CN217318033U

CN217318033U - Manipulator and semi-automatic feeding device

Info

Publication number: CN217318033U
Application number: CN202221282832.3U
Authority: CN
Inventors: 张�杰; 李菲菲
Original assignee: Sichuan Huafeng Technology Co Ltd
Current assignee: Sichuan Huafeng Technology Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-08-30
Anticipated expiration: 2032-05-26

Abstract

The utility model discloses a manipulator, including the clamping jaw cylinder, all install the chuck on the two clamping jaws of clamping jaw cylinder, and two chucks set up relatively, the bottom of chuck is the centre gripping arm, set up Z to V-arrangement groove on the clamping face of centre gripping arm, and follow X on the clamping face of centre gripping arm to set up flutedly, still disclose a semi-automatic loading attachment, comprises a workbench, X is to mobile device and Z to mobile device, X is installed on the workstation to mobile device, Z is installed on X to mobile device, still including the carrier of placing the work piece and promote the step-by-step device of carrier along Y to the removal, Z installs above-mentioned manipulator on to mobile device, and the manipulator is located the workstation top, and the work piece on the manipulator centre gripping carrier. The utility model has the advantages that: the semi-automatic workpiece feeding device has the advantages that the semi-automatic workpiece feeding is realized, the workpiece feeding efficiency is improved, the manipulator is convenient to clamp workpieces, the semi-automatic workpiece feeding device can adapt to workpieces of various types and specifications, and the applicability is strong.

Description

Manipulator and semi-automatic feeding device

Technical Field

The utility model relates to an installation of contact, especially a manipulator and semi-automatic feeding device.

Background

The contacts are an important part of the electrical connector, which is directly related to the connection performance of the electrical connector. In an electrical connector structure, an elastic clip is required to be sleeved on an outer side of a contact element, and the elastic sheet on the elastic clip is used to prevent connection from dropping and increase connection stability.

In the prior art, the installation of the elastic collet is troublesome, and in order to fix the elastic collet, an annular groove is usually formed in the surface of the contact element to accommodate the elastic collet. Meanwhile, in order to improve the tightness of the fit, the inner diameter of the elastic collet is usually set by matching the diameter of the groove bottom of the groove, that is, the elastic collet needs to be installed in the groove, and the sleeve-type collet needs to be expanded first. In the whole operation process, an operator clamps the elastic sleeve clamp by using tweezers and then sleeves the elastic sleeve clamp on the contact element. Because the contact piece is small in size, the length is about 2-3 cm generally, the diameter is about 0.1-0.3 cm, and the fine structure brings about not little trouble for operators, so that the installation and alignment are difficult, and the elastic sleeve clamp can deform with slight force.

After long-term research, the assembly mechanism for the elastic collet is researched by the company, the assembly of the elastic collet is realized, and in order to enable the assembly mechanism to be more perfect, the company researches and develops a semi-automatic feeding device aiming at the problem of workpiece feeding.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming, provide a manipulator and semi-automatic feeding device.

The purpose of the utility model is realized through the following technical scheme: the utility model provides a manipulator, includes the clamping jaw cylinder, all installs the chuck on two clamping jaws of clamping jaw cylinder, and two chucks set up relatively, and the bottom of chuck is the centre gripping arm, sets up Z to V-arrangement groove on the clamping face of centre gripping arm, and follows X on the clamping face of centre gripping arm to set up flutedly.

Optionally, the notch of the V-shaped groove is an arc surface turning outwards towards both sides, and the groove bottom of the V-shaped groove is an arc groove bottom.

A semi-automatic feeding device comprises a workbench, an X-direction moving device and a Z-direction moving device, wherein the X-direction moving device is installed on the workbench, the Z-direction moving device is installed on the X-direction moving device, the semi-automatic feeding device further comprises a carrier for placing a workpiece and a stepping device for pushing the carrier to move along the Y direction, the Z-direction moving device is provided with a manipulator, the manipulator is located above the workbench, and the manipulator clamps the workpiece on the carrier.

