CN106695858A - Grabbing jig - Google Patents

Abstract

The invention relates to a grasping jig, which is used for the operation of a mobile phone case. The grasping jig includes a robot, and the grabbing jig also includes a substrate and a positioning mechanism; the positioning mechanism includes a manipulator grabbing seat, several sliding blocks, and several sliding rods. , and a positioning block; the manipulator grab seat is provided with a driving mechanism and several installation slots; the driving mechanism has a driving rod, and the driving mechanism is connected with the sliding block through the driving rod to simultaneously control the sliding of each sliding block in the installation groove; when the driving mechanism When the sliding block is driven to slide outward or inward, the sliding block drives the sliding rod to drive the positioning block to move outward or inward. The above-mentioned grasping jig controls the slide of the sliding block at the same time through the grasping seat of the manipulator, and the sliding block drives the positioning block to move, so that the positioning block positions the mobile phone case at the same time, and then absorbs the mobile phone case through the suction cup, preventing the mobile phone case from being scratched by force on one side. Injury, and the precise positioning of the mobile phone case, reducing its secondary positioning time, reducing product rework time, and improving processing efficiency.

Description

grab fixture

technical field

The invention relates to the field of mobile phone case processing, in particular to a grasping jig used for the operation of the mobile phone case.

Background technique

With the rapid development of science and technology, robots are gradually replacing human beings in industrial production, such as welding, grinding, handling, assembly, grasping and so on. In the production process of mobile phone cases, robots are often used to cooperate with grabbing hands to grab products and transfer products from one process to another, thereby reducing manual operations, improving production safety and efficiency, and realizing automation. Production. During the process from the stage to the jig to be processed, the side of the mobile phone case is easily scratched and scratched by the force of the robot grabbing hand on one side, resulting in rework of the product and reducing production efficiency; at the same time, when the mobile phone case is placed, the mobile phone The uneven force on the side of the case can easily cause the position of the mobile phone case to shift, resulting in the need for secondary positioning when the fixture is clamped in the next process. There is no better solution yet.

Contents of the invention

Based on this, it is necessary to provide a grabbing jig for the problems existing in the current traditional technology, which can accurately position the mobile phone case, and clamp the mobile phone case by suction to avoid scratches on the high-gloss surface of the mobile phone case during operation.

In order to realize the purpose of the present invention, the present invention adopts following technical scheme:

A grabbing jig used for the operation of a mobile phone case, the grabbing jig includes a robot, and the grabbing jig also includes a substrate connected to the bottom of the robot and a positioning mechanism arranged under the substrate ; The positioning mechanism includes a manipulator grabbing seat, a number of sliding blocks located on the manipulator grabbing seat, a number of sliding bars installed on the sliding block, and a positioning block installed on the sliding bar; The gripping seat of the manipulator is provided with a driving mechanism and several installation slots; the driving mechanism has a driving rod, and the driving mechanism is connected with the sliding block through the driving rod to simultaneously control each of the sliding blocks in the sliding in the installation groove; when the driving mechanism drives the sliding block to slide outward or inward, the sliding block drives the sliding rod to drive the positioning block to move outward or inward.

Compared with the prior art, the grabbing jig of the present invention has the beneficial effect that the grabbing jig is provided with a positioning mechanism and a suction cup under the robot, and the positioning mechanism is provided with a manipulator grabbing seat to simultaneously control the sliding block Sliding, the sliding block drives the positioning block to move, so that the positioning block positions the mobile phone case at the same time, and then absorbs the mobile phone case through the suction cup, which prevents the single side of the mobile phone case from being scratched by force, and realizes the precise positioning of the mobile phone case, reducing its secondary positioning Time, reduce product rework time, improve processing efficiency.

In one of the embodiments, the sliding block is provided with a limiting bar protruding outward and upward from the bottom periphery of the sliding block, and a concave surface is provided on the top surface of the installation groove, and the concave surface is in contact with the The limit bar is clamped to limit the outward sliding area of the sliding block on the grasping seat of the manipulator.

In one of the embodiments, the positioning mechanism further includes a limit block, one end of the limit block is fixedly installed on the base plate, and the other end of the limit block is installed on the gripping seat of the manipulator The top of the stop block is used to limit the inward sliding area of the sliding block on the grasping seat of the manipulator.

In one of the embodiments, the base plate includes a top plate and a side wall extending downward from the periphery of the top plate, and the top plate and the side wall form an accommodating cavity for accommodating the positioning mechanism; A plurality of installation columns extend downward from the bottom surface; the installation columns are distributed and arranged close to the side wall.

