CN111070221A - Inserting mechanical arm - Google Patents
Inserting mechanical arm Download PDFInfo
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- CN111070221A CN111070221A CN201911392403.4A CN201911392403A CN111070221A CN 111070221 A CN111070221 A CN 111070221A CN 201911392403 A CN201911392403 A CN 201911392403A CN 111070221 A CN111070221 A CN 111070221A
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- Prior art keywords
- guide rail
- linear bearing
- wire clamp
- wire
- linear
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000003139 buffering effect Effects 0.000 claims abstract description 4
- 238000003780 insertion Methods 0.000 claims description 24
- 230000037431 insertion Effects 0.000 claims description 24
- 238000013459 approach Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 description 12
- 244000208734 Pisonia aculeata Species 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000002788 crimping Methods 0.000 description 2
- 239000007943 implant Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种插植机械手，包括：电动夹爪、线夹和固定在电动夹爪底部两侧且结构相同的缓冲机构，线夹分别固定在两个缓冲机构上；缓冲机构包括直线导轨、导轨底座和直线轴承，导轨底座固定在电动夹爪的底部，直线导轨固定在导轨底座上，直线轴承滑动连接在直线导轨上，线夹通过直线轴承支架固定在直线轴承上，直线轴承的两端分别连接有一根弹簧，两根弹簧的另一端分别与导轨底座连接。利用本发明提供的插植机械手能够通过缓冲机构为机械手在插植方向提供缓冲，当插植的压力/拉力达到预定阈值时，能够在不影响力传感器检测的条件下，消除由于插植机械手因惯性产生的惯性力，防止线束变形、损坏。
The invention discloses a planting manipulator, comprising: an electric gripper, a wire clip, and a buffer mechanism fixed on both sides of the bottom of the electric gripper with the same structure, the wire clip is respectively fixed on the two buffer mechanisms; the buffer mechanism comprises a linear guide rail, Guide rail base and linear bearing, the guide rail base is fixed on the bottom of the electric gripper, the linear guide is fixed on the guide base, the linear bearing is slidably connected to the linear guide, the wire clamp is fixed on the linear bearing through the linear bearing bracket, and the two ends of the linear bearing are A spring is respectively connected, and the other ends of the two springs are respectively connected with the guide rail base. The planting manipulator provided by the present invention can provide buffering for the manipulator in the planting direction through the buffer mechanism, and when the pressure/pull force of the planting reaches a predetermined threshold value, the planting manipulator can be eliminated without affecting the detection of the force sensor. The inertial force generated by inertia prevents the wire harness from being deformed and damaged.
Description
Technical Field
The invention relates to the technical field of insertion of wire harness terminals, in particular to an insertion manipulator.
Background
With the rapid popularization of products such as automobiles and electronic terminals, the demand of wire harnesses as important matching products is increasing, and domestic and foreign wire harness manufacturers design and produce a plurality of automatic devices for wire harness assembly so as to reduce the personnel cost, wherein the automatic insertion device of the wire harness crimping terminal is a representative device. In the automatic insertion equipment of the wire harness crimping terminal, an insertion manipulator is an important execution mechanism.
The existing inserting mechanical arm judges whether the inserting needle is inserted in place or not by utilizing a force sensor. The inserting manipulator is controlled to move towards the direction of the jack, so that the inserting needle enters the jack, meanwhile, the pressure of the wire harness is judged through the force sensor, and when the force is larger than a certain value, the inserting needle is considered to be inserted into the bottom of the jack. And then carrying out pull-back test, namely, the plug-in manipulator moves reversely, judging the tension of the wire harness through the force sensor, and when the tension is larger than a certain value, considering that the buckle of the contact pin is correctly fixed in the jack, and successfully plugging the contact pin.
In the above-described implant process, when the force sensor detects that the pressure reaches the detection threshold, the controller should immediately control the implant manipulator to stop moving. However, because the inserting and planting manipulator has inertia during movement, the inserting and planting manipulator cannot stop moving immediately and can continue to move for a certain distance along the original movement direction. However, the pin is inserted into position, and this distance tends to increase the pressure on the wiring harness. If the rigidity of wire rod itself is great, then the pressure of production will be greater than the threshold value far away for the pencil warp, and the contact pin damages. The same problem exists when performing a pullback test, as the displacement generated by the inertial insertion manipulator will cause the pulling force to be much greater than the threshold, possibly directly snapping the wire harness.
