Manipulator for auxiliary assembly of lamp beads

Abstract

The invention relates to the technical field of manipulators, and discloses a lamp bead auxiliary assembly manipulator which comprises a mechanical arm and a clamping jaw installed on the mechanical arm. The clamping jaw comprises two clamping arms, air storage modules are installed on the adjacent sides of the two clamping arms through V-shaped elastic pieces and can be used for guiding air to the V-shaped elastic pieces, elastic wrapping modules communicating with the air storage modules are installed on the adjacent sides of the two air storage modules, and pressure early warning modules are arranged between the clamping arms and the V-shaped elastic pieces. Flexible and self-adaptive clamping of the lamp bead is achieved through the elastic wrapping module, the V-shaped elastic piece and the pressure early warning module, the rod type elastic piece and the rubber layer of the elastic wrapping module can evenly distribute clamping force and buffer friction and impact, the V-shaped elastic piece can absorb vibration and impact and adjust the elastic force, the pressure early warning module monitors the clamping force in real time and gives an alarm, and therefore the clamping force of the lamp bead can be monitored in real time. The lamp beads are prevented from being damaged, and the completeness and stability of grabbing and clamping the lamp beads are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a manipulator for assisting in the assembly of lamp beads. Background Art

[0002] A manipulator is an industrial robot that simulates the functions of human hands and arms and can complete various complex operation tasks according to preset programs and trajectories. In the field of lamp bead manufacturing, with the rapid development of LED technology, lamp beads are increasingly widely used. From ordinary lighting to high-end display devices, the production scale of lamp beads is constantly expanding, and higher requirements are also put forward for the efficiency and quality of lamp bead assembly. During the lamp bead assembly process, the manipulator mainly plays an auxiliary installation role. The manipulator can achieve high-precision positioning and operation. By equipping with a high-precision vision system and a motion control system, the manipulator can accurately identify the position and posture of the lamp beads and precisely install them at the specified positions. During the grasping process of lamp beads, due to the small volume and relatively fragile material of the lamp beads themselves, the rigid jaws equipped on the manipulator are likely to cause hard damage to the surface of the lamp beads during grasping. Because the surface hardness of the rigid jaws is relatively high, when they come into contact with the lamp beads, a large frictional force will be generated between the two. This frictional force will not only cause scratches on the surface of the lamp beads, but may also further exacerbate the damage to the surface of the lamp beads when the jaws and the lamp beads slide relative to each other. Moreover, during the movement of the manipulator, certain vibrations and impacts will inevitably occur. When the rigid jaws grasp the lamp beads, these vibrations and impacts will be directly transmitted to the lamp beads, resulting in cracks or other forms of hard damage on the surface of the lamp beads.

[0003] To solve the above problems, a manipulator for assisting in the assembly of lamp beads is proposed in this application. Summary of the Invention

[0004] The present invention provides a manipulator for assisting in the assembly of lamp beads, which solves the problem that the jaws of the manipulator in the related art are likely to cause hard damage to the surface of the lamp beads during grasping.

[0005] A manipulator for assisting in the assembly of lamp beads provided by the present invention includes a robotic arm and jaws mounted thereon. The jaws include two jaw arms. On the adjacent sides of the two jaw arms, air storage modules are installed through V-shaped elastic members, and the air storage modules can be used to conduct air to the V-shaped elastic members. On the adjacent sides of the two air storage modules, elastic coating modules communicated with them are installed. A pressure warning module is arranged between the jaw arms and the V-shaped elastic members. When the two clamping arms clamp the workpiece, the two elastic coating modules adaptively coat and clamp the workpiece. When the V-shaped elastic member between the clamping arm and the elastic coating module is stressed and deformed for buffering, when the elastic coating module clamps the workpiece, the force pushes the gas into the air storage module. The air storage module can control the amount of gas entering the V-shaped elastic member to adjust the elastic force of the V-shaped elastic member.

[0006] As a further optimized solution of the present invention, the elastic coating module includes a clamping block, a rod-shaped elastic member and a rubber layer. The clamping block is installed on the air storage module. A plurality of through and matrix-arranged assembly channels are opened in the clamping block. A plurality of the rod-shaped elastic members are respectively installed in the plurality of assembly channels and communicated with the air storage module. The rubber layer is connected to one end of the plurality of rod-shaped elastic members away from the clamping block.

