Optical fiber tray handling gripper device

Abstract

The utility model belongs to mechanical arm clamping technical field especially relates to a kind of optical fiber disc carrying clamping device.The utility model provides a kind of mechanical base part of optical fiber disc carrying clamping device with good use effect.The utility model includes gripper 2, its characterized in that gripper 2 rear end shaft connects the outer end of driving bar 100, the inner end of driving bar 100 is connected with the shaft of gear 1, gear 1 is driven by gear driving motor 105;Gripper 2 middle part shaft connects the outer end of driven bar 14, and the inner end of driven bar 14 is connected with gripper mounting plate 101;Gripper 2 front end is clamping plate;Rotary table control motor 26 is arranged on the rotary table support 50 of rotary table 51 lower end, rotary table support 50 is arranged on base 17, and rotary table 51 lower end middle part is connected with the rotary shaft that rotary table control motor 26 protrudes upward, and rotary table control motor 26 controls rotary table 51 rotation.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm gripping technology, and in particular relates to a fiber optic tray handling and gripping device. Background Technology

[0002] Currently, robotic gripper devices are becoming increasingly common on industrial production lines, including intelligent transportation. However, our research has revealed a lack of robotic grippers specifically designed for transporting fiber optic reels. Traditional gripper arms are insufficient for handling such small units as fiber optic reels. Their thickness and small contact area make them ill-suited for grasping fiber optic reels within boxes. While the reels are packed tightly, the gaps between fibers are easily accessible by hand, making it difficult for a robotic gripper. Furthermore, traditional gripper methods can easily damage the reel and its fibers. The gripping areas on both sides of the reel are made of plastic, and the small contact area of ​​traditional arms results in high pressure, easily damaging these gripping areas. Currently, some fiber optic cable manufacturers, such as the Eighth Research Institute of China Electronics Technology Group Corporation, still rely on manual handling of fiber optic reels to minimize damage. However, this method still suffers from excessive manpower consumption and time-consuming processes. Utility Model Content

[0003] This utility model addresses the aforementioned problems by providing the mechanical foundation of a fiber optic tray handling and clamping device with good performance.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: the present invention includes a gripper 2, characterized in that the rear end of the gripper 2 is shaft-connected to the outer end of the driving rod 100, the inner end of the driving rod 100 is connected to the shaft of the gear 1, and the gear 1 is driven by a gear drive motor 105; the middle part of the gripper 2 is shaft-connected to the outer end of the driven rod 14, and the inner end of the driven rod 14 is shaft-connected to the gripper mounting plate 101; the front end of the gripper 2 is a clamping plate; The turntable control motor 26 is mounted on the turntable bracket 50 at the lower end of the turntable 51. The turntable bracket 50 is mounted on the base 17. The middle part of the lower end of the turntable 51 is connected to the rotating shaft extending upward from the turntable control motor 26. The turntable control motor 26 controls the turntable 51 to rotate. The output shaft of the right motor 35 is connected to the lower end of the right robotic arm 5. When the output shaft of the right motor 35 rotates, it drives the lower end of the right robotic arm 5 to rotate. The upper end of the right robotic arm 5 is connected to the lower corner of the middle of the triangular right linkage component 34 and the rear end of the right connecting rod 64. The upper rear corner of the right linkage component 34 is connected to the upper end of the right rear connecting rod 53. The lower end of the right rear connecting rod 53 is connected to the upper rear part of the turntable 51. The upper front part of the right linkage component 34 is connected to the rear end of the front connecting rod 54. The front connecting rod 54 is connected to the upper end of the front connecting rod 55. The lower end of the left robotic arm 25 is connected to the turntable 51, the upper end of the left robotic arm 25 is connected to the rear of the left connecting rod 30, the rear end of the left connecting rod 30 is connected to the upper end of the left rear connecting rod 60, the lower end of the left rear connecting rod 60 is connected to the rear end of the lower left connecting rod 62, the front end of the lower left connecting rod 62 is connected to the output shaft of the left motor 52, and the left motor 52 is mounted on the turntable 51. The lower end of the front connecting rod 55 is shafted to the inside of the connecting frame 63, the right side of the connecting frame 63 is shafted to the front end of the right connecting rod 64, the left side of the connecting frame 63 is shafted to the front end of the left connecting rod 30, and the connecting frame 63 is connected to the gripper mounting plate 101.

[0005] As a preferred embodiment, the gripper mounting plate 101 of this utility model extends to the side at the rear to form an extension plate 102, and a camera 13 is provided at the lower end of the extension plate 102.

[0006] As another preferred embodiment, the clamping plate of this utility model is a circular clamping plate, and a protrusion 106 is provided in the middle of the clamping plate.

[0007] Secondly, temperature sensors are provided on the housings of the main bodies of the gear drive motor 105 and the turntable control motor 26 described in this utility model.

