CN105291122A - Finger mechanism of wiring robot - Google Patents
Finger mechanism of wiring robot Download PDFInfo
- Publication number
- CN105291122A CN105291122A CN201510752007.3A CN201510752007A CN105291122A CN 105291122 A CN105291122 A CN 105291122A CN 201510752007 A CN201510752007 A CN 201510752007A CN 105291122 A CN105291122 A CN 105291122A
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- wire
- wire stripping
- connecting rod
- compress spring
- cylinder
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Abstract
The invention provides a finger mechanism of a wiring robot. The finger mechanism of the wiring robot comprises a mounting plate, a stepping motor, a wire feeder, an oscillating connection rod, an angle connection rod, a lifting connection rod, a telescopic air cylinder, a sliding block, a movable joint, a wire passing device, a wire stripping mechanism, a slide way, a compression spring turn on-off bin, clamping fingers, a wire cutter, a rotating drive air cylinder and a wire stripping nozzle, wherein the stepping motor and the telescopic air cylinder are mounted on one side of the mounting plate; the lower end of the telescopic air cylinder is in sliding connection with the sliding block; the sliding block is connected with the upper end of the movable joint, and the lower end of the movable joint is connected with the wire stripping mechanism; the lower end of the wire stripping mechanism is provided with the wire stripping nozzle; the stepping motor is connected with the lower end of the movable joint through a connection rod mechanism; the rotating drive air cylinder is mounted on the mounting plate; two air claws at the lower end of the rotating drive air cylinder are connected with the compression spring turn on-off bin respectively; and the lower end of the compression spring turn on-off bin is connected with the two clamping fingers. By means of the finger mechanism of the wiring robot, the wiring quality of electric appliances can be ensured, and the production efficiency is improved.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of robot for connecting up.
Background technology
Conventional electrical appliance wiring adopts hand layouts form to complete, and is a kind of high reproducibility and loaded down with trivial details operation.There is misroute in hand layouts processing ease, wiring quality can not be guaranteed, especially complicated electric system, Electric Appliance Cabinet binding post can reach hundreds of and even thousands of, and wiring personnel carry out wiring wiring according to electrical diagram, and installation work is very loaded down with trivial details, wiring operations is slow, and the cycle is very long; Meanwhile, the wrong phenomenon such as installation work is easy to occur misconnection, misses, virtual connection, if there is short circuit, electronic device may directly be burned.Therefore need before system cloud gray model to carry out mistake investigation, equipment debugging operations difficult, causes the system development manufacturing cycle not ensure, incur loss through delay and produce, in addition, due to manual wiring quality problem, also may occur apparatus failure after system cloud gray model, these all will cause large economic loss.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of routing machine finger mechanism, this finger mechanism is arranged on after on routing machine people, automatically can complete wire stripping and plug wire action, appliance wiring quality can be ensured, enhance productivity.The technical solution used in the present invention is:
A kind of routing machine finger mechanism, comprise an installing plate, also comprise: connecting rod driver part, wire feeder, telescopic cylinder, slide block, turning joint, wire-threading device, wire stripping mechanism, Compress Spring folding storehouse, holding finger, thread trimmer, revolution drive cylinder, wire stripping mouth;
Connecting rod driver part and telescopic cylinder are arranged on installing plate side; Telescopic cylinder lower end is connected with skid; Slide block is connected with turning joint upper end; Turning joint lower end connects wire stripping mechanism; The lower end of described wire stripping mechanism has wire stripping mouth; Connecting rod driver part connects turning joint lower end by linkage;
Revolution drives cylinder to install on a mounting board; Revolution drives the two panels gas pawl of cylinder lower end to connect Compress Spring folding storehouse respectively; Revolution drives cylinder to be used for driving the hinge in Compress Spring folding storehouse to close up by gas pawl or separately, and is provided for Compress Spring folding storehouse and rotates an angle, thus drives holding finger to rotate an angle;
The lower end in Compress Spring folding storehouse connects two holding fingers; The lower end in Compress Spring folding storehouse is also provided with a wire-threading device, and wire-threading device is positioned at holding finger side; Thread trimmer is provided with in wire-threading device.
Further, linkage comprises swing connecting bar, angle connecting rod, promotes connecting rod; Installing plate is provided with slideway; Be connected by rotating shaft between swing connecting bar with angle connecting rod, between angle connecting rod with lifting connecting rod; The end promoting connecting rod connects turning joint lower end; In the embedding slideway on a mounting board of rotating shaft between swing connecting bar and angle connecting rod.
Further, connecting rod driver part adopts stepper motor.
Further, the wire stripping mouth wire stripper that comprise wire stripping telescopic cylinder and be connected with wire stripping telescopic cylinder; The connection drawing article connecting wire stripping telescopic cylinder is provided with inside wire stripper.
