Cable handling gripper

Abstract

The utility model discloses a cable carries the jaw, including mechanical arm and the jaw subassembly of fixed connection below mechanical arm, jaw subassembly includes mounting bracket, and the outside horizontal of mounting bracket is provided with at least three jaws, is the side jaw of being located two sides and the middle part jaw of being located between two side jaws respectively, side jaw and middle part jaw all include fixed mounting on mounting bracket's upper jaw piece and the lower jaw of slidable along mounting bracket vertical direction under the drive, the utility model sets up at least three jaws, is two side jaws and a middle part jaw respectively, utilizes left middle right three section jaws to carry out the clamping to cable section simultaneously, can overcome the characteristic that cable texture is relatively soft, easily deformed, and three section jaws synchronous clamping can help cable straightening in the carrying process, is favorable to the test of subsequent.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a cable handling gripper. Background Technology

[0002] In the field of cable testing, cables are usually handled. The original cable sample is a cut section of cable. The sample needs to be prepared according to the specific test items. The sample preparation process requires frequent handling of the workstation. Furthermore, during testing, the cable needs to be straightened to correct the influence of the actual cable length on the test measurement parameters.

[0003] Currently, there are relatively few robotic arms on the market that can handle cable segments. Furthermore, since cables themselves are not rigid structures, especially thinner cables, which have low rigidity and are prone to sagging and deformation, ordinary robotic arms cannot independently perform handling and straightening functions. Utility Model Content

[0004] The purpose of this utility model is to provide a cable handling gripper to solve the problems mentioned in the background art. After gripping the cable, it is straightened and placed directly in the test station without being released, so as to conduct the test in a clamped state.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a cable handling gripper, comprising a robotic arm and a gripper assembly fixedly connected below the robotic arm;

[0006] The gripper assembly includes a mounting frame, on the outer side of which at least three grippers are horizontally arranged: side grippers on both sides and a central gripper between the two side grippers.

[0007] Both the side gripper and the middle gripper include an upper jaw block fixedly mounted on the mounting frame and a lower jaw block that is driven to slide along the vertical direction of the mounting frame.

[0008] Preferably, the side gripper includes an upper side gripper block and a lower side gripper block. The upper side gripper block has an inverted U-shaped structure, and the upper surface of the lower side gripper block has a V-shaped groove.

[0009] Preferably, the central gripper includes a central upper jaw block and a central lower jaw block;

[0010] The bottom of the upper surface of the middle lower jaw block is a V-shaped groove, and a vertical stop is provided on the rear side of the upper edge of the V-shaped groove. The front side of the middle upper jaw block is a horizontal pressure plate structure, which is opposite to the V-shaped groove.

[0011] Preferably, a clearance groove is provided on the rear side of the middle upper jaw block to avoid the vertical guard edge outside the middle lower jaw.

[0012] Preferably, the lower jaws of the side gripper and the lower jaws of the middle gripper share a set of drive mechanisms. The drive mechanism includes a cylinder fixedly mounted on the mounting bracket and a drive arm connected to the output end of the cylinder. The drive arm is installed laterally to connect the lower jaws of the side gripper and the lower jaws of the middle gripper into one unit.

[0013] The mounting frame has three longitudinal beams, and three slide rails are mounted side by side on the longitudinal beams. The lower jaws of the side grippers and the lower jaws of the middle grippers are each slidably connected to the three slide rails independently.

[0014] Preferably, microswitches are installed on the outer sides of both side grippers.

[0015] Preferably, a reflective laser sensor is provided on the inner side of one of the side grippers to scan whether there is a cable that needs to be clamped at the loading position.

[0016] Preferably, a laser displacement sensor is provided on one side of the central gripper to detect the displacement difference after the cable is clamped in place and to calculate the cable diameter.

[0017] Compared with the prior art, the beneficial effects of this utility model are: This utility model is equipped with at least three clamping jaws, namely two side clamping jaws and one central clamping jaw. By using the three clamping jaws on the left, middle and right sides to clamp the cable segment at the same time, it can overcome the characteristics of the cable being soft and easily deformed. Furthermore, the synchronous clamping of the three clamping jaws can help straighten the cable during transportation, which is beneficial for subsequent testing. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the gripper assembly structure;

[0020] Figure 3 This is a sectional view of the side gripper;

[0021] Figure 4 This is a cross-sectional view of the middle gripper.

