Picking device and picking arm mechanism

Abstract

The present invention discloses a picking arm mechanism, including a rigid component and a flexible component, wherein the rigid main arm and the adjusting arm do not directly contact the target object to be picked up, and the main arm and the adjusting arm can pull the flexible component, and while the flexible component contacts the target object to be picked up and picks up the object, the rigid component adjusts the angle between the main arm and the adjusting arm to ensure that the flexible component is in full contact with the target object to be picked up, thereby improving the working stability of the flexible component of the picking arm mechanism during picking up and subsequent handling. The present invention also provides a picking device, including the above-mentioned picking arm mechanism and a driving component, wherein the main arm is connected to the driving component, and the flexible component is connected to other structures of the robot, and the driving component can drive the picking arm mechanism to move, and the main arm and the adjusting arm rotate relative to each other to adjust, tension and support the flexible substrate, and the flexible component can adapt to the special-shaped target object to be picked up, thereby ensuring the stable picking up of the picking arm mechanism and reducing the control difficulty of the picking device.

Description

Technical Field

[0001] The present invention relates to the technical field of robots and peripheral supporting facilities thereof, and in particular to a picking device and a picking arm mechanism. Background Art

[0002] Intelligent manufacturing and robotics are the frontiers of advanced equipment. The robot end effector is the core of the robot's dexterous operation.

[0003] Early industrial robots were basically made of rigid components. Rigid mechanical components are relatively easy to implement, and their transmission and control are also supported by a lot of basic research, so they have been developed on a large scale. However, with the increase in application requirements, such as the handling of curved screens and wearable devices in the field of flexible electronics, the automated harvesting of fruits and vegetables in "smart agriculture", and the handling of ceramics and glass in daily necessities, robots with all-rigid components have also exposed some obvious defects, such as: they are easy to leave scratches and damage to the target object, and have poor adaptability to special-shaped parts. For this reason, the existing technology has further developed dedicated flexible grippers.

[0004] Currently, common flexible grippers are mainly divided into flexible clamps with traditional rigid structures and hinges and soft flexible clamps with soft material structures and pneumatic drives. Both can achieve gentle grasping and flexible manipulation within a certain range to a certain extent. However, there are still some obvious defects in the flexible end effectors in the existing technology: the flexible grippers realized by the rigid structure have a small opening and closing angle and cannot pick up large curved objects; and the pneumatic soft flexible clamps require a specific charging and discharging drive unit to cooperate, and the control is more complicated; in the actual production and use of both, in order to obtain the most suitable clamping force, it is often necessary to adjust the drive stroke or air pressure multiple times, and the whole process is more cumbersome.

[0005] Therefore, how to change the current situation in which the robot end effector has poor adaptability to special-shaped parts and complex control in the prior art has become an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0006] The purpose of the present invention is to provide a picking device and a picking arm mechanism to solve the problems existing in the above-mentioned prior art, improve the adaptability of the robot end effector to special-shaped parts, and reduce the difficulty of controlling the robot end effector.

[0007] To achieve the above object, the present invention provides the following solution: The present invention provides a pick-up arm mechanism, comprising:

[0008] A rigid component, the rigid component comprises a main arm and an adjusting arm, one end of the adjusting arm is hingedly connected to the main arm, and the main arm and the adjusting arm are rigid structures;

[0009] A flexible component, the flexible component comprising a flexible base and a bristle belt, the bristle belt being connected to the flexible base, one end of the flexible base being connected to the adjustment arm, the bristle belt being arranged on a side of the flexible base away from the rigid component, the bristle belt having a plurality of bristles capable of contacting a target object to be picked up;

[0010] One end of the main arm away from the regulating arm can be connected to a driver, and one end of the flexible base away from the regulating arm can be connected to other structures of the robot.

[0011] Preferably, the bristle belt has a plurality of wedge-shaped structures, the bristles are arranged on the wedge-shaped structures, and the wedge-shaped structures are inclined toward the direction of the adjustment arm.

[0012] Preferably, a torsion spring is provided at the hinge between the main arm and the adjusting arm.

