CN107225770A - manipulator - Google Patents

Abstract

The invention discloses a manipulator which is used for implanting nuts and comprises a rack, a grabbing mechanism, a sliding mechanism, a power mechanism and a resetting mechanism. In production operation, snatch the nut through snatching the mechanism, keep the nut not to drop under the clamping action of first splint and second splint. The power mechanism drives the sliding plate to slide in the sliding groove, drives the ejector pin to penetrate out of the limiting hole and eject out the grabbed nut, and the grabbed nut is implanted into the target element. After the implantation is finished, the power mechanism stops applying force to the sliding plate, and the sliding mechanism is reset under the action of the elastic piece of the resetting mechanism. The grabbing mechanism continues to grab the next nut to perform the next implantation operation, so that continuous automatic production is realized, and the implantation efficiency is improved. The thimble slides and the reset process is steady, avoids appearing defects such as nut come-up or sink, and the implantation effect is better.

Description

manipulator

technical field

The invention relates to the technical field of automation equipment, in particular to a manipulator for implanting nuts.

Background technique

Nuts are commonly used in the process of product assembly. For example, multiple nuts need to be set in the middle frame of a mobile phone to connect other components. There are two common production methods for implanting nuts into the middle frame of mobile phones. The first method is to manually bury the nuts in the hot-melt plastic mold of the middle frame of the mobile phone, and then inject plastic parts. This production method The manual operation is slow, the labor cost is high, and the injection temperature is high, the working environment is poor, and production accidents are prone to occur. The second method is to inject the plastic part first, and then use a hot-melt tool (such as a hot-melt machine) to melt the nut into the plastic part. This production method is prone to defects such as floating or sinking of the nut.

To sum up, the traditional method of implanting nuts in the middle frame of the mobile phone is inefficient and has poor implantation effect.

Contents of the invention

Based on this, it is necessary to provide a manipulator for implanting nuts with high implantation efficiency and better implantation effect.

A manipulator for implanting nuts comprising:

The frame includes a bottom plate, a top plate, and a support connected between the bottom plate and the top plate. The bottom plate, the top plate and the support form a chute, and the top plate is provided with a limit Bit hole;

The grabbing mechanism is used to grab nuts, the grabbing mechanism is installed on the top plate and matches the position of the limiting hole, the grabbing mechanism includes a first splint and a second splint, the first the clamping plate and the second clamping plate can be moved together or apart to clamp or loosen the nut;

The sliding mechanism includes a sliding plate and a thimble, the sliding plate is slidably arranged in the chute, the thimble is arranged on the sliding plate and fixedly connected with the sliding plate, the thimble can pass through the The aforementioned limiting hole is used to resist the nut;

a power mechanism, used to drive the sliding plate to slide in the chute, so as to drive the thimble to implant the nut into the target element; and

The reset mechanism includes an elastic member. One end of the elastic member is connected to the bottom plate, and the other end of the elastic member is connected to the sliding mechanism. The elastic member is used for resetting the sliding mechanism.

In one embodiment, the first splint is provided with a first guide groove on the side facing the second splint, and the second splint is provided with a second guide groove on the side facing the first splint. When the first splint and the second splint are closed, the first guide groove and the second guide groove enclose a guide channel for transporting the nut, and the guide channel communicates with the limiting hole.

In one embodiment, the grabbing mechanism further includes a first movable block and a second movable block, the first movable block is provided with a first clamping member, and the second movable block is provided with a second clip The first movable block is arranged on the side of the first clamping plate away from the second clamping plate, and the first clamping member is against the first clamping plate, and the second movable block is arranged on the side of the second clamping plate. The second clamping plate is away from a side of the first clamping plate, and the second clamping member is against the second clamping plate.

In one embodiment, also include:

The rotating mechanism is used to drive the sliding plate to rotate so as to drive the thimble to rotate and implant the nut into the target element.

In one embodiment, the rotating mechanism includes a bearing and a rotating column, the bearing is arranged on the bottom plate, the rotating column is adapted to pass through the bearing, and the rotating column is fixed to the sliding plate connected, the rotating column can rotate in the bearing to drive the sliding plate to rotate.