Optionally, the carrier includes L shape pedestal, and L shape pedestal is along Y to placing, and L shape pedestal and step device joint follow Y on the horizontal arm of L shape pedestal and evenly be provided with a plurality of jacks of placing the work piece to the interval along the Y, offer the storage tank that corresponds with the jack on the vertical arm of L shape pedestal.

It is optional, step device includes step motor, lead screw and nut, lead screw and step motor all install the inner chamber at the workstation, the nut is installed on the lead screw, the top of workstation is followed Y and is seted up the bar groove to, L shape rectilinear movement guide rail is all installed in the both sides of bar groove in the X direction, L shape rectilinear movement guide slot is followed Y and is extended, and two L shape rectilinear movement guide rails set up relatively, form the spout between two L shape rectilinear movement guide rails, the carrier is placed in the spout and with spout sliding fit, install joint spare on the nut, joint spare pass the bar groove and with the carrier joint.

Optionally, a clamping groove is formed in the L-shaped base, and a clamping block clamped in the clamping groove is arranged at the top of the clamping piece.

Optionally, the top of the workbench is provided with a storage table, and the storage table is located on one side of the L-shaped linear moving guide rail.

The utility model has the advantages of it is following: the utility model discloses a semi-automatic feeding device has realized the semi-automatic feeding of work piece to the efficiency of work piece material loading has been improved, moreover the utility model discloses a manipulator centre gripping work piece is convenient, can adapt to the work piece of the multiple specification of multiple model moreover, and its suitability is strong.

Drawings

FIG. 1 is a schematic structural diagram of a semi-automatic feeding device;

FIG. 2 is a first schematic view of the installation of the stepping device;

FIG. 3 is a second schematic view of the installation of the stepping device;

FIG. 4 is a schematic structural diagram of a carrier;

FIG. 5 is a schematic view of the robot;

FIG. 6 is a schematic view of the chuck;

FIG. 7 is a first schematic view of a robot gripping a workpiece;

FIG. 8 is a second schematic structural view of the robot gripping a workpiece;

in the figure, 1-clamping jaw air cylinder, 2-clamping jaw, 3-clamping head, 31-clamping arm, 32-V-shaped groove, 33-groove, 100-workbench, 200-object placing table, 300-stepping device, 400-carrier, 500-Z-direction moving device, 600-X-direction moving device, 301-L-shaped linear moving guide rail, 302-clamping piece, 303-clamping block, 304-stepping motor, 305-screw rod, 306-nut, 401-L-shaped base body, 402-jack, 403-accommodating groove and 404-clamping groove.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the present invention, the embodiments and the features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the products of the present invention are conventionally placed in use, or the position or positional relationship which the skilled person conventionally understand, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the reference is made must have a specific position, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, 2 and 3, a semi-automatic feeding device includes a workbench 100, an X-direction moving device 600 and a Z-direction moving device 500, the X-direction moving device 600 is installed on the workbench 100, the Z-direction moving device 500 is installed on the X-direction moving device 600, both the X-direction moving device 600 and the Z-direction moving device 500 are in the prior art, and therefore the specific structural connection relationship thereof will not be described again, further, the semi-automatic feeding device further includes a carrier 400 for placing a workpiece and a stepping device 300 for pushing the carrier 400 to move along the Y-direction, the Z-direction moving device 500 is installed with the above-mentioned manipulator, the manipulator is located above the workbench 100 and clamps the workpiece on the carrier 400, further, as shown in fig. 5, 6, 7 and 8, the manipulator includes a clamping jaw 2 cylinder 1, and two clamping jaws 2 of the clamping jaw 2 cylinder 1 are installed with chucks 3, and the two chucks 3 are arranged oppositely, preferably, the top of the chuck 3 is provided with a hole for connecting a screw, the chuck 3 and the clamping jaw 2 are locked by the screw, the bottom of the chuck 3 is provided with two clamping arms 31, the clamping surface of the clamping arm 31 is provided with a Z-direction V-shaped groove 32, the clamping surface of the clamping arm 31 is provided with a groove 33 along the X-direction, because the two clamping arms 31 are arranged oppositely, after the clamping surfaces of the two clamping arms 31 are jointed, the two V-shaped grooves 32 form a prismatic cavity, and the two grooves 33 form a rectangular hole, when in use, after the two clamping arms 31 clamp the workpiece, the workpiece is jointed with the side wall of the V-shaped groove 32, further, the clamped part of the workpiece is in a cylindrical structure, so that the workpiece is in linear contact with the side wall of the V-shaped groove 32 after being jointed, thereby ensuring the clamping force, along with the model change of the workpiece, the position of the workpiece in the V-shaped groove 32 can also be changed, but the clamping of the V-shaped groove 32 is not influenced, so that the manipulator can clamp workpieces of various models, and the gap between the two grooves 33 provides a containing cavity for the bent part of the workpiece, after the V-shaped groove 32 clamps the clamped part of the workpiece, the bent part at the top of the workpiece penetrates out of the containing cavity, so that the manipulator can clamp workpieces of different shapes, further, in order to clamp the workpiece by the V-shaped groove 32, the notch of the V-shaped groove 32 is an arc surface outwards turned towards two sides, and the groove bottom of the V-shaped groove 32 is an arc groove bottom.

