WO2021004290A1 - 接线端子夹爪 - Google Patents

接线端子夹爪 Download PDF

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Publication number
WO2021004290A1
WO2021004290A1 PCT/CN2020/098095 CN2020098095W WO2021004290A1 WO 2021004290 A1 WO2021004290 A1 WO 2021004290A1 CN 2020098095 W CN2020098095 W CN 2020098095W WO 2021004290 A1 WO2021004290 A1 WO 2021004290A1
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WO
WIPO (PCT)
Prior art keywords
terminal
rotating cylinder
assembly
positioning
mounting plate
Prior art date
Application number
PCT/CN2020/098095
Other languages
English (en)
French (fr)
Inventor
马运昌
Original Assignee
魏德米勒界面有限及两合公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910604446.8A external-priority patent/CN110202339B/zh
Priority claimed from CN201921043845.3U external-priority patent/CN210099405U/zh
Application filed by 魏德米勒界面有限及两合公司 filed Critical 魏德米勒界面有限及两合公司
Priority to EP20837283.9A priority Critical patent/EP3995252A4/en
Priority to US17/624,140 priority patent/US11784451B2/en
Publication of WO2021004290A1 publication Critical patent/WO2021004290A1/zh

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Classifications

    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

Definitions

  • the invention relates to the field of power distribution. More specifically, the present invention relates to a terminal jaw.
  • An object of the present invention is to solve at least the above-mentioned problems and provide at least the advantages described later.
  • Another object of the present invention is to provide a terminal clamping jaw, which solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals.
  • a terminal clamping jaw which includes: a rotary cylinder assembly, which is used to achieve different swing angles for clamping different types of terminals; The rotating cylinder assembly is connected, and the opening and closing movement is performed; the terminal clamping arm assembly is connected with the air claw assembly and moves with the air claw assembly for clamping the terminal; wherein the rotating cylinder assembly includes:
  • the fixed plate component which includes the bearing mounting plate
  • a rotating shaft which is mounted on the bearing mounting plate and provides driving force through a rotating cylinder
  • An initial state limiting portion which is installed on the bearing mounting plate, and is used to realize the positioning of the rotating cylinder in the initial state of rotation;
  • the first state limiting portion is installed on the bearing mounting plate and is used to realize the positioning of the rotary cylinder at a first rotation angle, the first rotation angle rotating clockwise by a predetermined angle relative to the initial state;
  • the second state limiting portion is movably mounted on the bearing mounting plate, and the second state limiting portion has a working position and a non-working position relative to the bearing mounting plate.
  • the second state limiting portion When in the working position, it is used to realize the positioning of the rotating cylinder at the second rotation angle, and when the second state limit part is in the non-working position, the positioning of the rotating cylinder at the first rotation angle can be realized, Wherein, the second rotation angle is smaller than the first rotation angle.
  • the first rotation angle is 83°-85°
  • the second rotation angle is 15°.
  • the initial state limit part is a first limit stop
  • the first limit stop is provided with a semi-cylindrical card slot through which a cylindrical card can be clamped.
  • the first state limiting portion is a buffer block, and a cylinder or a cylinder-like body is provided on the buffer block.
  • the second state limiting portion is a first positioning pin shaft
  • the first positioning pin shaft is a cylinder or a cylinder-like body capable of telescoping relative to the bearing mounting plate.
  • the first positioning pin shaft realizes its telescopic movement through a needle cylinder
  • the needle cylinder is mounted on the bearing mounting plate through a needle cylinder mounting seat.
  • the air jaw assembly includes:
  • Air claw mounting plate which is connected with the rotating cylinder assembly, and moves in expansion and closing motion, and moves with the rotating cylinder;
  • An air jaw which is installed on the air jaw mounting plate to drive the terminal clamp arm assembly to move;
  • the second limit stop which is installed on the air claw mounting plate, cooperates with the first state limit part and the second state limit component to realize the positioning and the first rotation angle of the rotary cylinder Positioning of the second rotation angle;
  • the second positioning pin shaft is installed on the air claw mounting plate and cooperates with the initial state limiting portion for realizing the positioning of the rotating cylinder in the initial state of rotation.
  • the terminal clamp arm assembly includes:
  • a terminal clamp arm which is fixedly connected with the air claw
  • the POM block is installed at the lower part of the terminal clamp arm and extends to the side where the terminal is clamped.
  • the lower part of the terminal clamp arm has a mounting post
  • the POM polyoxymethylene block has a mounting hole
  • the mounting hole is sleeved on the mounting post
  • the POM polyoxymethylene block can slide relative to the mounting post, and the sliding direction Parallel to the movement direction of the air claw
  • a rubber block is arranged between the mounting hole and the mounting column on the side where the terminal is clamped.
  • the POM polyoxymethylene block is a plurality of independent sub-blocks stacked.
  • the multi-layer POM polyoxymethylene block moves back and forth with the terminal clamping arm, and the terminal clamping arm plays a guiding role to achieve the purpose of clamping and taking and preventing the terminal from falling off.
  • chuck assembly for connecting the rotating cylinder assembly to a manipulator, and the chuck assembly includes:
  • a vertical plate which is fixed on the rotating cylinder assembly
  • a guide seat which is fixed on the manipulator and arranged in parallel with the vertical plate;
  • An optical axis which is fixed on the vertical plate and sleeved with a spring, and the optical axis is slidably penetrated on the guide seat;
  • a fixed block which is fixed on the optical axis and is located on both sides of the guide seat with the vertical plate;
  • a light blocking plate is installed between the vertical plate and the fixed block, and the light blocking plate is provided with a gap;
  • the photoelectric switch is installed on the guide seat, and when the vertical plate compresses the spring in place, the photoelectric switch can be triggered by a gap on the light barrier.
