CN207807795U - Numerical control molding wiring hand - Google Patents
Numerical control molding wiring hand Download PDFInfo
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- CN207807795U CN207807795U CN201820197206.1U CN201820197206U CN207807795U CN 207807795 U CN207807795 U CN 207807795U CN 201820197206 U CN201820197206 U CN 201820197206U CN 207807795 U CN207807795 U CN 207807795U
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- wiring
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- person joint
- numerical control
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Abstract
A kind of numerical control molding wiring hand, connects up with two sets of wiring mechanical devices, wherein often set wiring mechanical device includes：Front end framework, one end are connected with the connection of first rotary machine person joint's module；Rear end skeleton, one end are rotatably connected with the other end of the front end framework, and the other end is connect with third rotating machinery person joint's module；Second rotary machine person joint's module, is arranged at the rotatable connection of the front end framework and rear end skeleton；First wiring manipulator, is rotatably connected with the first rotary machine person joint's module；Second wiring manipulator, is rotatably connected with third rotary machine person joint's module；Second wiring manipulator spacing distance setting of two sets of wiring mechanical devices, captures the both ends of harness, the utility model not only increases efficiency, it ensure that the life security of staff simultaneously, easily and effectively, and the structure of the wiring manipulator is simple, processing cost is low, is convenient for extensive use.
Description
Technical field
The utility model belongs to robot field, especially a kind of numerical control molding wiring hand.
Background technology
Power control cabinet wiring is a kind of height repetition and cumbersome operation, and conventional wires are to use manual routing mostly
Form complete, because of the large number of of harness and wiring is complex, and the period is very long, to avoid the time-frequency of manual routing
Hair misconnection, miss, virtual connection phenomena such as, cause wiring quality cannot be guaranteed, influence the progress of entire production cycle, production efficiency
It cannot be guaranteed, even result in the generation of more substandard products part, lead to larger economic loss, therefore it provides it is a kind of simple in structure,
It is easy to operate, it is necessary convenient for widely applied wiring manipulator.
Utility model content
One purpose of the utility model is to solve at least the above, and provide the advantages of at least will be described later.
There are one purposes to be to provide a kind of numerical control molding wiring hand for the utility model, can realize the function of wiring, tie
Structure is simple, easy to operate, is convenient for application.
The utility model provides a kind of numerical control molding wiring hand, is connected up with two sets of wiring mechanical devices, wherein
Often covering wiring mechanical device includes
Front end framework, one end are connect with first rotary machine person joint's module；
Rear end skeleton, one end are rotatably connected with the other end of the front end framework, the other end and third rotating machinery people
Joint module connection；
Second rotary machine person joint's module, is arranged in the junction of the front end framework and rear end skeleton, before described
Second rotary machine person joint's module described in backbone winding is held to rotate, third rotating machinery person joint's mould described in the rear end backbone winding
Group rotation；
First wiring manipulator, is rotatably connected with the first rotary machine person joint's module；
Second wiring manipulator, is rotatably connected with third rotary machine person joint's module；
Wiring manipulator is provided with linear speed click-on mechanism, and the click-on mechanism captures harness under drive control and by harness
It is laid in specified wire casing.
Second wiring manipulator spacing distance setting of two sets of wiring mechanical devices, captures the both ends of harness, two sets of wirings
The interlude of first wiring manipulator crawl harness of mechanical device, toward each other or rotating Vortex.
Preferred embodiment is：The mechanical subordinate side of first wiring is provided with the first dog dental forceps mouth, and the second wiring machinery is subordinate
Side is provided with the second dog dental forceps mouth, the first dog dental forceps mouth opening and closing under the control of the first grabbing device, the second dog dental forceps
Mouth opening and closing under the control of the second grabbing device.
Preferred embodiment is：The front end framework around the second rotary machine person joint module rotation angle be 30~
330°。
Preferred embodiment is：Third rotary machine person joint's module rotation angle described in the rear end backbone winding is 0~360 °.
Preferred embodiment is：Further include lifting gear, is arranged in the front end framework and first rotary machine person joint's mould
Group junction.