[0007] As a further optimized solution of the present invention, the rod-shaped elastic member includes a hollow tube. A plurality of the hollow tubes are respectively installed in the plurality of assembly channels. An air hole communicated with the air storage module is opened at one end of the hollow tube. An elastic clamping portion extending into it is inserted at the other end of the hollow tube.

[0008] As a further optimized solution of the present invention, the elastic clamping portion includes a first spring, a piston and a clamping rod. The first spring is installed in the hollow tube. The piston is connected to one end of the first spring. The clamping rod slides through the other end of the hollow tube and is connected to the piston. The rubber layer is connected to one end of the plurality of clamping rods.

[0009] As a further optimized solution of the present invention, the air storage module includes an air storage plate, an airbag member and a valve member. The air storage plate is installed between the V-shaped elastic member and the clamping block. A cavity is opened in the air storage plate. The air hole at one end of the hollow tube is communicated with the cavity. The airbag member is installed on the top of the air storage plate and communicated with the cavity. The valve member is installed on the side of the air storage plate for controlling the amount of gas entering the V-shaped elastic member.

[0010] As a further optimized solution of the present invention, the valve member includes a guide air pipe and a control valve. A guide air pipe communicated with the V-shaped elastic member is connected to the air storage plate. A control valve is installed on the guide air pipe.

[0011] As a further optimized solution of the present invention, the airbag member includes a connecting pipe and an airbag body. The connecting pipe is connected to the top of the air storage plate and communicated with the cavity. The airbag body is connected to the top end of the connecting pipe.

[0012] As a further optimized solution of the present invention, the V-shaped elastic member includes a pressing plate and a bladder ball. The adjacent ends of the two pressing plates are hinged to form a V shape. The two ends away from each other of the two pressing plates are respectively hinged to the pressure warning module and the air storage plate. The bladder ball is installed between the two pressing plates and communicated with the guide air pipe.

[0013] As a further optimized solution of the present invention, the pressure warning module includes a hollow block, a pressure sensor and a pressing member. An installation groove is formed in the inner wall of the clamping arm, the hollow block is installed in the installation groove, an insertion cavity is formed in the hollow block, the pressure sensor located in the insertion cavity is installed on the inner wall of the hollow block, an alarm is installed on the clamping jaw, and the pressure sensor is connected to the alarm. The pressing member is inserted into the insertion cavity and abuts against the pressure sensor, and one of the pressing plates is hinged to the pressing member.

[0014] As a further optimized solution of the present invention, the pressing member includes a second spring and a loading block. Two second springs are symmetrically installed in the insertion cavity. The loading block is inserted into the insertion cavity and connected to the two second springs. A pressing rod that abuts against the pressure sensor is installed on the inner side of the loading block, and one of the pressing plates is hinged to the loading block.

