CN110919963A

CN110919963A - Multifunctional connector taking manipulator chuck

Info

Publication number: CN110919963A
Application number: CN201911290498.9A
Authority: CN
Inventors: 任书策; 赵力
Original assignee: Kunshan Hua Yu Robotization Science And Technology Ltd
Current assignee: YANGZHOU JINGBAI AUTOMATION TECHNOLOGY Co.,Ltd.
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2020-03-27

Abstract

The invention relates to the technical field of manipulator chucks, in particular to a multifunctional connector taking manipulator chuck. The PIN taking and placing modules are used for carrying PIN PINs in the carriers to the injection mold to wait for injection molding; the finished product taking modules are used for taking away the finished products which are injected in the injection mold; the cleaning module is used for cleaning the injection mold with the finished product taken away; the CCD optical detection module is used for accurately identifying the positions of the carrier and the injection mold and guiding a manipulator to quickly and accurately position so as to take away the PIN needle in the carrier and place the PIN needle at the specified position of the injection mold; the clamping head frame is used for arranging the modules, a manipulator fixing mechanism is arranged at the top end of the clamping head frame, and the manipulator fixing mechanism is fixed with the manipulator. According to the invention, the needle taking and placing module, the finished product taking module, the cleaning module and the CCD optical detection module are integrated into a whole through the chuck, and one chuck realizes different functions.

Description

Multifunctional connector taking manipulator chuck

Technical Field

The invention relates to the technical field of manipulator chucks, in particular to a multifunctional connector taking manipulator chuck.

Background

In the automated production of 3C electron and the similar trade connector of automotive electronics, most preparation technology all can have this technology of injection moulding, all is the manual work basically and puts the part towards injection molding machine mould after then mould plastics, and inefficiency and potential safety hazard are high, and some chucks can realize the single connector of getting, and it still needs the manual work or increases one and get the equipment of finished product to take away to the finished product that has moulded plastics, leads to efficiency not high.

Disclosure of Invention

The invention solves the technical problem of providing a multifunctional connector taking manipulator chuck which can collect, take and place connectors and take and place injection-molded finished products.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a multi-functional connector reclaimer manipulator cartridge, comprising:

the PIN taking and placing modules are used for carrying PIN PINs in the carriers to the injection mold to wait for injection molding;

the finished product taking modules are used for taking away the finished products which are injected in the injection mold;

the cleaning module is used for cleaning the injection mold with the finished product taken away;

the CCD optical detection module is used for accurately identifying the positions of the carrier and the injection mold and guiding a manipulator to quickly and accurately position so as to take away the PIN needle in the carrier and place the PIN needle at the specified position of the injection mold;

the clamping head frame is used for arranging the modules, a manipulator fixing mechanism is arranged at the top end of the clamping head frame, and the manipulator fixing mechanism is fixed with the manipulator.

Further, get needle and put needle module and include:

the positioning columns are inserted into the positioning holes of the PIN needle carrier and the injection mold, so that the needle taking and placing module is accurately fixed in the PIN needle carrier and the injection mold;

the clamping groove assembly is used for clamping the PIN needles in the PIN needle carrier and releasing the PIN needles into the injection mold;

the PIN pushing cylinder assembly is used for pushing the PIN clamped by the clamping groove assembly into a clamping groove of the injection mold;

the multiple positioning PINs make up for possible over-positioning directions after the multiple needle taking and placing modules are inserted into the PIN needle carrier and the injection mold;

the left and right floating mechanisms and the front and rear floating mechanisms are used for providing front, rear, left and right floating force for the needle taking and placing module, ensuring that the needle taking and placing module can be smoothly inserted into the PIN needle carrier to take out a PIN needle, and smoothly inserted into the injection mold to finish the action of placing PIN materials.

Further, the clamping groove assembly comprises a clamping groove driving cylinder and a crochet hook assembly, the clamping groove driving cylinder drives the crochet hook assembly to move back and forth, the clamping groove driving cylinder drives the crochet hook assembly to hook and clamp the PIN needle in the carrier when retracting backwards, and the crochet hook assembly is driven to release the PIN needle when pushing forwards.

The needle taking and placing module further comprises a front workpiece plate and a rear workpiece plate, the front workpiece plate is connected with the rear workpiece plate in a sliding mode through a plurality of groups of sliding rods, the needle taking and placing module is fixed on the clamping frame through the rear workpiece plate, the positioning columns, the clamping groove assemblies and the positioning PINs are fixed on the surface of the front workpiece plate, the needle pushing cylinder assemblies are fixed at the upper end of the rear workpiece plate, a plurality of left and right floating mechanisms are fixed at the left and right ends of the rear workpiece plate and connected with the left and right ends of the front workpiece plate in a floating mode, and a front and rear floating mechanism is fixed at the lower end of the rear workpiece plate and connected with the lower end of the front workpiece plate in a floating mode.