There are generally two approaches to solve the above problem: firstly, the threshold value is reduced, so that the inertia force is reduced, but the controller is often misjudged by the excessively small threshold value; secondly, the moving speed of the manipulator is reduced, and the starting and stopping time is further shortened, but the transplanting time is prolonged by the method, and the transplanting efficiency is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an inserting and implanting mechanical arm for avoiding the problem that a wire harness is deformed or broken due to inertia force when the inserting and implanting mechanical arm moves.
The invention provides an inserting and planting manipulator, comprising: the electric clamping jaw, the wire clamp and the buffer mechanism used for connecting the electric clamping jaw and the wire clamp are provided with elastic pieces in the buffer mechanism, and the elastic pieces are used for eliminating inertia force generated when the wire clamp moves.
Preferably, the motorized jaw drive wire clamp moves in an insertion direction and a clamping direction.
Preferably, the inserting direction is the direction that the wire clamp approaches to the pin sheath; the clamping direction is the direction that the wire clamp approaches to the wire harness; the electric clamping jaw driving wire clamp moves in the opposite direction of the inserting direction and the opposite direction of the clamping direction.
Preferably, the elastic member is a tension spring or an air spring.
Preferably, the insertion manipulator further comprises a force sensor for detecting the pressure or tension of the wire harness, and the force sensor is arranged outside any one of the electric clamping jaw, the buffer mechanism and the wire clamp or is arranged in the electric clamping jaw.
Preferably, the buffer mechanism is fixed on the clamping jaw on both sides of the bottom of the electric clamping jaw.
Preferably, the buffer mechanism comprises a linear guide rail, a guide rail base and a linear bearing, the guide rail base is fixed at the bottom of the electric clamping jaw, the linear guide rail is fixed on the guide rail base, the linear bearing is connected on the linear guide rail in a sliding mode, the wire clamp is fixed on the linear bearing through a linear bearing support, and the elastic part is connected between the linear bearing and the guide rail base.
Preferably, the number of the elastic parts is two, two ends of the linear bearing are respectively connected with one ends of the two elastic parts, and the other ends of the two elastic parts are respectively connected with the guide rail base.
Preferably, the guide rail base has bosses, and one ends of the elastic members are respectively abutted with the bosses.
Preferably, the two elastic members are in a stretched state when the linear bearing is at the intermediate position of the linear guide.
The invention can obtain the following technical effects:
the invention can provide buffer for the manipulator in the inserting direction through the buffer mechanism, and can eliminate the inertia force generated by the inserting manipulator due to inertia under the condition of not influencing the detection of the force sensor when the inserting pressure/pulling force reaches the preset threshold value, thereby preventing the deformation and the damage of the wire harness.
Drawings
FIG. 1 is a schematic view of an insertion robot from a first perspective according to one embodiment of the present invention;
FIG. 2 is a second perspective view of an insertion robot in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view of a first perspective of a cushioning mechanism according to one embodiment of the present invention;
fig. 4 is a schematic diagram of a second perspective view of a cushioning mechanism according to an embodiment of the present invention.
Wherein the reference numerals include: the device comprises an electric clamping jaw 1, a wire clamp 2, a buffer mechanism 3, a guide rail base 3-1, a boss 3-1-1, a linear guide rail 3-2, a linear bearing 3-3, a linear bearing support 3-4, an elastic piece 3-5, a wire harness 4, a contact pin 5 and a contact pin sheath 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1 to 4, an embodiment of the present invention provides an insertion manipulator, including: electronic clamping jaw 1, fastener 2 and buffer gear 3, electronic clamping jaw 1 is used for driving fastener 2 motion, accomplishes the action of pressing from both sides tightly and inserting two directions of planting.
The clamping direction is the direction that the wire clamp approaches to the wire harness; the clamping action is that the electric clamping jaw 1 drives the wire clamp 2 to move oppositely to clamp the wire harness 4.
The inserting direction is the direction that the wire clamp approaches to the contact pin sheath; the inserting action means that after the wire harness 4 is clamped by the wire clamp 2, the mechanical arm drives the electric clamping jaw 1 to move, and the inserting pin 5 at one end of the wire harness 3 is inserted into the jack of the inserting pin sheath 6.
After the electric clamping jaw 1 drives the wire clamp 2 to complete the actions of clamping and inserting, the wire clamp 2 is also driven to move in the opposite direction of the inserting direction and the opposite direction of the clamping direction, the wire clamp 2 moves in the opposite direction of the clamping direction to loosen the wire harness 4, and the wire clamp 2 moves in the opposite direction of the interpolating direction to perform the pull-back test.