[0015] The above technical solution of the present invention has the following beneficial technical effects: 1. In the present invention, the clamping jaw is driven by the robotic arm to move to the position where the lamp bead is located, and then the two clamping arms on the clamping jaw clamp the lamp bead. When the two clamping arms perform the clamping operation, the elastic coating modules on the two clamping arms can abut against the lamp bead. The elastic coating module can achieve self-adaptive coating clamping of the lamp bead, avoiding hard damage caused by direct contact between the rigid clamping jaw and the lamp bead, reducing the risks of scratches and cracks on the surface of the lamp bead, and improving the integrity and quality during the lamp bead grasping process; 2. When the lamp bead is clamped by the elastic coating module, the rod-shaped elastic members arranged in a matrix on the elastic coating module can self-adapt to the shape of the lamp bead, making the clamping force evenly distributed and reducing the situation of excessive local pressure, so as to better protect the surface of the lamp bead from damage caused by concentrated pressure. Under the action of the rod-shaped elastic member, the rubber layer on the rod-shaped elastic member can be coated on the lamp bead. The softness and elasticity of the rubber layer can effectively reduce the friction force between the clamping jaw and the lamp bead, reduce the scratches on the surface of the lamp bead caused by friction, and at the same time, the buffering effect of the rubber layer can also reduce the impact on the lamp bead during the clamping process. Through the self-adaptive function of the rod-shaped elastic member and the coating effect of the rubber layer, the clamping jaw can clamp the lamp bead more firmly. Even if vibrations and impacts occur during the movement of the manipulator, the lamp bead is not easy to loosen or fall off, improving the stability of the clamping; 3. When the lamp bead is clamped by the elastic coating module, the V-shaped elastic member between the clamping arm and the elastic coating module deforms under force. When the V-shaped elastic member deforms under force, it can play a buffering role, effectively absorbing the vibrations and impacts generated during the movement of the manipulator, reducing the influence of these external forces on the lamp bead, and also avoiding cracks or other damages to the lamp bead caused by hard impacts during the clamping process, improving the grasping safety of the lamp bead; 4. When the rod-shaped elastic member on the elastic coating module self-adaptively clamps the lamp bead, the rod-shaped elastic member moves within the clamping block, pushing gas into the gas storage module. Depending on the model of the lamp bead, it can be selected whether the gas enters the V-shaped elastic member to adjust its elastic force. When the elastic force of the V-shaped elastic member does not need to be adjusted, the valve member on the gas storage module is not opened, and the gas only enters the airbag member on the gas storage module and expands within the airbag member. When the clamping jaw drives the elastic coating module to return to its original position, the gas immediately flows back into the elastic coating module to prepare for the next clamping. When the elastic force of the V-shaped elastic member needs to be adjusted, the amount of gas entering the bladder can be controlled through the valve member to adjust the degree of inflation of the bladder and control the deformation amount between the two pressing plates. The above design can adjust the clamping force according to the models and hardness of different lamp beads by controlling the amount of gas entering the bladder, realizing personalized clamping force adjustment; 5. When clamping the lamp bead through the clamping arm on the clamping jaw, since there is a pressure warning module between the V-shaped elastic member and the clamping arm, the clamping force on the lamp bead can be monitored in real time through the pressure warning module. When the clamping force exceeds the threshold value, an alarm can be given in a timely manner. The pressure warning module of the present invention can monitor the clamping force of the clamping jaw on the lamp bead in real time, ensuring that the clamping force is always within the safe range, avoiding damage to the lamp bead due to excessive clamping force, and when the clamping force exceeds the preset threshold value, the system can give an alarm signal in a timely manner to remind the operator to take measures, such as adjusting the clamping force or stopping the clamping action, thereby effectively avoiding damage to the lamp bead. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of a manipulator for assisting in the assembly of lamp beads proposed by the present invention.

[0017] Figure 2 It is a front view of a manipulator for assisting in the assembly of lamp beads proposed by the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the clamping jaw of the present invention.

[0019] Figure 4 It is a front view of the clamping jaw of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the clamping arm of the present invention.

[0021] Figure 6 It is a schematic diagram of the structure of the V-shaped elastic member, the gas storage module and the elastic coating module of the present invention.

[0022] Figure 7 It is a schematic diagram of the structure of the rod-shaped elastic member of the present invention.

[0023] Figure 8 It is a schematic diagram of the structure of the gas storage module of the present invention.

[0024] Figure 9 This is a schematic structural diagram of the pressure warning module of the present invention.

[0025] Figure 10 This is an internal cross-sectional view of the hollow block of the present invention.

