A copper bar implanting robot hand

Abstract

The utility model relates to hand grab jig technical field discloses a copper bar implantation robot hand grab, including main frame, and the bottom of main frame is equipped with first hand grab mechanism, and the top of main frame is equipped with second hand grab mechanism and third hand grab mechanism, and one side of main frame is equipped with fourth grab mechanism, the second hand grab mechanism includes the second cylinder of being equipped with on main frame, and the piston rod of second cylinder is connected with upper support, and a plurality of second positioning needle are equipped on upper support, and the upper end of second positioning needle also is equipped with spring wave pearl, and a plurality of positioning rods through the upper support setting are fixedly equipped on main frame, and one side of positioning rod is formed with the sliding slot, and the bottom of sliding slot is fixedly equipped with the profiling pressure block corresponding with copper bar shape, and the profiling pressure block is through the through -hole of being formed with second positioning needle can pass through, when feeding, through second positioning needle positioning copper bar and grabbing, and copper bar slides into along with the sliding slot and is in contact with spring wave pearl.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and more specifically to a gripper for a copper busbar implantation robot. Background Technology

[0002] Robotic grippers are auxiliary devices used to assist industrial robots in performing operations such as material gripping, handling, and assembly. Their main function is to ensure that the object being gripped can be reliably and stably held and quickly positioned. Gripping grippers are usually mounted on the robot's end effector, and their structure is designed according to the specific workpiece shape, size, and process requirements. The current market has the following problems: When inserting a large number of copper busbars and other material parts into a mold, the current robotic gripper fixture is difficult to achieve in one gripper fixture, which leads to the need for multiple fixtures to operate, resulting in low efficiency; it also requires multiple people to operate, resulting in high cost. The technical problem to be solved by this utility model is to provide a robotic gripper that can simultaneously implant multiple material components. Utility Model Content

[0003] The technical problem this invention addresses is: providing a robotic gripper capable of simultaneously implanting multiple material components; by arranging multiple gripping mechanisms on the main frame, multi-directional gripping and stable conveying of copper busbars are achieved. The second gripping mechanism utilizes a second cylinder to drive the upper frame to lift and lower. A second positioning pin on the upper frame, along with a spring ball bearing, precisely positions and clamps the copper busbar. A positioning rod with a sliding groove on the main frame guides the copper busbar into the contouring block, ensuring a tight fit to its shape. During the loading stage, the positioning pin grips and secures the copper busbar; during the unloading stage, the second cylinder retracts the positioning pin, and the contouring block presses down, smoothly pressing the copper busbar into the mold. This ensures a stable and reliable automatic implantation process with high positioning accuracy, improving production efficiency and consistency.

[0004] A copper busbar implantation robot gripper includes a main frame, with a first gripping mechanism at the bottom of the main frame; a second gripping mechanism and a third gripping mechanism at the top of the main frame; and a fourth gripping mechanism on one side of the main frame. The second gripping mechanism includes a second cylinder mounted on the main frame; the piston rod of the second cylinder is connected to an upper frame; the upper frame has several second positioning pins; the upper end of each second positioning pin has a spring ball; several positioning rods passing through the upper frame are fixedly mounted on the main frame; a groove is formed on one side of each positioning rod; and a contouring block corresponding to the shape of the copper busbar is fixedly mounted at the bottom of the groove; the contouring block has a through hole through which the second positioning pins can pass. During loading, the second positioning pins position and grip the copper busbar, which slides into the groove and abuts against the spring ball. During unloading, the second cylinder causes the second positioning pins to retract, thereby pressing the contouring block down to unload the copper busbar and press it into the mold.

[0005] Preferably, the first gripping mechanism includes a first cylinder mounted on the main frame; the piston rod of the first cylinder is connected to a lower frame; a plurality of first positioning pins are provided at the bottom of the main frame; the first positioning pins all pass through the lower frame and slide in cooperation with the lower frame; and the lower end of each first positioning pin is provided with a spring ball; the lower frame is provided with a first positioning sleeve for positioning and gripping the copper busbar studs; and an ejector pin is fixedly provided on the main frame; the first positioning sleeve slides in cooperation with the ejector pin to unload the copper busbar studs and press the copper busbar studs into the mold.

