An automatic gripper mechanism

Abstract

The utility model relates to an automatic clamping jaw mechanism, and its technical scheme main points are: including: mounting bracket, the positioning module for positioning to cell -phone, the clamping jaw module for clamping to the cell -phone after positioning, the jacking module for the clamping jaw module is close to the limit, and control module, the assembly end of clamping jaw module adjustable installation the bottom of mounting bracket, the positioning module with mounting bracket fixed connection, the jacking module with mounting bracket fixed connection, and its output end can with the assembly end of clamping jaw module abut, control module is connected with positioning module, clamping jaw module, jacking module electricity respectively, whole stable structure, easy to install, can realize cell -phone automatic clamping operation, satisfy cell -phone down -press test operation, and the clamping jaw module can adjust corresponding test angle through test demand in the test process.

Description

Technical Field

[0001] This utility model relates to the field of clamping equipment technology, and more specifically, to an automatic gripper mechanism. Background Technology

[0002] Clamping mechanisms belong to a category under automated testing. They are devices specifically designed to solve practical problems or achieve a certain function. They address issues such as the low efficiency of manual testing in existing technologies and the need to develop new technologies to meet market demands.

[0003] Mobile phone clamping mechanisms belong to a category of clamping fixtures. After mobile phones are assembled, they need to undergo various performance tests. During the pressure test, a clamping mechanism is usually required to hold and fix the phone for targeted testing. Currently, clamping mechanisms mostly use standard pneumatic grippers, which have poor versatility and cannot meet the requirements of various specifications. In addition, the existing clamping mechanisms have relatively crude structures, are bulky, and are not convenient for use in confined spaces or specific environments, resulting in low efficiency. Furthermore, during the testing process, the clamping mechanism cannot adjust its angle according to the force point of the pressure test, making it impossible to perform corresponding angle tests on the mobile phone. Therefore, we propose a new automatic gripper mechanism with slight angle adjustment. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an automatic gripper mechanism to solve the technical problems existing in the background art.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution: an automatic gripper mechanism, comprising: a mounting frame, a positioning module for positioning a mobile phone, a gripper module for gripping the positioned mobile phone, a lifting module for clamping and limiting the gripper module, and a control module; the assembly end of the gripper module is adjustablely mounted on the bottom of the mounting frame; the positioning module is fixedly connected to the mounting frame; the lifting module is fixedly connected to the mounting frame, and its output end can abut against the assembly end of the gripper module; the control module is electrically connected to the positioning module, the gripper module, and the lifting module respectively.

[0006] Optionally, the mounting bracket includes: a protective housing, two first-angle movable seats, two second-angle movable seats, a fixed seat, and a mounting base; the fixed seat is fixedly installed in the middle of one side of the mounting base; the two first-angle movable seats are symmetrically installed on both sides of the fixed seat near the mounting base via pins; the two second-angle movable seats are symmetrically installed on the fixed seat away from the mounting base via pins; the bottom of the two first-angle movable seats and the two second-angle movable seats are provided with adjustment holes adapted to the assembly end of the gripper module; the protective housing covers the fixed base and is fixedly connected to the mounting base.

[0007] Optionally, the gripper module includes: a support platform, two first bearings, two second bearings, a first mounting block, a second mounting block, a U-shaped frame, a first drive motor, a first lead screw, two first lead screw nuts, and two gripping arms; the two first bearings are rotatably mounted in the adjustment holes of the two first angle movable seats; the two first mounting blocks and the second mounting blocks are symmetrically arranged at both ends of the upper surface of the support platform; a first connecting shaft passes through the first mounting block, and both ends of the first connecting shaft are fixedly connected to the inner walls of the two first bearings; a second connecting shaft passes through the first mounting block, and both ends of the second connecting shaft are fixedly connected to the inner walls of the two second bearings; the two second bearings are rotatably mounted in the adjustment holes of the two second angle movable seats; the support platform is fixedly connected to the positioning module;

[0008] The top of the U-shaped frame is fixedly connected to the lower end face of the support platform; the first drive motor is fixedly installed at one end of the U-shaped frame; the first lead screw is rotatably mounted in the U-shaped cavity of the U-shaped frame, and its extended end passes through the side wall of the U-shaped frame and is connected to the output end of the first drive motor; two first lead screw nuts are arranged opposite to each other on the first lead screw and are located in the U-shaped cavity of the U-shaped frame; the two clamping arms are respectively fixedly connected to the two first lead screw nuts one-to-one; at least one guide post is provided on each of the two clamping arms facing each other; a clamping block is slidably arranged on the guide post; a compression spring is provided in the gap between the clamping block and the clamping arm; one end of the compression spring is fixedly connected to the clamping block, and the other end is fixedly connected to a pressure sensor; the pressure sensor is fixedly connected to the clamping arm; the pressure sensor and the first drive motor are respectively electrically connected to the control module.