Preferably, the left and right floating mechanisms and the front and rear floating mechanisms are ball plungers.

Preferably, the finished product is got the material module and is included the sucking disc, sucking disc formula sucking disc as an organic whole.

Preferably, the cleaning module is a cleaning air gun.

Furthermore, the needle taking and placing modules are fixed at the bottom end of the chuck frame, the top end of the chuck frame is fixedly connected with the manipulator through the manipulator fixing mechanism, and the finished product material taking module and the cleaning module are fixed at the front end of the chuck frame.

The invention has the beneficial effects that:

1. a chuck collection is got needle and is put needle module, finished product and is got material module, clean module and CCD optical detection module as an organic whole, and a chuck realizes different functions.

2. The needle taking and placing module is provided with a left floating mechanism, a right floating mechanism, a front floating mechanism and a rear floating mechanism, and can make up for the over-positioning current direction which possibly occurs after the needle taking and placing module is inserted into an injection mold.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a right side view of FIG. 1;

FIG. 4 is a block diagram of FIG. 1, labeled 1;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is an assembled block diagram of FIG. 1;

labeled as:

1-1, a chuck, 1-2 and a manipulator;

1. the device comprises a needle taking and placing module, 1.1, a positioning column, 1.2, a clamping groove component, 1.21, a clamping groove driving cylinder, 1.22, a crochet hook component, 1.3, a needle pushing cylinder component, 1.4, a positioning PIN, 1.5, a left floating mechanism, a right floating mechanism, 1.6, a front floating mechanism, 1.7 of a front workpiece plate, 1.8 of a rear workpiece plate, 1.9 of a sliding rod;

2. finished product material taking module 2.1, sucking disc 3, cleaning module 4, CCD optical detection module 5, chuck frame 6 and manipulator fixing mechanism.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. 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 defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

A multi-function connector picking robot cartridge, as shown in figures 1, 2 and 6, comprising: the PIN taking and placing modules 1 are used for carrying PIN PINs in a carrier into an injection mold to wait for injection molding; the finished product taking modules 2 are used for taking away the finished products which are injected in the injection mold; the cleaning module 3 is used for cleaning the injection mold with the finished product taken away; the CCD optical detection module 4 is used for accurately identifying the positions of the carrier and the injection mold and guiding the mechanical arm 1-2 to quickly and accurately position so as to take away the PIN needle in the carrier and place the PIN needle at the specified position of the injection mold; and a chuck frame 5 for arranging the modules, wherein a manipulator fixing mechanism 6 is arranged at the top end of the chuck frame, and as shown in fig. 6, the manipulator chuck 1-1 is mounted on the manipulator 1-2 through the manipulator fixing mechanism 6.

Further, as shown in fig. 4, the three-dimensional structure diagram of the needle taking and placing module 1 in the chuck includes a plurality of positioning columns 1.1, and the positioning columns 1.1 are inserted into the positioning holes of the PIN carrier and the injection mold, so that the needle taking and placing module 1 is accurately fixed in the PIN carrier and the injection mold; the clamping groove assembly 1.2 is used for clamping a PIN needle in the PIN needle carrier and releasing the PIN needle into an injection mold; the PIN pushing cylinder assembly 1.3 is used for pushing the PIN clamped by the clamping groove assembly 1.2 into a clamping groove of the injection mold; the multiple positioning PINs 1.4 compensate for the over-positioning direction which may occur after the multiple needle taking and placing modules 1 are inserted into the PIN needle carrier and the injection mold; the left and right floating mechanisms 1.5 and the front and rear floating mechanisms 1.6 are used for providing front, rear, left and right floating force for the needle taking and placing module 1, ensuring that the needle taking and placing module 1 can be smoothly inserted into a PIN carrier to take out a PIN needle, and smoothly inserted into an injection mold to finish the action of placing PIN materials.

Further, as shown in fig. 5, in order to take and place the needle module 1 from the top view, the card slot assembly 1.2 includes a card slot driving cylinder 1.21 and a bearded needle assembly 1.22, the card slot driving cylinder 1.21 drives the bearded needle assembly 1.22 to move back and forth, the card slot driving cylinder 1.21 drives the bearded needle assembly 1.22 to hook the PIN needle in the clamping carrier when retracting back, and the card slot driving cylinder 1.21 drives the bearded needle assembly 1.22 to release the PIN needle into the injection mold when pushing out forward.