  • the present invention includes at least the following beneficial effects: First, the terminal clamping jaw provided by the present invention solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals. Terminals of large size and complex shapes that are not easy to be clamped can also be easily clamped; second, the terminal clamping jaws provided by the present invention can be connected to the PLC control system to achieve the purpose of automatic terminal clamping; third, the present invention provides The terminal clamp has a compact mechanical structure and flexible operation, which is suitable for large-scale promotion and use.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic structural diagram of the rotary cylinder assembly in a technical scheme of the present invention
  • FIG. 3 is a schematic diagram of the structure of the air jaw assembly in a technical scheme of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the chuck assembly in a technical scheme of the present invention.
  • Figure 5 is a schematic diagram of the structure of the chuck assembly in a technical scheme of the present invention.
  • Figure 6 is a schematic structural view of the terminal clamp arm assembly in a technical solution of the present invention.
  • FIG. 7 is a cross-sectional view of the terminal clamp arm assembly in a technical solution of the present invention.
  • Fig. 8 is a schematic diagram of the structure of the manipulator in a technical scheme of the present invention.
  • the present invention provides a terminal clamp
  • rotating cylinder assembly 30 which is used to achieve different swing angles for clamping different types of terminals
  • air claw assembly 50 which is connected to the rotating cylinder assembly 30 and moves in expansion and closing
  • terminal clamp arm assembly 60 which is connected with The air claw assembly 50 is connected to and moves with the air claw assembly 50 for clamping and picking up terminals
  • the rotating cylinder assembly 30 includes:
  • the fixed plate component includes a bearing mounting plate 41; the fixed plate component also includes a rotating cylinder fixing plate 44 and a rotating cylinder top plate 33, the rotating cylinder top plate 33 is arranged horizontally, and the rotating cylinder fixing plate 44 and the bearing are installed
  • the plates 41 are respectively arranged on opposite sides of the top plate 33 of the rotating cylinder, and perpendicular to the top plate 33 of the rotating cylinder, forming a gate shape for placing various components;
  • the rotating shaft 37 is mounted on the bearing mounting plate 41 and provides driving force through the rotating cylinder 31; the rotating shaft 37 and the rotating cylinder 31 are connected by a coupling 32 to transmit the driving force, the
  • the coupling 32 is arranged under the top plate 33 of the rotating cylinder, so that the components are compact;
  • the initial state limit part which is installed on the bearing mounting plate 41, is used to realize the positioning of the rotating initial state of the rotating cylinder 31;
  • the initial state limit part may be a buffer, a toggle block, and a slot Stop block or manual dial;
  • the first state limiting portion which is installed on the bearing mounting plate 41, is used to realize the positioning of the rotary cylinder 31 at a first rotation angle, the first rotation angle rotates clockwise by a predetermined angle relative to the initial state ;
  • the first state limit part may be a buffer, a toggle block, a stop block with a card slot, or a manual toggle;
  • the second state limiting portion is movably mounted on the bearing mounting plate 41.
  • the second state limiting portion has a working position and a non-working position relative to the bearing mounting plate 41.
  • the second state is limited
  • the position part is in the working position, it is used to realize the positioning of the second rotation angle of the rotary cylinder 31.
  • the second state limit part is in the non-operation position, the rotary cylinder 31 can be realized in the first rotation.
  • Angle positioning wherein the second rotation angle is smaller than the first rotation angle
  • the second state limit part may be a manual telescopic column or an automatic telescopic shaft, wherein the automatic telescopic shaft can be passed through a cylinder, a screw rod or an elastic Components to achieve its telescopic function.
  • the rotary cylinder 31 is rotated at different angles to realize the clamping of different types of terminals.
  • the specific process is: S1, initialization: the initial state limiter positions the rotary cylinder 31 in the initial state. State, the air jaw assembly starts to work; S2, extraction terminal: the manipulator moves the terminal jaw assembly along the Y axis/if necessary along the X axis to the vicinity of the clip, and moves the terminal jaw assembly downward along the Z axis.
  • the claw assembly drives the terminal clamp arm assembly to clamp the terminal, move the terminal clamp jaws upward along the Z axis, and propose the terminal to be clamped; S3, transport and rotate the terminal: move the terminal along the Y axis / if necessary, along the X axis
  • the clamping jaw is near the mounting rail, and at the same time, the rotating cylinder 31 is rotated until it is positioned.
  • the rotation of the rotary cylinder 31 until it is positioned is completed in the following manner: S31, the control mechanism recognizes the type of the terminal to be installed, and can grab two types of terminals to be installed at one time, and the rotation angle of the first type is the first rotation during installation.
  • the control mechanism selects the limit part according to the type of terminal to be installed, if the terminal to be installed is the first type, the first state limit part works, The rotating cylinder 31 is positioned at the first rotation angle. If the terminal to be installed is of the second type, the second state limiter works, and the rotating cylinder 31 is positioned at the second rotation angle; S4, the clamping terminal: The rotary air cylinder 31 is shut off, and the terminal clamping jaw assembly is moved down along the Z axis. The terminal to be installed contacts the guide rail. Driven by the reaction force of the guide rail, the jaw assembly interacts with the first state limiting portion or the second state The limit part is separated, the terminal is reset and rotated and the clamping with the guide rail is completed.
  • the prior art uses different equipment or multiple manipulators to realize the clamping of different types of terminals.
  • the present invention uses one terminal clamping device to realize the clamping of different types of terminals. Multiple manipulators are required to operate, making the operation more flexible.
  • the first rotation angle is 83°-85°
  • the second rotation angle is 15°.
  • the set angle realizes the inclination angle required when the two most common types of terminals are grasped.