In one of the embodiments, the manipulator grasping seat is also provided with an arc-shaped groove and a fixing column sleeved in the arc-shaped groove; the arc-shaped groove runs through the manipulator grasping seat up and down, and the The outer side of the arc-shaped groove is provided with a strip-shaped groove, and the strip-shaped groove cooperates with the arc-shaped groove for the sleeve of the fixed column; the fixed column is distributed near a mounting column, and the fixed column includes the A fixing part extending outward from the lower part of the fixing column, a side of the fixing part protrudes outward, and the locking block cooperates with the fixing part for clamping of the mounting column.

In one of the embodiments, the sliding bar is provided with a fixing bar and a guide rail, and the fixing bar protrudes outward and downward from the bottom surface of the sliding bar, and the sliding block is provided with a locking groove, so that The fixing bar is embedded in the clamping groove, so that the sliding bar is engaged with the sliding block; Cooperate with the guide rail for installation of the positioning block.

In one of the embodiments, the positioning block is provided with a protruding strip protruding upward from the top surface of the positioning block, and a positioning portion protruding outward from the end of the positioning block; The convex strip is embedded in the guide rail; the lower part of the positioning part is inclined upward from the bottom surface of the positioning part.

In one of the embodiments, it also includes a number of suction cups arranged under the substrate, and the suction cups include an adjustment frame and a vacuum suction nozzle arranged on the adjustment frame; the adjustment frame is arranged as a strip frame; the The lower part of the vacuum suction nozzle, that is, the part abutting against the mobile phone case, is arranged in a corrugated shape.

In one of the embodiments, it also includes a temporary storage platform, the temporary storage platform is provided with a groove and a plurality of protrusions; the groove is provided with a drainage groove extending outward from the groove, so The drainage groove is set through the side of the temporary storage platform; each of the protrusions is distributed along the periphery of the temporary storage platform and surrounds a product placement cavity for placing a mobile phone case; adjacent to the protrusions A limiting opening is formed for passing the positioning block and guiding the positioning block to locate the mobile phone case.

In one embodiment, a side platform is provided on a side of the temporary storage platform, and the side platform protrudes outward from the temporary storage platform.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a grasping jig according to a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the assembly of the substrate, the positioning mechanism and the sucker shown in FIG. 1;

Fig. 3 is a side view of the substrate, positioning mechanism and sucker shown in Fig. 2;

FIG. 4 is a schematic diagram of the temporary storage carrier shown in FIG. 1;

Fig. 5 is a schematic diagram of the substrate and the positioning mechanism shown in Fig. 2;

Fig. 6 is an exploded schematic diagram of the positioning mechanism shown in Fig. 2, wherein the limit block is not marked;

Fig. 7 is a schematic diagram of the assembly of the sliding block, the sliding bar and the positioning block shown in Fig. 2;

FIG. 8 is an exploded schematic diagram of the sliding block, the sliding rod and the positioning block shown in FIG. 7 .

detailed description

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

Please refer to Fig. 1 to Fig. 8, which is a gripping fixture 100 of a preferred embodiment of the present invention, which is used for the operation of the mobile phone case. The gripping fixture 100 includes a robot 200, a substrate 10 connected to the bottom of the robot 200, a device Positioning mechanism 20 below the substrate 10, a number of suction cups 30 located below the substrate 10, and a temporary storage platform 40 below the suction cup 30; during work, the mobile phone case is placed on the temporary storage platform 40, and the positioning mechanism 20 is aligned with the mobile phone. Shell positioning, at the same time, the suction cup 30 sucks the mobile phone shell, so that the grasping jig 100 can align and absorb the position of the mobile phone shell, and the mobile phone shell is moved from the temporary storage platform 40 to the treatment to be processed by the robot 200. On the tool, it avoids scratches on the side of the mobile phone case due to force on one side during operation.

Please refer to FIG. 2 and FIG. 3 , the base plate 10 is used for supporting and protecting the positioning mechanism 20 . The base plate 10 includes a top plate 12 and a side wall 13 extending downward from the periphery of the top plate 12. The top plate 12 and the side wall 13 enclose a cavity to accommodate the positioning mechanism 20, preventing external water or other grinding impurities from splashing. And collide with the positioning mechanism 20. The bottom surface of the top plate 12 extends downwards with a number of installation columns 11; the installation columns 11 are distributed and arranged near the side walls 13, and the installation columns 11 can be in shapes such as columns and cuboids, and are used for the installation of the suction cup 30; in this embodiment, the installation The number of columns 11 is four.

