CN209970742U - Mechanical arm device suitable for wiring robot - Google Patents
Mechanical arm device suitable for wiring robot Download PDFInfo
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- CN209970742U CN209970742U CN201920420132.8U CN201920420132U CN209970742U CN 209970742 U CN209970742 U CN 209970742U CN 201920420132 U CN201920420132 U CN 201920420132U CN 209970742 U CN209970742 U CN 209970742U
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- robot
- driven wheel
- wiring
- mechanical arm
- linear motion
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 6
- 238000005520 cutting process Methods 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
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model discloses an arm device suitable for wiring robot, include: a mechanical arm and a tail end mechanism; the tail end mechanism comprises a wire feeding device, a wire clamping device and a wire outlet detection device; the wire clamping device comprises a main bracket, a linear motion mechanism, a side plate, a driven wheel support plate, a driven wheel, a motor and a driving wheel; the main support is connected with the tail end of the mechanical arm, the linear motion mechanism is arranged on the main support, the output end of the linear motion mechanism is connected with the driven wheel support plate, the driven wheel is connected with the driven wheel support plate, and the driven wheel rotates along the axis; the linear motion mechanism is connected with the side plate, the motor is arranged on the side plate, and the motor is connected with the driving wheel to enable the driving wheel to rotate along the axis. The utility model discloses the beneficial effect who reaches: a robot arm is provided that can traverse any point within its working range in any pose.
Description
Technical Field
The utility model relates to a mechanical arm device suitable for wiring robot.
Background
The wire harness is one of the most convenient products which are developed fastest, have the largest market demand and are installed most in the electronic and information age industry at present. Wire harnesses are widely used from popular household appliances to communication equipment, computers and external equipment, as well as security, solar, aircraft, automobiles and military equipment.
The traditional wiring harness manufacturing is carried out manually, the main difficulty lies in that the winding difficulty is high, the wiring harness is easy to be arranged in a wrong way, the problems of low manual efficiency, high wiring cost and the like are caused, and the ever-increasing wiring harness requirements of China cannot be met. Therefore, a more convenient and faster automatic wiring process is gradually emerging for replacing pure manual wiring.
At present, wiring robots are mainly divided into two types, one type is that an industrial robot is adopted to carry out full-automatic wiring, and the other type is that a three-coordinate robot is adopted to carry out full-automatic wiring.
The first type adopts two industrial robots to be matched with each other for wiring, wherein one robot performs the actions of wire outgoing, wire routing, wire cutting, head making and the like, and the other robot performs the action of screwing the screw. In order to ensure the reliability of the wiring process, a visual identification system is required to be installed at the front end of the wiring arm of the first robot.
The second type of wiring process does not use an industrial robot, and adopts a three-coordinate robot to integrate the actions of wire outgoing, wire routing, wire cutting, head making, screw screwing and the like together for wiring.
The degree of automation of above-mentioned two types of wiring robot is all very high, but can only be used for the inside circuit board of standard switch board to lay wire, and the fixed mode of line nose is all adopted to the cable end, and the preparation is all comparatively simple with fixed process, and walks the line form and needn't be very neat.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a mechanical arm device suitable for a wiring robot,
a robot arm device suitable for a wiring robot includes:
a mechanical arm and a tail end mechanism;
the mechanical arm comprises a plurality of motor rotating shafts which move independently and are used for controlling the moving direction of the whole mechanical arm;
the head end of the mechanical arm is fixedly connected with the rack, and the tail end of the mechanical arm is connected with the tail end mechanism;
the tail end mechanism comprises a wire feeding device, a wire clamping device and a wire outlet detection device;
the wire clamping device comprises a main bracket, a linear motion mechanism, a side plate, a driven wheel support plate, a driven wheel, a motor and a driving wheel;
the main support is connected with the tail end of the mechanical arm, a linear motion mechanism is arranged on the main support, the output end of the linear motion mechanism is connected with a driven wheel support plate, a driven wheel is connected with the driven wheel support plate, and the driven wheel rotates along the axis; the linear motion mechanism is connected with the side plate, the side plate is provided with a motor, and the motor is connected with the driving wheel to enable the driving wheel to rotate along the axis.
Furthermore, one end of the mechanical arm is fixedly connected with the rack through a flange, and the other end of the mechanical arm is connected with the tail end mechanism through a flange.
Furthermore, the wire feeding device is a wire passing ring arranged on the side plate.
Furthermore, the far end of the main support is connected with a wire outlet pipe, and a wire outlet detection device is installed on the wire outlet pipe.
Further, a force sensor is connected between the main bracket and the tail end of the mechanical arm through a flange.