Preferred embodiment is：First rotary machine person joint's module rotation angle is 0 described in the mechanical winding by hand of first wiring
~360 °.
Preferred embodiment is：Third rotary machine person joint's module rotation angle is 0 described in the mechanical winding by hand of second wiring
~360 °.
Preferred embodiment is：Further include screw fastening electric screwdriver, is arranged in front end framework side.
Preferred embodiment is：The front end framework and rear end skeleton junction are provided with driving motor.
It is connected up the utility model with two sets of wiring mechanical devices, wherein often set wiring mechanical device includes front end bone
Frame, one end are connect with first rotary machine person joint's module；Rear end skeleton, one end and the other end of the front end framework revolve
Turn connection, the other end is connect with third rotating machinery person joint's module；Second rotary machine person joint's module is arranged described
At the rotatable connection of front end framework and rear end skeleton, the front end framework is rotated around the second rotary machine person joint's module,
Third rotating machinery person joint's module described in the rear end backbone winding rotates；First wiring manipulator, with first rotation
Joint of robot module is rotatably connected；Second wiring manipulator, is rotatably connected with third rotary machine person joint's module；
Second wiring manipulator spacing distance setting of two sets of wiring mechanical devices, captures the both ends of harness, two sets of wiring mechanical devices
The interlude of the first wiring manipulator crawl harness not only increase efficiency toward each other or rotating Vortex, protect simultaneously
The life security of staff is demonstrate,proved, easily and effectively, and the structure of the wiring manipulator is simple, and processing cost is low, is convenient for
Extensive use.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model dog dental forceps mouth；
Structural schematic diagram when Fig. 3 is utility model works；
Fig. 4 is 1 structural schematic diagram of embodiment；
Fig. 5 is 2 structural schematic diagram of embodiment.
Specific implementation mode
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
The utility model example provides a kind of wiring manipulator, including：Front end framework 9, one end and the first rotary machine
Person joint's module 1 connects, and the front end framework 9 is 30~330 ° around 2 rotation angle of the second rotary machine person joint module, in institute
It states front end framework 9 and 1 junction of the first rotary machine person joint module is provided with lifting gear 7；Rear end skeleton 10, one end with
The other end of the front end framework 9 is rotatably connected, and the other end is connect with third rotating machinery person joint module 3, the rear end bone
Frame 10 is 0~360 ° around 3 rotation angle of third rotary machine person joint module；Second rotary machine person joint module 2,
It is arranged in the junction of the front end framework 9 and rear end skeleton 10, the front end framework 9 is around the second rotary machine person joint
Module 2 rotates, and the rear end skeleton 10 is rotated around the third rotating machinery person joint module 3；First wiring manipulator 6,
It is rotatably connected with the first rotary machine person joint module 1, the first wiring manipulator 6 is around the first rotary machine people
Mould 1 group of rotation angle in joint is 0~360 °, and 6 lower section of the first wiring manipulator is provided with the first dog dental forceps mouth 11, first dog
The opening and closing under the control of the first grabbing device of dental forceps mouth 11；Second wiring manipulator 5, with third rotary machine person joint's mould
Group 3 rotatable connection, it is described second wiring manipulator 5 around 3 rotation angle of third rotary machine person joint module be 0~
360 °, 5 lower section of the second wiring manipulator is provided with the second dog dental forceps mouth 12, and the second dog dental forceps mouth 12 is in the second crawl
The lower opening and closing of device control；First, second dog dental forceps mouth is provided by opening and closing power by servo electric cylinders, and the servo electric cylinders include installation
There are the driving motor of driving grabbing device, the cylinder body of inside setting piston rod and ball screw, cylinder body to pass through biography with driving motor
Dynamic device connection.Servo-driver and servo motor is respectively adopted in driving grabbing device and driving motor, utilizes servo motor
Closed-loop control characteristic is realized and is controlled the precision of the first, second dog dental forceps mouth, makes dog dental forceps mouth is more stable to the crawl of harness can
It leans on, positioning accuracy higher；Using corresponding servo-driver, can preferably ensure to drive stability.Two sets of wiring machineries
Second wiring manipulator spacing distance setting of device, captures the both ends of harness 17, the first wiring of two sets of wiring mechanical devices
Manipulator captures the interlude of harness, toward each other or rotating Vortex.Further include screw fastening electric screwdriver 8, is arranged in front end bone
9 side of frame.The front end framework 9 and 10 junction of rear end skeleton are provided with driving motor.