Please refer to FIG. 5 to FIG. 8 , the positioning mechanism 20 is used for positioning the mobile phone case. This positioning mechanism 20 comprises manipulator grab seat 50, is located at some slide blocks 60 on the manipulator grab seat 50, some slide rods 70 installed on the slide block 60, positioning block 80 installed on the slide bar 70, and located at The manipulator grabs the limit block 90 on the seat 50 . During operation, when the driving mechanism drives the sliding block 60 to slide outward or inward, the sliding block 60 drives the sliding rod 70 to drive the positioning block 80 to move outward or inward;

The manipulator grasping seat 50 is installed on the base plate 10, and is provided with a driving mechanism, several mounting grooves 51, arc-shaped grooves 52, and fixed columns 53 sleeved in the arc-shaped grooves 52; the mounting grooves 51 are set in an I-shape, It is used for accommodating the sliding block 60 ; the driving mechanism has a driving rod, and the driving mechanism is connected with the sliding block 60 through the driving rod, so as to control the sliding of each sliding block 60 in the installation groove 51 at the same time. In this embodiment, the driving mechanism may be a cylinder, a motor, or other power driving mechanism; specifically, the driving mechanism is a four-claw driving cylinder. The top of the manipulator grabbing seat 50 forms a flange, and the flange faces away from the manipulator grabbing seat 50 to form an inclined surface to cooperate with the sliding of the sliding block 60, avoiding the collision between the sliding block 60 and the manipulator grabbing seat 50, and affecting the movement of the manipulator grabbing seat. 50% positioning accuracy. The arc-shaped groove 52 runs through the manipulator grasping seat 50 up and down, and a bar-shaped groove is arranged on the outside of the arc-shaped groove 52 , and the bar-shaped groove cooperates with the arc-shaped groove 52 for the set of the fixing column 53 . The fixed column 53 is distributed and arranged near a mounting column 11. The fixed column 53 includes a fixed portion 530, which extends outward from the bottom of the fixed column 53; The block cooperates with the fixing portion 530 for clamping of the mounting post 11 .

The sliding block 60 is roughly in an inverted T-shape, and the sliding block 60 is provided with a limiting strip 61 protruding outward and upward from the bottom periphery of the sliding block 60. The top surface of the mounting groove 51 is provided with a concave surface 55, and the limiting strip 61 and The concave surface 55 engages to limit the outward sliding area of the sliding block 60 on the grasping seat 50 of the manipulator, thereby limiting the movable space of the sliding block 60 so that the sliding out position of each sliding block 60 is the same. During work, the driving mechanism controls each sliding block 60 to move in the mounting groove 51, and when the stop bar 61 abuts against the concave surface 55, the outward movement of the sliding block 60 is limited. When the 50 abuts, the sliding blocks 60 are restricted from moving inwardly, that is, the sliding blocks 60 are controlled to slide out or slide in the installation groove 51 at the same time.

Slide bar 70 is installed on the slide block 60, is provided with fixed bar 71 and guide rail 72 on it, and fixed bar 71 protrudes outwards from the bottom surface of slide bar 70, and protrudes downwards and is provided with, and slide block 60 is provided with engagement groove 65, fixes The bar 71 is inserted into the locking groove 65 so that the sliding rod 70 is engaged with the sliding block 60 and fixed by screws. Guide rail 72 is arranged on the bottom surface of slide bar 70, and guide rail 72 is provided with installation hole, and installation hole can be the shapes such as rectangular hole, round hole, and installation hole cooperates guide rail 72 to be used for positioning block 80 installation, and can be positioned by installation hole The position of block 80 is adjusted. In this embodiment, the lengths of the sliding bars 70 are different and can be adjusted according to the size of the mobile phone case.

The positioning block 80 is installed on the slide bar 70, and it is provided with a convex strip 81 protruding upward from the top surface of the positioning block 80, and a positioning portion 82 protruding outward from the end of the positioning block 80; 81 is embedded in the guide rail 72 for fixing the positioning block 80; the lower part of the positioning part 82 is inclined upward from the bottom surface of the positioning part 82 for positioning the mobile phone case. Viewed from the outside or viewed from a cross section, the positioning portion 82 is arranged in a trapezoidal shape. In this embodiment, the number of positioning blocks 80 is four.