Further, the driven wheel is hinged on the driven wheel support plate.
Furthermore, a speed reducer is connected to the side plate; the speed reducer is connected with the driving wheel and is used for reducing the speed of the rotation of the motor and transmitting the rotation to the driving wheel.
Furthermore, the outgoing line detection device adopts an outgoing line detection sensor.
Further, the motor shaft is provided with 6.
Further, the main support is fixedly connected with the linear motion mechanism through screws.
The utility model discloses the beneficial effect who reaches: the mechanical arm can traverse any point in the working range of the mechanical arm in any posture, the tail end of the mechanical arm has the functions of threading, clamping and active feeding, and a sensor on the tail end can also realize the detection of collision and the detection of the wire outlet state.
Drawings
FIG. 1 is a schematic view of a robotic arm;
FIG. 2 is a perspective view of the tip mechanism;
FIG. 3 is an exploded view of the structure of FIG. 2;
FIG. 4 is a schematic view of the end structure of the robot arm;
fig. 5 is a schematic top view of the structure of fig. 4.
The meaning of the reference symbols in the figures:
101-a first rotating shaft, 102-a second rotating shaft, 103-a third rotating shaft, 104-a fourth rotating shaft, 105-a fifth rotating shaft, 106-a sixth rotating shaft, 2-a line passing ring, 3-a driven wheel carrier plate, 4-a side plate, 5-a force sensor and mechanical arm connecting flange, 6-a force sensor, 7-a main bracket, 8-a linear motion mechanism, 9-a line outgoing detection sensor, 10-a line outgoing pipe, 11-a driving wheel, 12-a driven wheel, 12A-a driven wheel connecting plate, 13-a motor and 14-a speed reducer.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
A robot arm device suitable for a wiring robot includes a robot arm and a tip end mechanism. The head end of the mechanical arm is fixedly connected with the rack, and the tail end of the mechanical arm is connected with the tail end mechanism.
As shown in fig. 1, a flange is provided at the head end of the robot arm for connecting and fixing with the frame, and a flange is also provided at the tail end of the robot arm for connecting with the tail end mechanism. The mechanical arm comprises six motor shafts which move independently and can reach any point in a specific space in any posture, and the mechanical arm adopts a mechanical arm HSR-BR609 in the prior art.
As shown in fig. 2, the terminal mechanism includes a wire feeding device, a wire clamping device, and a wire outlet detecting device. The force sensor 6 is connected with the tail end of the mechanical arm through a flange and is fastened by screws. The main bracket 7 is connected with the force sensor 6 through a flange and fastened by screws. The force sensor 6 serves to monitor the impact during the wiring process in real time. The main support 7 is provided with a linear motion mechanism 8 which is fixedly connected by screws. The output end of the linear motion mechanism 8 is connected with the driven wheel 12 carrier plate 3 and is fastened by screws. The driven wheel 12 is hinged on the carrier plate 3 of the driven wheel 12, and the driven wheel 12 can rotate along the axis. The linear motion mechanism 8 is connected with the side plate 4, and the speed reducer 14 and the motor are arranged on the side plate 4 and are fastened by screws. The speed reducer 14 is connected to the drive wheel 11, and transmits the rotation of the motor to the drive wheel 11 at a reduced speed, so that the drive wheel 11 rotates along the axis.
The linear motion mechanism 8 retracts, the driving wheel 11 is separated from the driven wheel 12, and the cable of the material is led in through the gap between the driving wheel 11 and the driven wheel 12. As shown in fig. 3, the linear motion mechanism 8 extends, the driving wheel 11 and the driven wheel 12 are closed, and the driving wheel 11 drives the driven wheel 12 to rotate.
The side plate 4 is provided with a wire passing ring 2, the far end of the main support 7 is connected with a wire outlet pipe 10, and the wire outlet pipe 10 is provided with a wire outlet detection device. The outgoing line detection device is an outgoing line detection sensor 9, and plays a role in monitoring the outgoing line state in the wiring process in real time.
When the automatic feeding device is used, firstly, in a wiring state, the mechanical arm drives the tail end of the mechanical arm to move to a cable discharging position, the linear motion mechanism 8 retracts, the driving wheel 11 is separated from the driven wheel 12, and cables of materials enter the wire outlet pipe 10 through gaps among the wire passing ring 2, the driving wheel 11 and the driven wheel 12. When the length reaches a certain length, the linear motion mechanism 8 is in a wire clamping state, the driving wheel 11 and the driven wheel 12 are closed, and the wire clamping state is achieved, as shown in fig. 3. The cable in the outgoing pipe 10 is clamped, the mechanical arm moves to a preset wiring starting point position of the cable, the cable enters a wiring state at the moment, the driving wheel 11 and the driven wheel 12 are closed, the motor 13 runs to convey the cable downwards actively, the mechanical arm completes the wiring process of the cable along a preset track, and the process is repeated until the wiring of a whole set of wiring harness is finished. The force sensor 6 is used to detect a collision; the outgoing line detection sensor 9 is used for detecting whether the current state is normal.