[0013] Preferably, an elastic pad is provided on a side of the adjustment arm facing the flexible substrate, and the elastic pad can abut against the flexible substrate.

[0014] The present invention also provides a picking device, comprising the above-mentioned picking arm mechanism and a driving assembly, wherein the main arm is connected to the driving assembly, and the flexible base is connected to other structures of the robot.

[0015] Preferably, the driving assembly includes a clamping frame, a clamping base, a center bracket, a servo and a driving spindle, the clamping frame is connected to the clamping base, the center bracket is connected to the clamping base, the servo is fixed on the clamping frame, the driving spindle is connected to the main arm, the driving spindle is rotatably connected to the clamping frame and the clamping base, the servo is transmission-connected to the driving spindle, and the end of the flexible base away from the adjusting arm is connected to the center bracket.

[0016] Preferably, the clamping and fixing frame is connected to a steering gear bracket, the steering gear is arranged on the steering gear bracket, the steering gear is connected to a steering gear swing arm, the end of the steering gear swing arm away from the steering gear is connected to a connecting rod, one end of the connecting rod is hinged to the steering gear swing arm, and the other end of the connecting rod is connected to the driving core shaft by a connecting element, and the steering gear swing arm, the connecting rod, the connecting element and the clamping and fixing frame constitute a four-bar linkage.

[0017] Preferably, there are two groups of picking arm mechanisms, which are symmetrically arranged with the center line of the central bracket as the axis, and the connecting element is a driving gear. The main arm of one group of picking arm mechanisms is connected to the driving spindle, and the driving spindle is connected to the driving gear. The main arm of the other group of picking arm mechanisms is connected to a driven spindle, and the driven spindle is connected to a driven gear, and the driving gear is meshed with the driven gear.

[0018] Preferably, the picking device also includes a shell, which includes a first shell, a second shell and a third shell, the first shell cover is arranged on the outside of the driving component, the second shell is connected to the main arm, and the second shell is arranged on the side of the main arm away from the flexible component, the third shell is connected to the adjusting arm, and the third shell is arranged on the side of the adjusting arm away from the flexible component.

[0019] Preferably, the picking arm mechanism is also connected to a travel switch, and the travel switch is arranged between the adjusting arm and the flexible substrate.

[0020] Compared with the prior art, the present invention has achieved the following technical effects: the picking arm mechanism of the present invention includes both a rigid component and a flexible component, the rigid main arm and the adjusting arm do not directly contact the target object to be picked up, the main arm and the adjusting arm can pull the flexible component, the flexible base in the flexible component is made of a flexible material, and can better adapt to the special-shaped curved surface, the bristle belt connected to the flexible base can fit with the surface of the target object to be picked up, and under low pressure, the bristles increase the friction between the bristle belt and the target object to be picked up, and while the flexible component contacts and picks up the target object to be picked up, the rigid component adjusts the angle between the main arm and the adjusting arm, so that the flexible component can be well attached to the target object to be picked up, ensuring the working stability of the flexible component of the picking arm mechanism during picking and subsequent handling. The picking arm mechanism of the present invention adopts a combination of a rigid component and a flexible component, which improves the adaptability of the mechanism to special-shaped parts.

[0021] The present invention also provides a picking device, including the above-mentioned picking arm mechanism and driving assembly, the main arm is connected to the driving assembly, the flexible assembly is connected to other structures of the robot, the driving assembly can drive the picking arm mechanism to move, the main arm and the adjusting arm rotate relative to each other to adjust, tension and support the flexible base, the rigid assembly and other structures of the robot cooperate to pull the flexible assembly, so that the flexible assembly can fully contact the target picking object, ensure the stable picking of the picking arm mechanism, and reduce the control difficulty of the picking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of the pickup device of the present invention;

[0024] Figure 2 It is a schematic diagram of the cutaway structure of the pickup device of the present invention;

[0025] Figure 3 It is a partial structural cutaway schematic diagram of the pickup device of the present invention;

[0026] Figure 4 It is a schematic diagram of loading the pickup device of the present invention;

[0027] Figure 5 It is a schematic diagram of unloading the pickup device of the present invention.