The limit block 90 is arranged roughly in an S shape, one end of the limit block 90 is fixedly mounted on the base plate 10, and the other end is installed on the top of the manipulator grasping seat 50, and the limit block 90 is used to limit the movement of the sliding block 60 on the manipulator. Grab the inward sliding area on the seat 50 so that the retracted positions of the sliding blocks 60 are the same. Avoid excessive retraction force of the sliding block 60 during long-term work, so that the impact of the manipulator grabbing the seat 50 is too large and damaged. Further, the limit block 90 ensures the accuracy of sliding in and out of the sliding block 60, thereby ensuring that the mobile phone case Will not be scratched by the positioning block 80. In this embodiment, the upper part and the lower part of the limiting block 90 are connected by clamping, and the position can be adjusted by screws. The upper part of the limiting block 90 is also provided with a gap for the rotation of the suction cup 30 to prevent the suction cup 30 from colliding when rotating. .

Described sucker 30 is installed on the mounting column 11, and it comprises adjustment frame 31, and the vacuum suction nozzle 32 that is located on adjustment frame 31; Adjustment frame 31 is substantially strip frame setting; One end of vacuum suction nozzle 32 communicates with vacuum pump , the other end of which can be adjusted on the adjusting frame 31 through a nut, so as to absorb different types of mobile phone cases. The vacuum nozzle 32 has a contraction function, and the lower part of the vacuum nozzle 32 is corrugated with the contact part of the mobile phone case, so that when the vacuum nozzle 32 sucks the mobile phone case, it prevents the vacuum nozzle 32 from scratching the bottom surface of the mobile phone case . In this embodiment, the vacuum nozzle 32 is a rubber tube, specifically, the vacuum nozzle 32 is a silicon rubber tube. In this embodiment, the bottom surface of the vacuum nozzle 32 is located at the same level as the bottom surface of the positioning block 80 .

Please refer to Fig. 4 , the temporary storage platform 40 is roughly rectangular, and the temporary storage platform 40 is provided with a groove 41 and a plurality of protrusions 42; Drainage slots extending outward from the side of the top, and the drainage slots cooperate with the grooves 41 to drain moisture or other liquids on the temporary storage platform 40 to the outside of the temporary storage platform 40 to avoid affecting the cleanliness of the mobile phone case. The bumps 42 are arranged in a roughly rectangular shape, and each bump 42 is distributed along the periphery of the temporary storage platform 40 and surrounds a product placement cavity for placing a mobile phone case; adjacent bumps 42 form a limiting opening for the positioning block 80 Piercing and guiding the positioning block 80 to position the mobile phone case, so that the suction cup 30 can absorb the corrected mobile phone case. In this embodiment, there are eight protrusions 42 , and the position of each protrusion 42 on the temporary storage platform 40 can be adjusted by screws, so that the temporary storage platform 40 can adapt to different positioning blocks 80 . A side platform 43 protruding outward from the temporary storage platform 40 is provided on a side of the temporary storage platform 40 for fixing the temporary storage platform 40 .

During work, the mobile phone case is placed in the product placement cavity of the temporary storage platform 40, and the grasping jig 100 is driven by the robot 200 and positioned above the temporary storage platform 40, and then moves down, when the positioning block 80 and the temporary storage When the carrier 40 touches, it stops moving downward, and each positioning block 80 is inserted into the limit opening of the protrusion 42 and moves simultaneously to carry out translation and alignment of the mobile phone case in various directions. At this time, the positioning blocks 80 are not clamped to the mobile phone case. Tight, only for positioning; after the mobile phone case is aligned, the vacuum nozzle 32 ventilates and sucks the mobile phone case, and the positioning blocks 80 are set in the four directions of the mobile phone case to prevent the mobile phone case from vibrating and falling off when it moves. The mobile phone case moves from the temporary storage platform 40 to the jig to be processed. Finally, the positioning block 80 is released at the same time, and the vacuum nozzle 32 stops ventilation, and the product is placed on the jig to be processed, thereby avoiding the mobile phone case. Scratches on one side will affect the appearance of the product, reduce the rework rate, and accurately position the product, which not only ensures that the high-gloss surface on the side of the mobile phone case is not scratched during operation, but also accurately positions the product, reducing the time for secondary positioning .

