Automatic pick-up equipment

An automatic pick-up equipment adapted to pick up components having different shapes includes a base mounted on a manipulator of a robot, a first pick-up device mounted on the base and including a pair of first gripping mechanisms opposite to each other, and a second pick-up device mounted on the base and including a pair of second gripping mechanisms opposite to each other and a rotation mechanism. The first gripping mechanisms are configured to linearly reciprocate relative to each other to grip a first component. The second gripping mechanisms are configured to pivotally reciprocate relative to each other to grip a second component. The rotation mechanism is configured to drive the second gripping mechanisms to rotate relative to the base to change a posture of the second component.

FIELD OF THE INVENTION

The present invention relates to an automatic pick-up equipment and, more particularly, to an automatic pick-up equipment for picking up different components.

BACKGROUND

An electronic device, such as an electrical connector, a fiber optic connector, a relay, etc., includes many components, for example, a housing, a conductive terminal, a spring, a bolt, an insulation block, etc. During production of the electronic device, these components must be prepared with different shapes and functions in advance, selected according to a predefined program by manual or robotic operation, and assembled into the electronic device on an operation platform.

SUMMARY

An automatic pick-up equipment adapted to pick up components having different shapes includes a base mounted on a manipulator of a robot, a first pick-up device mounted on the base and including a pair of first gripping mechanisms opposite to each other, and a second pick-up device mounted on the base and including a pair of second gripping mechanisms opposite to each other and a rotation mechanism. The first gripping mechanisms are configured to linearly reciprocate relative to each other to grip a first component. The second gripping mechanisms are configured to pivotally reciprocate relative to each other to grip a second component. The rotation mechanism is configured to drive the second gripping mechanisms to rotate relative to the base to change a posture of the second component.

DETAILED DESCRIPTION OF THE EMBODIMENT(S)

An automatic pick-up equipment200according to an embodiment, as shown inFIG. 1, is configured to pick up various components with different shapes. In an embodiment, these components, used as operation objects, are adapted to be assembled into an electronic device, such as an electrical connector, a fiber optic connector, a relay, etc. in subsequent operations. These components may include but are not limited to housings, conductive terminals, springs, bolts, insulation blocks, wires, etc. mixed together. It should be appreciated that these different types of components may have different shapes, sizes, flexibilities and functions. In an embodiment, as shown inFIGS. 2 and 3, these components include a first component300, such as a housing, an insulation body, etc. of an electrical connector, with a larger external size, and a second component400, such as a connection terminal, a wire, a bolt, etc. of the electrical connector, with a smaller thickness.

The automatic pick-up equipment, as shown inFIGS. 1-4, comprises a base1, a first pick-up device2and a second pick-up device3. The base1is detachably mounted on a manipulator101of a robot100. The manipulator101may perform a rotating operation, a rising operation, a dropping operation, etc., according to a stored program, to transport the automatic pick-up device200to an operation position.

The first pick-up device2, as shown inFIGS. 2-4, is mounted on the base1and comprises two first gripping mechanisms21opposite to each other, the two first gripping mechanisms21being configured to linearly reciprocate relative to each other, so as to grip the first component300. The second pick-up device3is mounted on the base1and comprises two second gripping mechanisms31opposite to each other. The two second gripping mechanisms31are configured to pivot to and fro relative to each other, so as to grip the second component400.

In an embodiment shown inFIGS. 2 and 3, the first component300is a housing with a larger size, for example, a few millimeters, or even a few centimeters or more, for an electrical connector. The second component400is a connection terminal with a smaller thickness, for example, below a few millimeters, for the electrical connector. The connection terminal may be at least partly mounted into the housing to form the electrical connector. In this way, the two first gripping mechanisms21may linearly move with respect to each other by a larger distance, so as to pick up the first component300with larger size. The second mechanisms31may rotate with respect to each other by a smaller distance, so as to pick up the second component400with smaller size. Thereby, in an embodiment, the automatic pick-up equipment200may pick up components with different shapes and sizes by different gripping ways, increasing the operational flexibility. In another embodiment, the moving distance of the first gripping mechanisms21may be adjustable to hold a first component300with different lengths or widths.

In an embodiment, the second pick-up device3further comprises a rotation mechanism32, shown inFIG. 6, configured to drive the two second gripping mechanisms31to rotate relative to the base1, so as to change a posture of the second component400, for example, for rotating or bending the second component400.

