction adjustment device at the upper end of the buffer device, a hydraulic mechanical arm at the upper end of the direction adjustment device, a steering device at the lower end of the hydraulic mechanical arm, and a moving device at the lower end of the steering device.

[0009] To absorb the impact energy during grasping, the present invention improves upon the following: the buffer device includes a first support plate, a second support plate, a spring, and a limiting rod. The first support plate is connected to the direction adjustment device, the second support plate is connected to the mechanical claw, the spring connects the first support plate and the second support plate, and the limiting rod is distributed at the four corners between the first support plate and the second support plate. The bottom wall of the first support plate has grooves at each of the four corners, and the limiting rod passes through the grooves and is slidably connected to them with damping.

[0010] To achieve multi-angle rotation of the gripper in the horizontal plane, the present invention is improved as follows: the direction adjustment device includes a support box, a rotating rod and a control motor. The support box is connected to the bottom wall of the hydraulic robotic arm, the control motor is inside the support box, the rotating rod passes through the support box and is connected to the output end of the control motor, and the rotating rod is connected to the first support plate.

[0011] To achieve overall rotational adjustment of the gripper and the robotic arm, the present invention is improved as follows: the steering device is an electric rotating rod, the output end of the electric rotating rod is connected to the hydraulic robotic arm, and the lower end of the electric rotating rod is on the moving device.

[0012] To improve the accuracy and response speed of linear displacement, the present invention includes the following improvements: the moving device includes a sliding box, a control magnetic rail, and a control magnetic block. The sliding box has a cavity, the control magnetic rail passes through the cavity, the control magnetic block is on the control magnetic block and is electromagnetically slidably connected to it, the upper end of the cavity has an opening, the upper end of the control magnetic block passes through the opening and is slidably connected to it, and the steering device is connected to the control magnetic block.

[0013] To increase friction, the present invention is improved by having a polyurethane gripping pad detachably connected to the end of the mechanical claw, the surface of which is provided with a diamond-shaped anti-slip texture.

[0014] To reduce the sliding resistance of the limiting rod, the present invention is improved by coating the surface of the limiting rod with a graphite lubricating coating and embedding a copper-based self-lubricating bearing in the inner wall of the groove.

[0015] To ensure high-precision positioning of the mobile device, the present invention includes the following improvements: a gap detection sensor is provided between the control magnetic block and the magnetic track to monitor the air gap change in real time and dynamically adjust the electromagnetic attraction force.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, the present invention provides a material handling gripper for a sensor assembly and testing machine, which has the following advantages:

[0018] The sensor assembly and testing machine uses a gripper with a buffer device. At the moment of gripping or under external impact load, the spring absorbs the rigid collision energy between the mechanical gripper and the workpiece through elastic deformation, preventing damage to the brittle structure of the sensor due to instantaneous overload. The limit rods distributed at the four corners are embedded in the grooves and limit the lateral displacement of the mechanical gripper through damping sliding connection.

[0019] By linking the direction adjustment device, steering device, and moving device in layers, independent and precise control of spatial posture is achieved. The direction adjustment device has an embedded control motor that drives the rotating rod, which drives the mechanical gripper to complete large-angle continuous rotation in the plane, quickly adapting to the gripping angle requirements of different workstations. The moving device adopts non-contact electromagnetic slide rail drive, and achieves high-precision linear displacement through the rapid response sliding of the magnetic block along the magnetic rail, eliminating the backlash error of traditional mechanical transmission and improving the consistency of assembly positioning.

[0020] Each adjustment unit is independently controlled and motion decoupled, effectively avoiding motion interference during multi-axis linkage and significantly shortening the pose adjustment time. Attached Figure Description

[0021] Figure 1 This is a first-view schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a partial schematic diagram of the structure of this utility model from a second perspective;

[0023] Figure 3 This is a partial schematic diagram of the structure of this utility model from a third-view perspective;

[0024] Figure 4 This is an exploded view of the structural buffer device of this utility model.

[0025] In the diagram: 1. Hydraulic robotic arm; 2. Sliding box; 3. Electric rotating rod; 4. Second support plate; 5. First support plate; 6. Support box; 7. Rotating rod; 8. Mechanical claw; 9. Control motor; 10. Control magnetic track; 11. Control magnetic block; 12. Spring; 13. Limit rod. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] Please see Figure 1-4 A material handling gripper for a sensor assembly and testing machine includes a mechanical gripper 8. A buffer device is provided at the upper end of the mechanical gripper 8, and a direction adjustment device is provided at the upper end of the buffer device. A hydraulic mechanical arm 1 is provided at the upper end of the direction adjustment device, and a steering device is provided at the lower end of the hydraulic mechanical arm 1. A moving device is provided at the lower end of the steering device. The buffer device includes a first support plate 5, a second support plate 4, a spring 12, and a limiting rod 13. The first support plate 5 is connected to the direction adjustment device, and the second support plate 4 is connected to the mechanical gripper 8. The spring 12 connects the first support plate 5 and the second support plate 4. The limiting rod 13 is distributed at the four corners between the first support plate 5 and the second support plate 4. Grooves are provided at the four corners of the bottom wall of the first support plate 5, and the limiting rod 13 passes through the grooves and is slidably connected to them with damping.