[0028] Wherein, 100 is a picking device, and 200 is a picking arm mechanism;

[0029] 1 is a rigid component, 101 is a main arm, 102 is an adjusting arm, 103 is a torsion spring, 104 is an elastic pad, 2 is a flexible component, 201 is a flexible base, 202 is a bristle belt, 203 is a wedge structure, 3 is a driving component, 301 is a clamping bracket, 302 is a clamping base, 303 is a center bracket, 304 is a steering gear, 305 is a driving spindle, 306 is a steering gear bracket, 307 is a steering gear swing arm, 308 is a connecting rod, 309 is a driving gear, 310 is a driven spindle, 311 is a driven gear, 4 is a shell, 401 is a first shell, 402 is a second shell, 403 is a third shell, 5 is a travel switch, and 6 is a target object. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide a picking device and a picking arm mechanism to solve the problems existing in the above-mentioned prior art, improve the adaptability of the robot end effector to special-shaped parts, and reduce the difficulty of controlling the robot end effector.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Please refer to Figure 1-5 ,in, Figure 1 is a schematic diagram of the structure of the pickup device of the present invention, Figure 2 is a schematic diagram of the cross-section structure of the pickup device of the present invention, Figure 3 It is a partial structural cutaway diagram of the pickup device of the present invention, Figure 4 It is a schematic diagram of loading the pickup device of the present invention. Figure 5 It is a schematic diagram of unloading the pickup device of the present invention.

[0034] The present invention provides a picking arm mechanism 200, comprising a rigid component 1 and a flexible component 2, wherein the rigid component 1 comprises a main arm 101 and an adjusting arm 102, one end of the adjusting arm 102 is hingedly connected to the main arm 101, and the main arm 101 and the adjusting arm 102 are rigid structures; the flexible component 2 comprises a flexible substrate 201 and a bristle belt 202, the bristle belt 202 is connected to the flexible substrate 201, one end of the flexible substrate 201 is connected to the adjusting arm 102, the bristle belt 202 is arranged on a side of the flexible substrate 201 away from the rigid component 1, and the bristle belt 202 has a plurality of bristles that can contact a target object 6 to be picked up; one end of the main arm 101 away from the adjusting arm 102 can be connected to a driver, and one end of the flexible substrate 201 away from the adjusting arm 102 can be connected to other structures of the robot.

[0035] The picking arm mechanism 200 of the present invention includes a rigid component 1 and a flexible component 2. The rigid main arm 101 and the adjusting arm 102 do not directly contact the target object 6 to be picked up. The main arm 101 and the adjusting arm 102 can pull the flexible component 2. The flexible base 201 in the flexible component 2 is made of a flexible material and can better adapt to special-shaped surfaces. The bristle belt 202 connected to the flexible base 201 can fit the surface of the target object 6 to be picked up. Under low pressure, the bristles increase the friction between the bristle belt 202 and the target object 6 to be picked up. When the flexible component 2 contacts and picks up the target object 6 to be picked up, the rigid component 1 adjusts the angle between the main arm 101 and the adjusting arm 102, so that the flexible component 2 can be well attached to the target object 6 to be picked up, stabilize the target object 6 to be picked up, ensure the working stability of the flexible component 2 of the picking arm mechanism 200 during picking and subsequent transportation, effectively avoid the shaking of the target object 6 to be picked up, and solve the problem that the flexible gripper has excessive flexibility but insufficient rigidity. The pick-up arm mechanism 200 of the present invention combines the rigid component 1 with the flexible component 2, thereby improving the adaptability of the mechanism to special-shaped parts and improving the working stability of the pick-up arm mechanism 200.