[0026] Reference numerals: 1, robotic arm; 2, jaw; 21, clamping arm; 3, V-shaped elastic member; 31, pressing plate; 32, bladder; 4, gas storage module; 41, gas storage plate; 42, airbag member; 421, connecting pipe; 422, airbag body; 43, valve member; 431, air guide pipe; 432, control valve; 5, elastic coating module; 51, clamping block; 52, rod-shaped elastic member; 521, hollow pipe; 522, air hole; 523, elastic clamping portion; 5231, first spring; 5232, piston; 5233, clamping rod; 53, rubber layer; 6, pressure warning module; 61, hollow block; 62, pressure sensor; 63, pressing member; 631, second spring; 632, loading block; 633, pressing rod; 7, alarm. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in combination with specific implementation manners and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary and are not intended to limit the scope of the present invention. In addition, in the following descriptions, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0028] As Figures 1 - 10 shown, a manipulator for assisting in the assembly of lamp beads proposed by the present invention includes a robotic arm 1 and a jaw 2 mounted thereon; The jaw 2 includes two clamping arms 21. On the adjacent sides of the two clamping arms 21, a gas storage module 4 is installed through a V-shaped elastic member 3, and the gas storage module 4 can be used to conduct gas to the V-shaped elastic member 3. On the adjacent sides of the two gas storage modules 4, an elastic coating module 5 communicated with the gas storage module 4 is installed. A pressure warning module 6 is arranged between the clamping arm 21 and the V-shaped elastic member 3; When the two clamping arms 21 clamp a workpiece, the two elastic coating modules 5 perform self-adaptive wrapping and clamping on the workpiece. The V-shaped elastic member 3 between the clamping arm 21 and the elastic coating module 5 deforms and buffers under force. When the elastic coating module 5 clamps the workpiece, the force pushes the gas into the gas storage module 4, and the gas storage module 4 can control the amount of gas entering the V-shaped elastic member 3 to adjust the elastic force of the V-shaped elastic member 3.

[0029] When the robotic arm 1 drives the gripper 2 to move above the lamp bead, the two gripper arms 21 move inward, causing the elastic coating module 5 on the gripper arms 21 to contact the surface of the lamp bead. Due to its own structural characteristics, the elastic coating module 5 can adaptively deform according to the contour of the lamp bead, thus realizing the wrapped clamping of the lamp bead. During this process, the V-shaped elastic member 3 between the gripper arm 21 and the elastic coating module 5 is squeezed and deformed, and the impact force during the clamping process is absorbed through elastic deformation, avoiding damage to the lamp bead caused by hard collision. At the same time, when the elastic coating module 5 clamps the lamp bead, it will push the internal gas into the gas storage module 4. The gas storage module 4 can store the gas and, according to actual needs, adjust the elastic force of the V-shaped elastic member 3 by controlling the amount of gas entering the V-shaped elastic member 3 to meet the clamping force requirements of lamp beads of different specifications. The pressure warning module 6 monitors the pressure change between the gripper arm 21 and the V-shaped elastic member 3 in real time. When the pressure exceeds the preset threshold, it triggers the alarm mechanism in time to remind the operator to adjust the clamping state. This design effectively avoids damage to the lamp bead caused by rigid clamping, improves the safety and stability of clamping, and realizes personalized clamping force adjustment for different lamp beads through the adaptive clamping of the elastic coating module 5, the buffering of the V-shaped elastic member 3, the elastic force adjustment of the gas storage module 4, and the real-time monitoring of the pressure warning module 6.

[0030] As Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, in this embodiment, the elastic coating module 5 includes a clamping block 51, a rod-shaped elastic member 52, and a rubber layer 53. The clamping block 51 is installed on the gas storage module 4. A plurality of through and matrix-arranged assembly channels are provided in the clamping block 51. A plurality of rod-shaped elastic members 52 are respectively installed in the plurality of assembly channels and communicate with the gas storage module 4. The rubber layer 53 is connected to the ends of the plurality of rod-shaped elastic members 52 away from the clamping block 51.

[0031] When the gripper arm 21 drives the clamping block 51 to approach the lamp bead, the rubber layer 53 first contacts the surface of the lamp bead. Since the shape of the lamp bead may be irregular, after being squeezed, the rubber layer 53 will push the plurality of rod-shaped elastic members 52 connected to it to move in the assembly channels of the clamping block 51. Each rod-shaped elastic member 52 independently responds to the undulation of the lamp bead surface to achieve adaptive fitting to the shape of the lamp bead. During the movement of the rod-shaped elastic member 52, it will press the internal gas into the cavity of the gas storage module 4 through the air holes 522 to complete the transmission and storage of the gas. This matrix arrangement structure of the rod-shaped elastic members 52 enables the clamping force to be evenly distributed on the surface of the lamp bead, avoiding damage to the lamp bead caused by excessive local pressure. At the same time, the soft characteristic of the rubber layer 53 reduces the friction with the lamp bead, reduces the risk of scratching, and its elastic buffering effect can effectively reduce the vibration and impact during the clamping process, further improving the reliability of lamp bead clamping.