Further, thread trimmer adopts air knife, drives cylinder to drive by revolution.
Further, holding finger is connected with the hinge one in Compress Spring folding storehouse.
Further, line sending displacement transducer is also provided with in wire-threading device.
The invention has the advantages that:
1) efficient quick, save labour, operating cost is low.Electrical equipment connects up, especially complicated appliance plate, and electric elements are many, and wiring wiring workload is large; And the present invention can significantly improve wiring efficiency.
2) hand layouts work be easy to occur misconnection, miss, the wrong phenomenon such as virtual connection, the wiring operations of finger mechanism of the present invention is more accurate, reliably.
Accompanying drawing explanation
Fig. 1 is Facad structure schematic diagram of the present invention.
Fig. 2 is structure schematic diagram of the present invention.
Fig. 3 a is wire stripping mouth home state schematic diagram of the present invention.
Fig. 3 b is wire stripping mouth wire stripping view of the present invention.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the invention will be further described.
A kind of routing machine finger mechanism that the present embodiment provides, as depicted in figs. 1 and 2, comprising:
Installing plate 1, stepper motor 2, wire feeder 3, swing connecting bar 4, angle connecting rod 5, lifting connecting rod 6, telescopic cylinder 7, slide block 8, turning joint 9, wire-threading device 10, wire stripping mechanism 11, slideway 12, Compress Spring folding storehouse 13, holding finger 14, thread trimmer 15, revolution drive cylinder 16, wire stripping mouth 17;
Installing plate 1 is for the arm mechanism above connecting wiring robot finger mechanism, and not within the scope of the invention, its structure does not provide arm mechanism.It should be noted that, the action of arm mechanism can drive installing plate 1 move or rotate, thus drives the corresponding movement of whole finger mechanism or rotation;
Stepper motor 2 and telescopic cylinder 7 are arranged on installing plate 1 side; Telescopic cylinder 7 lower end and slide block 8 are slidably connected; Slide block 8 is connected with turning joint 9 upper end; Turning joint 9 lower end connects wire stripping mechanism 11; The lower end of described wire stripping mechanism 11 has wire stripping mouth 17; Slide block 8 specifically adopts dovetail slide block;
Stepper motor 2 connects turning joint 9 lower end by linkage; As shown in Figure 2, linkage comprises swing connecting bar 4, angle connecting rod 5, promotes connecting rod 6; Be connected by rotating shaft between swing connecting bar 4 with angle connecting rod 5, between angle connecting rod 5 with lifting connecting rod 6; The end promoting connecting rod 6 connects turning joint 9 lower end; Rotating shaft between swing connecting bar 4 and angle connecting rod 5 is embedded in the slideway 12 on installing plate 1; Slideway 12 provides support and limits the effect of rotating shaft motion track;
Wire stripping mouth 17 as shown in Figure 3 a and Figure 3 b shows, the wire stripper 1702 comprising wire stripping telescopic cylinder 1701 and be connected with wire stripping telescopic cylinder 1702; The connection drawing article 1703 connecting wire stripping telescopic cylinder 1702 is provided with inside wire stripper 1702; Fig. 3 a is wire stripping mouth home state, and Fig. 3 b is wire stripping mouth wire stripping state;
Revolution drives cylinder 16 to be arranged on installing plate 1, is positioned at telescopic cylinder 7 other; Revolution drives the two panels gas pawl 1601 of cylinder 16 lower end to connect Compress Spring folding storehouse 13 respectively; Compress Spring folding storehouse 13 comprises two panels hinge 1301, and hinge 1301 is assemblied in inside gas pawl 1601; Spring is provided with between two hinges 1301; The installing hole 1302 of spring is provided with four; Revolution drives cylinder 16 to have two effects, the first drives the hinge 1301 in Compress Spring folding storehouse 13 to close up by gas pawl 1301 or separates (can drive holding finger 14 grip wire when closing up), it two is to make Compress Spring folding storehouse 13 rotate an angle, thus drives holding finger 14 to rotate an angle;
The lower end in Compress Spring folding storehouse 13 connects two holding fingers 14, and specifically each hinge 1301 one connects a holding finger 14; The action in Compress Spring folding storehouse 13 can make holding finger 14 close up or separate; Containing pressure sensor in holding finger 14, pressure during grip wire can be detected; Also containing finger displacement transducer in holding finger 14;
The lower end in Compress Spring folding storehouse 13 is also provided with a wire-threading device 10, and wire-threading device 10 is positioned at holding finger 14 side; The roller that wire-threading device 10 generally includes two support chips and is clipped in support chip; Thread trimmer 15 is provided with in wire-threading device 10; In this example, thread trimmer 15 adopts air knife, drives cylinder 16 to drive by revolution; Line sending displacement transducer is also provided with in wire-threading device 10, not shown in FIG..