  • the initial state limiting portion is a first limiting stopper 38
  • the first limiting stopper 38 is provided with a semi-cylindrical card slot, which passes through the card slot Can be clamped with a card with a convex part.
  • the positioning automation is realized by the snap connection structure.
  • the first state limiting portion is a buffer block 34
  • the buffer block 34 is provided with a cylinder or a cylinder-like body.
  • the cylindrical or cylindrical buffer block 34 can cooperate with a component with a slot structure to achieve automatic positioning.
  • the second state limiting portion is a first positioning pin shaft 40
  • the first positioning pin shaft 40 is a cylinder or the like that can expand and contract with respect to the bearing mounting plate 41 Cylinder. It is mounted on the bearing mounting plate 41 through a positioning pin shaft seat 39, and is located between the buffer block 34 and the first limit stop 38.
  • the rotating cylinder 31 rotates. The angle is positioned at 15°; when retracted, the rotating cylinder 31 is allowed to rotate to the 83°-85°.
  • the first positioning pin 40 realizes its telescopic movement through a needle cylinder 43, and the needle cylinder 43 is mounted on the bearing mounting plate 41 through a needle cylinder mounting seat 42 on.
  • the needle cylinder 43 realizes the automatic operation of the second state limit part, and improves the operation efficiency.
  • the air claw assembly 50 is connected to the rotating cylinder assembly 30 to realize the movement of the terminal clamp arm assembly 60.
  • the air claw assembly 50 includes:
  • the air claw mounting plate 53 is connected to the rotary cylinder assembly 30; specifically, the air claw mounting plate 53 is provided with a mounting hole and is connected to the rotating shaft 37 in the rotary cylinder assembly.
  • Air claw 52 which is installed on the air claw mounting plate 53, to drive the terminal clamp arm assembly 60 to move;
  • the second limit stop 54 is mounted on the air claw mounting plate 53, and cooperates with the first state limit part to realize the positioning of the rotary cylinder 31 at the first rotation angle; specifically, the The second limit stop 54 provided on the air claw assembly 50 is provided with a card slot.
  • the card slot is provided with a silicone pad for buffering.
  • the second positioning pin 55 is installed on the air claw mounting plate 53 and cooperates with the initial state limiting portion to realize the positioning of the rotating cylinder 31 in the initial state of rotation. Specifically, in this state, the first stopper 38 on the rotating cylinder assembly 30 is clamped with the second positioning pin 55 on the air claw assembly 50.
  • the parts on the air jaw assembly 50 are clamped with the first state limiting portion and the second state limiting portion to realize the positioning of the rotary cylinder 32 at different rotation angles, so that the entire device has a higher Stability, improve the flexibility of the device.
  • the terminal clamp arm assembly 60 includes:
  • a terminal clamping arm 61 which is fixedly connected to the air claw 52;
  • the POM block 63 is installed at the lower part of the terminal clamp arm 61 and extends to the side where the terminal is clamped.
  • the clamping jaws in the prior art are generally metal clamping jaws or plastic flexible clamping jaws.
  • the disadvantage of metal clamping jaws is that the rigidity is large and the elastic deformation is small, which can easily cause damage to the surface of the object being clamped.
  • the flexible clamping jaws are mainly made of plastic materials and have high elasticity.
  • the rigidity is small and cannot meet the needs of terminal clamping; the POM polyoxymethylene block 63 used in this technical solution has high rigidity, good elasticity, good wear resistance, and is not easy to damage the surface of the object being grabbed.
  • the lower part of the terminal clamp arm 61 has a mounting post 610
  • the POM block 63 has a mounting hole
  • the mounting hole is sleeved on the mounting post 610
  • the POM block 63 can slide relative to the mounting post 610, the sliding direction is parallel to the movement direction of the air claw 52, and the mounting hole and the mounting post 610 are located on the side of the terminal clamping
  • a rubber block 62 is provided.
  • the mounting column 610 is a square column
  • the mounting hole is a square hole
  • the mounting hole is sleeved on the mounting column 610
  • the width of the mounting hole is greater than the width of the mounting column 610, Therefore, the POM block 63 can slide relative to the mounting post 610, and the sliding direction is parallel to the moving direction of the air claw 52.
  • a rubber block 62 is provided between the mounting hole and the mounting post 610 on the side where the terminal is clamped.
  • the arc shape of the terminal surface compresses the rubber block 62 differently, resulting in different sliding distances of the POM polyoxymethylene block on the mounting post 610, realizing the arc shape of the POM polyoxymethylene block and the terminal surface
  • the bonding of the terminal clamp arm assembly 60 can achieve the shape of the clamp and prevent the terminal from falling off. Therefore, the application range of the terminal clamp arm assembly 60 is wider.
  • the POM polyoxymethylene block 63 is a plurality of independent sub-blocks stacked.
  • the POM polyoxymethylene block 63 includes 3-12 independent sub-blocks stacked.
  • the multi-layer POM polyoxymethylene block 63 moves back and forth with the terminal clamping arm 61, and the terminal clamping arm 61 plays a guiding role, so as to achieve the purpose of conforming the clamping and preventing the terminal from falling off.
  • the arrangement of multiple independent sub-blocks allows the clamping to follow the shape from the point and the surface to prevent the terminal from falling off.
  • a chuck assembly 10 is further included for connecting the rotating cylinder assembly 30 to a manipulator, and the chuck assembly 10 includes:
  • the vertical plate 11 is fixed on the rotating cylinder assembly 30. Specifically, the vertical plate 11 is connected to the bearing mounting plate 41 and the rotating cylinder fixing plate 44 by screws. Preferably, the vertical plate 11 is A limit post 14 that limits its movement can also be provided.