[0008] In addition, an ultrasonic ranging device 39 is provided at the lower outer end of the driven rod 14 of this utility model, and an infrared ranging device 47 is provided at the upper front end of the gripper mounting plate 101.

[0009] The beneficial effects of this utility model.

[0010] This invention features a dedicated gripping robotic arm designed specifically for handling fiber optic reels, addressing the problem that traditional robotic arms easily damage fiber optic reels and the optical fibers within them when gripping them.

[0011] The gear 1 of this utility model is driven by a gear drive motor 105, which can precisely control the clamping force and ensure that the plastic parts on both sides of the optical fiber tray will not be damaged when clamping the optical fiber tray.

[0012] This invention, through the cooperation of components such as turntable 51, robotic arm, connecting rod, and linkage component 34, enables the gripper 2 to reach multiple positions, adapt to fiber optic trays of different sizes, and can deeply grip fiber optic trays located in the lower layer of the packaging box.

[0013] The gripper part of this invention can be flipped, which greatly improves the flexibility of the gripper.

[0014] The robotic arm designed in this utility model grasps the fiber optic disc in a translational grasping manner (through the cooperation of components such as turntable 51, robotic arm, connecting rod, and linkage component 34), and the thickness of the grasping part is not high (the front end of the gripper 2 is a clamping plate), which can extend into the gap of the fiber optic disc in the box to grasp the target fiber optic disc.

[0015] The gripper designed in this invention is a clamping plate that can be adapted to the size of the fiber optic disc to maximize the force-bearing area; and it is also adapted to the shape of the fiber optic disc, providing a strong grip and preventing it from falling and getting damaged. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. The scope of protection of the present invention is not limited to the following description.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is a side view of the present invention.

[0019] Figure 3 This is a top view of the present invention.

[0020] Figure 4 This is a bottom view of the utility model. Detailed Implementation

[0021] As shown in the figure, this utility model includes a gripper 2, the rear end of which is shaft-connected to the outer end of the driving rod 100, the inner end of the driving rod 100 is connected to the shaft of the gear 1, and the gear 1 is driven by the gear drive motor 105; the middle part of the gripper 2 is shaft-connected to the outer end of the driven rod 14, and the inner end of the driven rod 14 is shaft-connected to the gripper mounting plate 101; the front end of the gripper 2 is a clamping plate. The turntable control motor 26 is mounted on the turntable bracket 50 at the lower end of the turntable 51. The turntable bracket 50 is mounted on the base 17. The middle part of the lower end of the turntable 51 is connected to the rotating shaft extending upward from the turntable control motor 26. The turntable control motor 26 controls the turntable 51 to rotate. The output shaft of the right motor 35 is connected to the lower end of the right robotic arm 5. When the output shaft of the right motor 35 rotates, it drives the lower end of the right robotic arm 5 to rotate. The upper end of the right robotic arm 5 is connected to the lower corner of the middle of the triangular right linkage component 34 and the rear end of the right connecting rod 64. The upper rear corner of the right linkage component 34 is connected to the upper end of the right rear connecting rod 53. The lower end of the right rear connecting rod 53 is connected to the upper rear part of the turntable 51. The upper front part of the right linkage component 34 is connected to the rear end of the front connecting rod 54. The front connecting rod 54 is connected to the upper end of the front connecting rod 55. The lower end of the left robotic arm 25 is connected to the turntable 51, the upper end of the left robotic arm 25 is connected to the rear of the left connecting rod 30, the rear end of the left connecting rod 30 is connected to the upper end of the left rear connecting rod 60, the lower end of the left rear connecting rod 60 is connected to the rear end of the lower left connecting rod 62, the front end of the lower left connecting rod 62 is connected to the output shaft of the left motor 52, and the left motor 52 is mounted on the turntable 51. The lower end of the front connecting rod 55 is shafted to the inside of the connecting frame 63, the right side of the connecting frame 63 is shafted to the front end of the right connecting rod 64, the left side of the connecting frame 63 is shafted to the front end of the left connecting rod 30, and the connecting frame 63 is connected to the gripper mounting plate 101.

[0022] The right motor 35 controls the rotation of the right robotic arm 5, and the right connecting rod 64, the left connecting rod 30, and the left robotic arm 25 work together to complete the lifting and lowering of the gripper.

[0023] The left motor 52 controls the gripper to rotate via the lower left connecting rod 62, the left rear connecting rod 60, and the left connecting rod 30. The connecting frame 63 can rotate. The connecting frame 63 is integrated with the mechanical gripper. The front connecting rod 54 tilts forward, causing the front connecting rod 55 to drive the rear side of the mechanical gripper to move upward, thereby rotating the mechanical gripper.

[0024] Flipping the grippers makes gripping more precise and secure. Flipping the grippers allows them to enter the packaging box at a better angle, thus enabling a better angle for translating and gripping the fiber optic tray.