The grasping jig 100 of the present invention is provided with a positioning mechanism 20 and a suction cup 30 under the robot 200, and the positioning mechanism 20 is provided with a manipulator grasping seat 50 to simultaneously control the sliding of the sliding block 60, and the sliding block 60 drives the positioning block 80 to move, so that The positioning block 80 positions the mobile phone case at the same time, and then sucks the mobile phone case through the suction cup 30, which prevents the single side of the mobile phone case from being scratched by force, and realizes the precise positioning of the mobile phone case, reduces its secondary positioning time, reduces product rework time, and improves improved processing efficiency.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. a kind of grasping jig, for the operating of mobile phone shell, the grasping jig includes robot, it is characterised in that described to grab Taking tool also includes being connected to the substrate and the detent mechanism below the substrate of the robot bottom；The positioning Mechanism is including manipulator crawl seat, some sliding shoes on manipulator crawl seat, on the sliding shoe Some sliding bars and the locating piece on the sliding bar；If manipulator crawl seat be provided with drive mechanism and Dry mounting groove；The drive mechanism has drive rod, and the drive mechanism is connected by the drive rod with the sliding shoe, with Each sliding shoe is controlled to be slided in the mounting groove simultaneously；When the drive mechanism drives the sliding shoe inwardly or outwardly During slip, the sliding shoe drives the sliding bar to drive the locating piece inwardly or outwardly to move.

2. grasping jig according to claim 1, it is characterised in that the sliding shoe is provided with the bottom from the sliding shoe The positive stop strip that portion's periphery is protruded out outwards, upwards, the top surface of the mounting groove is provided with a concave surface, the concave surface and the positive stop strip card Connect, region is slid in and out on manipulator crawl seat to limit the sliding shoe.

3. grasping jig according to claim 1, it is characterised in that the detent mechanism also includes limited block, the limit On the substrate, the other end of the limited block is arranged on manipulator crawl seat for the one end fixed installation of position block Top, the limited block is used to limit sliding shoe slid inward region on manipulator crawl seat.

4. grasping jig according to claim 1, it is characterised in that the substrate includes top board and the week from the top board The side wall that edge is extended downwardly, the top board surrounds accommodating cavity to house the detent mechanism with the side wall；The bottom of the top board Extend some mounting posts downwards；The mounting post is close to the side wall distribution and sets.

5. grasping jig according to claim 4, it is characterised in that the manipulator crawl seat be additionally provided with deep-slotted chip breaker and It is sheathed on the fixed column in the deep-slotted chip breaker；The deep-slotted chip breaker captures seat through the manipulator up and down, outside the deep-slotted chip breaker Side is provided with bar-shaped trough, and the bar-shaped trough coordinates the deep-slotted chip breaker so that the fixed column is arranged；The fixed column is installed near one Post distribution is set, and the fixed column includes the fixed part stretched out from the bottom of the fixed column, the side of the fixed part A fixture block is protruded outward, the fixture block coordinates the fixed part for the mounting post clamping.

6. grasping jig according to claim 1, it is characterised in that the sliding bar is provided with fixed strip and guide rail, institute State fixed strip and outwards, downwards protrude out setting from the sliding bar bottom surface, the sliding shoe is provided with buckling groove, and the fixed strip is embedding Enter in the buckling groove, so that the sliding bar engages with the sliding shoe；The guide rail is located at the bottom surface of the sliding bar, institute State guide rail and be provided with mounting hole, the mounting hole coordinates the guide rail to be installed for the locating piece.

7. grasping jig according to claim 6, it is characterised in that the locating piece is provided with the top from the locating piece The raised line for face out, protruding out upwards and the location division protruded outward from the end of the locating piece；The raised line is embedded in described In guide rail；The bottom of the location division is in be inclined upwardly setting from the location division bottom surface.

8. grasping jig according to claim 1, it is characterised in that also including some suctions below the substrate Disk, the sucker includes conditioning box and the vacuum slot on the conditioning box；The conditioning box is set in bar-shaped frame；Institute State the bottom of vacuum slot i.e. with the corrugated setting of mobile phone shell abutment portion.

9. grasping jig according to claim 1, it is characterised in that also including keeping in microscope carrier, set on the temporary microscope carrier Fluted and some projections；The groove is provided with the drainage trough stretched out from the groove, and the drainage trough is through described The side of temporary microscope carrier is set；Each projection along the temporary microscope carrier periphery distribution set and surround product placed cavity with In placement mobile phone shell；The adjacent projection forms limited mouth so that the locating piece wears and guides the locating piece to mobile phone shell Positioning.

10. grasping jig according to claim 9, it is characterised in that the side of the temporary microscope carrier is provided with side stage, described Side stage protrudes outward setting from the temporary microscope carrier.