In one embodiment, the rotating column is parallel to the sliding direction of the sliding plate, and the sliding plate rotates around the central axis of the rotating column when driven by the rotating column.

In one embodiment, the reset mechanism further includes a limit pressure block, the limit pressure block is embedded in the bottom plate, a limit channel is provided in the limit pressure block, and the elastic member is arranged on the and can be stretched or compressed along the axial direction of the limiting channel.

In one embodiment, the elastic member is a spring, one end of the spring is connected to the bottom plate, and the other end of the spring is connected to the thimble.

In one embodiment, the outer wall of the thimble protrudes outward to form a protrusion, and the sliding plate is provided with a fitting groove matching the protrusion, and the protrusion is fitted into the fitting groove .

In one embodiment, the power mechanism includes a cylinder and a connecting rod, the cylinder is arranged on the base plate, one end of the connecting rod is arranged in the cylinder, and the other end of the connecting rod extends into the In the chute and connected with the sliding plate.

The above manipulator for implanting nuts includes a frame, a grabbing mechanism, a sliding mechanism, a power mechanism and a reset mechanism. During the production operation, the nut is caught by the grabbing mechanism, and the nut is kept from falling under the clamping action of the first splint and the second splint. The power mechanism drives the sliding plate to slide in the chute, drives the thimble to pass through the limit hole and ejects the grabbed nut, and implants it into the target component (such as the injection-molded plastic part of the middle frame of the mobile phone). After the implantation is completed, the power mechanism stops applying force to the sliding plate, and the sliding mechanism is reset under the action of the elastic member of the reset mechanism. The grabbing mechanism continues to grab the next nut for the next implantation operation, realizing continuous automatic production and improving implantation efficiency. The frame, grasping mechanism, sliding mechanism, power mechanism and reset mechanism cooperate with each other to realize the automatic implantation of the nut, and the sliding and reset process of the thimble is stable, so that the nut is relatively stable when implanted, and defects such as nut floating or sinking are avoided. The effect is better.

Description of drawings

Fig. 1 is a cross-sectional view of a manipulator implanting a nut in an embodiment;

Fig. 2 is the cross-sectional view of the manipulator part structure of implanting nut in Fig. 1;

Fig. 3 is the sectional view of the partial structure of the manipulator of implanting nut in Fig. 1;

Fig. 4 is the sectional view of the partial structure of the manipulator of implanting nut in Fig. 1;

FIG. 5 is a schematic diagram of the manipulator for implanting nuts in FIG. 1 when implanting nuts.

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, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be intervening elements at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.

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 terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to FIG. 1 , a manipulator 10 for inserting nuts according to an embodiment includes a frame 100 , a grasping mechanism 200 , a sliding mechanism 300 , a power mechanism 400 and a reset mechanism 500 .

Referring to FIGS. 2 and 3 , the rack 100 includes a bottom plate 110 , a top plate 120 , and a support member 130 connected between the bottom plate 110 and the top plate 120 . The bottom plate 110 , the top plate 120 and the supporting member 130 enclose a sliding slot 101 , and the top plate 120 is provided with a limiting hole 121 . The grabbing mechanism 200 is used to grab the nut 20. The grabbing mechanism 200 is installed on the top plate 120 and matches the position of the limit hole 121. The grabbing mechanism 200 includes a first splint 210 and a second splint 220. The first splint 210 and The second clamping plates 220 can move together or apart to clamp or loosen the nut 20 . The sliding mechanism 300 includes a sliding plate 310 and a thimble 320, the sliding plate 310 is slidably arranged in the chute 101, the thimble 320 is arranged on the sliding plate 310 and is fixedly connected with the sliding plate 310, the thimble 320 can pass through the limiting hole 121 to against the nut 20 . The power mechanism 400 is used to drive the sliding plate 310 to slide in the slide groove 101 to drive the thimble 320 to implant the nut 20 into the target component. The reset mechanism 500 includes an elastic member 510 , one end of the elastic member 510 is connected to the bottom plate 110 , and the other end of the elastic member 510 is connected to the sliding mechanism 300 , and the elastic member 510 is used for resetting the sliding mechanism 300 .