[0032] As Figure 7 shown, in this embodiment, the rod-shaped elastic member 52 includes a hollow tube 521. A plurality of hollow tubes 521 are respectively installed in a plurality of assembly channels. One end of the hollow tube 521 is provided with an air hole 522 communicating with the gas storage module 4, and the other end of the hollow tube 521 is inserted with an elastic clamping portion 523 extending therein; the elastic clamping portion 523 includes a first spring 5231, a piston 5232 and a clamping rod 5233. The first spring 5231 is installed in the hollow tube 521. The piston 5232 is connected to one end of the first spring 5231. The clamping rod 5233 slidably passes through the other end of the hollow tube 521 and is connected to the piston 5232. The rubber layer 53 is connected to one end of a plurality of clamping rods 5233.

[0033] When the rubber layer 53 contacts the lamp bead and is under pressure, the clamping rod 5233 drives the piston 5232 to move into the hollow tube 521, compressing the first spring 5231. The piston 5232 presses the gas in the hollow tube 521 into the gas storage module 4 through the air hole 522. The elastic force of the first spring 5231 provides a restoring force for the clamping rod 5233, and at the same time limits the movement range of the piston 5232 to ensure that the clamping force is within a safe range. The sealing design of the piston 5232 ensures that the gas can only flow unidirectionally through the air hole 522, avoiding gas leakage and ensuring that the gas can be effectively transmitted to the gas storage module 4. This structure realizes the generation of elastic clamping force and the directional transmission of gas through the cooperation of the first spring 5231 and the piston 5232, which not only ensures the elastic buffering effect of clamping, but also provides a stable gas source for the gas storage of the gas storage module 4 and the elastic force adjustment of the V-shaped elastic member 3.

[0034] As Figure 6 shown, in this embodiment, the gas storage module 4 includes a gas storage plate 41, an airbag member 42 and a valve member 43. The gas storage plate 41 is installed between the V-shaped elastic member 3 and the clamping block 51. A cavity is provided in the gas storage plate 41. The air hole 522 at one end of the hollow tube 521 communicates with the cavity. The airbag member 42 is installed on the top of the gas storage plate 41 and communicates with the cavity. The valve member 43 is installed on the side of the gas storage plate 41 for controlling the amount of gas entering the V-shaped elastic member 3.

[0035] When the gas in the rod-shaped elastic member 52 is pressed into the cavity, the gas is first stored in the cavity. If the valve member 43 is closed, the gas enters the airbag body 422 of the airbag member 42 through the connecting pipe 421, causing the airbag body 422 to expand and store gas energy. If the valve member 43 is opened, the gas enters the V-shaped elastic member 3, thereby adjusting the elastic force of the V-shaped elastic member 3.

[0036] As Figure 8As shown in the figure, in this embodiment, the valve member 43 includes an air guide pipe 431 and a control valve 432. An air guide pipe 431 connected to the V-shaped elastic member 3 is connected to the air storage plate 41, and a control valve 432 is installed on the air guide pipe 431.

[0037] When it is necessary to adjust the elastic force of the V-shaped elastic member 3, the operator opens the control valve 432, and the gas in the cavity of the air storage plate 41 enters the V-shaped elastic member 3 through the air guide pipe 431, changing the deformation degree of the V-shaped elastic member 3, thereby adjusting the magnitude of its elastic force. By controlling the opening degree of the control valve 432, the amount of gas entering the V-shaped elastic member 3 can be precisely controlled, realizing fine adjustment of the elastic force. When adjustment is not required, the control valve 432 is closed, and the gas all enters the airbag member 42 for storage. This structure realizes active control of the elastic force of the V-shaped elastic member 3. The operator can flexibly adjust the clamping force according to the model and hardness of the lamp bead, avoiding lamp bead damage or unstable clamping caused by too large or too small clamping force, and improving the practicability and reliability of the manipulator.