  • the guide base 15 is fixed on the manipulator and is arranged in parallel with the vertical plate 11; the three-axis manipulator is shown in FIG. 6, and realizes the three-axis linkage of X, Y, and Z;
  • the optical axis 18 is fixed on the vertical plate 11 by an optical axis fixing seat 12 and is sleeved with a spring 13.
  • the optical axis 18 is also slidably penetrated on the guide seat 15; preferably, the optical axis
  • the shaft 18 is also provided with a linear bearing 16; more preferably, the optical shaft 18 is provided with two sets;
  • the fixing block 17 is fixed on the optical axis 18 and is located on both sides of the guide seat 15 with the vertical plate 11;
  • the light blocking plate 20 is installed between the vertical plate 11 and the fixing block 17, and the light blocking plate 20 has a notch 21;
  • the photoelectric switch 19 is mounted on the guide base 15. When the vertical plate 11 compresses the spring 13 in place, the photoelectric switch 19 can be triggered by the gap 21 on the light barrier 20, and the feedback terminal is locked Information or not.
  • the rotation of the rotary cylinder 31 until it is positioned is completed in the following manner: S31, the control mechanism recognizes the type of terminal to be installed.
  • the first type is installed at a rotation angle of 15° , The second type of installation, the rotation angle is 83° ⁇ 85°;
  • S32 the control mechanism selects the limit part according to the type of terminal to be installed, if the terminal to be installed is the first type, the needle cylinder 43 is controlled to extend and drive The extension of the first positioning pin shaft 40 indicates that the first positioning pin shaft 40 is selected for position limitation. If the terminal to be installed is of the second type, the needle cylinder 43 is controlled to retract, which drives the first positioning pin shaft 40 to retract.
  • clamping terminal the air cylinder 31 is turned off, the terminal clamping jaw is moved down along the Z axis, the terminal to be installed is in contact with the guide rail, and driven by the reaction force of the guide rail, the second limit stop 54 and the first positioning pin
  • the shaft 40 or the buffer block 34 is separated, the terminal is reset and rotated and the clamping with the guide rail is completed.
  • the second positioning pin shaft 55 is clamped with the first limit stop 38.