[0006] Preferably, a locking plate is also fixedly provided on the lower frame; and a limiting protrusion is provided on the outer wall of the first positioning pin; and the locking plate is formed with a limiting groove smaller than the limiting protrusion, thereby limiting the sliding stroke of the first positioning pin.

[0007] Compared with existing technologies, the advantages of this utility model are as follows: This utility model's copper busbar insertion robot gripper, by arranging multiple gripping mechanisms on the main frame, achieves multi-directional gripping and stable transport of the copper busbar. The second gripping mechanism utilizes a second cylinder to drive the upper frame to lift and lower. A second positioning pin on the upper frame, together with a spring ball bearing, precisely positions and clamps the copper busbar. The copper busbar is guided into the contouring block by a positioning rod with a sliding groove on the main frame, ensuring a tight fit to the shape of the copper busbar. During the loading stage, the positioning pin grips and fixes the copper busbar; during the unloading stage, the second cylinder retracts the positioning pin, and the contouring block presses down to smoothly press the copper busbar into the mold, ensuring a stable and reliable automatic insertion process with high positioning accuracy, thus improving production efficiency and consistency.

[0008] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0011] Figure 2 This is a utility model Figure 1 Another structural diagram from another angle.

[0012] Figure 3 This is a schematic diagram of the second and third gripping mechanisms of this utility model.

[0013] Figure 4 This is a utility model Figure 3 A magnified structural diagram at point A.

[0014] Figure 5 This is a schematic diagram of the first hand gripping mechanism of this utility model.

[0015] Figure 6 This is a schematic diagram of the fourth gripping mechanism of this utility model.

[0016] Figure 7 This is a schematic diagram of the working structure between the robot gripper and the mold of this utility model.

[0017] In the diagram: 1. Main frame; 2. First gripping mechanism; 3. Second gripping mechanism; 4. Third gripping mechanism; 5. Fourth gripping mechanism; 6. Second cylinder; 7. Upper frame; 8. Second positioning pin; 9. Spring ball bearing; 10. Positioning rod; 11. Slide groove; 12. Contouring pressure block; 13. First cylinder; 14. Lower frame; 15. First positioning pin; 16. First positioning sleeve; 17. Ejector pin; 18. Positioning pressure plate; 19. Limiting ring; 20. Limiting groove; 21. First suction cup; 22. Small mounting bracket; 23. Alternating groove; 24. Third cylinder; 25. Third positioning pin; 26. Second positioning sleeve; 27. Extension frame; 28. Gripping cylinder; 29. ​​Second suction cup; 30. Connecting seat; 31. First guide rod; 32. Second guide rod; 33. Extension piece; 34. Magnet block; 35. Mold one; 36. Mold two. Detailed Implementation

[0018] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] It should be noted that the terms "first," "second," etc., used in this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with this disclosure.

[0020] Please see Figures 1-7In this embodiment of the utility model, a copper busbar implantation robot gripper includes a main frame 1; a first gripping mechanism 2 is provided at the bottom of the main frame 1; a second gripping mechanism 3 and a third gripping mechanism 4 are provided at the top of the main frame 1; and a fourth gripping mechanism 5 is provided on one side of the main frame 1. The second gripping mechanism 3 includes a second cylinder 6 mounted on the main frame 1; the piston rod of the second cylinder 6 is connected to an upper frame 7; and the upper frame 7 is provided with a plurality of second positioning pins 8; and the upper end of the second positioning pins 8 is also provided with spring beads 9; and a plurality of [missing information - likely related to gripping mechanisms] are fixedly mounted on the main frame 1. A positioning rod 10 is set through the upper frame 7; and a groove 11 is formed on one side of the positioning rod 10; and a contouring block 12 corresponding to the shape of the copper busbar is fixed at the bottom of the groove 11; and the contouring block 12 is formed through a through hole through which the second positioning pin 8 can pass; when loading, the copper busbar is positioned and gripped by the second positioning pin 8, and the copper busbar slides into the groove 11 and abuts against the spring ball 9; when unloading, the second cylinder 6 causes the second positioning pin 8 to retract, so that the contouring block 12 presses down on the copper busbar to unload it and press the copper busbar into the mold.