[0022] Figure 5 This is a schematic diagram of the cable clamping process. Detailed Implementation

[0023] 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.

[0024] like Figure 1-4As shown, this utility model provides a technical solution: a robotic arm 2 and a gripper assembly 3 fixedly connected to the lower part of the robotic arm 2;

[0025] The gripper assembly 3 includes a mounting frame 33, and at least three grippers are horizontally arranged on the outer side of the mounting frame 33, namely, side grippers 31 located on both sides and a middle gripper 32 located between the two side grippers 31.

[0026] Both the side gripper 31 and the middle gripper 32 include an upper jaw block fixedly mounted on the mounting frame 33 and a lower jaw block that is driven to slide along the vertical direction of the mounting frame 3.

[0027] Reference Figure 2 As shown, the lower jaw of the side gripper 31 and the lower jaw of the middle gripper share a set of drive mechanisms. The drive mechanism includes a cylinder 37 fixedly mounted on the mounting bracket 33 and a drive arm 36 connected to the output end of the cylinder 37. The drive arm 36 is installed laterally to connect the lower jaw of the side gripper 31 and the lower jaw of the middle gripper into one unit.

[0028] The mounting bracket 33 has three longitudinal beams, and three slide rails 331 are mounted side by side on the longitudinal beams. The lower jaws of the side grippers 31 and the lower jaws of the middle grippers are slidably connected to the three slide rails 331 independently.

[0029] Continue to refer to Figure 2 As shown, microswitches 38 are installed on the outer sides of both side grippers 31. A reflective laser sensor 39 is installed on the inner side of one of the side grippers to scan whether there is a cable that needs to be clamped at the loading position. A laser displacement sensor is installed on one side of the middle gripper 32 to detect the displacement difference after the cable is clamped in place and to calculate the cable diameter.

[0030] Reference Figure 3 as well as Figure 4 As shown, this embodiment uses three grippers to clamp the cable simultaneously. In addition to stable clamping, it can also straighten the cable. The specific structure of this embodiment is based on the structure of the side gripper 31 and the middle gripper 32.

[0031] like Figure 3 As shown. The side gripper 31 includes an upper side gripper block 311 and a lower side gripper block 312. The upper side gripper block 311 has an inverted U-shaped structure, and the upper end face of the lower side gripper block 312 has a V-shaped groove.

[0032] Reference Figure 4 As shown, the central jaw 32 includes a central upper jaw block 321 and a central lower jaw block 322. The bottom of the upper surface of the central lower jaw block 322 is a V-shaped groove, and a vertical guard 324 is provided on the rear side of the upper edge of the V-shaped groove. The front side of the central upper jaw block 321 is a horizontal pressure plate structure, opposite to the V-shaped groove. A clearance groove is provided on the rear side of the central upper jaw block 321 to avoid the vertical guard 324 of the central lower jaw block 322.

[0033] In summary, the upper jaw blocks of the two side grippers 31 have an inverted U-shaped structure, and the lower jaw blocks have a V-shaped structure. The upper jaw blocks of the middle gripper are mainly composed of horizontal pressure plates. Although the lower jaw blocks are also designed with V-shaped grooves, a vertical guard 324 is added. Under the action of the vertical guard 324, the structure of the lower jaw blocks is similar to the U-shaped structure of the upper jaw blocks of the side grippers.

[0034] It should be noted that the vehicle is usually a bracket structure with two support points on the left and right. The cable is supported by the support points and is suspended on the ground or placed on a table.

[0035] During the specific clamping process, refer to Figure 5 As shown, Figure 5 The diagram shown from right to left is a simplified demonstration of the entire clamping process. The mounting bracket 33 is moved directly above the cable by the two-axis servo platform 1 connected to the robotic arm 2. This process uses data detected by the reflective laser sensor 39 as feedback. When the reflective laser sensor 39 detects that the cable is in the same vertical position as the gripper, the lower jaw of the gripper is separated from the upper jaw in the diagram. Next, the gripper moves vertically downwards until the upper jaw block 311 of the side gripper 31 overlaps both ends of the cable, until a microswitch is triggered, stopping the vertical movement of the gripper.