As shown inFIGS. 1-4, the base1has a lower support frame11mounted on the manipulator101of the robot100and an upper support frame12supported on the lower support frame11. The first pick-up device2is mounted on the upper support frame12. In an embodiment, the first pick-up device2has a first driving device221,222mounted between the upper support frame12and the lower support frame11. The first gripping mechanisms21each include a movable block211passing through the upper support frame12on the base1and connected to the first driving device221,222, so that the movable block211is driven to linearly move, and a gripper212mounted on the movable block211and configured to cooperate with another gripper212to grip the first component300when the at least one of two movable blocks211moves toward each other.

The first driving device221,222, as shown inFIG. 4, includes a motor221and a screw rod222. The screw rod222is connected to an output shaft of the motor221. The screw rod222is thread engaged with a meshing part213of the movable block211extending between the upper support frame12and the lower support frame11, so as to drive the movable block211to linearly move through the screw rod222and the meshing part213by the motor221. In this way, the second gripping mechanism21may be opened or closed. Generally, the meshing part213has threads mated with the screw rod222, so as to convert a rotation movement of the screw rod222into a straight line movement of the movable block211. The motor221may comprise a step motor or a servo motor.

In an embodiment, at least one of the two first gripping mechanisms21has a first driving mechanism provided on the movable block211and configured to drive the gripper212to linearly move on the movable block211, so as to grip the first component300by the gripper212. For example, the first driving mechanism comprises a first pneumatic device configured to drive the gripper212to move relative to the movable block211by a gas pressure. Generally, the movable block211driven by the motor221has a larger moving distance. When the gripper212is driven by the movable block211to come into initial contact with the first component300, the motor221is controlled to stop rotation. At this time, the opened distance of the gripper212may be accurately adjusted by using the first pneumatic device on the movable block211to drive the gripper212to move relative to the movable block211, so that the gripper212may further firmly clamp the first component300. Because the gripper212is driven to move by the gas pressure, it increases the flexibility of the first gripping mechanism21, and may protect the first component300from being crushed. In an embodiment shown inFIG. 4, at least one gas source4, provided at a lower portion of the lower support frame11, is mounted on the base1, so as to supply a pressurized gas for first pneumatic device. In another embodiment, the first driving mechanism may include an electromagnetic mechanism or a pneumatic device to drive the movable block211to move in a straight line. In another embodiment, the first driving mechanism may include a step motor or a servo motor.

In an embodiment, as shown inFIGS. 2-3 and 5-8, the second gripping mechanism31includes an installation portion311, a fixation arm312, a rotation arm313and a second driving device. The installation portion311is mounted on the base1. The fixation arm312extends from the installation portion and is provided with a first contact surface3121on an end thereof. The rotation arm313is pivotally mounted on the fixation arm312and provided with a second contact surface3131on a first end thereof. The second driving device is mounted on the installation portion311and configured to drive the rotation arm313to rotate relative to the fixation arm312, so as to grip the second component400by cooperation of the first contact surface3121and the second contact surface3131. In an embodiment, the first contact surface3121and the second contact surface3131are parallel to each other in a case of gripping the second component400, so as to reliably hold the second component400.

As shown inFIGS. 5-8, the rotation arm313is mounted on the fixation arm312by a pivotal shaft314between the first end and a second end3132opposite to the first end. The second driving device includes a second driving mechanism315mounted on the installation portion311and a tongue portion316configured to be inserted between the fixation arm312and the second end3132of the rotation arm313under the drive of the second driving mechanism315, so as to drive the rotation arm313to rotate relative to the fixation arm312, and move the second contact surface3131on the first end of the rotation arm313toward the first contact surface3121to grip the second component400. The second driving mechanism has a second pneumatic device configured to drive the tongue portion316to move by the gas pressure from the gas source4. At least one slope structure is provided on the tongue portion316and/or the second end3132of the rotation arm313, in order to smoothly insert the tongue portion316between the fixation arm312and the second end3132of the rotation arm313. In another embodiment, the second driving mechanism315may include an electromagnetic mechanism to drive the tongue portion to move in a straight line. In another embodiment, the second driving mechanism315may comprise a motor, as well as a gear and a rack driven by the motor.

In an embodiment, the second gripping mechanism31includes an elastic reset mechanism provided between the fixation arm312and the rotation arm313. The elastic reset mechanism elastically drives the second contact surface3131to move far away from the first contact surface3121in a case where the tongue portion316exits between the fixation arm312and the second end3132of the rotation arm313. In this way, the elastic reset mechanism may keep the second contact surface3131and the first contact surface3121in a state far away from each other when it does not need to grip the second component400, that is, the second gripping mechanism31is kept in an opened state for subsequent operation of gripping a next second component400.