[0021] Specifically, multiple gripping mechanisms are installed on the main frame 1 to achieve multi-directional gripping and stable conveying of the copper busbar. The second gripping mechanism 3 uses a second cylinder 6 to drive the upper frame 7 to rise and fall. The second positioning pin 8 and spring ball bearing 9 on the upper frame 7 work together to accurately position and clamp the copper busbar. The copper busbar is guided into the contour block 12 by the positioning rod 10 with a sliding groove 11 on the main frame 1, ensuring a tight fit to the shape of the copper busbar. The contour block 12 can be of any shape, such as square, rectangle, triangle, trapezoid, etc., and can be adjusted according to the shape of the copper busbar. During the loading stage, the positioning pin grips and fixes the copper busbar; during the unloading stage, the second cylinder 6 retracts the positioning pin, and the contour block 12 presses down to smoothly press the copper busbar into the mold, ensuring a stable and reliable automatic insertion process with high positioning accuracy, thus improving production efficiency and consistency.

[0022] Furthermore, the first gripping mechanism includes a first cylinder 13 mounted on the main frame 1; the piston rod of the first cylinder 13 is connected to a lower frame 14; the bottom of the main frame 1 is provided with a plurality of first positioning pins 15; the first positioning pins 15 all pass through the lower frame 14 and slide in cooperation with the lower frame 14; the lower end of each of the first positioning pins 15 is provided with a spring ball 9; the lower frame 14 is provided with a first positioning sleeve 16 for positioning and gripping the copper busbar studs; and an ejector pin 17 is fixedly mounted on the main frame 1; the first positioning sleeve 16 slides in cooperation with the ejector pin 17 so that the copper busbar studs are unloaded and pressed into the mold.

[0023] Specifically, the lower frame 14 is driven to move up and down by the first cylinder 13. Several first positioning pins 15 pass through the lower frame 14 and are equipped with spring balls 9 to achieve flexible positioning and reliable clamping of the copper busbar studs. At the same time, the first positioning sleeve 16 on the lower frame 14 is used to hold the studs and guide their position. When the unloading action is performed, the first cylinder 13 drives the lower frame 14 to descend. The positioning sleeve slides with the ejector pin 17 fixed on the main frame 1. With the help of the ejector pin 17, the studs are pushed out of the positioning and pressed into the mold, thereby ensuring the stability and high precision of the copper busbar stud insertion process.

[0024] Furthermore, a locking plate 18 is fixedly provided on the lower frame 14; and a limiting protrusion 19 is provided on the outer wall of the first positioning pin 15; and the locking plate 18 is formed with a limiting groove 20 smaller than the limiting protrusion 19, thereby limiting the sliding stroke of the first positioning pin 15.

[0025] Specifically, by adding a locking plate 18 to the lower frame 14 and setting a limiting protrusion 19 on the outer wall of the first positioning pin 15, the locking engagement between the limiting groove 20 and the limiting protrusion 19 forms a precise limit on the up and down sliding stroke of the positioning pin. This not only avoids positioning inaccuracy caused by the positioning pin extending or retracting excessively, but also improves the stability and repeatability of the gripping action, thereby ensuring that the first gripping mechanism is more reliable and efficient in actual operation.

[0026] Furthermore, the lower shelf 14 is also equipped with several first suction cups 21 for auxiliary adsorption of copper busbars.

[0027] Specifically, by adding several first suction cups 21 to the lower frame 14, the positioning pin can achieve mechanical positioning while providing auxiliary adsorption support for the copper busbar, improving the stability during the gripping process, preventing the copper busbar from shaking or shifting during movement or up and down motion, thereby further ensuring the reliability and operational accuracy of copper busbar positioning and gripping, and enhancing the overall smoothness of the automatic implantation process.

[0028] Furthermore, the third gripping mechanism 4 includes a small mounting bracket 22; and a clearance groove 23 is formed on one side of the upper frame 7 for placing the small mounting bracket 22; and the main frame 1 is provided with a third cylinder 24 whose piston rod is connected to the small mounting bracket 22; and the small mounting bracket 22 is provided with a third positioning pin 25 and a second positioning sleeve 26; and the third positioning pin 25 has the same structure as the first positioning pin 15, and the second positioning sleeve 26 has the same structure as the first positioning sleeve 16.