In this embodiment, as shown in fig. 4, the carrier 400 includes an L-shaped base 401, the L-shaped base 401 is disposed along the Y direction, the L-shaped base 401 is connected to the stepping device 300 in a snap-fit manner, a plurality of insertion holes 402 for placing the workpiece are uniformly disposed on the horizontal arm of the L-shaped base 401 along the Y direction at intervals, a receiving groove 403 corresponding to the insertion hole 402 is disposed on the vertical arm of the L-shaped base 401, the bottom of the workpiece is inserted into the insertion hole 402, the clamping portion of the workpiece is located above the insertion hole 402, if the top of the workpiece has a curved portion, the curved portion of the workpiece is located in the receiving groove 403, and the extending direction of the receiving groove 403 is the X direction, so that the curved portion of the workpiece does not interfere with the manipulator in the process of downward clamping the workpiece by the manipulator.

In this embodiment, the workpieces on the carrier 400 are manually placed, in order to improve the work efficiency, the object placing table 200 is installed at the top of the workbench 100, the object placing table 200 is located on one side of the L-shaped linear moving guide rail 301, after the workpieces are manually placed on the carrier 400, the redundant carriers 400 are placed on the object placing table 200, after the workpieces on the last carrier 400 are clamped, an operator only needs to place the carrier 400 on the object placing table 200 in a working area, and then the manipulator continues to work, in this process, the operator can use the period of time to load the new carriers 400 with the workpieces, so that the loading device is ensured to be orderly carried out, and the work efficiency is improved.

In this embodiment, as shown in fig. 2 and fig. 3, the stepping device 300 includes a stepping motor 304, a lead screw 305, and a nut, the lead screw 305 and the stepping motor 304 are both installed in the inner cavity of the worktable 100, the nut is installed on the lead screw 305, the stepping motor 304, the lead screw 305, and the nut form a pair of lead screw 305 pairs, the stepping motor 304 is used to step the lead screw 305 pairs, further, a strip-shaped groove is formed along the Y direction at the top of the worktable 100, L-shaped linear moving guide rails 301 are installed on both sides of the strip-shaped groove in the X direction, the L-shaped linear moving guide grooves extend along the Y direction, the two L-shaped linear moving guide rails 301 are oppositely arranged, a sliding groove is formed between the two L-shaped linear moving guide rails 301, the carrier 400 is placed in the sliding groove and slidably engaged with the sliding groove, a clamping member 302 is installed on the nut, the clamping member 302 passes through the strip-shaped groove and is clamped with the carrier 400, when the carrier 400 is installed, only need place carrier 400 and guarantee carrier 400 and joint spare 302 joint simultaneously in the spout, thereby guaranteed that carrier 400 can only follow Y to removing, and joint spare 302 is connected with the nut, and joint spare 302 and carrier 400 joint, thereby make the unable circumferential direction of nut, make the nut can only Y to remove, and after step motor 304 works, thereby the nut drives joint spare 302 and promotes carrier 400 along Y to removing, in this embodiment, step motor 304 is once worked, carrier 400 is then promoted a stroke, thereby make next work piece be located the below of manipulator, thereby be convenient for the manipulator to the centre gripping of work piece, in this embodiment, for the convenience of the installation of carrier 400, the joint groove 404 has been seted up on L shape base, the top of joint spare 302 is provided with the joint piece 303 of card in joint groove 404.