  • step S5 confirm that the card is in place: the rotation of the terminal during the clamping process brings about thrust and displacement in the Y-axis direction, the vertical plate 11 moves relative to the guide base 15, and the gap 21 on the light barrier 20 can trigger the photoelectric switch 19 to confirm that the card is in place . If the photoelectric switch 19 is triggered, the air claw 52 is opened, the terminal clamping claw moves up along the Z axis, and returns to step S2 to continue the clamping; if in step S4, the terminal does not contact the guide rail, or due to some reasons, it has not been completed with the guide rail. The photoelectric switch 19 failed to be triggered due to the card installation, and the system issued an alarm.
  • the terminal clamp provided by the present invention solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the clamping of special types of terminals, which is difficult to clamp for large-size and complex-shaped terminals. It can also be easily clamped.
  • the terminal clamp has a compact mechanical structure and flexible operation, which is suitable for large-scale popularization and use.
  • the present invention includes at least the following beneficial effects: First, the terminal clamp provided by the present invention solves the technical problem of using one terminal clamping device to realize different types of terminals, and even realizes the The clamping device can easily clamp large-size and complex-shaped terminals that are not easy to clamp; second, the terminal clamping jaw provided by the present invention can be connected to the PLC control system to achieve the purpose of automatic terminal clamping; third, The terminal clamping jaw provided by the invention has a compact mechanical structure, flexible operation, and is suitable for large-scale popularization and use.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

本发明公开了接线端子夹爪，包括：旋转气缸组件，其用于实现不同摆角，以便卡装不同类型端子；旋转气缸组件包括：旋转轴，通过旋转气缸提供驱动力；初始状态限位部，用于实现旋转气缸旋转初始状态的定位；第一状态限位部，用于实现旋转气缸第一旋转角度的定位；第二状态限位部，其相对于轴承安装板具有工作位置和非工作位置，当第二状态限位部处于工作位置时，用于实现旋转气缸第二旋转角度的定位，当第二状态限位部处于非工作位置时，能够实现旋转气缸在所述第一旋转角度的定位，其中，第二旋转角度小于第一旋转角度。本发明解决了仅利用一个端子卡装设备实现不同型号种类的端子的技术问题，甚至还实现了对特殊型号的端子的卡装。

Description

接线端子夹爪 技术领域
本发明涉及配电领域。更具体地说，本发明涉及一种接线端子夹爪。
背景技术
随着配电行业的迅猛发展，自动把接线端子往导轨上卡装已是行业发展的必然趋势，而端子的型号种类各异，在自动把接线端子往导轨上卡装时，必然要面临的技术难题是如何利用同一个端子卡装设备实现不同型号种类的端子的卡装，甚至是特殊型号的端子的卡装。
发明内容
本发明的一个目的是解决至少上述问题，并提供至少后面将说明的优点。
本发明还有一个目的是提供一种接线端子夹爪，其解决了利用一个端子卡装设备实现不同型号种类的端子的技术问题，甚至还实现了对特殊型号的端子的卡装。
为了实现根据本发明的这些目的和其它优点，提供了一种接线端子夹爪，包括：旋转气缸组件，其用于实现不同摆角，以便卡装不同类型端子；气爪组件，其与所述旋转气缸组件连接，且张合运动；端子夹臂组件，其与所述气爪组件连接并随气爪组件移动，用于夹取端子；其中所述旋转气缸组件包括：
固定板部件，其包括轴承安装板；
旋转轴，其安装在所述轴承安装板上，通过旋转气缸提供驱动力；
初始状态限位部，其安装在所述轴承安装板上，用于实现所述旋转气缸旋转初始状态的定位；
第一状态限位部，其安装在所述轴承安装板上，用于实现所述旋转气缸第一旋转角度的定位，所述第一旋转角度相对于所述初始状态顺时针旋转预定角度；
第二状态限位部，其活动安装在所述轴承安装板上，所述第二状态限位部相对于所述轴承安装板具有工作位置和非工作位置，当所述第二状态限位部处于工作位置时，用于实现所述旋转气缸第二旋转角度的定位，当所述第二状态限位部处于非工作位置时，能够实现所述旋转气缸在所述第一旋转角度的定位，其中，第二旋转角度小于第一旋转角度。
优选的是，第一旋转角度为83°～85°，第二旋转角度为15°。
优选的是，所述初始状态限位部为第一限位挡块，所述第一限位挡块上设有半圆柱型卡槽，通过所述卡槽可卡接圆柱形卡件。
优选的是，所述第一状态限位部为缓冲块，所述缓冲块上设有圆柱体或者类圆柱体。