The manipulator 10 for implanting nuts, the frame 100, the grasping mechanism 200, the sliding mechanism 300, the power mechanism 400 and the reset mechanism 500 cooperate with each other to form an automatic implanting nut 20, which realizes continuous automatic production and improves implantation efficiency. The sliding plate 310 is driven by the power mechanism 400 to slide in the chute 101 to drive the thimble 320 to implant the nut 20 into the target component, and the thimble 320 slides forward so that the process of implanting the nut 20 is smooth. After the implantation is completed, the sliding mechanism 300 is reset under the action of the elastic member 510 . The sliding and resetting process of the thimble 320 is stable, so that the implantation of the nut 20 is relatively stable, and defects such as floating or sinking of the nut 20 are avoided, and the implantation effect is better.

Specifically, the rack 100 is, for example, in the shape of a hollow square frame or a hollow cylinder.

In one embodiment, the first splint 210 is provided with a first guide groove on the side facing the second splint 220, and the second splint 220 is provided with a second guide groove on the side facing the first splint 210, when the first splint 210 and When the second splint 220 is closed, the first guide groove and the second guide groove enclose a guide channel 201 for conveying the nut 20 , and the guide channel 201 communicates with the limiting hole 121 . The guide channel 201 has a certain depth, for example, 1cm˜5cm. When the thimble 320 slides out of the limiting hole 121 and abuts against the nut 20 , it is not easy to fall off.

Further, the shape of the guide channel 201 matches the nut 20 .

In one embodiment, the gripping mechanism 200 further includes a first movable block 230 and a second movable block 240 . The first movable block 230 is provided with a first clamping member 231 , and the second movable block 240 is provided with a second clamping member 241 . The first movable block 230 is disposed on a side of the first clamping plate 210 away from the second clamping plate 220 , and the first clamping member 231 abuts against the first clamping plate 210 . The second movable block 240 is disposed on a side of the second clamping plate 220 away from the first clamping plate 210 , and the second clamping member 241 abuts against the second clamping plate 240 . The grabbing mechanism 200 grabs the nut 20 and is clamped by the first clamping plate 210 and the second clamping plate 220 . Further, the clamping force of the first clamping plate 210 and the second clamping plate 220 is enhanced by pressing the first clamping piece 231 and the second clamping piece 241 respectively through the first movable block 230 and the second movable block 240, so that the nut 20 Not easy to fall off during moving. When reaching the installation position, the thimble 320 slides and squeezes the first clamping part 231 and the second clamping part 241 apart, thereby pushing out the nut 20 smoothly.

Specifically, the first clamping member 231 and the second clamping member 241 are, for example, springs, springs and the like. Further, the stretching direction of the first clamping member 231 and the second clamping member 241 is perpendicular to the sliding direction of the thimble 320 .

In one embodiment, the outer wall of the thimble 320 protrudes outward to form a protrusion 321 , and the sliding plate 310 is provided with a fitting groove 311 matching the protrusion 321 , and the protrusion 321 is fitted into the fitting groove 311 . The outer wall of the thimble 320 protrudes outward to form a protrusion 321 , and when the power mechanism 400 pushes the sliding plate 310 to slide, the thimble 320 is not easy to fall off.

In one embodiment, the number of thimbles 320 may be one or more, such as 3, 4, 6, 10, etc., as required.

Please refer to FIG. 4 , specifically in this embodiment, there are multiple thimble pins 320 , and the multiple thimble pins 320 are arranged on the sliding plate 310 and are fixedly connected to the sliding plate 310 . The sliding plate 310 drives a plurality of thimbles 320 to pass through the limiting hole 121 synchronously to implant the nut 20 into the target element. Numerous nuts 20 are implanted evenly, and defects such as missed installation or nuts 20 floating or sinking do not occur.

In one embodiment, the power mechanism 400 includes a cylinder 410 and a connecting rod 420, the cylinder 410 is arranged on the bottom plate 110, one end of the connecting rod 420 is arranged in the cylinder 410, and the other end of the connecting rod 420 extends into the chute 101 and is connected with the The slide plate 310 is attached. When the manipulator 10 moves to the corresponding position of the target element to be implanted into the nut, the cylinder 410 is opened, and the connecting rod 420 pushes the sliding plate 310, so that the thimble 320 protrudes from the limit hole 121, and the nut 20 grasped by the grasping mechanism 200 is planted. into the target element. The pushing process is stable and not easy to shake, so that the nut 20 is relatively stable when implanted.