[0036] The bristle belt 202 has a plurality of wedge-shaped structures 203, on which bristles are arranged, and the wedge-shaped structures 203 are arranged obliquely toward the direction of the adjustment arm 102. Multiple rows of micrometer-level bristles are arranged on the wedge-shaped structures 203 to form an array on the wedge-shaped structures 203. In this specific embodiment, the wedge-shaped structures 203 are arranged obliquely toward the direction of the adjustment arm 102. When the bristle belt 202 contacts the target object 6 to be picked up, a horizontal tangential force (such as a force at a horizontal angle) is applied to the object 6 in an oblique direction. Figure 4 As shown in the figure, the bristles are bent by the force, and the contact area with the target object 6 to be picked up is increased, thereby improving the tangential bearing capacity of the bristle belt 202. It should also be noted that the flexible substrate 201 is made of a high tensile modulus flexible material such as a polyimide film, a biaxially oriented polypropylene film or a high-density polyethylene film, so that the flexible substrate 201 can limit the stretching of the wedge-shaped structure 203 after being subjected to the tangential force, so that the wedge-shaped structure 203 can evenly bear the tangential load, thereby improving the force uniformity of the target object 6 to be picked up, and further improving the working reliability of the picking arm mechanism 200.

[0037] In addition, a torsion spring 103 is provided at the hinge of the main arm 101 and the adjusting arm 102 to improve the adaptability of the rigid component 1. When the main arm 101 is clamped, the adjusting arm 102 adaptively adjusts the angle with the main arm 101 under the action of the torsion spring 103, thereby ensuring that the bristle belt 202 is in full contact with the surface of the target object to avoid shaking of the object during the picking process.

[0038] It should be emphasized that an elastic pad 104 is provided on the side of the adjustment arm 102 facing the flexible substrate 201, and the elastic pad 104 can be against the flexible substrate 201. By providing the elastic pad 104, when the flexible component 2 does not contact the target object 6 to be picked up, the elastic pad 104 can make the flexible component 2 parallel and tensioned with the main arm 101, so as to avoid wrinkles in the flexible component 2 during the picking process, and can also make the flexible component 2 better contact with the surface of the target object 6 to be picked up, so as to ensure the adhesion area and tangential adhesion force transmission between the flexible component 2 and the target object 6 to be picked up; in actual applications, the elastic pad 104 can be made of elastic materials such as sponge, and can also be an inflatable airbag, etc.

[0039] The present invention also provides a picking device 100, including the above-mentioned picking arm mechanism 200 and driving component 3, the main arm 101 is connected to the driving component 3, the flexible component 2 is connected to other structures of the robot, the driving component 3 can drive the picking arm mechanism 200 to move, the main arm 101 and the adjusting arm 102 rotate relative to each other to adjust, tension and support the flexible substrate 201, and the flexible component 2 can be attached to the surface of the target object 6 to be picked up under the support of the other structures of the robot and the rigid component 1, so as to ensure the stable picking of the picking arm mechanism 200 and reduce the control difficulty of the picking device 100.

[0040] At the same time, the driving assembly 3 includes a clamping frame 301, a clamping base 302, a central support 303, a servo 304 and a driving spindle 305. The clamping frame 301 is connected to the clamping base 302, the central support 303 is connected to the clamping base 302, the servo 304 is fixed on the clamping frame 301, the driving spindle 305 is connected to the main arm 101, the driving spindle 305 is rotatably connected to the clamping frame 301 and the clamping base 302, the servo 304 is transmission-connected to the driving spindle 305, and the end of the flexible substrate 201 away from the adjusting arm 102 is connected to the central support 303. The servo 304 is connected to the driving spindle 305 by transmission. The servo 304 can drive the driving spindle 305 to rotate, and then the main arm 101 connected to the driving spindle 305 rotates to adjust the state of the picking arm mechanism 200. At the same time, the flexible substrate 201 is connected to the central support 303. The flexible substrate 201 transmits the tangential force borne by the wedge structure 203 to the central support 303, so that the central support 303 bears the weight of the target object 6 to be picked up, reducing the load of the picking arm mechanism 200. It should be explained here that when multiple sets of picking arm mechanisms 200 are set, or the picking arm mechanism 200 fixes the target object 6 to be picked up between the central support 303 and other structures of the robot, the central support 303 bears the weight of the target object 6 to be picked up. During the picking process, the picking arm mechanism 200 does not need to bear the weight, which reduces the load required by the drive component 3.