As shown inFIGS. 2-3 and 5-7, the rotation mechanism32includes a side support frame321mounted on a side of the base1and a third driving device mounted on the side support frame321and configured to drive the installation portion311of the second gripping mechanism31to rotate relative to the side support frame321. The third driving device includes a fixation seat322, a rotation shaft323, and a third driving mechanism. The fixation seat322is mounted on the side support frame321. The rotation shaft323is rotatably mounted on the fixation seat322. The installation portion311of the second gripping mechanism31is mounted on the rotation shaft323to rotate with the rotation shaft323, so as to drive the installation portion311to rotate relative to the fixation seat322. The third driving mechanism is configured to drive the rotation shaft323to rotate.

As shown inFIGS. 5-6, a gear3231is provided on the rotation shaft323. The third driving mechanism includes a rack324engaged with the gear3231and a third pneumatic device communicated with the gas source4and configured to drive the rack324to linearly move, so as to drive the gear3231to rotate by the rack324. Thus, the linear movement of the third driving device is converted to the rotation of the rotation shaft323. When a cylinder of the third pneumatic device expands and contracts, the rack324moves straight forward and back, thus driving the second gripping mechanism31to rotate clockwise and counterclockwise. In another embodiment, the third driving mechanism is a motor mounted in the installation portion311, and the rotation shaft323may be driven to rotate by an output shaft of the motor. In an embodiment, the first, second and third pneumatic devices each may comprise a cylinder and a rod mounted on the cylinder.

In an embodiment, the fixation seat322is detachably mounted on the side support frame321. For example, a connection frame3211is detachably installed on the side support frame321by bolts3212, and the fixation seat322is mounted on the connection frame3211. In order to clearly show the meshing mode of the rack324and the gear3231, the connection frame3211is not shown inFIG. 5. The second gripping mechanism21and a part of the rotation mechanism may be removed, repaired or replaced depending on the type of the picked second component400or the use of the second gripping mechanism21.

As shown inFIGS. 5-10, the first component300comprises a housing301, the second component400comprises a connection terminal401. In an embodiment of the present disclosure, the automatic pick-up equipment also may be used to assemble the connection terminal401to the housing301to form the electrical connector.

In an embodiment, the first pick-up device2is configured to fix the gripped housing301on an installation table (not shown), the second pick-up device3is further configured to insert the gripped connection terminal401into an installation hole302in the fixed housing301.

As shown inFIG. 8, the connection terminal401includes a main body402and two connection arms403. The two connection arms403extend parallel from the main body402. The two connection arms403each have a first part4031extending from the main body402, and a second part4032substantially perpendicular to the first part4031, so that the first parts4031of the two connection arms403and the main body402define a generally U-shaped opening404. The second gripping mechanism31grips the second part4032of the connection terminal401.

As shown inFIG. 8, a protrusion3122is provided on the end of the fixation arm312, the protrusion3122protrudes in a direction approximately perpendicular to the first contact surface3121, and the protrusion3122is configured to insert into the U-shaped opening404of the connection terminal401, so as to push the connection terminal401into the installation hole302of the housing301. In this way, an insertion force of the second gripping mechanism31to push the connection terminal401into the installation hole302of the housing301is exerted by the protrusion3122, thus avoiding the soft connection terminal401from being deformed.

As shown inFIGS. 2-4 and 9-10, the first pick-up device2grips and picks up the housing301, used as the first component, from a material storage table (not shown), and the gripped housing301is fixed to the installation table.

As shown inFIGS. 6-8, a plurality of connection terminals401are prepositioned in rows on a storage bracket (for example, a material conveyer belt)405. First, the robot100conveys the second pick-up device3to a proper position, the second gripping mechanism31grips the second part4032of the connection terminal401by the first contact surface3121and the second contact surface3131, while the protrusion3122of the second gripping mechanism31is inserted into the U-shaped opening404of the connection terminal401. Then, the third pneumatic device is started and the rotation mechanism32rotates the second gripping mechanism31by a predetermined angle so that the connection terminal401is detached from the storage bracket405. Then, the robot100conveys the connection terminal401to a position where the housing301is located, the automatic pick-up equipment200starts to move, and the rotation mechanism32is controlled to rotate. In this way, the main body of the connection terminal401is pushed into the installation hole302of the housing301by the protrusion3122, so as to form an assembled electrical connector.

In an exemplary embodiment, the robot100includes, but is not limited to, a four-axis robot, a six-axis robot or any other type of multi-freedom robot. These robots may rotate, move up and down or move to left and right according to a preprogrammed program, so as to move the automatic pick-up equipment200to an appropriate position and perform related operations.