[0038] As Figure 8 shown in the figure, in this embodiment, the airbag member 42 includes a connecting pipe 421 and an airbag body 422. The connecting pipe 421 is connected to the top of the air storage plate 41 and communicates with the cavity, and the airbag body 422 is connected to the top end of the connecting pipe 421.

[0039] When the gas in the rod-shaped elastic member 52 is pressed into the cavity, if the valve member 43 is closed, the gas enters the airbag body 422, causing it to expand. The airbag body 422 has elasticity and can store the pressure energy of the gas. When the clamping jaw 2 releases the lamp bead, the elastic forces of the V-shaped elastic member 3 and the rod-shaped elastic member 52 cause the clamping arm 21 to reset. At this time, the gas in the airbag body 422 flows back into the rod-shaped elastic member 52 through the connecting pipe 421 under the action of the elastic force, helping the rubber layer 53 and the V-shaped elastic member 3 to return to the initial state and preparing for the next clamping. This structure utilizes the elasticity of the airbag body 422 to store and release gas, realizing the recycling of gas, reducing energy loss, and at the same time, through the expansion and contraction of the airbag body 422, intuitively reflecting the storage and release state of the gas, facilitating the operator to observe and judge the working state of the manipulator.

[0040] As Figure 6 shown in the figure, in this embodiment, the V-shaped elastic member 3 includes a pressing plate 31 and a bladder 32. The adjacent ends of the two pressing plates 31 are hinged to form a V shape. The two ends of the two pressing plates 31 away from each other are respectively hinged to the pressure warning module 6 and the air storage plate 41. The bladder 32 is installed between the two pressing plates 31 and communicates with the air guide pipe 431.

[0041] When the clamping arm 21 clamps the lamp bead, the pressing plate 31 is subjected to the pressure transmitted by the elastic coating module 5 and rotates around the hinge point, reducing the V-shaped angle. The bladder 32 is compressed. If the valve member 43 is opened, the gas in the bladder 32 can flow in or out through the air duct 431, changing the expansion degree of the bladder 32, thereby adjusting the elastic force between the two pressing plates 31. When the bladder 32 expands, the elastic force of the pressing plate 31 increases and the clamping force is enhanced. When the bladder 32 contracts, the elastic force of the pressing plate 31 decreases and the clamping force is weakened. This structure realizes the dual functions of elastic buffering and elastic force adjustment through the V-shaped hinge and the gas control of the bladder 32. The design of the V-shaped structure enables the clamping force to be evenly distributed between the clamping arm 21 and the elastic coating module 5, while the gas adjustment of the bladder 32 enables the elastic force to be dynamically adjusted according to actual needs, improving the adaptability of the manipulator to different working conditions.

[0042] As Figure 5 , Figure 6 , Figure 9 and Figure 10 shown, in this embodiment, the pressure warning module 6 includes a hollow block 61, a pressure sensor 62 and a pressing member 63. An installation groove is formed in the inner wall of the clamping arm 21. The hollow block 61 is installed in the installation groove. An insertion cavity is formed in the hollow block 61. The pressure sensor 62 located in the insertion cavity is installed on the inner wall of the hollow block 61. An alarm 7 is installed on the clamping jaw 2, and the pressure sensor 62 is connected to the alarm 7. The pressing member 63 is inserted into the insertion cavity and abuts against the pressure sensor 62. One of the pressing plates 31 is hinged to the pressing member 63; the pressing member 63 includes a second spring 631 and a loading block 632. The two second springs 631 are symmetrically installed in the insertion cavity. The loading block 632 is inserted into the insertion cavity and connected to the two second springs 631. A pressing rod 633 that abuts against the pressure sensor 62 is installed on the inner side of the loading block 632. One of the pressing plates 31 is hinged to the loading block 632.