In one embodiment, the reset mechanism 500 further includes a limit pressing block 520, the limit pressing block 520 is embedded in the bottom plate 110, a limit channel 521 is arranged in the limit pressure block 520, and the elastic member 510 is arranged in the limit channel 521 and can be stretched or compressed along the axial direction of the limiting channel 520 . Setting the limiting pressure block 520 makes the installation of the elastic member 510 more firm, and the limiting channel 521 has a certain depth, for example, 1 cm to 5 cm. The elastic member 510 is stretched or compressed in the axial direction of the limiting channel 521 and is not easy to shake. When the sliding mechanism 300 is reset, it is relatively stable and avoids defects such as floating or sinking of the nut 20 .

In one embodiment, the elastic member 510 is a spring, one end of the spring is connected to the bottom plate 110 , and the other end of the spring is connected to the thimble 320 . Through the elastic action of the spring, the thimble 320 is returned to the initial position, and the next implantation operation is performed, realizing continuous automatic production and improving implantation efficiency.

In other implementation manners, the elastic member 510 may also be a shrapnel, rubber, rubber band or the like. The elastic member 510 can also be connected to the sliding plate 310 , and the thimble 320 is driven to reset by the sliding plate 310 .

Please refer to FIG. 1 again. In one embodiment, the manipulator 10 for implanting nuts further includes a rotating mechanism 600 for driving the sliding plate 310 to rotate to drive the thimble 320 to rotate the nut 20 into the target element. By rotating, the nut 20 can be more firmly placed in the nut hole in the target element (such as the injection molded plastic part of the middle frame of the mobile phone).

Specifically, the rotating mechanism 600 includes a bearing 610 and a rotating column 620. The bearing 610 is arranged on the bottom plate 110. The rotating column 620 is adapted to pass through the bearing 610. The rotating column 620 is fixedly connected with the sliding plate 310. The rotating column 620 can be mounted on the bearing. 610 to drive the sliding plate 310 to rotate. The bearing 610 cooperates with the rotating column 620, the rotating friction force is small, the rotation is stable, and the combination of the nut 20 and the target element is more firm.

Further, the rotating column 620 is parallel to the sliding direction of the sliding plate 310 , and the sliding plate 310 rotates around the central axis of the rotating column 620 when driven by the rotating column 620 . Specifically, the sliding plate 310 slides toward the top plate 120, the thimble 320 extends out of the limit hole 121, and the nut 20 captured by the grabbing mechanism 200 is implanted into the target element, and the rotating mechanism 600 is started again, and the sliding plate 310 is rotated by the rotating column 620. Rotate around the central axis of the rotating column 620 when driving, so that the nut 20 is more firmly combined with the target element and reduces falling off.

In the production operation, please look at Fig. 1 and Fig. 5 at the same time, the first clamping plate 210 and the second clamping plate 220 of the grabbing mechanism 200 close together or move apart to grab the nut 20 and place it in a position matching the top of the thimble 320 (limiting hole 121 places). Under the clamping action of the first clamping plate 210 and the second clamping plate 220 , the nut 20 is kept from falling. Drive the sliding plate 310 to slide in the chute 101 through the power mechanism 400, drive the thimble 320 to pass through the limit hole 121 and eject the nut 20, and implant it into the nut hole of the target component 30 (such as the injection molded plastic part of the middle frame of the mobile phone) within 31. After the implantation is completed, the power mechanism 400 stops applying force to the sliding plate 310 , and the sliding mechanism 300 is reset under the action of the elastic member 510 of the reset mechanism 500 . The grasping mechanism 200 continues to grasp the next nut 20 to perform the next implantation operation, so as to realize continuous automatic production and improve implantation efficiency. The frame 100, the grasping mechanism 200, the sliding mechanism 300, the power mechanism 400 and the reset mechanism 500 cooperate with each other to form the manipulator 10 for automatically implanting the nut 20, and the power mechanism 400 drives the sliding plate 310 to slide in the chute 101 to drive the thimble 320 The nut 20 is implanted into the target element, and the thimble 320 slides forward so that the process of implanting the nut 20 is smooth. After the implantation is completed, the sliding mechanism 300 is reset under the action of the elastic member 510 . The sliding and resetting process of the thimble 320 is stable, so that the implantation of the nut 20 is relatively stable, and defects such as floating or sinking of the nut 20 are avoided.