[0009] Optionally, a first slide rail is provided inside the U-shaped cavity of the U-shaped frame; each of the two clamping arms is provided with a first slider adapted to the first slide rail; the two clamping arms are slidably installed inside the U-shaped cavity of the U-shaped frame through the cooperation of the first slider and the second slide rail.

[0010] Optionally, the positioning module includes: two L-shaped plates, a connecting plate, and a positioner; the two L-shaped plates are symmetrically installed on the outer sides of both ends of the support platform; the two L-shaped plates are connected by the connecting plate to form a U-shaped structural frame; the structural frame is mounted below the first lead screw; the positioner is fixedly installed on the structural frame and located in the gap between the two clamping arms; the positioner is electrically connected to the control module.

[0011] Optionally, the control module includes an electrical control cabinet and a controller; the controller is electrically connected to the pressure sensor, the first drive motor, the positioner, and the lifting module, respectively.

[0012] Optionally, the lifting module includes: a second drive motor, a bracket, a second lead screw, a second lead screw nut, a connecting seat, and a lifting arm; the bracket is fixedly connected to the mounting base; the second lead screw is rotatably mounted on the bracket, and its output end passes through the bracket and is connected to the output end of the second drive motor; the second drive motor is fixedly connected to the bracket and electrically connected to the controller; the second lead screw nut is mounted on the second lead screw and fixedly connected to the connecting seat; a second slider is provided on the connecting seat; a second slide rail adapted to the second slider is provided on the bracket; the connecting seat is slidably mounted on the bracket through the cooperation of the second slider and the second slide rail; one end of the lifting arm is fixedly connected to the connecting seat, and the other end passes through the fixed seat and can abut against the support platform.

[0013] In summary, this utility model has the following advantages: the overall structure is stable, the installation is convenient, it can realize automated mobile phone clamping operation, and meet the mobile phone pressure test operation; and during the test, the gripper module can adjust the corresponding test angle according to the test requirements. Attached Figure Description

[0014] Figure 1 This is an assembly drawing of this utility model;

[0015] Figure 2 This is a schematic diagram of the structure of this utility model during assembly;

[0016] Figure 3 This is a schematic diagram showing the structural relationship between the gripper module and the positioning module in this utility model;

[0017] Figure 4 This is a schematic diagram of the gripper module in the present invention when it is closed.

[0018] In the diagram: 1. Mounting bracket; 101. Protective housing; 102. First angle movable seat; 103. Second angle movable seat; 104. Fixed seat; 105. Mounting seat; 106. Adjustment hole; 2. Positioning module; 201. L-shaped plate; 202. Connecting plate; 203. Positioner; 3. Gripper module; 301. Support platform; 302. First bearing; 303. Second bearing; 304. First mounting block; 305. Second mounting block; 306. U-shaped frame; 307. First drive motor; 308. First lead screw; 309. First lead screw nut; 310. Clamping arm; 3011. First coupling shaft; 3012. Second coupling shaft; 3013. Guide column; 3014. Clamping block; 3015. Compression spring; 3016. Pressure sensor; 4. Lifting module; 401. Second drive motor; 402. Bracket; 403. Second lead screw; 404. Second lead screw nut; 405. Connecting seat; 406. Lifting arm. Detailed Implementation

[0019] To make the objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein.

[0020] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0021] In this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] This utility model provides an automatic gripper mechanism, such as Figure 1 As shown, the device includes: a mounting frame 1, a positioning module 2 for positioning the mobile phone, a gripper module 3 for clamping the positioned mobile phone, a lifting module 4 for clamping and limiting the gripper module 3, and a control module; the assembly end of the gripper module 3 is adjustablely mounted on the bottom of the mounting frame 1; the positioning module 2 is fixedly connected to the mounting frame 1; the lifting module 4 is fixedly connected to the mounting frame 1, and its output end can abut against the assembly end of the gripper module 3; the control module is electrically connected to the positioning module 2, the gripper module 3, and the lifting module 4 respectively; the control module (not shown in the figure) includes: an electrical control cabinet and a controller.