In this embodiment, in order to improve the reliability of the semi-automatic feeding device, three sensors are further installed at the top of the inner cavity of the workbench 100, that is, two limit position sensors and an origin sensor, the origin sensor is located between the two limit position sensors, after the stepping motor 304 is restarted at each time, the origin sensor needs to be repositioned, thereby ensuring that the carrier 400 starts to move from a set position at each time, thereby entering a corresponding working position, then, the stepping of the stepping motor 304 is performed again, the feeding of a workpiece on the carrier 400 is realized, thereby ensuring the reliability of the workpiece feeding, and the two limit position sensors have a fool-proof function, thereby ensuring that the carrier 400 always moves in a working area thereof.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A manipulator, its characterized in that: including the clamping jaw cylinder, all install the chuck on two clamping jaws of clamping jaw cylinder, just two chucks set up relatively, the bottom of chuck is the centre gripping arm, set up Z to V-arrangement groove on the clamping face of centre gripping arm, just follow X on the clamping face of centre gripping arm and to seting up the recess.

2. A manipulator according to claim 1, wherein: the notch of the V-shaped groove is an arc surface turning outwards towards two sides, and the groove bottom of the V-shaped groove is an arc groove bottom.

3. The utility model provides a semi-automatic loading attachment, includes workstation, X to mobile device and Z to the mobile device, X is installed to the mobile device on the workstation, Z is installed to the mobile device on X is to the mobile device, its characterized in that: the manipulator is characterized by further comprising a carrier for placing a workpiece and a stepping device for pushing the carrier to move along the Y direction, wherein the manipulator of any one of claims 1 or 2 is installed on the Z-direction moving device, the manipulator is located above the workbench, and the manipulator clamps the workpiece on the carrier.

4. A semi-automatic loading device according to claim 3, characterized in that: the carrier includes L shape pedestal, L shape pedestal is along Y to placing, L shape pedestal with the step device joint, evenly be provided with a plurality of jacks of placing the work piece along Y to the interval on the horizontal arm of L shape pedestal, set up on the vertical arm of L shape pedestal with the storage tank that the jack corresponds.

5. The semi-automatic feeding device according to claim 4, characterized in that: step-by-step device includes step motor, lead screw and nut, the lead screw with step motor all installs the inner chamber of workstation, the nut is installed on the lead screw, Y is followed to having seted up the bar groove at the top of workstation, L shape rectilinear movement guide rail is all installed in the both sides of bar groove in the X direction, L shape rectilinear movement guide slot is followed Y to extending, and two L shape rectilinear movement guide rails set up relatively, two form the spout between the L shape rectilinear movement guide rail, the carrier is placed in the spout and with spout sliding fit, install joint spare on the nut, joint spare passes the bar groove and with the carrier joint.

6. The semi-automatic feeding device of claim 5, wherein: a clamping groove is formed in the L-shaped base, and a clamping block clamped in the clamping groove is arranged at the top of the clamping piece.

7. The semi-automatic feeding device of claim 6, wherein: the top of workstation is installed and is put the thing platform, it is located to put the thing platform one side of L shape linear movement guide.