Finger mechanism of the present invention, is connected on a robot arm, has been mainly used in wire stripping and plug wire action, is inserted in binding post by the end of a thread peelling off insulating barrier.Robot is provided with master controller, is wherein provided with control program.
The origin position of wire stripping mouth 17 is the position consistent with wire-threading device 10 lower end height, but not position current in Fig. 1.
First, manually electric wire is passed wire feeder 3 and Compress Spring folding storehouse 13, penetrate wire-threading device 10, and walk around the roller in wire-threading device 10, the end of a thread of non-wire stripping is as exposed wire stripper 10 from right toward left direction in Fig. 1; Now revolution drives cylinder 16 action, and gas pawl 1601 closes up, and electric wire clamps by holding finger 14;
Then, stepper motor 2 action, linkage makes wire stripping mouth 17 be inserted in the end of a thread of non-wire stripping; Wire stripping telescopic cylinder 1701 action, makes wire stripper 1702 clamp the end of a thread of non-wire stripping; Revolution drives cylinder 16 action, and holding finger 14 unclamps; Telescopic cylinder 7 action downwards, makes wire stripper 1702 drive the end of a thread of non-wire stripping to move down, the end of a thread is pulled to the end (the end of a thread is still turned left from the right side and exposed holding finger) of holding finger 14; Revolution drives cylinder 16 action, and holding finger 14 clamps the end of a thread; Wire stripping telescopic cylinder 1701 action left, wire stripping mouth 17 completes the action of the end of a thread wire stripping;
Then, telescopic cylinder 7 upwards action drive wire stripping mouth 17 to get back to origin position; Under the migration of robot arm, drive finger mechanism to move, the end of a thread after wire stripping injects in a binding post by holding finger 14; Point displacement transducer and pressure sensor collection signal for judging that wiring puts degree and effect in place so that robot FEEDBACK CONTROL simultaneously;
After this binding post completes wiring; Holding finger 14 unclamps, and wire-threading device 10 is by roller-coaster electric wire (period wire feeder 3 push electric wire forward); Robot, according to finder, controls finger mechanism and arrives next binding post place together with electric wire;
Revolution drives cylinder 16 to control thread trimmer 15(air knife) cut off electric wire; Then revolution drives cylinder 16 to control Compress Spring folding storehouse 13 and holding finger 14 revolves turnback, makes the wire stripping mouth being aligned in origin position by another the end of a thread (also non-wire stripping) of the wire segment (not being wire feeder 3 bus out) after cutting off;
Finally, according to the processing procedure of first the end of a thread, complete by the wire stripping of another the end of a thread of the wire segment of cutting off, and the process of insertion second binding post.So, the action that two the end of a thread of a wire segment just complete automatic shearing and patch, can two binding post electrical connections.
Claims (7)
1. a routing machine finger mechanism, comprises an installing plate (1), it is characterized in that, also comprise:
Connecting rod driver part, wire feeder (3), telescopic cylinder (7), slide block (8), turning joint (9), wire-threading device (10), wire stripping mechanism (11), Compress Spring folding storehouse (13), holding finger (14), thread trimmer (15), revolution drive cylinder (16), wire stripping mouth (17);
Connecting rod driver part and telescopic cylinder (7) are arranged on installing plate (1) side; Telescopic cylinder (7) lower end and slide block (8) are slidably connected; Slide block (8) is connected with turning joint (9) upper end; Turning joint (9) lower end connects wire stripping mechanism (11); The lower end of described wire stripping mechanism (11) has wire stripping mouth (17); Connecting rod driver part connects turning joint (9) lower end by linkage;
Revolution drives cylinder (16) to be arranged on installing plate (1); Revolution drives the two panels gas pawl (1601) of cylinder (16) lower end to connect Compress Spring folding storehouse (13) respectively; Revolution drives cylinder (16) for driving the hinge (1301) in Compress Spring folding storehouse (13) to close up by gas pawl (1301) or separating, and be provided for Compress Spring folding storehouse (13) rotation angle, thus holding finger (14) is driven to rotate an angle;
The lower end in Compress Spring folding storehouse (13) connects two holding fingers (14); The lower end in Compress Spring folding storehouse (13) is also provided with a wire-threading device (10), and wire-threading device (10) is positioned at holding finger (14) side; Thread trimmer (15) is provided with in wire-threading device (10).
2. routing machine finger mechanism as claimed in claim 1, is characterized in that:
Linkage comprises swing connecting bar (4), angle connecting rod (5), promotes connecting rod (6); Installing plate (1) is provided with slideway (12); Be connected by rotating shaft between swing connecting bar (4) with angle connecting rod (5), between angle connecting rod (5) with lifting connecting rod (6); The end promoting connecting rod (6) connects turning joint (9) lower end; Rotating shaft between swing connecting bar (4) and angle connecting rod (5) is embedded in the slideway (12) on installing plate (1).