This technical scheme can realize automatic wiring process, including moving the cable outlet, action wheel 12 and the open line process of crossing of follow driving wheel 11, action wheel 12 and the closed trapping wire process of follow driving wheel 11, action wheel 12 rotates, the initiative unwrapping wire process of following driving wheel 11 and following to having arranged force sensor 6 and having qualified for the next round of competitions detection sensor 9, can real-time supervision wiring in-process collision, and the state of being qualified for the next round of competitions.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a arm device suitable for wiring robot which characterized in that:
the mechanical arm device suitable for the wiring robot comprises:
a mechanical arm and a tail end mechanism;
the mechanical arm comprises a plurality of motor rotating shafts which move independently, and the motor rotating shafts are used for controlling the moving direction of the whole mechanical arm;
the head end of the mechanical arm is fixedly connected with the rack, and the tail end of the mechanical arm is connected with the tail end mechanism;
the tail end mechanism comprises a wire feeding device, a wire clamping device and a wire outlet detection device;
the wire clamping device comprises a main bracket, a linear motion mechanism, a side plate, a driven wheel support plate, a driven wheel, a motor and a driving wheel;
the main support is connected with the tail end of the mechanical arm, the linear motion mechanism is arranged on the main support, the output end of the linear motion mechanism is connected with the driven wheel support plate, the driven wheel is connected with the driven wheel support plate, and the driven wheel rotates along the axis; the linear motion mechanism is connected with the side plate, the motor is arranged on the side plate, and the motor is connected with the driving wheel to enable the driving wheel to rotate along the axis.
2. The robot arm device suitable for wiring robots of claim 1, wherein one end of the robot arm is fixedly connected with the frame through a flange, and the other end of the robot arm is connected with the end mechanism through a flange.
3. The robot arm device suitable for wiring robots of claim 1, wherein the wire feeding device is a wire passing ring provided on a side plate.
4. The mechanical arm device suitable for the wiring robot as claimed in claim 1, wherein the distal end of the main support is connected with a wire outlet pipe, and a wire outlet detection device is mounted on the wire outlet pipe.
5. The robot arm device adapted for use in a wiring robot of claim 1, wherein a force sensor is connected between said main support and the end of said robot arm through a flange.
6. The robot arm device adapted for use in a cabling robot according to claim 1, wherein the driven wheel is hinged on the driven wheel carrier plate.
7. The robot arm device adapted to a wiring robot according to claim 1, wherein a speed reducer is attached to the side plate; the speed reducer is connected with the driving wheel and used for reducing the speed of the rotation of the motor and transmitting the rotation to the driving wheel.
8. The robot arm device suitable for use in a wiring robot according to claim 4, wherein the outgoing line detecting means employs an outgoing line detecting sensor.
9. The robot arm device adapted to a wiring robot according to claim 1, wherein the number of the motor shafts is set to 6.
10. The robot arm device for a wiring robot according to claim 1, wherein the main support is fixedly connected to the linear motion mechanism by a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920420132.8U CN209970742U (en) | 2019-03-29 | 2019-03-29 | Mechanical arm device suitable for wiring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920420132.8U CN209970742U (en) | 2019-03-29 | 2019-03-29 | Mechanical arm device suitable for wiring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209970742U true CN209970742U (en) | 2020-01-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920420132.8U Expired - Fee Related CN209970742U (en) | 2019-03-29 | 2019-03-29 | Mechanical arm device suitable for wiring robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209970742U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877849A (en) * | 2019-03-29 | 2019-06-14 | 通号工程局集团有限公司 | Robot arm device suitable for routing machine people |
| CN111776891A (en) * | 2020-08-11 | 2020-10-16 | 上海联影医疗科技有限公司 | Wire take-up device |
-
2019
- 2019-03-29 CN CN201920420132.8U patent/CN209970742U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877849A (en) * | 2019-03-29 | 2019-06-14 | 通号工程局集团有限公司 | Robot arm device suitable for routing machine people |
| CN111776891A (en) * | 2020-08-11 | 2020-10-16 | 上海联影医疗科技有限公司 | Wire take-up device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200121 |
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| CF01 | Termination of patent right due to non-payment of annual fee |