[0043] When the pressing plate 31 of the V-shaped elastic member 3 rotates under force, the loading block 632 hinged to the pressing plate 31 moves in the insertion cavity, pushing the pressing rod 633 to abut against the pressure sensor 62. The pressure sensor 62 continuously monitors the pressure signal transmitted by the pressing rod 633 and transmits the signal to the alarm 7. When the pressure exceeds the preset threshold, the alarm 7 gives an alarm, reminding the operator to stop clamping or adjust the clamping force. The second spring 631 provides a reset force for the loading block 632 to ensure that the loading block 632 can automatically reset when the clamping force decreases, maintaining the monitoring accuracy of the pressure sensor 62. This structure realizes the real-time and accurate monitoring of the clamping force through the combination of mechanical transmission and electronic monitoring. The high sensitivity of the pressure sensor 62 can promptly capture the change of the clamping force, while the rapid response of the alarm 7 effectively avoids the damage of the lamp bead caused by excessive clamping force, improving the safety and reliability of the manipulator.

[0044] The specific working principle of the present invention is as follows: The robotic arm 1 drives the gripper 2 to move to the position where the lamp beads are to be grabbed according to a preset program or an operator's instruction. The two gripper arms 21 move inwards, making the rubber layer 53 of the elastic coating module 5 contact the surface of the lamp beads. Due to the extrusion of the lamp bead shape, the rubber layer 53 drives the clamping rod 5233 of the rod-shaped elastic member 52 to move into the hollow tube 521, compressing the first spring 5231 and pushing the piston 5232, and pressing the gas in the hollow tube 521 into the cavity of the gas storage plate 41 of the gas storage module 4 through the air holes 522; If it is necessary to adjust the elastic force of the V-shaped elastic member 3, open the control valve 432 of the valve member 43. The gas enters the bladder 32 of the V-shaped elastic member 3 through the air duct 431, causing the bladder 32 to expand, pushing the extrusion plate 31 to rotate, and changing the elastic force of the V-shaped elastic member 3 to meet the clamping force requirement of the lamp beads. If no adjustment is needed, the gas enters the bladder body 422 of the air bladder member 42 for storage; During the clamping process, the extrusion plate 31 of the V-shaped elastic member 3 rotates under force, driving the loading block 632 of the pressure warning module 6 to move in the insertion cavity of the hollow block 61. The pressure rod 633 abuts against the pressure sensor 62. When the pressure sensor 62 monitors that the pressure exceeds the threshold value, the alarm 7 is triggered to give an alarm, prompting the operator to make adjustments; After the clamping is completed, the robotic arm 1 drives the gripper 2 to move to the assembly position. The gripper arms 21 are loosened. The V-shaped elastic member 3 and the rod-shaped elastic member 52 reset under their respective elastic actions. The gas in the bladder body 422 flows back to the rod-shaped elastic member 52 to prepare for the next operation; Throughout the process, the elastic coating module 5 realizes the adaptive flexible clamping of the lamp beads through the rubber layer 53 and the rod-shaped elastic member 52. The V-shaped elastic member 3 buffers vibration and impact. The gas storage module 4 realizes gas storage and elastic force adjustment. The pressure warning module 6 monitors the clamping force in real time, jointly ensuring the safety and reliability during the lamp bead assembly process.

[0045] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A manipulator for assisting in the assembly of lamp beads, characterized in that It includes a robotic arm (1) and a gripper (2) mounted thereon; The gripper (2) includes two gripper arms (21). On the adjacent sides of the two gripper arms (21), an air storage module (4) is installed through a V-shaped elastic member (3), and the air storage module (4) can be used to conduct air to the V-shaped elastic member (3). On the adjacent sides of the two air storage modules (4), an elastic coating module (5) connected to it is installed. A pressure warning module (6) is arranged between the gripper arm (21) and the V-shaped elastic member (3); When the two gripper arms (21) clamp a workpiece, the workpiece is self-adaptively wrapped and clamped by the two elastic coating modules (5). The V-shaped elastic member (3) between the gripper arm (21) and the elastic coating module (5) deforms and buffers under force. When the elastic coating module (5) clamps the workpiece, the force causes the gas to enter the air storage module (4). The air storage module (4) can control the amount of gas entering the V-shaped elastic member (3) to adjust the elastic force of the V-shaped elastic member (3).