The electric clamping jaw 1 is the prior art, and the specific structure thereof is not described in detail in the invention.
The wire harness 2 is used for clamping the wire harness 4, and the wire harness 4 can be in a round shape or a flat shape.
The buffer mechanism 3 is used for connecting the electric clamping jaw 1 and the wire clamp 2 and plays a role in buffering the wire clamp 2.
The inserting manipulator further comprises a force sensor, and the force sensor is used for detecting a force value of the wiring harness 4. The force sensor can be arranged at any position of the electric clamping jaw 1, the wire clamp 2 or the buffer mechanism 3, and can also be internally arranged in the electric clamping jaw 1.
For example, the number of the electric clamping jaws 1 is one, the number of the wire clamps 2 is two, the number of the buffer mechanisms 3 is two, the electric clamping jaws 1 are two finger clamping jaws, the two buffer mechanisms 3 are respectively fixed on the two clamping jaws on two sides of the bottom of the electric clamping jaw 1, the two wire clamps 2 are respectively fixed on the two buffer mechanisms 3, the two clamping jaws of the electric clamping jaw 1 drive the two wire clamps 2 to move in opposite directions, so that a wire harness 4 is clamped, and the two wire clamps 2 are clamped at the positions, close to the contact pins 5, of the wire harness 4.
The specific process of utilizing the inserting manipulator to carry out inserting test is as follows: after the two wire clamps 2 clamp the wire harness 4 tightly, the mechanical arm drives the electric clamping jaw 1 to move towards the direction of the pin jacket 6, the pin 5 is inserted into the jack of the pin jacket 6, whether the pressure of the wire harness reaches a pressure threshold value is judged through the force sensor, when the pressure threshold value is reached, the fact that the pin 5 is inserted into the bottom of the jack is shown, the force sensor feeds back a signal, the mechanical arm is controlled to stop moving, and the inserting test is completed.
After the insertion test is completed, the pull-back test of the contact pin 5 is also needed to judge whether the buckle of the contact pin 5 is correctly clamped in the jack.
The specific process of utilizing the inserting manipulator to carry out the pull-back test comprises the following steps: the mechanical arm drives the electric clamping jaw 1 to move towards the direction far away from the contact pin sheath 6, the contact pin 5 is pulled outwards, whether the tensile force of the wire harness reaches a tensile force threshold value or not is judged through the force sensor, when the tensile force reaches the tensile force threshold value, the fact that the buckle of the contact pin 5 is correctly clamped into the jack is shown, the force sensor feeds back a signal, the mechanical arm is controlled to stop moving, and the pull-back test is completed.
In the process of carrying out insertion test and pull-back test, buffer gear 3 is used for providing the effort opposite with fastener 2 direction of motion, under the condition that does not influence force transducer detection to offset fastener 2 because the impulsive force that inertia produced is fastener 2's inertial force, prevents that the pencil from warping, damaging.
Next, a specific structure of the damper mechanism 3 will be described.
The buffer mechanism comprises a guide rail base 3-1, a linear guide rail 3-2, a linear bearing 3-3 and a linear bearing support 3-4, the guide rail base 3-1 is fixed at the bottom of the electric clamping jaw 1, the linear guide rail 3-2 is fixed on the guide rail base 3-1, the linear bearing 3-3 is connected to the linear guide rail 3-2 in a sliding mode, a wire clamp is fixed on the linear bearing 3-3 through the linear bearing support 3-4, the linear bearing 3-3 drives the wire clamp 2 to move synchronously, an elastic part 3-5 is arranged between the linear bearing 3-3 and the guide rail base 3-1, and the elastic part 3-5 is used for providing acting force opposite to the movement direction of the wire clamp 2.
Preferably, two elastic parts 3-5 with completely consistent parameters are connected between the linear bearing 3-3 and the guide rail base 3-1, one end of each of the two elastic parts 3-5 is connected with the linear bearing 3-3, the other end of each of the two elastic parts 3-5 is connected with the two ends of the guide rail base 3-1, and when the linear bearing 3-3 is located at the middle position of the linear guide rail 3-2, the two elastic parts 3-5 are in a stretching state, and the deformation amounts are completely consistent, namely the tensile forces of the two elastic parts 3-5 are consistent.
In order to facilitate the connection of the elastic parts 3-5, bosses 3-1-1 protrude downwards at two ends of the guide rail base 3-1, one ends of the two elastic parts 3-5 are respectively abutted with the linear bearings 3-3, and the other ends of the two elastic parts 3-5 are respectively abutted with the bosses 3-1-1.