Further, as shown in fig. 4 and 5, the needle taking and placing module 1 further includes a front workpiece plate 1.7 and a rear workpiece plate 1.8, the front workpiece plate 1.7 is slidably connected to the rear workpiece plate 1.8 through a plurality of sets of sliding rods 1.9, the needle taking and placing module 1 is fixed to the chuck frame 5 through the rear workpiece plate 1.8, the plurality of positioning columns 1.1, the plurality of clamping groove assemblies 1.2 and the plurality of positioning PINs 1.4 are fixed to the surface of the front workpiece plate 1.7, the needle pushing cylinder assembly 1.3 is fixed to the upper end of the rear workpiece plate 1.8, the left and right ends of the rear workpiece plate 1.8 are fixed with a plurality of left and right floating mechanisms 1.5 which are in floating connection with the left and right ends of the front workpiece plate 1.7, and the lower end of the rear workpiece plate 1.8 is fixed with a front and rear floating mechanisms 1.6 which are in floating connection with.

Preferably, the left and right floating mechanisms 1.5 and the front and rear floating mechanisms 1.6 provide floating force for the front workpiece plate 1.7 by using ball plungers.

Preferably, finished product is got material module 2 and is included sucking disc 2.1, and sucking disc 2.1 adopts the integral type sucking disc.

Preferably, the cleaning module 3 is a cleaning air gun.

Further, as shown in fig. 1, 2 and 3, a manipulator fixing mechanism 6 is fixed at the top end, a plurality of needle taking and placing modules 1 are fixed at the bottom end, a finished product taking module 2 and a cleaning module 3 are fixed at the front end, a CCD optical detection module 4 is fixed at the rear end or side end, and the middle part is used for arranging an air pipe and circuit wiring required by an air cylinder.

Further, as shown in fig. 6, which is a transfer diagram of the chuck, the chuck 1-1 is fixedly connected with the manipulator 1-2 through a manipulator fixing mechanism 6 at the top end.

The working flow of the manipulator chuck is as follows:

a: the mechanical arm 1-2 drives the chuck 1-1 to a position of a carrier with PIN needles, the CCD optical detection module 4 records the accurate position of the PIN needle carrier, the mechanical arm 1-2 is guided to accurately insert positioning columns 1.1 on the needle taking and placing module 1 on the chuck 1-1 into positioning holes of the PIN needle carrier, clamping grooves on the needle taking and placing module 1 drive air cylinders 1.21 to drive hook assemblies 1.22 to retract so as to hook the PIN needles in the PIN needle carrier for taking out, and the mechanical arm 1-2 drives a plurality of needle taking and placing modules 1 on the chuck 1-1 to take out the PIN needles in the PIN needle carriers in sequence.

B: the mechanical arm 1-2 drives the chuck with the PIN needles to the CCD optical detection mechanism to detect the clamped PIN needles, whether the PIN needles have problems or not and whether the PIN needles are missed or not are detected, if the PIN needles have problems, the corresponding needle taking and placing module 1 of the chuck 1-1 loses the PIN needles with the problems, and the mechanical arm 1-2 drives the chuck 1-1 to pick up the PIN needles in the PIN needle carrier again for detection.

C: for the first injection molding, after the PIN needle is detected to be correct, the mechanical arm 1-2 drives the chuck 1-1 to the position of the injection molding module, the CCD optical detection module 4 on the chuck 1-1 records the position of the injection mold, the chuck 1-1 is rotated first, the cleaning module 3 is aligned to the injection mold, the injection mold is cleaned by blowing, the needle taking and placing module 1 is aligned to the injection mold after the chuck 1-1 is rotated, the CCD optical detection module 4 guides the manipulator 1-2 to accurately insert the positioning column 1.1 of the needle taking and placing module 1 on the chuck 1-1 into the positioning hole of the injection mold, after positioning, the clamping groove driving cylinder 1.21 on the needle taking and placing module 1 drives the needle hooking component 1.22 to push forwards so as to release the clamped PIN needles into the clamping groove of the injection mold, the PIN pushing cylinder assembly 1.3 is then advanced to push the PIN into the card slot of the injection mould again.

D: and (2) performing injection molding again, wherein the CCD optical detection module 4 guides the mechanical arm 1-2 to bring the chuck 1-1 to the upper part of the injection mold, the chuck is rotated firstly, the finished product taking module 2 is aligned with the injection mold, the mechanical arm 1-2 moves downwards, the finished product taking module 2 sucks and takes out the finished product which is subjected to injection molding through the sucker 2.1, then the cleaning module 3 performs air blowing cleaning on the injection mold, the PIN taking and placing module 1 is aligned with the injection mold when the chuck is rotated, the mechanical arm 1-2 moves downwards, the positioning column 1.1 of the PIN taking and placing module 1 is inserted into a positioning hole of the injection mold, the clamped PIN is released and pushed into a clamping groove of the injection mold again through the PIN pushing cylinder assembly 3, and the mechanical arm 1-2 carries the sucked and taken out finished product onto a finished product conveying line to perform the next process.