[0029] Specifically, a small mounting bracket 22, driven by a third cylinder 24, can flexibly extend and retract within the clearance groove 23 on the side of the upper frame 7, thereby positioning the copper busbar at different locations. The third positioning pin 25 and the second positioning sleeve 26 configured on the small mounting bracket 22 are consistent with the corresponding structures in the first gripping mechanism, and are precisely held by spring ball bearings 9 and studs, achieving the same gripping and unloading functions as the preceding gripping mechanism. This structure not only expands the gripping range and adaptability but also improves the flexibility and stability of the copper busbar insertion process, which is conducive to realizing automated operation of multiple specifications and positions.

[0030] Furthermore, the top and bottom of the main frame 1 are each provided with four extension members 33; and each extension member 33 is provided with a magnet block 34; and the magnet block 34 is positioned with the mold to prevent shaking.

[0031] Specifically, by arranging multiple extensions 33 in an array at the top and bottom of the main frame 1 and installing magnet blocks 34 on them, the robot gripper can achieve rapid and reliable adsorption and positioning through magnetic force when it is aligned with the mold. This effectively avoids the gripper from shaking due to vibration or displacement during operation, thereby improving the stability and positioning accuracy of the overall implantation process and further ensuring the consistency and reliability of automated production.

[0032] Furthermore, the fourth gripping mechanism includes an extension frame 27 fixedly connected to the main frame 1; and the extension frame 27 is provided with a plurality of gripping cylinders 28 for gripping materials at intervals; and is also provided with a second suction cup 29 for assisting in adsorption of materials.

[0033] Specifically, the gripping range is expanded by the extension frame 27, and multiple gripping cylinders 28 are arranged to achieve multi-point clamping of materials. At the same time, the second suction cup 29 provides adsorption support, making the gripping process more stable and reliable. This structure not only improves the adaptability to materials in different positions and the success rate of gripping, but also enhances the robot's collaborative operation capability in complex work positions, thereby further improving the functionality and flexibility of the overall automatic implantation system.

[0034] Furthermore, a connecting seat 30 is fixedly provided on one side of the main frame 1; and the connecting seat 30 is used for installation with an external multi-axis robot.

[0035] Specifically, by fixing a connecting seat 30 to the side of the main frame 1, the robotic gripper can be easily assembled and linked with an external multi-axis manipulator, thereby achieving flexible movement and precise positioning of the gripping mechanism. This structure enhances the system integration capability and scalability of the equipment, making the gripper easier to deploy and apply on automated production lines, and helping to improve overall operational efficiency and compatibility.

[0036] Furthermore, the bottom array of the upper frame 7 is provided with a number of first guide rods 31; and the number of first guide rods 31 slides in cooperation with the main frame 1, thereby enhancing the stability of sliding between the upper frame 7 and the main frame 1; and the top array of the lower frame 14 is provided with a number of second guide rods 32; and the number of second guide rods 32 slides in cooperation with the main frame 1, thereby enhancing the stability of sliding between the lower frame 14 and the main frame 1.

[0037] Specifically, guide rods are arrayed at the bottom of the upper frame 7 and the top of the lower frame 14, respectively, forming a sliding guide engagement with the main frame 1. This multi-point support effectively improves the stability and anti-deviation capability of both during lifting and lowering, avoiding swaying or jamming problems caused by a single guide. This structure not only ensures the synchronization accuracy of the positioning pin and the adsorption mechanism during movement but also significantly improves the reliability and service life of the overall gripper action, guaranteeing the continuity and accuracy of the automatic implantation operation.

[0038] Furthermore, the ends of the first positioning sleeve 16 and the second positioning sleeve 26 are also connected to a negative pressure air pump, thereby generating negative pressure to adsorb the material.

[0039] Specifically, by introducing negative pressure air pumps at the ends of the first positioning sleeve 16 and the second positioning sleeve 26, the positioning sleeves not only achieve stud holding and positioning but also have a negative pressure adsorption function. This provides additional adsorption and stabilizing force for the material, preventing loosening and displacement during gripping, handling, or pressing. This structure organically combines mechanical positioning with air suction assistance, further improving gripping reliability and motion accuracy, ensuring smoother and more efficient automated implantation operations.