2. The manipulator for assisting in the assembly of lamp beads according to claim 1, wherein, The elastic coating module (5) includes a clamping block (51), a rod-shaped elastic member (52) and a rubber layer (53). The clamping block (51) is installed on the air storage module (4). A plurality of through and matrix-arranged assembly channels are opened in the clamping block (51). A plurality of the rod-shaped elastic members (52) are respectively installed in the plurality of assembly channels and communicated with the air storage module (4). The rubber layer (53) is connected to one ends of the plurality of rod-shaped elastic members (52) away from the clamping block (51).

3. The manipulator for assisting the assembly of lamp beads according to claim 2, wherein, The rod-shaped elastic member (52) includes a hollow tube (521). A plurality of the hollow tubes (521) are respectively installed in the plurality of assembly channels. One end of the hollow tube (521) is provided with an air hole (522) communicated with the air storage module (4). The other end of the hollow tube (521) is inserted with an elastic clamping part (523) extending into it.

4. The manipulator for assisting in the assembly of lamp beads according to claim 3, wherein, The elastic clamping part (523) includes a first spring (5231), a piston (5232) and a clamping rod (5233). The first spring (5231) is installed in the hollow tube (521). The piston (5232) is connected to one end of the first spring (5231). The clamping rod (5233) slidably passes through the other end of the hollow tube (521) and is connected to the piston (5232). The rubber layer (53) is connected to one ends of the plurality of clamping rods (5233).

5. The manipulator for assisting in the assembly of lamp beads according to claim 3, characterized in that, The air storage module (4) includes an air storage plate (41), an airbag member (42) and a valve member (43). The air storage plate (41) is installed between the V-shaped elastic member (3) and the clamping block (51). A cavity is opened in the air storage plate (41). The air hole (522) at one end of the hollow tube (521) is communicated with the cavity. The airbag member (42) is installed on the top of the air storage plate (41) and communicated with the cavity. The valve member (43) is installed on the side of the air storage plate (41) for controlling the amount of gas entering the V-shaped elastic member (3).

6. The manipulator for assisting in the assembly of lamp beads according to claim 5, wherein, The valve member (43) includes an air guide pipe (431) and a control valve (432). An air guide pipe (431) communicating with the V-shaped elastic member (3) is connected to the air storage plate (41), and a control valve (432) is installed on the air guide pipe (431).

7. The manipulator for assisting the assembly of lamp beads according to claim 5, wherein The air bag member (42) includes a connecting pipe (421) and an air bag body (422). The connecting pipe (421) is connected to the top of the air storage plate (41) and communicates with the cavity, and the air bag body (422) is connected to the top end of the connecting pipe (421).

8. The manipulator for assisting in the assembly of lamp beads according to claim 6, wherein, The V-shaped elastic member (3) includes a pressing plate (31) and a bladder (32). The adjacent ends of the two pressing plates (31) are hinged to form a V shape. The remote ends of the two pressing plates (31) are respectively hinged to the pressure warning module (6) and the air storage plate (41). The bladder (32) is installed between the two pressing plates (31) and communicates with the air guide pipe (431).

9. The manipulator for assisting in assembling lamp beads according to claim 8, wherein, The pressure warning module (6) includes a hollow block (61), a pressure sensor (62) and a pressing member (63). An installation groove is formed in the inner wall of the clamping arm (21). The hollow block (61) is installed in the installation groove. An insertion cavity is formed in the hollow block (61). The pressure sensor (62) located in the insertion cavity is installed on the inner wall of the hollow block (61). An alarm (7) is installed on the clamping jaw (2), and the pressure sensor (62) is connected to the alarm (7). The pressing member (63) is inserted into the insertion cavity and abuts against the pressure sensor (62). One of the pressing plates (31) is hinged to the pressing member (63).

10. The manipulator for assisting in the assembly of lamp beads according to claim 9, wherein, The pressing member (63) includes a second spring (631) and a loading block (632). The two second springs (631) are symmetrically installed in the insertion cavity. The loading block (632) is inserted into the insertion cavity and connected to the two second springs (631). A pressing rod (633) that abuts against the pressure sensor (62) is installed on the inner side of the loading block (632). One of the pressing plates (31) is hinged to the loading block (632).

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