The elastic members 3-5 may be elastic members having elastic deformation, such as tension springs or air springs, and have a buffering function on the wire clamp 2.
When inserting and planting the contact pin 5, the mechanical arm drives the electric clamping jaw 1 to move back and forth, and the electric clamping jaw 1 drives the wire clamp 2 to move back and forth. When the insertion pin of the terminal of the wire harness is not completely inserted into the insertion hole, the wire clip 2 is fixed on the linear bearing 3-3, and the linear bearing 3-3 is held at the middle position of the linear guide 3-2 by the front and rear elastic members 3-5. When the pressure of the wire harness detected by the force sensor reaches a pressure threshold value, the mechanical arm is controlled to stop moving through the controller, but the inertial electric clamping jaw 1 still continues to move forwards for a small displacement, at the moment, the elastic part 3-5 closer to the contact pin is compressed, the elastic part 3-5 farther from the contact pin is stretched, and the wire clamp 2 moves backwards relative to the inserting direction, so that the inertia force of the wire clamp 2 is eliminated, and the wire harness is prevented from being deformed and damaged.
When the contact pin 5 is subjected to pull-back test, the mechanical arm drives the electric clamping jaw 1 to move along the direction opposite to the inserting direction, when the pulling force of the wire harness detected by the force sensor reaches a pulling force threshold value, the mechanical arm is controlled to stop moving through the controller, however, the inertia electric clamping jaw 1 can still move forwards for a small displacement, the elastic part 3-5 close to the contact pin stretches, the elastic part 3-5 far away from the contact pin compresses, and the wire clamp 2 moves forwards relative to the inserting direction, so that the inertia force of the wire clamp 2 is eliminated, and the wire harness is prevented from being deformed and damaged.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An insertion manipulator comprising: electronic clamping jaw and fastener, its characterized in that still includes: the buffer mechanism is used for connecting the electric clamping jaw and the wire clamp, an elastic piece is arranged in the buffer mechanism, and the elastic piece is used for eliminating the inertia force generated when the wire clamp moves.
2. The insertion robot of claim 1, wherein the motorized clamp jaws drive the wire clamp in the insertion direction and the clamping direction.
3. The manipulator of claim 2, wherein the insertion direction is a direction in which the wire approaches the pin sheath; the clamping direction is the direction in which the wire clamp approaches the wire harness; the electric clamping jaw drives the wire clamp to move in the direction opposite to the inserting direction and the clamping direction.
4. The insertion manipulator according to claim 1, wherein the elastic member is a tension spring or an air spring.
5. The insertion manipulator according to claim 1, further comprising a force sensor for detecting a pressure or a tension of the wire harness, the force sensor being provided outside any one of the electric chuck jaw, the buffer mechanism, and the wire clamp, or being built in the electric chuck jaw.
6. The insertion manipulator according to claim 1, wherein the buffer mechanism is fixed to the jaws on both sides of the bottom of the motorized jaw.
7. The inserting manipulator according to claim 1, wherein the buffering mechanism comprises a linear guide rail, a guide rail base and a linear bearing, the guide rail base is fixed to the bottom of the electric clamping jaw, the linear guide rail is fixed to the guide rail base, the linear bearing is slidably connected to the linear guide rail, the wire clamp is fixed to the linear bearing through a linear bearing support, and the elastic member is connected between the linear bearing and the guide rail base.
8. The inserting manipulator according to claim 7, wherein the number of the elastic members is two, two ends of the linear bearing are respectively connected to one ends of the two elastic members, and the other ends of the two elastic members are respectively connected to the guide rail bases.
9. The insertion manipulator according to claim 7 or 8, wherein the guide rail base has bosses, and one ends of the elastic members abut against the bosses, respectively.
10. The insertion manipulator according to claim 8, wherein the two elastic members are in a stretched state when the linear bearing is at the intermediate position of the linear guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911392403.4A CN111070221A (en) | 2019-12-30 | 2019-12-30 | Inserting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911392403.4A CN111070221A (en) | 2019-12-30 | 2019-12-30 | Inserting mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN111070221A true CN111070221A (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911392403.4A Pending CN111070221A (en) | 2019-12-30 | 2019-12-30 | Inserting mechanical arm |
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| CN (1) | CN111070221A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482837A (en) * | 2020-05-30 | 2020-08-04 | 山东瀚业机械有限公司 | Workpiece feeding manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111482837B (en) * | 2020-05-30 | 2024-12-10 | 山东瀚业机械有限公司 | A workpiece loading robot |
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