Mechanical hand and connector gripping device

Abstract

The utility model discloses a kind of mechanical hand and connector clamping device, including gripper cylinder, the execution end of gripper cylinder is connected with clamp, still install limiting piece in pairs on the outside wall of gripper cylinder, two limiting pieces are oppositely arranged, and the opposite surface of limiting piece is provided with the two fender and boss of protruding, boss is located between two fenders, and two limiting pieces enclose a cavity, cavity is divided into two limit cavities by two bosses, clamp is slidably fitted in corresponding limit cavity, and clamp can slide left and right relative to limiting piece, limiting screw is also installed on fender, the clamping end of clamp is below limit cavity, the bottom of the clamping end of one clamp is provided with several interval arranged positioning teeth.The utility model has the beneficial effects that: the movement of clamp has double constraint, improve the linear precision of clamp movement, so the size of clamp is longer and smaller, can have higher length-width ratio, can be used in narrow space, product smaller use environment.

Description

Technical Field

[0001] This utility model relates to connector gripping, and in particular to a robotic arm and connector gripping device. Background Technology

[0002] Connectors typically consist of several component assemblies, with the core component being the connecting terminals. During the production process, the connecting terminals are usually produced by conveying a strip of material, which is then stamped several times on the strip and then cut. The connecting terminals and the strip are then analyzed to obtain individual connecting terminals.

[0003] Because connecting terminals are typically not regular parts—for example, the spring clips of connecting terminals are bending mechanisms—conventional cutting devices struggle to achieve continuous feeding of connecting terminals. Furthermore, to improve production efficiency, continuous cutting of connecting terminals is necessary. Therefore, after cutting, the connecting terminals need to be removed. However, the small size of the connecting terminals makes gripping difficult. Moreover, the central part of the connecting terminal is a plastic-encapsulated component with low structural strength, requiring very high clamping force. During gripping, the robotic arm cannot contact the conductive components on the connecting terminal. Most importantly, the small size of the connecting terminal and the small gripping holes on the cutting die result in a narrow gripping end for the robotic arm. The robotic arm must also penetrate deep into the die's concave portion to grip the connecting terminal, further reducing the length of the gripping end. Additionally, the positioning accuracy of the robotic arm is extremely high during gripping. Therefore, current robotic arms struggle to meet the required gripping accuracy when the length-to-width ratio is large. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic arm and connector gripping device.

[0005] The purpose of this utility model is achieved through the following technical solution: A robotic arm includes a gripper cylinder. The actuating end of the gripper cylinder is connected to a gripper. A pair of limiting members are also installed on the outer wall of the gripper cylinder. The two limiting members are arranged opposite to each other, and two raised guard plates and a protruding post are provided on the opposite surface of the limiting members. The protruding post is located between the two guard plates, and the two limiting members form a cavity. The cavity is divided into two limiting cavities by the two protruding posts. The gripper is slidably installed in the corresponding limiting cavity, and the gripper can slide left and right relative to the limiting members. Limiting screws are also installed on the guard plates. The gripping end of the gripper is located below the limiting cavity. The bottom of the gripping end of one of the grippers is provided with several spaced positioning teeth.

[0006] Optionally, the gripper cylinder has a dovetail groove, and dovetail blocks are installed in pairs in the dovetail groove. The dovetail blocks slide in the dovetail groove, and the gripper cylinder drives the dovetail blocks to slide in the dovetail groove. The top of the gripper is connected to the dovetail blocks.

[0007] Optionally, the top of the clamp is provided with a connecting arm, the connecting arm has an installation groove, and the dovetail block is provided with a connecting block, which can be detachably installed in the installation groove.

[0008] Optionally, some connecting blocks are located outside the mounting groove, and a gasket is installed between the connecting blocks and the mounting groove.

[0009] Optionally, the protruding post has a threaded through hole, and the two limiting members are locked by a locking screw installed in the threaded through hole.