优选的是，所述第二状态限位部为第一定位销轴，所述第一定位销轴为能够相对所述轴承安装板伸缩的圆柱体或类圆柱体。
优选的是，所述第一定位销轴通过针形气缸实现其伸缩运动，所述针形气缸通过针形气缸安装座安装在所述轴承安装板上。
优选的是，所述气爪组件包括：
气爪安装板，其与所述旋转气缸组件连接，且张合运动，随所述旋转气缸移动；
气爪，其安装在所述气爪安装板上，带动所述端子夹臂组件移动；
第二限位挡块，其安装在所述气爪安装板上，与所述第一状态限位部以及所述第二状态限位部件配合，实现所述旋转气缸第一旋转角度的定位和第二旋转角度的定位；
第二定位销轴，其安装在所述气爪安装板上，与所述初始状态限位部配合，用于实现所述旋转气缸旋转初始状态的定位。
优选的是，所述端子夹臂组件包括：
端子夹臂，其与所述气爪固定连接；
POM聚甲醛块，安装在端子夹臂下部并向端子卡装的一侧伸出。
优选的是，所述端子夹臂的下部具有安装柱，所述POM聚甲醛块具有安装孔，所述安装孔套设在安装柱上，所述POM聚甲醛块能够相对安装柱滑动，滑动方向平行于气爪的运动方向，并且安装孔与安装柱之间位于端子卡装的一侧设置有橡胶块。用于填补所述POM聚甲醛块与端子夹臂部分的间隙，POM聚甲醛块与端子夹臂间隙处，夹取端子时压缩橡胶块的距离不一致，使POM聚甲醛块包住端子，以达到夹取随形且不脱落的效果。
优选的是，所述POM聚甲醛块为叠置的复数块独立子块。在夹取过程中，多层POM聚甲醛块随端子夹臂前后移动，端子夹臂起导向作用，以达到夹取随形，防止端子脱落得目的。
优选的是，还包括夹头组件，用于将所述旋转气缸组件连接至机械手，所述夹头组件包括：
立板，其固定在所述旋转气缸组件上；
导向座，其固定在所述机械手上，且与所述立板平行设置；
光轴，其固定在所述立板上并且套设有弹簧，所述光轴还滑动穿设于所述导向座上；
固定块，其固定在所述光轴上，且与所述立板分别位于所述导向座的两侧；
挡光板，其安装在所述立板与所述固定块之间，所述挡光板上具有豁口；
光电开关，其安装在所述导向座上，当所述立板压缩所述弹簧到位时，所述光电开关能够被所述挡光板上的豁口触发。
本发明至少包括以下有益效果：其一，本发明提供的接线端子夹爪解决了利用一个端子卡装设备实现不同型号种类的端子的技术问题，甚至还实现了对特殊型号的端子的卡装，对大尺寸及形状复杂不易夹取的端子也能轻松夹取；其二，本发明提供的接线端子夹爪可接入PLC控制系统，实现端子自动化卡装的目的；其三，本发明提供的接线端子夹爪机械结构紧凑，操作灵活，适合大规模推广使用。
本发明的其它优点、目标和特征将部分通过下面的说明体现，部分还将通过对本发明的研究和实践而为本领域的技术人员所理解。
附图说明
图1为本发明的结构示意图；
图2为本发明一个技术方案中所述旋转气缸组件的结构示意图；
图3为本发明一个技术方案中所述气爪组件的结构示意图；
图4为本发明一个技术方案中所述夹头组件的结构示意图；
图5为本发明一个技术方案中所述夹头组件的结构示意图；
图6本发明一个技术方案中所述端子夹臂组件的结构示意图；
图7为本发明一个技术方案中所述端子夹臂组件的剖视图；
图8为本发明一个技术方案中所述机械手的结构示意图。
具体实施方式
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能 够据以实施。
应当理解，本文所使用的诸如“具有”、“包含”以及“包括”术语并不配出一个或多个其它元件或其组合的存在或添加。
如图1所示，本发明提供了一种接线端子夹爪，
包括：旋转气缸组件30，其用于实现不同摆角，以便卡装不同类型端子；气爪组件50，其与所述旋转气缸组件30连接，且张合运动；端子夹臂组件60，其与所述气爪组件50连接并随气爪组件50移动，用于夹取端子；
如图1、2所示，其中所述旋转气缸组件30包括：
固定板部件，其包括轴承安装板41；所述固定板部件还包括旋转气缸固定板44和旋转气缸顶板33，所述旋转气缸顶板33水平设置，所述旋转气缸固定板44和所述轴承安装板41分别设置于所述旋转气缸顶板33的对边上，且与所述旋转气缸顶板33垂直，形成门形以便放置各部件；
旋转轴37，其安装在所述轴承安装板41上，通过所述旋转气缸31提供驱动力；所述旋转轴37和所述旋转气缸31通过联轴器32连接，以传递驱动力，所述联轴器32设置在所述旋转气缸顶板33的下面，使得部件间组成紧凑；
初始状态限位部，其安装在所述轴承安装板41上，用于实现所述旋转气缸31旋转初始状态的定位；所述初始状态限位部可以是缓冲件、拨动块、具有卡槽的挡位块或者手动拨件；
第一状态限位部，其安装在所述轴承安装板41上，用于实现所述旋转气缸31第一旋转角度的定位，所述第一旋转角度相对于所述初始状态顺时针旋转预定角度；所述第一状态限位部可以是缓冲件、拨动块、具有卡槽的挡位块或者手动拨件；
第二状态限位部，其活动安装在所述轴承安装板41上，所述第二状态限位部相对于所述轴承安装板41具有工作位置和非工作位置，当所述第二状态限位部处于工作位置时，用于实现所述旋转气缸31第二旋转角度的定位，当所述第二状态限位部处于非工作位置时，能够实现所述旋转气缸31在所述第一旋转角度的定位，其中，所述第二旋转角度小于第一旋转角度，其中，所述第二状态限位部可以是手动伸缩柱或者自动伸缩轴，其中自动伸缩轴可以通过气缸、丝杆或者弹性构件来实现其伸缩功能。
在上述技术方案中，通过所述旋转气缸31旋转不同角度，实现了对不同类型端子的 卡装，具体流程为：S1，初始化：所述初始状态限位部将所述旋转气缸31定位在初始状态，所述气爪组件开始工作；S2，提取端子：机械手沿Y轴/必要时沿X轴移动接线端子夹爪至弹夹附近，沿Z轴向下移动接线端子夹爪组件，所述气爪组件带动所述端子夹臂组件卡装住端子，沿Z轴向上移动接线端子夹爪，提出待卡装端子；S3，运送并旋转端子：沿Y轴/必要时沿X轴移动接线端子夹爪至安装导轨附近，与此同时，转动所述旋转气缸31直至被定位。所述旋转气缸31转动直至被定位通过以下方式完成：S31，控制机构识别待安装端子的类型，一次性可抓取两种类型的待安装端子，第一种类型安装时旋转角度为第一旋转角度，第二种类型安装时旋转角度为第二旋转角度；S32，控制机构根据待安装端子的类型选择限位部，如果待安装端子为第一种类型，则第一状态限位部工作，所述旋转气缸31定位在第一旋转角度，如果待安装端子为第二种类型，则第二状态限位部工作，所述旋转气缸31定位在第二旋转角度；S4，卡装端子：所述旋转气缸31断气，沿Z轴向下移动接线端子夹爪组件，待安装端子与导轨接触，在导轨的反作用力的推动下，所述气爪组件与第一状态限位部或者第二状态限位部分离，端子复位旋转并且完成与导轨的卡装。