The utility model completes installation work with two sets of wiring manipulators, and specific workflow is as follows：
1) external two sets of connecton layouts of robot drives are moved to above conductor bunch storage basket；
2) the second grabbing device of the second wiring manipulator 5 of two sets of connecton layouts drives the second dog dental forceps mouth 12 to open,
And moving down makes harness be in the second dog dental forceps mouth 12, the second dog dental forceps mouth 12 of two sets of connecton layouts firmly grasps harness respectively
17 both ends and the top that harness 17 is taken out and is moved to simultaneously wire plate；
3) according to the layout path of wire casing in drum and electric elements, harness bending length is accurately calculated by computer,
It is rotated by the first dog dental forceps mouth 11 that driver control the first rotary machine person joint module 1 drives so that the first dog dental forceps mouth
11 is parallel with harness 17；
4) the second rotary machine person joint module 2 of two sets of connecton layouts drives front end framework 9 to rotate so that the first dog tooth
Jaw 11, which is moved to 17 top of harness and is located at, needs bending part；
5) lifting gear 7 drives the first dog dental forceps mouth 11 of two sets of connecton layouts to decline so that harness 17 occupy the first dog
In dental forceps mouth 11, the first grabbing device controls the first dog dental forceps mouth 11 and clamps harness；
6) front end framework 9 of two sets of connecton layouts of external robot drives and rear end skeleton 10 rotate so that 17 folding of harness
Bending is at shape identical with wire casing, electric elements path；
7) the first, second wiring machinery of two sets of connecton layouts of external manipulator while control hands down dynamic, will be whole
Harness 17 is put into the wire casing of drum；
8) the first grabbing device of two sets of connecton layouts controls the first dog dental forceps mouth 11 release harness, and by lifting gear 7
Drive its rising so that harness 17 is detached from the first dog dental forceps mouth 11；
9) the second dog dental forceps mouth 12 of two sets of connecton layouts is aerial by the both ends insertion appliance component plug wire of harness, and second
Rotary machine person joint module 2 and third rotation robot turn joint module 3 and coordinate screw fastening electric screwdriver 8 being moved to electric elements
Above the screw that plug wire is completed and screw is tightened in decline, packs up screw fastening electric screwdriver after the completion, and external manipulator takes routing machine away
Tool hand, then go to complete the arrangement installation of next harness.
Embodiment 1
Whole harness need to be put into wire casing.The shape of wire casing isType.