[0010] Optionally, one of the protruding protrusions has a stepped hole, and the head of the locking screw is located inside the larger hole of the stepped hole.

[0011] Optionally, the clamp located below the limiting cavity has a thick-walled section, a shortened section, and a thin-walled section connected sequentially from top to bottom. The thickness of the thick-walled section and the shortened section are the same, and the width of the shortened section is smaller than the width of the thick-walled section, while the thickness of the thin-walled section is smaller than the thickness of the shortened section.

[0012] Optionally, the outer side of the shortened section of one clamp is wedge-shaped, and positioning teeth are installed at the bottom of the shortened section of the other clamp.

[0013] A connector gripping device includes a linear motion module, a sliding plate on the linear motion module, and a robotic arm mounted on the sliding plate.

[0014] This utility model has the following advantages: 1. The robotic arm of this utility model has adjustable strokes for the two grippers according to the product's external dimensions, increasing the interchangeability of different types of products; 2. The movement of the clamp is constrained by the dovetail groove and dovetail block, as well as the limiting cavity. Therefore, the movement of the clamp has dual constraints, which improves the linear accuracy of the clamp movement and thus greatly improves the clamping accuracy. As a result, the size of the clamp can be longer and smaller, with a high aspect ratio, and it can be used in environments with limited space and smaller products. This improves the reliability and practicality of the robot arm in gripping the connecting terminals and solves the technical problem that the lengthening of traditional clamps will lead to amplified errors and unstable clamping. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the robotic arm. Figure 2 This is a schematic diagram showing the relative positions of the two clips; Figure 3 This is a schematic diagram of the clip's structure; Figure 4 This is a schematic diagram showing the structure of the clamp located within the limiting cavity; Figure 5 This is a schematic diagram of the limiting cavity structure; Figure 6 This is a schematic diagram of the terminal clamping device. Figure 7 This is a partial schematic diagram of the connection terminals; In the diagram, 100-linear movement module, 200-sliding plate, 300-robotic arm, 1-gripper cylinder, 2-limiting component, 3-clamp, 4-dovetail groove, 5-dovetail block, 6-connecting block, 21-limiting cavity, 22-protruding column, 23-guard plate, 24-limiting screw, 31-positioning tooth, 32-connecting arm, 33-mounting groove, 34-thick-walled section, 35-shortened section, 36-thin-walled section. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 based on the specific circumstances.

[0022] like Figure 1 and Figure 6 As shown, a connector clamping device includes a linear motion module 100, on which a sliding plate 200 is provided, and a robot arm 300 is mounted on the sliding plate 200. The linear motion module 100 is prior art and will not be described in detail. In this embodiment, the linear motion module 100 drives the sliding plate 200 to move up and down, that is, the robot arm 300 moves up and down with the sliding plate 200. When the sliding plate 200 moves to the lower stroke, the robot arm 300 works to clamp the connector. Then the sliding plate 200 moves to the upper stroke to remove the connector vertically upward from the cavity.