[0025] The gripper mounting plate 101 extends to the side at the rear to form an extension plate 102, and a camera 13 is provided at the lower end of the extension plate 102. The image captured by the camera 13 can be sent to the K210 vision module to identify the fiber optic disc to ensure the accuracy of the gripping position and the accuracy of the gripped target.

[0026] The clamping plate is circular, with a protrusion 106 in the center. The protrusion 106 can be inserted into the holes on both sides of the center of the fiber optic tray to clamp and fix it, ensuring that the fiber optic tray will not fall during the clamping process. The circular clamping plate of the gripper 2 is designed according to the lifting parts of the circular plastic trays at both ends of the fiber optic tray, and can extend into the box containing the fiber optic tray for precise clamping.

[0027] Temperature sensors are installed on the housings of both the gear drive motor 105 and the turntable control motor 26. The detection signal output port of the temperature sensor can be connected to the detection signal input port of the monitoring device to monitor whether the motor temperature is too high.

[0028] An ultrasonic ranging device 39 is provided at the lower outer end of the driven rod 14, and an infrared ranging device 47 is provided at the upper front end of the gripper mounting plate 101. Both the ultrasonic ranging device 39 and the infrared ranging device 47 are used to measure the distance between the gripper 2 and the target fiber optic disc. The ultrasonic ranging device 39 and the infrared ranging device 47 work together to ensure gripping accuracy.

[0029] If the detection values ​​of the ultrasonic ranging device 39 and the infrared ranging device 47 are inconsistent, the two will be matched again until the error is less than 0.1mm. If there is still a large error, calibration (conventional technique) can be performed, and then the measurement can be performed again.

[0030] It should be reiterated that the purpose of this utility model is only to provide the mechanical foundation of the optical fiber tray handling and clamping device, and does not involve the electrical control system and related software. This utility model has provided a detailed description and demonstration of the mechanical structure of the device. Those skilled in the art can fully realize the purpose of this utility model, namely, to make the mechanical foundation of the optical fiber tray handling and clamping device, based on the contents of this utility model specification.

Claims

1. A fiber optic tray handling and gripping device, comprising grippers (2), characterized in that... The rear end of the gripper (2) is connected to the outer end of the driving rod (100), and the inner end of the driving rod (100) is connected to the shaft of the gear (1). The gear (1) is driven by the gear drive motor (105). The middle part of the gripper (2) is connected to the outer end of the driven rod (14), and the inner end of the driven rod (14) is connected to the gripper mounting plate (101). The front end of the gripper (2) is a clamping plate. The turntable control motor (26) is mounted on the turntable bracket (50) at the lower end of the turntable (51), and the turntable bracket (50) is mounted on the base (17). The middle part of the lower end of the turntable (51) is connected to the rotating shaft extending upward from the turntable control motor (26), and the turntable control motor (26) controls the turntable (51) to rotate. The output shaft of the right motor (35) is connected to the lower end of the right robotic arm (5). The output shaft of the right motor (35) rotates, causing the lower end of the right robotic arm (5) to rotate. The upper end of the right robotic arm (5) is connected to the lower corner of the middle of the triangular right linkage component (34) and the rear end of the right connecting rod (64). The upper rear corner of the right linkage component (34) is connected to the upper end of the right rear connecting rod (53). The lower end of the right rear connecting rod (53) is connected to the upper rear part of the turntable (51). The upper front part of the right linkage component (34) is connected to the rear end of the front connecting rod (54). The front connecting rod (54) is connected to the upper end of the front connecting rod (55). The lower end of the left robotic arm (25) is connected to the turntable (51), the upper end of the left robotic arm (25) is connected to the rear of the left connecting rod (30), the rear end of the left connecting rod (30) is connected to the upper end of the left rear connecting rod (60), the lower end of the left rear connecting rod (60) is connected to the rear end of the left lower connecting rod (62), the front end of the left lower connecting rod (62) is connected to the output shaft of the left motor (52), and the left motor (52) is mounted on the turntable (51). The lower end of the front connecting rod (55) is connected to the inner side of the connecting frame (63), the right side of the connecting frame (63) is connected to the front end of the right connecting rod (64), the left side of the connecting frame (63) is connected to the front end of the left connecting rod (30), and the connecting frame (63) is connected to the gripper mounting plate (101).

2. The fiber optic tray handling and gripping device according to claim 1, characterized in that... The rear of the gripper mounting plate (101) extends to the side to form an extension plate (102), and a camera (13) is provided at the lower end of the extension plate (102).

3. The fiber optic tray handling and gripping device according to claim 1, characterized in that... The clamp is a circular clamp with a protrusion (106) in the middle.

4. The optical fiber tray handling and clamping device according to claim 1, characterized in that... Temperature sensors are provided on the housings of the main bodies of the gear drive motor (105) and the turntable control motor (26).

5. The fiber optic tray handling and gripping device according to claim 1, characterized in that... An ultrasonic ranging device (39) is provided at the lower outer end of the driven rod (14), and an infrared ranging device (47) is provided at the upper front end of the gripper mounting plate (101).

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