[0024] In this embodiment, the controller in the control module can be a microcontroller, MCU, PLC, or other controller capable of controlling the orderly operation of various components; in this embodiment, an MCU is selected. The electrical control cabinet is an electrical control cabinet with a complete internal circuit system. In this embodiment, the end of the gripper module 3 is movably installed at the bottom of the mounting frame 1, allowing the gripper mechanism to be adjusted by ±5 degrees. During operation, the positioning module 2 first positions the mobile phone. When the positioning module 2 detects that the mobile phone is placed at the predetermined work position, the control module controls the gripper module 3 to work, clamping and fixing the mobile phone for a downward pressure test. During the downward pressure test, since the end of the gripper module 3 is adjustablely installed at the bottom of the mounting frame 1, the gripper module 3 can hold the mobile phone in place. During the pressure test, the gripper module 3, under the pressure of the pressure testing tool, can adjust its angle according to the actual testing requirements to adjust the angle of the mobile phone for the corresponding testing work. When it is necessary to fix the gripper module 3, the control module controls the lifting module 4 to work, so that the lifting end of the lifting module 4 presses down to clamp the gripper module 3 to prevent the gripper mechanism from shaking and to perform the corresponding pressure test. When it is necessary to adjust the angle of the mobile phone for related tests, the control module controls the lifting module 4 to release, and the gripper module 3 can adjust the test angle according to the test requirements. The overall structure is stable, easy to install, and can realize automated gripping and pressure testing of mobile phones. During the test, the gripper module 3 can adjust the corresponding test angle according to the test requirements.

[0025] Optionally, the mounting bracket 1 includes: a protective housing 101, two first angle movable seats 102, two second angle movable seats 103, a fixed seat 104, and a mounting base 105; the fixed seat 104 is fixedly installed in the middle of one side of the mounting base 105; the two first angle movable seats 102 are symmetrically installed on both sides of the fixed seat 104 near the mounting base 105 via pins; the two second angle movable seats 103 are symmetrically installed on the fixed seat 104 away from the mounting base 105 via pins; the bottom of the two first angle movable seats 102 and the two second angle movable seats 103 are provided with adjustment holes 106 that are adapted to the assembly end of the gripper module 3; the protective housing 101 covers the fixed seat 104 and is fixedly connected to the mounting base 105.

[0026] In this embodiment, the two first angle movable seats 102 and the two second angle adjusting seats are rotatably mounted on the fixed seat 104 via pins, and their adjustment angles are all ±5°, and each of them is provided with an adjustment hole 106 at its lower end; the assembly end of the gripper module 3 is movably mounted on the lower end of the four angle movable seats through the cooperation of bearings and adjustment holes 106; so that during the pressure test, the mobile phone, under the pressure of the test tool, drives the gripper module 3 to perform the corresponding angle adjustment, so as to carry out the corresponding angle test.

[0027] Further, the gripper module 3 includes: a support platform 301, two first bearings 302, two second bearings 303, a first mounting block 304, a second mounting block 305, a U-shaped frame 306, a first drive motor 307, a first lead screw 308, two first lead screw nuts 309, and two gripping arms 310; the two first bearings 302 are rotatably mounted in the adjustment holes 106 on the two first angle movable seats 102 respectively; the two first mounting blocks 304 and the second mounting blocks 305 are symmetrically arranged at both ends of the upper surface of the support platform 301; a first connecting shaft 3011 passes through the first mounting block 304, and the... The two ends of the first connecting shaft 3011 are fixedly connected to the inner walls of the two first bearings 302 respectively; a second connecting shaft 3012 is provided on the first mounting block 304, and the two ends of the second connecting shaft 3012 are fixedly connected to the inner walls of the two second bearings 303 respectively; the two second bearings 303 are rotatably installed in the adjustment holes 106 on the two second angle movable seats 103 respectively; the support platform 301 is fixedly connected to the positioning module 2; the top of the U-shaped frame 306 is fixedly connected to the lower end face of the support platform 301; the first drive motor 307 is fixedly installed at one end of the U-shaped frame 306; the first wire Rod 308 is rotatably mounted within the U-shaped cavity of the U-shaped frame 306, and its extended end passes through the side wall of the U-shaped frame 306 and is connected to the output end of the first drive motor 307. Two first lead screw nuts 309 are arranged opposite to each other on the first lead screw 308 and are located within the U-shaped cavity of the U-shaped frame 306. Two clamping arms 310 are respectively fixedly connected to the two first lead screw nuts 309 in a one-to-one correspondence. At least one guide post 3013 is provided on each of the opposing surfaces of the two clamping arms 310. A clamping block 3014 is slidably mounted on the guide post 3013. The clamping block 3014 and the clamping arm are connected to the clamping arm. A compression spring 3015 is provided in the gap between the arms 310; one end of the compression spring 3015 is fixedly connected to the clamping block 3014, and the other end is fixedly connected to a pressure sensor 3016; the pressure sensor 3016 is fixedly connected to the clamping arm 310; the pressure sensor 3016 and the first drive motor 307 are respectively electrically connected to the control module; a first slide rail is provided in the U-shaped cavity of the U-shaped frame 306; a first slider adapted to the first slide rail is provided on each of the two clamping arms 310; the two clamping arms 310 are slidably installed in the U-shaped cavity of the U-shaped frame 306 through the cooperation of the first slider and the second slide rail.