The present embodiment completes installation work with two sets of wiring mechanical devices, and first set wiring mechanical device is located at harness
Left side in storing basket, second set of wiring mechanical device are located at the right side in conductor bunch storage basket, and specific workflow is as follows：
1) external two sets of connecton layouts of robot drives are moved to above conductor bunch storage basket；
2) the second grabbing device of the second wiring manipulator 5 of two sets of connecton layouts drives the second dog dental forceps mouth 12 to open,
And moving down makes harness 17 be in the second dog dental forceps mouth 12, the second dog dental forceps mouth 12 of first set connecton layout firmly grasps harness
17 left end, the second dog dental forceps mouth 12 of second set of connecton layout firmly grasp the right end of harness 17, and harness 17 are taken out and simultaneously
It is moved to the top of wire plate；
3) according to the layout path of wire casing in drum and electric elements, harness bending length is accurately calculated by computer,
It is rotated by the first dog dental forceps mouth 11 that driver control the first rotary machine person joint module 1 drives so that the first dog dental forceps mouth
11 is parallel with harness 17；
4) the second rotary machine person joint module 2 of two sets of connecton layouts drives front end framework 9 to rotate so that the first dog tooth
Jaw 11, which is moved to 17 top of harness and is located at, needs bending part；
5) lifting gear 7 drives the first dog dental forceps mouth 11 of two sets of connecton layouts to decline so that harness 17 occupy the first dog
In dental forceps mouth 11, the first grabbing device controls the first dog dental forceps mouth 11 and clamps harness；
6) front end framework 9 of two sets of connecton layouts of external robot drives and rear end skeleton 10 rotate so that wherein first
First wiring manipulator 5 of set connecton layout rotates clockwise counterclockwise with the first wiring manipulator 5 of second set of connecton layout
Rotation so that harness atType；
7) the first, second wiring machinery of two sets of connecton layouts of external manipulator while control hands down dynamic, will be whole
Harness is put into the wire casing of drum；
8) the first grabbing device of two sets of connecton layouts controls the first dog dental forceps mouth 11 release harness, and by lifting gear 7
Drive its rising so that harness 17 is detached from the first dog dental forceps mouth 11；
9) the second dog dental forceps mouth 12 of two sets of connecton layouts is aerial by the both ends insertion appliance component plug wire of harness 17, the
Two rotary machine person joint modules 2 and third rotation robot turn joint module 3 and coordinate screw fastening electric screwdriver 8 being moved to electric appliance member
Above the screw that part plug wire is completed and screw is tightened in decline, packs up screw fastening electric screwdriver after the completion, and external manipulator takes wiring away
Manipulator, then go to complete the arrangement installation of next harness.
Embodiment 2
Whole harness need to be put into wire casing.The shape of wire casing isType.
The present embodiment completes installation work with two sets of wiring mechanical devices, and first set wiring mechanical device is located at harness
Left side in storing basket, second set of wiring mechanical device are located at the right side in conductor bunch storage basket, and specific workflow is as follows：
1) external two sets of connecton layouts of robot drives are moved to above conductor bunch storage basket；
2) the second grabbing device of the second wiring manipulator 5 of two sets of connecton layouts drives the second dog dental forceps mouth 12 to open,
And moving down makes harness 17 be in the second dog dental forceps mouth 12, the second dog dental forceps mouth 12 of first set connecton layout firmly grasps harness
17 left end, the second dog dental forceps mouth 12 of second set of connecton layout firmly grasp the right end of harness 17, and harness 17 are taken out and simultaneously
It is moved to the top of wire plate；
3) according to the layout path of wire casing in drum and electric elements, harness bending length is accurately calculated by computer,
It is rotated by the first dog dental forceps mouth 11 that driver control the first rotary machine person joint module 1 drives so that the first dog dental forceps mouth
11 is parallel with harness；
4) the second rotary machine person joint module 2 of two sets of connecton layouts drives front end framework 9 to rotate so that the first dog tooth
Jaw 11, which is moved to 17 top of harness and is located at, needs bending part；
5) lifting gear 7 drives the first dog dental forceps mouth 11 of two sets of connecton layouts to decline so that harness 17 occupy the first dog
In dental forceps mouth 11, the first grabbing device controls the first dog dental forceps mouth 11 and clamps harness；
6) front end framework 9 of two sets of connecton layouts of external robot drives and rear end skeleton 10 rotate so that wherein first
The the first wiring manipulator 6 for covering connecton layout rotates counterclockwise and the first wiring manipulator 6 of second set of connecton layout is clockwise
Rotation so that harness is at " " type；
7) the first, second wiring machinery of two sets of connecton layouts of external manipulator while control hands down dynamic, will be whole
Harness 17 is put into the wire casing of drum；
8) the first grabbing device of two sets of connecton layouts controls the first dog dental forceps mouth 11 release harness, and by lifting gear 7
Drive its rising so that harness 17 is detached from the first dog dental forceps mouth 11；
9) the second dog dental forceps mouth 12 of two sets of connecton layouts is aerial by the both ends insertion appliance component plug wire of harness, and second
Rotary machine person joint module 2 and third rotation robot turn the 3 groups of coordinations of joint mould and screw fastening electric screwdriver 8 are moved to electric elements
Above the screw that plug wire is completed and screw is tightened in decline, packs up screw fastening electric screwdriver after the completion, and external manipulator takes routing machine away
Tool hand, then go to complete the arrangement installation of next harness 17.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (9)
1. numerical control molding wiring hand, which is characterized in that it is connected up with two sets of wiring mechanical devices, wherein often set wiring machinery
Device includes：
Front end framework, one end are connect with first rotary machine person joint's module；
Rear end skeleton, one end are rotatably connected with the other end of the front end framework, the other end and third rotating machinery person joint
Module connects；
Second rotary machine person joint's module, is arranged at the rotatable connection of the front end framework and rear end skeleton, before described
Second rotary machine person joint's module described in backbone winding is held to rotate, third rotating machinery person joint's mould described in the rear end backbone winding
Group rotation；
First wiring manipulator, is rotatably connected with the first rotary machine person joint's module；
Second wiring manipulator, is rotatably connected with third rotary machine person joint's module；
Second wiring manipulator spacing distance setting of two sets of wiring mechanical devices, captures the both ends of harness, two sets of wiring machineries
The interlude of first wiring manipulator crawl harness of device, toward each other or rotating Vortex.