[0041] More specifically, the clamping frame 301 is connected to the servo bracket 306, the servo 304 is arranged on the servo bracket 306, the servo 304 is connected to the servo swing arm 307, the end of the servo swing arm 307 away from the servo 304 is connected to the connecting rod 308, one end of the connecting rod 308 is hinged to the servo swing arm 307, and the other end of the connecting rod 308 is connected to the driving core shaft 305 by a connecting element. The servo swing arm 307, the connecting rod 308, the connecting element and the clamping frame 301 constitute a four-bar linkage. The four-bar linkage 308 has stable movement, large load-bearing capacity, and low manufacturing difficulty. The four-bar linkage is used to drive the driving core shaft 305 to move, thereby improving the movement reliability of the rigid component 1.

[0042] In this specific embodiment, there are two groups of picking arm mechanisms 200, and the two groups of picking arm mechanisms 200 are symmetrically arranged with the center line of the central support 303 as the axis, and the connecting element is a driving gear 309. The main arm 101 of one group of picking arm mechanisms 200 is connected to the driving spindle 305, and the driving spindle 305 is connected to the driving gear 309. The main arm 101 of the other group of picking arm mechanisms 200 is connected to the driven spindle 310, and the driven spindle 310 is connected to the driven gear 311, and the driving gear 309 is meshed with the driven gear 311. The driving assembly 3 moves to adjust the opening and closing degree of the two groups of picking arm mechanisms 200 to adapt to the different surfaces of the target objects 6 to be picked up. In other specific embodiments of the present invention, the number of picking arm mechanisms 200 in the picking device 100 can also be set according to the specific working conditions of the robot to improve the flexibility and adaptability of the picking device 100. It needs to be explained here that when the number of picking arm mechanisms 200 is a group, the picking arm mechanism 200 needs to cooperate with other structures of the robot to complete the picking. For example, the other structures of the robot provide the picking arm mechanism 200 with another force-bearing surface for fixing the target object to be picked up, and the picking arm mechanism 200 "presses" the target object to be picked up against the other structures of the robot to complete the picking.

[0043] Furthermore, the picking device 100 also includes a shell 4, which includes a first shell 401, a second shell 402 and a third shell 403. The first shell 401 is covered on the outside of the driving component 3, the second shell 402 is connected to the main arm 101, and the second shell 402 is arranged on the side of the main arm 101 away from the flexible component 2. The third shell 403 is connected to the adjusting arm 102, and the third shell 403 is arranged on the side of the adjusting arm 102 away from the flexible component 2. The shell 4 improves the structural integrity of the picking device 100.

[0044] In addition, the picking arm mechanism 200 is also connected to a travel switch 5, which is arranged between the adjustment arm 102 and the flexible base 201. The travel switch 5 can be used to automatically detect target objects 6 of different sizes to be picked up, thereby adjusting the opening and closing angles of the two sets of picking arm mechanisms 200 to ensure the adhesion area of ​​the flexible component 2 and effectively prevent the clamping force of the main arm 101 from being too large and damaging the target object 6 to be picked up; the travel switch 5 also helps the device to pick up target objects 6 of different sizes to be picked up, further improves the adaptability of the device, and can prevent excessive clamping force to a certain extent.

[0045] The movement process of the pickup mechanism of the present invention during loading is as follows: when approaching the surface of the target object to be picked up, the steering gear 304 drives the steering gear swing arm 307 to rotate, and the steering gear swing arm 307 drives the connecting rod 308 to move downward, thereby driving the driving gear 309 and the driven gear 311 meshing therewith to rotate simultaneously, thereby driving the two sets of pickup arm mechanisms 200 to slowly close, and the bristle belt 202 is continuously in contact with the surface of the target object 6 to be picked up from top to bottom, and the elastic pad 104 arranged on the adjustment arm 102 assists the bristle belt 202 to further To fit the surface of the target object, when the travel switch 5 located on the adjustment arm 102 is triggered, the drive assembly 3 stops working and the main arm 101 is self-locked to a certain extent. At this time, the fit to the target object 6 is completed. At this time, the target object is lifted, and the wedge-shaped structure 203 and the surface of the target object begin to produce a small relative displacement △x, so that the contact area between the wedge-shaped structure 203 and the surface of the target object 6 to be picked up is significantly increased in a very short time, thereby using the component force Ty of the tangential adhesion force T of the bristle belt 202 in the vertical direction to complete the picking of the target object 6.