[0023] In this embodiment, as Figure 1 As shown, the robotic arm 300 includes a gripper cylinder 1, with a clamp 3 connected to the actuating end of the gripper cylinder 1. In this embodiment, the gripper cylinder 1 is a double-headed gripper. When the gripper cylinder 1 operates, the two clamps 3 move towards or away from each other, thereby realizing the gripping and releasing of the connector. Further, as... Figure 1 , Figure 4 and Figure 5As shown, a pair of limiting members 2 are also installed on the outer wall of the gripper cylinder 1. The two limiting members 2 are arranged opposite each other, and two raised guard plates 23 and protruding posts 22 are provided on the opposite surfaces of the limiting members 2. The protruding posts 22 are located between the two guard plates 23, and the two limiting members 2 form a cavity. The cavity is divided into two limiting cavities 21 by the two protruding posts 22. The clamp 3 is slidably installed in the corresponding limiting cavity 21, and the clamp 3 can slide left and right relative to the limiting members 2. Limiting screws 24 are also installed on the guard plates 23. The clamping end of the clamp 3 is located below the limiting cavity 21. The bottom of the clamping end of one clamp 3 is provided with several spaced positioning teeth 31. By adjusting the limiting screws 24, the position of the clamp 3 in the limiting cavity 21 can be changed. The travel within the clamps allows for adjustment of the furthest distance between the two clamps 3. In this embodiment, when the two clamps 3 are at their shortest distance, they precisely clamp the connector. The width of the protrusion 22 determines the shortest distance between the two clamps 3. In other words, during the design phase, the width of the protrusion 22 can be reasonably designed according to the model of the connecting terminal to ensure the stability of the clamping force of the clamps 3 on the connecting terminal, thereby ensuring the reliability of the connecting terminal clamping. Furthermore, the limiting cavity 21 can restrict the movement of the clamps 3. That is, the front and rear side walls of the clamps 3 and the side walls of the corresponding limiting members 2 are in a sliding fit relationship, thereby ensuring the linear accuracy of the clamps 3 in the left and right directions. Further, as... Figure 1 As shown, the gripper cylinder 1 has a dovetail groove 4, and dovetail blocks 5 are installed in pairs inside the dovetail groove 4. The dovetail blocks 5 slide in the dovetail groove 4. The gripper cylinder 1 drives the dovetail blocks 5 to slide in the dovetail groove 4. The top of the clamp 3 is connected to the dovetail blocks 5. Therefore, the movement of the clamp 3 in the left and right directions is constrained by the dovetail groove 4 and the dovetail blocks 5, as well as by the limiting cavity 21, which makes the linear movement accuracy of the clamp 3 high. In this embodiment, the robot arm 300 needs to extend into the concave mold of the cutting mold to clamp the connecting terminal. Therefore, the size of the clamp 3 needs to be longer and smaller, that is, the length-to-width ratio of the clamp 3 is large. The aspect ratio needs to be at least 5 times. With such a large aspect ratio, if the straightness of the top of the clamp 3 cannot be guaranteed when it moves left and right, the clamping accuracy of its clamping end will be further amplified, resulting in the inability to guarantee the accuracy of the clamping end of the clamp 3, and thus making it impossible to reliably clamp the connecting terminal. In this embodiment, the top of the clamp 3 is constrained by the dovetail groove 4 and the dovetail block 5 as well as the limiting cavity 21, and can be longer and smaller than the traditional clamp 3, that is, the aspect ratio can reach more than 5 times. Therefore, it can be used in narrow spaces and smaller product usage environments, so as to clamp the connecting terminal in the concave mold of the cutting mold.

[0024] In this embodiment, as Figure 2 and Figure 3As shown, the top of the clip 3 is provided with a connecting arm 32, and the connecting arm 32 is provided with a mounting groove 33. The dovetail block 5 is provided with a connecting block 6. The connecting block 6 can be detachably installed in the mounting groove 33, which facilitates the replacement of the clip 3 and makes it suitable for more types of connecting terminals. Furthermore, some of the connecting blocks 6 are located outside the mounting groove 33, and a gasket is installed between the connecting block 6 and the mounting groove 33. In this embodiment, depending on the different connecting terminals, the farthest distance of the clip 3 in the limiting cavity 21 can be changed by adding or removing gaskets and adjusting the limiting screw 24.

[0025] In this embodiment, as Figure 4 As shown, a threaded through hole is provided in the protrusion 22. The two limiting members 2 are locked by locking screws installed in the threaded through hole. The locking screws ensure the stability of the limiting cavity 21 structure and thus ensure the limiting cavity 21 limits the clamp 3. Furthermore, the threaded through hole of one of the protrusions 22 is a stepped hole, and the head of the locking screw is located in the large hole of the stepped hole, which makes the structure of the limiting member 2 simpler and occupies less space.