[0028] In this embodiment, both clamping blocks 3014 are coated with urethane adhesive to prevent damage to the mobile phone; the support platform 301 is movably connected to the lower end of the mounting base 105 via bearings on two rotating shafts and adjustment holes 106 on four angle adjustment seats; in this embodiment, the first lead screw 308 is a ball screw, the first lead screw nut 309 is a ball nut, and the pressure sensor 3016 is a thin-film pressure sensor 3016, which is a mature technology product on the market and will not be described in detail here; during clamping operations, the first drive motor 307 drives the first lead screw 308 to rotate in the forward direction, thereby driving the first lead screw... The two lead screw nuts on rod 308 move relative to each other, thereby driving the two clamping arms 310 to move relative to each other, so that the two clamping blocks 3014 on the two clamping arms 310 can cooperate to clamp and fix the phone. The overall structure is stable and easy to install. It can be used to clamp and fix mobile phones of different specifications, and has good versatility. In addition, the two clamping blocks 3014 are installed on the clamping arms 310 through the guide rod and the compression spring 3015. The compression spring 3015 is connected to a thin plate sensor. When the gripper module 3 automatically retracts to clamp the mobile phone, the pressure sensor 3016 can determine whether the clamping is tight.

[0029] Further, the positioning module 2 includes: two L-shaped plates 201, a connecting plate 202, and a positioner 203; the two L-shaped plates are symmetrically installed on the outer sides of both ends of the support platform 301; the two L-shaped plates 201 are connected by the connecting plate 202 to form a U-shaped structural frame; the structural frame is erected below the first lead screw 308; the positioner 203 is fixedly installed on the structural frame and located in the gap between the two clamping arms 310; the positioner 203 is electrically connected to the control module.

[0030] In this embodiment, the locator 203 is a laser locator 203, which is a mature technology product on the market and will not be described in detail here. During assembly, the two L-shaped plates 201 and the connecting plate 202 cooperate to form a U-shaped structural frame. The locator 203 is installed in the middle of the structural frame and is located in the gap between the two clamping blocks so that after the mobile phone is positioned, the control module controls the gripper module 3 to perform clamping and fixing operations on the mobile phone.

[0031] Further, the lifting module 4 includes: a second drive motor 401, a bracket 402, a second lead screw 403, a second lead screw nut 404, a connecting seat 405, and a lifting arm 406; the bracket 402 is fixedly connected to the mounting base 105; the second lead screw 403 is rotatably mounted on the bracket 402, and its output end passes through the bracket 402 and is connected to the output end of the second drive motor 401; the second drive motor 401 is fixedly connected to the bracket 402, and it is connected to the controller. Electrical connection; the second lead screw 403 nut is installed on the second lead screw 403 and fixedly connected to the connecting seat 405; the connecting seat 405 is provided with a second slider; the bracket 402 is provided with a second slide rail adapted to the second slider; the connecting seat 405 is slidably installed on the bracket 402 through the cooperation of the second slider and the second slide rail; one end of the lifting arm 406 is fixedly connected to the connecting seat 405, and the other end passes through the fixed seat 104 and can abut against the support platform 301.

[0032] In this embodiment, the second lead screw 403 is a ball screw, and the nut of the second lead screw 403 is a ball nut. During operation, the second drive motor 401 is started, and the second drive motor 401 works in the forward direction to drive the second lead screw 403 to rotate, thereby pushing the nut of the second lead screw 403 on the second lead screw 403 to move downward, thereby pushing the lifting arm 406 to perform a downward pressing action, so as to press down and tighten the gripper module 3. When it is necessary to release the gripper module 3, the second drive motor 401 works in the reverse direction, thereby driving the lifting arm 406 to perform a lifting action through the second lead screw 403, thereby releasing the gripper module 3. The structure is stable and easy to install.

[0033] This utility model discloses an automatic gripper mechanism with a stable overall structure and convenient installation. It can realize automated gripping operation of mobile phones and meet the mobile phone pressure test operation. During the test, the gripper module 3 can adjust the corresponding test angle according to the test requirements.