实际生产中，接线端子的类型多样，现有技术都是通过不同设备或者多个机械手来实现不同类型端子的卡装，本发明利用一台端子卡装设备实现了不同类型端子的卡装，不需要多台机械手操作，使得操作更灵活。
在其中一个技术方案中，第一旋转角度为83°～85°，第二旋转角度为15°，所设置角度实现最常见两种类型端子抓取时所需倾斜角度。
如图2，在其中一个技术方案中，所述初始状态限位部为第一限位挡块38，所述第一限位挡块38上设有半圆柱型卡槽，通过所述卡槽可卡接具有凸部的卡件。通过卡接结构实现了定位自动化。
如图2，在其中一个技术方案中，所述第一状态限位部为缓冲块34，所述缓冲块34上设有圆柱体或者类圆柱体。圆柱体或者类圆柱体的缓冲块34可配合具有卡槽结构的部件实现自动定位的目的。
如图2，在其中一个技术方案中，所述第二状态限位部为第一定位销轴40，所述第一定位销轴40为能够相对所述轴承安装板41伸缩的圆柱体或类圆柱体。其通过定位销轴座39安装在所述轴承安装板41上，位于所述缓冲块34与第一限位挡块38之间，第一定位销轴40伸出时使所述旋转气缸31旋转角度定位在15°；缩回时，允许所述旋转气缸31 旋转至所述83°～85°。
如图2，在其中一个技术方案中，所述第一定位销轴40通过针形气缸43实现其伸缩运动，所述针形气缸43通过针形气缸安装座42安装在所述轴承安装板41上。所述针形气缸43实现了所述第二状态限位部自动工作，提高操作效率。
如图1、3，在其中一个技术方案中，所述气爪组件50与所述旋转气缸组件30连接，实现对端子夹臂组件60的移动，所述气爪组件50包括：
气爪安装板53，其与所述旋转气缸组件30连接；具体来说，所述气爪安装板53设有安装孔，与所述旋转气缸组件中的旋转轴37连接。
气爪52，其安装在所述气爪安装板上53，带动所述端子夹臂组件60移动；
第二限位挡块54，其安装在所述气爪安装板53上，与所述第一状态限位部配合，实现所述旋转气缸31第一旋转角度的定位；具体而言，所述气爪组件50上设置的第二限位挡块54上设有卡槽，所述卡槽内设有含硅胶垫，起缓冲作用，所述第一定位销轴40伸出时使所述旋转气缸31旋转角度定位在15°，第一定位销轴40与气爪组件50上的第二限位挡块54卡接；缩回时，此状态下所述缓冲块34与气爪组件50上的第二限位挡块54卡接，允许旋转气缸旋转至所述83°～85°。
第二定位销轴55，其安装在所述气爪安装板53上，与所述初始状态限位部配合，用于实现所述旋转气缸31旋转初始状态的定位。具体而言，此状态下，所述旋转气缸组件30上的第一限位挡块38与气爪组件50上的第二定位销轴55卡接。
在上述技术方案中，通过气爪组件50上的部件与第一状态限位部、第二状态限位部卡接以实现所述旋转气缸32不同旋转角度的定位，使得整个装置具有更高的稳定性，提高装置的灵活性。
如图6，在其中一个技术方案中，所述端子夹臂组件60包括：
端子夹臂61，其与所述气爪52固定连接；
POM聚甲醛块63，安装在所述端子夹臂61下部并向端子卡装的一侧伸出。
在上述技术方案中，在夹取过程中，所述POM聚甲醛块63随端所述子夹臂61前后移动，所述端子夹臂61起导向作用，以达到夹取随形，防止端子脱落的目的。现有技术中夹爪普遍为金属夹爪或者塑料柔性夹爪，金属夹爪的缺点是刚度大弹性变形小，极易造成被夹取物件的表面损坏；柔性夹爪主要采用塑料材料，弹性大但刚度小，无法满足端子 夹取的需求；而本技术方案采用的POM聚甲醛块63夹爪刚度高，弹性好，减磨耐磨性好，不易损伤被抓取物件的表面。
如图6、7，在其中一个技术方案中，所述端子夹臂61的下部具有安装柱610，所述POM聚甲醛块63具有安装孔，所述安装孔套设在所述安装柱610上，所述POM聚甲醛块63能够相对所述安装柱610滑动，滑动方向平行于所述气爪52的运动方向，并且所述安装孔与所述安装柱610之间位于端子卡装的一侧设置有橡胶块62。具体而言，所述安装柱610为方柱，所述安装孔为方孔，所述安装孔套设在所述安装柱610上，所述安装孔的宽度大于所述安装柱610的宽度，因此，所述POM聚甲醛块63能够相对所述安装柱610滑动，滑动方向平行于所述气爪52的运动方向。并且所述安装孔与所述安装柱610之间位于端子卡装的一侧设置了橡胶块62。在夹取过程中，端子表面的弧形对所述橡胶块62的压缩量不同，导致POM聚甲醛块在所述安装柱610上的滑动距离不同，实现POM聚甲醛块与端子表面的弧形的贴合，以达到夹取随形，防止端子脱落，因而所述端子夹臂组件60的应用范围更广。
在其中一个技术方案中，所述POM聚甲醛块63为叠置的复数块独立子块。优选的是，所述POM聚甲醛块63包括叠置的3～12块独立子块。在夹取过程中，所述多层POM聚甲醛块63随所述端子夹臂61前后移动，所述端子夹臂61起导向作用，以达到夹取随形，防止端子脱落的目的。复数块独立子块的设置使得夹取随形由点及面，杜绝端子脱落。
如图1、4、5，在其中一个技术方案中，还包括夹头组件10，用于将所述旋转气缸组件30连接至机械手，所述夹头组件10包括：
立板11，其固定在所述旋转气缸组件30上，具体来说，所述立板11通过螺钉与所述轴承安装板41和旋转气缸固定板44连接，优选时，所述立板11上还可以设置有对其移动起到限位作用的限位柱14。
导向座15，其固定在所述机械手上，与所述立板11平行设置；所述三轴机械手如图6所示，实现了X、Y、Z三轴联动；
光轴18，其通过光轴固定座12固定在所述立板11上并且套设有弹簧13，所述光轴18还滑动穿设于所述导向座15上；优选的是，所述光轴18上还设有直线轴承16；更优选的是所述光轴18设有2套；
固定块17，其固定在所述光轴18上，并且与所述立板11分别位于所述导向座15的两侧；
挡光板20，其安装在所述立板11与所述固定块17之间，所述挡光板20上具有豁口21；以及
光电开关19，其安装在所述导向座15上，当所述立板11压缩所述弹簧13到位时，所述光电开关19能够被所述挡光板20上的豁口21触发，反馈端子卡好与否的信息。
一种图8所示的机械手的端子卡装过程如下：
S1，初始化：第二定位销轴55与第一限位挡块38卡接，此时旋转气缸31的角度为0°；气爪52张开。
S2，提取端子：沿Y轴/必要时沿X轴移动接线端子夹爪至弹夹附近，沿Z轴向下移动接线端子夹爪，气爪52带动POM聚甲醛块卡住待卡装端子，沿Z轴向上移动接线端子夹爪提出待卡装端子。