[0030] During use, the entire gripper is installed at the predetermined station of the sensor assembly and testing machine. The moving device is connected to the fixed base of the testing machine via the sliding box 2, ensuring that the horizontal movement path is aligned with the assembly line direction. The device is then started, the hydraulic robotic arm 1 is powered on and its lifting height is initialized, and the steering device, direction adjustment device, and moving device complete self-calibration. The moving device quickly moves the gripper to the area above the target material. Then, the steering device adjusts the overall orientation of the gripper and the hydraulic robotic arm 1 to ensure no interference when the gripper approaches the material. Next, the direction adjustment device finely adjusts the gripping direction of the robotic claw 8 (e.g., parallel gripping or lateral insertion) to ensure it is perfectly aligned with the material's gripping surface. Finally, the hydraulic robotic arm 1 adjusts its extension length according to the material height, driving the robotic claw 8 to descend vertically to the contact position with the material surface. Simultaneously, the hydraulic... The system applies a preset contact pressure to provide stable support for the clamping action (the hydraulic pump pressurizes the oil and delivers it to the hydraulic cylinder through the control valve. The high-pressure oil pushes the piston rod in the hydraulic cylinder to move linearly. The piston rod converts the linear motion into the opening and closing action of the gripper through the linkage mechanism. This is a common and mature technology on the market). The impact force generated at the moment of clamping is transmitted to the buffer device through the second support plate 4. The spring 12 absorbs the impact energy through compression deformation. The distance between the first support plate 5 and the second support plate 4 is dynamically adjusted (compressed or extended). At the same time, the limiting rod 13 slides damped in the groove of the first support plate 5 to limit the lateral displacement of the mechanical claw 8 and prevent the material from being damaged by rigid collision. It takes into account both protection and positioning accuracy. After clamping is completed, the moving device, the steering device and the direction adjustment device work together to transfer the material to the testing machine station along the preset path according to the above operation.

[0031] In practical use, it is necessary to achieve multi-angle rotation of the mechanical gripper 8 in the horizontal plane to adapt to the gripping direction requirements of different assembly stations. To meet the above requirements, in this embodiment, the direction adjustment device includes a support box 6, a rotating rod 7, and a control motor 9. The support box 6 is connected to the bottom wall of the hydraulic robotic arm 1, the control motor 9 is located inside the support box 6, the rotating rod 7 passes through the support box 6 and is connected to the output end of the control motor 9, and the rotating rod 7 is connected to the first support plate 5.

[0032] The control motor 9 starts, and the rotating rod 7 drives the mechanical claw 8 to rotate horizontally, thereby finely adjusting the clamping direction of the mechanical claw 8 so that it is completely aligned with the clamping surface of the material.

[0033] In practical use, it is necessary to achieve overall rotational adjustment of the mechanical gripper 8 and the hydraulic robotic arm 1. To meet this requirement, in this embodiment, the steering device is an electric rotating rod 3. The output end of the electric rotating rod 3 is connected to the hydraulic robotic arm 1, and the lower end of the electric rotating rod 3 is on the moving device.

[0034] The electric rotary rod 3 is started, driving the hydraulic robotic arm 1 to rotate around the vertical axis, adjusting the overall orientation of the hydraulic robotic arm 1, the robotic gripper 8 and the material (e.g., tilt angle or obstacle avoidance path), ensuring that the path of the gripper when approaching the material is free from interference.

[0035] In practical applications, it is necessary to improve linear displacement accuracy and response speed. To meet these requirements, in this embodiment, the moving device includes a sliding box 2, a control magnetic rail 10, and a control magnetic block 11. The sliding box 2 has a cavity, through which the control magnetic rail 10 passes. The control magnetic block 11 is mounted on the sliding box 2 and electromagnetically slidably connected to it. An opening is provided at the upper end of the cavity, through which the upper end of the control magnetic block 11 is slidably connected. The steering device is connected to the control magnetic block 11.