[0036] It is worth mentioning that the cable hangs down in the middle on the carrier, so the side claw upper jaw block 311 first supports the two ends of the cable. Therefore, the side claw upper jaw block 311 adopts an inverted U-shaped structure, which can play a better pre-positioning function.

[0037] Finally, the three lower jaw blocks of the gripper move upwards until they clamp the cable.

[0038] It is worth mentioning that, since the middle section of the cable has no support points compared to the two ends and is in a drooping state, the middle jaw block 322 contacts the cable first. Therefore, the vertical guard 324 of the middle jaw block 322, combined with the V-groove structure, serves as a limiting and guiding element (which can be seen as increasing the depth of the V-groove). Then, the jaw continues to rise, during which the jaw blocks of the two side grippers contact the cable and continue to rise to the bottom of the upper jaw block. During this process, the jaw block of the middle gripper 32 provides advance support and is guided by the vertical guard 324, preventing further bending of the cable and thus avoiding slippage. Secondly, during the support process, the side grippers assist in straightening the cable.

[0039] Overall, the lower jaw block of the central gripper and the upper jaw block of the side grippers have deeper gripping grooves, which can maximize the compatibility of U-shaped curved cables with a central droop, ensuring that curved cables can be gripped by the grippers over a wide range.

[0040] 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 cable handling gripper, characterized in that: Includes a robotic arm (2) and a gripper assembly (3) fixedly connected to the lower part of the robotic arm (2); The gripper assembly (3) includes a mounting bracket (33), and at least three grippers are horizontally arranged on the outer side of the mounting bracket (33), namely, side grippers (31) located on both sides and a middle gripper (32) located between the two side grippers (31). Both the side gripper (31) and the middle gripper (32) include an upper jaw block fixedly mounted on the mounting frame (33) and a lower jaw block that is driven to slide along the vertical direction of the mounting frame (3).

2. The cable handling gripper according to claim 1, characterized in that: The side gripper (31) includes a side gripper upper jaw block (311) and a side gripper lower jaw block (312). The side gripper upper jaw block (311) has an inverted U-shaped structure, and the upper end face of the side gripper lower jaw block (312) has a V-shaped groove.

3. The cable handling gripper according to claim 1, characterized in that: The middle jaw (32) includes a middle maxillary mass (321) and a middle mandibular mass (322). The bottom of the upper surface of the middle lower jaw block (322) is a V-shaped groove, and a vertical guard (324) is provided on the rear side of the upper edge of the V-shaped groove. The front side of the middle upper jaw block (321) is a horizontal pressure plate structure, which is opposite to the V-shaped groove.

4. A cable handling gripper according to claim 3, characterized in that: A clearance groove is provided on the rear side of the middle upper jaw block (321) to avoid the vertical guard edge (324) of the middle lower jaw outer (322).

5. A cable handling gripper according to claim 1, characterized in that: The lower jaw of the side gripper (31) and the lower jaw of the middle gripper share a set of drive mechanisms. The drive mechanism includes a cylinder (37) fixedly mounted on the mounting bracket (33) and a drive arm (36) connected to the output end of the cylinder (37). The drive arm (36) is installed laterally to connect the lower jaw of the side gripper (31) and the lower jaw of the middle gripper into one unit. The mounting bracket (33) has three longitudinal beams, and three slide rails (331) are installed side by side on the longitudinal beams. The lower jaws of the side grippers (31) and the lower jaws of the middle grippers are slidably connected to the three slide rails (331) on their own.

6. A cable handling gripper according to claim 1, characterized in that: Microswitches (38) are installed on the outer sides of both side grippers (31).

7. A cable handling gripper according to claim 1, characterized in that: One of the side grippers is equipped with a reflective laser sensor (39) on its inner side, which is used to scan whether there is a cable that needs to be clamped at the loading position.

8. A cable handling gripper according to claim 1, characterized in that: A laser displacement sensor is provided on one side of the middle gripper (32) to detect the displacement difference after the cable is clamped in place and to calculate the cable diameter.

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