S3，运送并旋转端子：沿Y轴/必要时沿X轴移动接线端子夹爪至安装导轨附近，与此同时，转动旋转气缸31直至被定位。
所述转动旋转气缸31直至被定位通过以下方式完成：S31，控制机构识别待安装端子的类型，在本实施例中，待安装端子有两种类型，第一种类型安装时旋转角度为15°，第二种类型安装时旋转角度为83°～85°；S32，控制机构根据待安装端子的类型选择限位部，如果待安装端子为第一种类型则控制针形气缸43伸出，带动第一定位销轴40伸出，表示选择了第一定位销轴40进行限位，如果待安装端子为第二种类型则控制针形气缸43缩回，带动第一定位销轴40缩回，表示选择了缓冲块34进行限位；S33，转动旋转气缸31直至第二限位挡块54与第一定位销轴40或者缓冲块34卡接，实现了待安装端子15°或者83°～85°角度的旋转。
S4，卡装端子：旋转气缸31断气，沿Z轴向下移动接线端子夹爪，待安装端子与导轨接触，在导轨的反作用力的推动下，第二限位挡块54与第一定位销轴40或者缓冲块34分离，端子复位旋转并且完成与导轨的卡装，此时第二定位销轴55与第一限位挡块38卡接。
S5，确认卡装到位：端子卡装过程中的旋转带来Y轴方向的推力和位移，立板11相对导向座15运动，挡光板20上的豁口21能够触发光电开关19表示确认卡装到位。如果光电开关19被触发，气爪52张开，接线端子夹爪沿Z轴上移，返回步骤S2继续卡装；如果S4步骤中，端子并未与导轨接触，或者由于一些原因未完成与导轨的卡装，导致光 电开关19未能被触发，系统发出报警。本发明提供的接线端子夹爪解决了利用一个端子卡装设备实现不同型号种类的端子的技术问题，甚至还实现了对特殊型号的端子的卡装，对大尺寸及形状复杂不易夹取的端子也能轻松夹取，所述接线端子夹爪机械结构紧凑，操作灵活，适合大规模推广使用。
如上所述，本发明至少包括以下有益效果：其一，本发明提供的接线端子夹爪解决了利用一个端子卡装设备实现不同型号种类的端子的技术问题，甚至还实现了对特殊型号的端子的卡装，对大尺寸及形状复杂不易夹取的端子也能轻松夹取；其二，本发明提供的接线端子夹爪可接入PLC控制系统，实现端子自动化卡装的目的；其三，本发明提供的接线端子夹爪机械结构紧凑，操作灵活，适合大规模推广使用。
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。

Claims (11)

  1. 接线端子夹爪，其特征在于，包括：旋转气缸组件，其用于实现不同摆角，以便卡装不同类型端子；气爪组件，其与所述旋转气缸组件连接，且张合运动；端子夹臂组件，其与所述气爪组件连接并随所述气爪组件移动，用于夹取端子；其中所述旋转气缸组件包括：
    固定板部件，其包括轴承安装板；
    旋转轴，其安装在所述轴承安装板上，所述旋转轴通过旋转气缸提供驱动力；
    初始状态限位部，其安装在所述轴承安装板上，用于实现所述旋转气缸旋转初始状态的定位；
    第一状态限位部，其安装在所述轴承安装板上，用于实现所述旋转气缸第一旋转角度的定位，所述第一旋转角度相对于所述初始状态顺时针旋转预定角度；
    第二状态限位部，其活动安装在所述轴承安装板上，所述第二状态限位部相对于所述轴承安装板具有工作位置和非工作位置，当所述第二状态限位部处于工作位置时，用于实现所述旋转气缸第二旋转角度的定位，当所述第二状态限位部处于非工作位置时，能够实现所述旋转气缸在所述第一旋转角度的定位，其中，所述第二旋转角度小于所述第一旋转角度。
  2. 如权利要求1所述的接线端子夹爪，其特征在于，所述第一旋转角度为83°～85°，所述第二旋转角度为15°。
  3. 如权利要求2所述的接线端子夹爪，其特征在于，所述初始状态限位部为第一限位挡块，所述第一限位挡块上设有半圆柱型卡槽，通过所述卡槽可卡接具有凸出部的卡件。
  4. 如权利要求2所述的接线端子夹爪，其特征在于，所述第一状态限位部为缓冲块，所述缓冲块上设有圆柱体或者类圆柱体。
  5. 如权利要求2所述的接线端子夹爪，其特征在于，所述第二状态限位部为第一定位销轴，所述第一定位销轴为能够相对所述轴承安装板可伸缩的圆柱体或类圆柱体。
  6. 如权利要求5所述的接线端子夹爪，其特征在于，所述第一定位销轴通过针形气缸实现其伸缩运动，所述针形气缸通过针形气缸安装座安装在所述轴承安装板上。
  7. 如权利要求1～6任一项所述的接线端子夹爪，其特征在于，所述气爪组件包括：
    气爪安装板，其与所述旋转气缸组件连接，且张合运动并随所述旋转气缸组件移动；
    气爪，其安装在所述气爪安装板上，并带动所述端子夹臂组件移动；
    第二限位挡块，其安装在所述气爪安装板上，与所述第一状态限位部以及所述第二状态限位部件配合，实现所述旋转气缸第一旋转角度的定位和第二旋转角度的定位；
    第二定位销轴，其安装在所述气爪安装板上，与所述初始状态限位部配合，用于实现所述旋转气缸旋转初始状态的定位。
  8. 如权利要求1所述的接线端子夹爪，其特征在于，所述端子夹臂组件包括：
    端子夹臂，其与所述气爪固定连接；
    POM聚甲醛块，其安装在所述端子夹臂下部并向端子卡装的一侧伸出。
  9. 如权利要求8所述的接线端子夹爪，其特征在于，所述端子夹臂的下部具有安装柱，所述POM聚甲醛块具有安装孔，所述安装孔套设在所述安装柱上，所述POM聚甲醛块能够相对所述安装柱滑动，滑动方向平行于气爪的运动方向，并且所述安装孔与所述安装柱之间位于端子卡装的一侧设置有橡胶块。
  10. 如权利要求9所述的接线端子夹爪，其特征在于，所述POM聚甲醛块为叠置的复数块独立子块。
  11. 如权利要求1～6和8～10任一项所述的接线端子夹爪，其特征在于，还包括夹头组件，用于将所述旋转气缸组件连接至机械手，所述夹头组件包括：
    立板，其固定在所述旋转气缸组件上；
    导向座，其固定在所述机械手上，并与所述立板平行设置；
    光轴，其固定在所述立板上并且套设有弹簧，所述光轴还滑动穿设于所述导向座上；
    固定块，其固定在所述光轴上，并与所述立板分别位于所述导向座的两侧；
    挡光板，其安装在所述立板与所述固定块之间，所述挡光板上具有豁口；
    光电开关，其安装在所述导向座上，当所述立板压缩所述弹簧到位时，所述光电开关能够被所述挡光板上的豁口触发。
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