The manipulator 10 for implanting nuts formed by connecting the above frame 100, grasping mechanism 200, sliding mechanism 300, power mechanism 400, and reset mechanism 500 can realize continuous automatic production, and the efficiency of implanting nuts 20 is high, and the thimble 320 slides and resets The process is stable, so that the implantation of the nut 20 is relatively stable, and defects such as nut floating or sinking are avoided, and the implantation effect is better.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted 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 manipulator, is used for implanting nut, is characterized in that, comprises: The frame includes a bottom plate, a top plate, and a support connected between the bottom plate and the top plate. The bottom plate, the top plate and the support form a chute, and the top plate is provided with a limit Bit hole; The grabbing mechanism is used to grab nuts, the grabbing mechanism is installed on the top plate and matches the position of the limiting hole, the grabbing mechanism includes a first splint and a second splint, the first the clamping plate and the second clamping plate can be moved together or apart to clamp or loosen the nut; The sliding mechanism includes a sliding plate and a thimble, the sliding plate is slidably arranged in the chute, the thimble is arranged on the sliding plate and fixedly connected with the sliding plate, the thimble can pass through the The aforementioned limiting hole is used to resist the nut; a power mechanism, used to drive the sliding plate to slide in the chute, so as to drive the thimble to implant the nut into the target element; and The reset mechanism includes an elastic member. One end of the elastic member is connected to the bottom plate, and the other end of the elastic member is connected to the sliding mechanism. The elastic member is used for resetting the sliding mechanism. 2. The manipulator according to claim 1, wherein a first guide groove is provided on the side of the first splint facing the second splint, and the side of the second splint facing the first splint A second guide groove is provided. When the first splint and the second splint are closed, the first guide groove and the second guide groove enclose a guide channel for transporting the nut, and the guide The channel communicates with the limiting hole. 3. The manipulator according to claim 1, wherein the gripping mechanism further comprises a first movable block and a second movable block, the first movable block is provided with a first clamping member, and the first movable block The second movable block is provided with a second clamping member, the first movable block is arranged on the side of the first clamping plate away from the second clamping plate, and the first clamping member is against the first clamping plate , the second movable block is disposed on a side of the second clamping plate away from the first clamping plate, and the second clamping member is against the second clamping plate. 4. The manipulator according to claim 1, further comprising: The rotating mechanism is used to drive the sliding plate to rotate so as to drive the thimble to rotate and implant the nut into the target element. 5. The manipulator according to claim 4, wherein the rotating mechanism includes a bearing and a rotating column, the bearing is arranged on the bottom plate, and the rotating column is adapted to pass through the bearing, so that The rotating column is fixedly connected with the sliding plate, and the rotating column can rotate in the bearing to drive the sliding plate to rotate. 6. The manipulator according to claim 5, wherein the rotating column is parallel to the sliding direction of the sliding plate, and the sliding plate rotates around the central axis of the rotating column when driven by the rotating column. 7. The manipulator according to claim 1, characterized in that, the reset mechanism further includes a limit pressure block, the limit pressure block is embedded in the bottom plate, and a limit position is set in the limit pressure block The elastic member is arranged in the limiting channel and can be extended or compressed along the axial direction of the limiting channel. 8. The manipulator according to claim 1, wherein the elastic member is a spring, one end of the spring is connected to the bottom plate, and the other end of the spring is connected to the thimble. 9. The manipulator according to claim 1, wherein the outer wall of the thimble protrudes outward to form a protrusion, the sliding plate is provided with a fitting groove matching the protrusion, and the protrusion fit in the fitting groove. 10. The manipulator according to claim 1, wherein the power mechanism comprises a cylinder and a connecting rod, the cylinder is arranged on the base plate, and one end of the connecting rod is arranged in the cylinder, the The other end of the connecting rod extends into the sliding groove and is connected with the sliding plate.