2. numerical control according to claim 1 molding wiring hand, which is characterized in that the mechanical subordinate side of the first wiring is provided with the
One dog dental forceps mouth, the mechanical subordinate side of the second wiring are provided with the second dog dental forceps mouth, and the first dog dental forceps mouth is grabbed first
Take the lower opening and closing of device control, the second dog dental forceps mouth opening and closing under the control of the second grabbing device.
3. numerical control molding wiring hand according to claim 1, which is characterized in that the front end framework is around second rotation
Joint of robot module rotation angle is 30~330 °.
4. numerical control molding wiring hand according to claim 1, which is characterized in that third described in the rear end backbone winding rotates
Joint of robot module rotation angle is 0~360 °.
5. numerical control molding wiring hand according to claim 1, which is characterized in that further include lifting gear, be arranged in institute
State front end framework and first rotary machine person joint's module junction.
6. numerical control according to claim 1 molding wiring hand, which is characterized in that the described in the mechanical winding by hand of the first wiring
One rotary machine person joint's module rotation angle is 0~360 °.
7. numerical control according to claim 1 molding wiring hand, which is characterized in that the described in the mechanical winding by hand of the second wiring
Three rotary machine person joint's module rotation angles are 0~360 °.
8. numerical control molding wiring hand according to claim 1, which is characterized in that further include screw fastening electric screwdriver, setting
In front end framework side.
9. numerical control molding wiring hand according to claim 1, which is characterized in that the front end framework is connected with rear end skeleton
Place is provided with driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820197206.1U CN207807795U (en) | 2018-02-05 | 2018-02-05 | Numerical control molding wiring hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820197206.1U CN207807795U (en) | 2018-02-05 | 2018-02-05 | Numerical control molding wiring hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207807795U true CN207807795U (en) | 2018-09-04 |
Family
ID=63319742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820197206.1U Active CN207807795U (en) | 2018-02-05 | 2018-02-05 | Numerical control molding wiring hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207807795U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161992A (en) * | 2018-02-05 | 2018-06-15 | 北京金雨科创自动化技术股份有限公司 | Connect up mechanical system |
| CN114423960A (en) * | 2019-08-05 | 2022-04-29 | 乐姆宝公开有限公司 | Braking band for disc of ventilated-type disc brake |
-
2018
- 2018-02-05 CN CN201820197206.1U patent/CN207807795U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161992A (en) * | 2018-02-05 | 2018-06-15 | 北京金雨科创自动化技术股份有限公司 | Connect up mechanical system |
| CN108161992B (en) * | 2018-02-05 | 2024-04-02 | 北京金雨科创自动化技术股份有限公司 | Wiring method of wiring mechanical system |
| CN114423960A (en) * | 2019-08-05 | 2022-04-29 | 乐姆宝公开有限公司 | Braking band for disc of ventilated-type disc brake |
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