[0034] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. An automatic gripper mechanism, characterized by, include: The device comprises a mounting frame, a positioning module for positioning a mobile phone, a gripper module for holding the positioned mobile phone, a lifting module for clamping and limiting the gripper module, and a control module; the assembly end of the gripper module is adjustablely mounted on the bottom of the mounting frame; the positioning module is fixedly connected to the mounting frame; the lifting module is fixedly connected to the mounting frame, and its output end can abut against the assembly end of the gripper module; the control module is electrically connected to the positioning module, the gripper module, and the lifting module respectively.

2. The automatic gripper mechanism according to claim 1, characterized in that, The mounting bracket includes: a protective housing, two first-angle movable seats, two second-angle movable seats, a fixed seat, and a mounting base; the fixed seat is fixedly installed in the middle of one side of the mounting base; the two first-angle movable seats are symmetrically installed on both sides of the fixed seat near the mounting base via pins; the two second-angle movable seats are symmetrically installed on the fixed seat away from the mounting base via pins; the bottom of the two first-angle movable seats and the two second-angle movable seats are provided with adjustment holes adapted to the assembly end of the gripper module; the protective housing covers the fixed base and is fixedly connected to the mounting base.

3. An automatic gripper mechanism according to claim 2, characterized in that, The gripper module includes: a support platform, two first bearings, two second bearings, a first mounting block, a second mounting block, a U-shaped frame, a first drive motor, a first lead screw, two first lead screw nuts, and two gripping arms; the two first bearings are rotatably mounted in the adjustment holes of the two first angle movable seats; the two first mounting blocks and the second mounting blocks are symmetrically arranged at both ends of the upper surface of the support platform; a first connecting shaft passes through the first mounting block, and both ends of the first connecting shaft are fixedly connected to the inner walls of the two first bearings; a second connecting shaft passes through the first mounting block, and both ends of the second connecting shaft are fixedly connected to the inner walls of the two second bearings; the two second bearings are rotatably mounted in the adjustment holes of the two second angle movable seats; the support platform is fixedly connected to the positioning module; The top of the U-shaped frame is fixedly connected to the lower end face of the support platform; the first drive motor is fixedly installed at one end of the U-shaped frame; the first lead screw is rotatably mounted in the U-shaped cavity of the U-shaped frame, and its extended end passes through the side wall of the U-shaped frame and is connected to the output end of the first drive motor; two first lead screw nuts are arranged opposite to each other on the first lead screw and are located in the U-shaped cavity of the U-shaped frame; the two clamping arms are respectively fixedly connected to the two first lead screw nuts one-to-one; at least one guide post is provided on each of the two clamping arms facing each other; a clamping block is slidably arranged on the guide post; a compression spring is provided in the gap between the clamping block and the clamping arm; one end of the compression spring is fixedly connected to the clamping block, and the other end is fixedly connected to a pressure sensor; the pressure sensor is fixedly connected to the clamping arm; the pressure sensor and the first drive motor are respectively electrically connected to the control module.

4. An automatic gripper mechanism according to claim 3, characterized in that, The U-shaped cavity of the U-shaped frame is provided with a first slide rail; each of the two clamping arms is provided with a first slider that is adapted to the first slide rail; the two clamping arms are slidably installed in the U-shaped cavity of the U-shaped frame through the cooperation of the first slider and the second slide rail.

5. An automatic gripper mechanism according to claim 3, characterized in that, The positioning module includes: two L-shaped plates, a connecting plate, and a positioner; the two L-shaped plates are symmetrically installed on the outer sides of both ends of the support platform; the two L-shaped plates are connected by the connecting plate to form a U-shaped structural frame; the structural frame is erected below the first lead screw; the positioner is fixedly installed on the structural frame and located in the gap between the two clamping arms; the positioner is electrically connected to the control module.

6. An automatic gripper mechanism according to claim 5, characterized in that, The control module includes an electrical control cabinet and a controller; the controller is electrically connected to the pressure sensor, the first drive motor, the positioner and the lifting module respectively.

7. An automatic gripper mechanism according to claim 6, characterized in that, The lifting module includes: a second drive motor, a bracket, a second lead screw, a second lead screw nut, a connecting seat, and a lifting arm; the bracket is fixedly connected to the mounting base; the second lead screw is rotatably mounted on the bracket, and its output end passes through the bracket and is connected to the output end of the second drive motor; the second drive motor is fixedly connected to the bracket and electrically connected to the controller; the second lead screw nut is mounted on the second lead screw and fixedly connected to the connecting seat; a second slider is provided on the connecting seat; a second slide rail adapted to the second slider is provided on the bracket; the connecting seat is slidably mounted on the bracket through the cooperation of the second slider and the second slide rail; one end of the lifting arm is fixedly connected to the connecting seat, and the other end passes through the fixed seat and abuts against the support platform.

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