3. routing machine finger mechanism as claimed in claim 1, is characterized in that:
Connecting rod driver part adopts stepper motor (2).
4. routing machine finger mechanism as claimed in claim 1, is characterized in that:
The wire stripper (1702) that wire stripping mouth (17) comprises wire stripping telescopic cylinder (1701) and is connected with wire stripping telescopic cylinder (1702); Wire stripper (1702) inner side is provided with the connection drawing article (1703) connecting wire stripping telescopic cylinder (1702).
5. routing machine finger mechanism as claimed in claim 1, is characterized in that:
Thread trimmer (15) adopts air knife, drives cylinder (16) to drive by revolution.
6. routing machine finger mechanism as claimed in claim 1, is characterized in that:
Holding finger (14) is connected with hinge (1301) one in Compress Spring folding storehouse (13).
7. routing machine finger mechanism as claimed in claim 1, is characterized in that:
Wire-threading device is also provided with line sending displacement transducer in (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510752007.3A CN105291122A (en) | 2015-11-06 | 2015-11-06 | Finger mechanism of wiring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510752007.3A CN105291122A (en) | 2015-11-06 | 2015-11-06 | Finger mechanism of wiring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105291122A true CN105291122A (en) | 2016-02-03 |
Family
ID=55189282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510752007.3A Pending CN105291122A (en) | 2015-11-06 | 2015-11-06 | Finger mechanism of wiring robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105291122A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107706829A (en) * | 2017-11-07 | 2018-02-16 | 湖南世优电气股份有限公司 | A kind of intelligent wiring robot and wiring method |
| CN108258561A (en) * | 2017-12-20 | 2018-07-06 | 上海束联电子有限公司 | A kind of feeding peeling procedure of Ultra-silent terminal |
| CN109950776A (en) * | 2019-03-29 | 2019-06-28 | 北京理工大学 | Control method and device for wiring |
| CN110148906A (en) * | 2019-05-27 | 2019-08-20 | 成都飞机工业（集团）有限责任公司 | A kind of wiring execution terminal with clamp, trimming, unwrapping wire function |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
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| WO2004000508A1 (en) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN201038590Y (en) * | 2007-05-31 | 2008-03-19 | 许晓华 | Wire peeling device |
| CN201238150Y (en) * | 2008-08-06 | 2009-05-13 | 广州智芯自动化技术有限公司 | Wire feeding and peeling apparatus of full-automatic double-end press-connection machine |
| CN102163787A (en) * | 2011-04-28 | 2011-08-24 | 浙江亿诚电器有限公司 | Automatic quick cable-stripping machine |
| CN203193108U (en) * | 2013-02-04 | 2013-09-11 | 东莞市中森自动化科技有限公司 | Wire cable core wire-stripping apparatus |
| CN203415809U (en) * | 2013-08-02 | 2014-01-29 | 徐承良 | Double-station opening stripping manipulator |
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2015
- 2015-11-06 CN CN201510752007.3A patent/CN105291122A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2004000508A1 (en) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN201038590Y (en) * | 2007-05-31 | 2008-03-19 | 许晓华 | Wire peeling device |
| CN201238150Y (en) * | 2008-08-06 | 2009-05-13 | 广州智芯自动化技术有限公司 | Wire feeding and peeling apparatus of full-automatic double-end press-connection machine |
| CN102163787A (en) * | 2011-04-28 | 2011-08-24 | 浙江亿诚电器有限公司 | Automatic quick cable-stripping machine |
| CN203193108U (en) * | 2013-02-04 | 2013-09-11 | 东莞市中森自动化科技有限公司 | Wire cable core wire-stripping apparatus |
| CN203415809U (en) * | 2013-08-02 | 2014-01-29 | 徐承良 | Double-station opening stripping manipulator |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107706829A (en) * | 2017-11-07 | 2018-02-16 | 湖南世优电气股份有限公司 | A kind of intelligent wiring robot and wiring method |
| CN107706829B (en) * | 2017-11-07 | 2023-08-18 | 湖南世优电气股份有限公司 | Intelligent wiring robot and wiring method |
| CN108258561A (en) * | 2017-12-20 | 2018-07-06 | 上海束联电子有限公司 | A kind of feeding peeling procedure of Ultra-silent terminal |
| CN109950776A (en) * | 2019-03-29 | 2019-06-28 | 北京理工大学 | Control method and device for wiring |
| CN110148906A (en) * | 2019-05-27 | 2019-08-20 | 成都飞机工业（集团）有限责任公司 | A kind of wiring execution terminal with clamp, trimming, unwrapping wire function |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN111717391B (en) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
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| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20171117 |
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| AD01 | Patent right deemed abandoned |