E: and (5) repeating the processes of A, B and D, and completing the processes of PIN taking, detecting, cleaning and injection molding of the PIN PINs and the finished product taking process.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi-functional connector reclaimer manipulator chuck which characterized in that: the method comprises the following steps:

the PIN taking and placing modules (1) are used for carrying PIN PINs in the carriers into the injection mould to wait for injection molding;

the finished product taking modules (2) are used for taking away the finished products which are injected in the injection mold;

the cleaning module (3) is used for cleaning the injection mold with the finished product taken away;

the CCD optical detection module (4) is used for accurately identifying the positions of the carrier and the injection mold and guiding the mechanical arm (1-2) to quickly and accurately position so as to take away the PIN needle in the carrier and place the PIN needle at the specified position of the injection mold;

the clamping head frame (5) is used for arranging the modules, a manipulator fixing mechanism (6) is arranged at the top end of the clamping head frame, and the manipulator fixing mechanism (6) is fixed with the manipulators (1-2).

2. The multi-function connector picking manipulator cartridge of claim 1, wherein: get needle and put needle module (1) and include:

a plurality of positioning columns (1.1), wherein the positioning columns (1.1) are inserted into positioning holes of the PIN needle carrier and the injection mold, so that the needle taking and placing module (1) is accurately fixed in the PIN needle carrier and the injection mold;

a card slot assembly (1.2) used for clamping the PIN needle in the PIN needle carrier and releasing the PIN needle into the injection mold;

the PIN pushing cylinder assembly (1.3) is used for pushing the PIN clamped by the clamping groove assembly (1.2) into a clamping groove of the injection mold;

a plurality of positioning PINs (1.4) which make up for the possible over-positioning direction after the plurality of needle taking and placing modules (1) are inserted into the PIN needle carrier and the injection mold;

left and right floating mechanism (1.5) and front and back floating mechanism (1.6) for get needle put needle module (1) and provide all around floating force, ensure get needle put needle module (1) can be smooth insert take out the PIN needle in the PIN needle carrier, and insert smoothly accomplish the action of putting the PIN material among the injection mold.

3. The multi-function connector picking manipulator cartridge of claim 2, wherein: draw-in groove subassembly (1.2) drive cylinder (1.21) and crochet hook subassembly (1.22) including the draw-in groove, draw-in groove drive cylinder (1.21) drive crochet hook subassembly (1.22) seesaw, drive when draw-in groove drive cylinder (1.21) is retracted backward crochet hook subassembly (1.22) are caught and are pressed from both sides tightly PIN needle in the carrier, drive when releasing forward crochet hook subassembly (1.22) release PIN needle.

4. A multi-function connector picking robot cartridge as recited in claim 3, wherein: the needle taking and placing module (1) also comprises a front workpiece plate (1.7) and a rear workpiece plate (1.8), the front workpiece plate (1.7) is connected with the rear workpiece plate (1.8) in a sliding way through a plurality of groups of sliding rods (1.9), the needle taking and placing module (1) is fixed on the clamping head frame (5) through the rear workpiece plate (1.8), the positioning columns (1.1), the clamping groove assembly (1.2) and the positioning PINs (1.4) are fixed on the surface of the front workpiece plate (1.7), the push pin air cylinder component (1.3) is fixed at the upper end of the rear workpiece plate (1.8), a plurality of left and right floating mechanisms (1.5) are fixed at the left and right ends of the rear workpiece plate (1.8) and are in floating connection with the left and right ends of the front workpiece plate (1.7), the lower end of the rear workpiece plate (1.8) is fixedly provided with a front floating mechanism (1.6) and a rear floating mechanism (1.6) which are connected with the lower end of the front workpiece plate (1.7) in a floating manner.

5. The multi-function connector picking manipulator cartridge of claim 4, wherein: the left and right floating mechanisms (1.5) and the front and rear floating mechanisms (1.6) adopt ball plungers.

6. The multi-function connector picking manipulator cartridge of claim 1, wherein: finished product is got material module (2) and is included sucking disc (2.1), sucking disc (2.1) formula sucking disc as an organic whole.

7. The multi-function connector picking manipulator cartridge of claim 1, wherein: the cleaning module (3) is a cleaning air gun.

8. A multi-function connector picking robot cartridge as claimed in claim 6 or 7, wherein: the bottom end of the clamping head frame (5) is fixed with the plurality of needle taking and placing modules (1), the top end of the clamping head frame is fixedly connected with the mechanical arm (1-2) through the mechanical arm fixing mechanism (6), the finished product material taking module (2) and the cleaning module (3) are fixed at the front end of the clamping head frame, and the CCD optical detection module (4) is fixed at the rear end or the side end of the clamping head frame.