[0036] Multiple sets of electromagnetic coils are arranged along the length of the control magnetic track 10. When energized, they generate a regularly changing magnetic field. The control magnetic block 11 contains a permanent magnet. When the electromagnetic coils of the magnetic track are energized in a preset sequence, the resulting dynamic magnetic field interacts with the magnetic field inside the magnetic block, generating continuous attractive or repulsive forces that push the magnetic block to slide without contact along the surface of the magnetic track. At the same time, by adjusting the magnitude and direction of the current in the electromagnetic coils, the strength and direction of the magnetic field can be precisely controlled, enabling the magnetic block to obtain a stable linear driving force and achieve high-precision, low-friction displacement, thereby driving the steering device and the hydraulic robotic arm 1 to move horizontally as a whole.

[0037] In actual use, it is necessary to increase the friction force to avoid scratching or slipping of the sensor surface. In order to meet the above requirements, in this embodiment, the end of the mechanical claw 8 is detachably connected to a polyurethane clamping pad, and the surface of the clamping pad is provided with diamond-shaped anti-slip texture.

[0038] In actual use, it is necessary to reduce the sliding resistance of the limit rod 13 and ensure the long-term stable operation of the buffer device. In order to meet the above requirements, in this embodiment, the surface of the limit rod 13 is coated with a graphite lubricating coating, and a copper-based self-lubricating bearing is embedded in the inner wall of the groove.

[0039] In actual use, it is necessary to monitor the changes in the air gap between the magnetic block and the magnetic rail in real time and adjust the electromagnetic attraction force to ensure high-precision positioning of the mobile device. In order to meet the above requirements, in this embodiment, a gap detection sensor is provided between the control magnetic block 11 and the magnetic rail to monitor the changes in the air gap in real time and dynamically adjust the electromagnetic attraction force.

[0040] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended only as examples, not as limiting the scope of protection of this application.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pick-up gripper for sensor assembly test machines, comprising a mechanical gripper (8), characterised in that: The upper end of the mechanical claw (8) is provided with a buffer device, the upper end of the buffer device is provided with a direction adjustment device, the upper end of the direction adjustment device is provided with a hydraulic mechanical arm (1), the lower end of the hydraulic mechanical arm (1) is provided with a steering device, and the lower end of the steering device is provided with a moving device.

2. The pick-up gripper for sensor assembly test machines according to claim 1, characterized in that: The buffer device includes a first support plate (5), a second support plate (4), a spring (12), and a limiting rod (13). The first support plate (5) is connected to the direction adjustment device, the second support plate (4) is connected to the mechanical claw (8), the spring (12) connects the first support plate (5) and the second support plate (4), and the limiting rod (13) is distributed at the four corners between the first support plate (5) and the second support plate (4). The bottom wall of the first support plate (5) is provided with grooves at the four corners, and the limiting rod (13) passes through the grooves and is damped and slidably connected to them.

3. The pick-up gripper for sensor assembly test machines according to claim 2, characterized in that: The direction adjustment device includes a support box (6), a rotating rod (7) and a control motor (9). The support box (6) is connected to the bottom wall of the hydraulic robotic arm (1). The control motor (9) is inside the support box (6). The rotating rod (7) passes through the support box (6) and is connected to the output end of the control motor (9). The rotating rod (7) is connected to the first support plate (5).

4. The pick-up gripper for sensor assembly test machines of claim 1, wherein: The steering device is an electric rotary rod (3), the output end of which is connected to the hydraulic mechanical arm (1), and the lower end of which is on the moving device.

5. The pick-up gripper for sensor assembly test machines of claim 1, wherein: The moving device includes a sliding box (2), a control magnetic rail (10), and a control magnetic block (11). The sliding box (2) has a cavity, the control magnetic rail (10) passes through the cavity, the control magnetic block (11) is on the control magnetic block (11) and is electromagnetically slidably connected to it, the upper end of the cavity has an opening, the upper end of the control magnetic block (11) passes through the opening and is slidably connected to it, and the steering device is connected to the control magnetic block (11).

6. The pick-up gripper for sensor assembly test machines of claim 1, wherein: The end of the mechanical claw (8) is detachably connected to a polyurethane clamping pad, and the surface of the clamping pad is provided with a diamond-shaped anti-slip texture.

7. The pick-up gripper for sensor assembly test machines of claim 2, wherein: The surface of the limiting rod (13) is coated with a graphite lubricating coating, and a copper-based self-lubricating bearing is embedded in the inner wall of the groove.

8. The pick-up gripper for sensor assembly test machines of claim 5, wherein: A gap detection sensor is provided between the control magnetic block (11) and the magnetic track to monitor the air gap change in real time and dynamically adjust the electromagnetic attraction force.

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