[0040] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A robotic gripper for copper busbar implantation, comprising a main frame (1), characterized in that, The main frame (1) is provided with a first gripping mechanism (2) at its bottom; a second gripping mechanism (3) and a third gripping mechanism (4) are provided at the top of the main frame (1); and a fourth gripping mechanism (5) is provided on one side of the main frame (1); the second gripping mechanism (3) includes a second cylinder (6) mounted on the main frame (1); the piston rod of the second cylinder (6) is connected to an upper frame (7); and the upper frame (7) is provided with several second positioning pins (8); and the upper end of the second positioning pins (8) is also provided with spring beads (9); and the main frame (1) is fixedly provided with several pins that pass through the upper frame (7). Positioning rod (10); and a groove (11) is formed on one side of the positioning rod (10); and a contouring block (12) corresponding to the shape of the copper busbar is fixed at the bottom of the groove (11); and the contouring block (12) is formed through a through hole through which the second positioning pin (8) can pass; when loading, the copper busbar is positioned and gripped by the second positioning pin (8), and the copper busbar slides into the groove (11) and abuts against the spring ball (9); when unloading, the second cylinder (6) causes the second positioning pin (8) to retract, so that the contouring block (12) presses down on the copper busbar to unload it and presses the copper busbar into the mold.

2. The copper busbar implantation robotic gripper according to claim 1, characterized in that, The first gripping mechanism includes a first cylinder (13) mounted on the main frame (1); the piston rod of the first cylinder (13) is connected to a lower frame (14); the bottom of the main frame (1) is provided with several first positioning pins (15); the first positioning pins (15) all pass through the lower frame (14) and slide with the lower frame (14); the lower end of each of the first positioning pins (15) is provided with a spring ball (9); the lower frame (14) is provided with a first positioning sleeve (16) for positioning and gripping the copper busbar studs; and a ejector pin (17) is fixed on the main frame (1); the first positioning sleeve (16) slides with the ejector pin (17) so that the copper busbar studs are unloaded and pressed into the mold.

3. The copper busbar implantation robotic gripper according to claim 2, characterized in that, The lower frame (14) is also fixedly provided with a locking plate (18); and the outer wall of the first positioning pin (15) is provided with a limiting protrusion (19); and the locking plate (18) is formed with a limiting groove (20) smaller than the limiting protrusion (19), thereby limiting the sliding stroke of the first positioning pin (15).

4. The copper busbar implantation robotic gripper according to claim 2, characterized in that, The lower shelf (14) is also equipped with several first suction cups (21) for auxiliary adsorption of copper busbars.

5. The copper busbar implantation robotic gripper according to claim 1, characterized in that, The third gripping mechanism (4) includes a small mounting bracket (22); and a clearance groove (23) is formed on one side of the upper frame (7) for placing the small mounting bracket (22); and a third cylinder (24) with a piston rod connected to the small mounting bracket (22) is provided on the main frame (1); and a third positioning pin (25) and a second positioning sleeve (26) are provided on the small mounting bracket (22); and the third positioning pin (25) has the same structure as the first positioning pin (15), and the second positioning sleeve (26) has the same structure as the first positioning sleeve (16).

6. The copper busbar implantation robotic gripper according to claim 5, characterized in that, The ends of the first positioning sleeve (16) and the second positioning sleeve (26) are also connected to a negative pressure air pump, thereby generating negative pressure to adsorb the material.

7. The copper busbar implantation robotic gripper according to claim 1, characterized in that, The fourth gripping mechanism includes an extension frame (27) fixedly connected to the main frame (1); and a number of gripping cylinders (28) for gripping materials are spaced apart on the extension frame (27); and a second suction cup (29) for auxiliary adsorption of materials is also provided.

8. The copper busbar implantation robotic gripper according to claim 1, characterized in that, A connecting seat (30) is fixedly provided on one side of the main frame (1); and the connecting seat (30) is used to install with an external multi-axis robot.

9. The copper busbar implantation robotic gripper according to claim 1, characterized in that, The bottom array of the upper frame (7) is provided with a number of first guide rods (31); and the number of first guide rods (31) slides in cooperation with the main frame (1), thereby enhancing the stability of sliding between the upper frame (7) and the main frame (1); and the top array of the lower frame (14) is provided with a number of second guide rods (32); and the number of second guide rods (32) slides in cooperation with the main frame (1), thereby enhancing the stability of sliding between the lower frame (14) and the main frame (1).

10. The copper busbar implantation robotic gripper according to claim 1, characterized in that, The top and bottom of the main frame (1) are each provided with four extension pieces (33); and each extension piece (33) is provided with a magnet (34); and the magnet (34) is positioned with the mold to prevent shaking.

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