[0026] In this embodiment, as Figure 3 As shown, the clip 3 located below the limiting cavity 21 has a thick-walled section 34, a shortened section 35, and a thin-walled section 36 connected sequentially from top to bottom. The thickness of the thick-walled section 34 and the shortened section 35 is the same, and the width of the shortened section 35 is smaller than the width of the thick-walled section 34. The thickness of the thin-walled section 36 is smaller than the thickness of the shortened section 35. The thick-walled section 34 can ensure the structural strength of the clip 3, while the shortened section 35 can make the clip 3 more elongated, making it easier to insert into deep holes. The thin-walled section 36 is suitable for small and deep holes. Furthermore, the outer side of the shortened section 35 of one clip 3 is a wedge-shaped surface. The wedge-shaped surface facilitates the insertion of the clip 3 into the deep hole, and the thickness of the wedge-shaped surface decreases sequentially from top to bottom, which can also ensure that the clip 3 can be inserted into the deep hole while increasing the structural strength of the clip 3. The positioning teeth 31 are installed at the bottom of the shortened section 35 of the other clip 3. In this embodiment, as shown... Figure 7 As shown, the middle part of the connecting terminal is a plastic encapsulation, and the plastic encapsulations are connected in a row. There is a positioning groove between two adjacent plastic encapsulations, and the positioning tooth 31 is locked in the positioning groove. When gripping, the robot arm 300 moves downward, and the positioning tooth 31 is locked in the positioning groove. Then the gripper cylinder 1 works, so that the two clamps 3 move closer to each other, thereby clamping the plastic encapsulation. Then the robot arm 300 moves upward, thereby gripping the connecting terminal.

[0027] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm, characterized in that: The device includes a gripper cylinder, the actuator of which is connected to a gripper. A pair of limiting members are mounted on the outer wall of the gripper cylinder, with the two limiting members facing each other. Each limiting member has two protruding guard plates and a protruding post on its opposing surface. The protruding post is located between the two guard plates, and the two limiting members form a cavity. The cavity is divided into two limiting chambers by the two protruding posts. The gripper is slidably mounted in the corresponding limiting chamber and can slide left and right relative to the limiting members. Limiting screws are also mounted on the guard plates. The clamping end of the clamp is located below the limiting cavity. The bottom of the clamping end of one of the clamps is provided with a plurality of spaced positioning teeth. The clamp located below the limiting cavity has a thick-walled section, a shortened section and a thin-walled section connected from top to bottom. The thickness of the thick-walled section and the shortened section are the same, and the width of the shortened section is less than the width of the thick-walled section. The thickness of the thin-walled section is less than the thickness of the shortened section. The outer side of the shortened section of one clamp is a wedge-shaped surface. The positioning teeth are installed at the bottom of the shortened section of another clamp.

2. The robotic arm according to claim 1, characterized in that: The gripper cylinder has a dovetail groove, and a pair of dovetail blocks are installed in the dovetail groove. The dovetail blocks slide in the dovetail groove. The gripper cylinder drives the dovetail blocks to slide in the dovetail groove. The top of the gripper is connected to the dovetail blocks.

3. A robotic arm according to claim 2, characterized in that: The top of the clamp is provided with a connecting arm, the connecting arm has an installation groove, and the dovetail block is provided with a connecting block, which can be detachably installed in the installation groove.

4. A robotic arm according to claim 3, characterized in that: Part of the connecting block is located outside the mounting groove, and a gasket is installed between the connecting block and the mounting groove.

5. A robotic arm according to any one of claims 1 to 4, characterized in that: The protruding post has a threaded through hole, and the two limiting members are locked by locking screws installed in the threaded through hole.

6. A robotic arm according to claim 5, characterized in that: One of the protruding post has a stepped hole in its threaded through hole, and the head of the locking screw is located inside the large hole of the stepped hole.

7. A connector clamping device, comprising a linear motion module, wherein a sliding plate is provided on the linear motion module, characterized in that: The sliding plate is equipped with a robotic arm as described in any one of claims 1 to 6.

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