[0046] The movement process during unloading is as follows: the servo 304 drives the servo swing arm 307 to rotate, and the servo swing arm 307 drives the connecting rod 308 to move upward, driving the driving gear 309 and the driven gear 311 meshing therewith to rotate in the opposite direction at the same time, thereby driving the picking arm mechanism 200 to open rapidly, and the bristle belt 202 begins to peel off from the surface of the target object 6 from bottom to top until it is completely detached, completing the unloading.

[0047] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pick-up arm mechanism, characterized in that: include: A rigid component, the rigid component comprises a main arm and an adjusting arm, one end of the adjusting arm is hingedly connected to the main arm, and the main arm and the adjusting arm are rigid structures; A flexible component, the flexible component comprising a flexible base and a bristle belt, the bristle belt being connected to the flexible base, one end of the flexible base being connected to the adjustment arm, the bristle belt being arranged on a side of the flexible base away from the rigid component, the bristle belt having a plurality of bristles capable of contacting a target object to be picked up; A driving assembly, the driving assembly includes a clamping frame, a clamping base, a central support, a steering gear and a driving spindle, the clamping frame is connected to the clamping base, the central support is connected to the clamping base, the steering gear is fixed to the clamping frame, the driving spindle is connected to the main arm, the driving spindle is rotatably connected to the clamping frame and the clamping base, the steering gear is connected to the driving spindle by transmission, and the end of the flexible base away from the adjusting arm is connected to the central support; the clamping frame is connected to a steering gear support, the steering gear is arranged on the steering gear support, the steering gear is connected to a steering gear swing arm, and the end of the steering gear swing arm away from the steering gear is connected There is a connecting rod, one end of which is hinged to the steering gear swing arm, and the other end of which is connected to the driving spindle by a connecting element, and the steering gear swing arm, the connecting rod, the connecting element and the clamping fixed frame constitute a four-bar linkage; the number of the picking arm mechanisms is two groups, and the two groups of the picking arm mechanisms are symmetrically arranged with the midline of the central bracket as the axis, and the connecting element is a driving gear, wherein the main arm of one group of the picking arm mechanisms is connected to the driving spindle, and the driving spindle is connected to the driving gear, and the main arm of the other group of the picking arm mechanisms is connected to a driven spindle, and the driven spindle is connected to a driven gear, and the driving gear is meshed with the driven gear; One end of the main arm away from the adjusting arm can be connected to the driving assembly, and one end of the flexible base away from the adjusting arm can be connected to other structures of the robot; an elastic pad is arranged on the side of the adjusting arm facing the flexible base, and the elastic pad can be against the flexible base.

2. The pick-up arm mechanism according to claim 1, characterized in that: The bristle belt has a plurality of wedge-shaped structures, the bristles are arranged on the wedge-shaped structures, and the wedge-shaped structures are arranged obliquely toward the direction of the regulating arm.

3. The pick-up arm mechanism according to claim 1, characterized in that: A torsion spring is arranged at the hinge between the main arm and the adjusting arm.

4. A picking device, comprising the picking arm mechanism according to any one of claims 1 to 3, characterized in that: The main arm is connected to the driving assembly, and the flexible base is connected to other structures of the robot.

5. The pickup device according to claim 4, characterized in that: It also includes a shell, which includes a first shell, a second shell and a third shell, the first shell cover is arranged on the outside of the driving component, the second shell is connected to the main arm, and the second shell is arranged on the side of the main arm away from the flexible component, and the third shell is connected to the adjustment arm, and the third shell is arranged on the side of the adjustment arm away from the flexible component.

6. The pickup device according to claim 4, characterized in that: The pick-up arm mechanism is also connected with a travel switch, and the travel switch is arranged between the adjustment arm and the flexible substrate.

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