Mechanical hand for assisting assembly of a lamp bead

Abstract

This invention relates to the field of robotic arm technology and discloses a robotic arm for assisting in the assembly of LED beads. The robotic arm includes a robotic arm and a gripper mounted thereon. The gripper includes two gripping arms, each with an air storage module mounted on an adjacent side via a V-shaped elastic element. The air storage module can be used to guide air to the V-shaped elastic element. An elastic covering module connected to each adjacent side of the two air storage modules is mounted. A pressure warning module is provided between the gripping arms and the V-shaped elastic element. This invention achieves flexible and self-adaptive clamping of LED beads through the elastic covering module, the V-shaped elastic element, and the pressure warning module. The rod-shaped elastic element and rubber layer of the elastic covering module can evenly distribute the clamping force, buffering friction and impact. The V-shaped elastic element can absorb vibration and impact and adjust the elasticity. The pressure warning module monitors the clamping force in real time and issues an alarm to avoid damage to the LED beads, improving the integrity and stability of LED bead grasping and clamping.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm for assisting in the assembly of LED beads. Background Technology

[0002] A robotic arm is an industrial robot that mimics the functions of a human hand and arm. It can complete various complex tasks according to preset programs and trajectories. In the field of LED chip manufacturing, with the rapid development of LED technology, the application of LED chips is becoming more and more widespread, from general lighting to high-end display devices. The production scale of LED chips is constantly expanding, which also puts forward higher requirements for the efficiency and quality of LED chip assembly. In the process of LED chip assembly, the robotic arm mainly plays an auxiliary role in installation. The robotic arm can achieve high-precision positioning and operation. By equipping a high-precision vision system and motion control system, the robotic arm can accurately identify the position and posture of the LED chip and accurately install it into the designated position.

[0003] During the gripping process of LED beads, due to their small size and relatively fragile material, the rigid grippers of the robotic arm can easily cause hard damage to the surface of the LED beads. This is because the surface hardness of the rigid grippers is high, and when they come into contact with the LED beads, a large frictional force is generated between them. This frictional force not only causes scratches on the surface of the LED beads, but may also further aggravate the damage to the surface of the LED beads when the grippers slide relative to the LED beads. In addition, during the movement of the robotic arm, a certain amount of vibration and impact will inevitably be generated. When the rigid grippers grip the LED beads, these vibrations and impacts will be directly transmitted to the LED beads, resulting in cracks or other forms of hard damage on the surface of the LED beads.

[0004] To address the aforementioned issues, this application proposes a robotic arm for assisting in the assembly of LED beads. Summary of the Invention

[0005] This invention proposes a robotic arm for auxiliary assembly of LED beads, which solves the problem in related technologies where the grippers of robotic arms easily cause hard damage to the surface of LED beads during grasping.

[0006] The present invention provides a robotic arm for auxiliary assembly of LED beads, comprising a robotic arm and grippers mounted thereon;

[0007] The gripper includes two gripping arms. Each of the two gripping arms has an air storage module installed on one side of an adjacent V-shaped elastic element. The air storage module can be used to guide air to the V-shaped elastic element. Each of the two air storage modules has an elastic covering module installed on one side of an adjacent side and connected to it. A pressure warning module is provided between the gripping arm and the V-shaped elastic element.

[0008] When the two clamping arms clamp the workpiece, the workpiece is self-adaptively clamped and wrapped by the two elastic covering modules. The V-shaped elastic element between the clamping arms and the elastic covering modules is subjected to force deformation buffer. When the elastic covering modules clamp the workpiece, the force pushes the gas into the gas storage module. The gas storage module can control the amount of gas entering the V-shaped elastic element to adjust the elastic force of the V-shaped elastic element.

[0009] As a further optimization of the present invention, the elastic covering module includes a clamping block, rod-type elastic elements and a rubber layer. The clamping block is installed on the gas storage module. The clamping block has multiple through and matrix-arranged assembly channels. Multiple rod-type elastic elements are respectively installed in the multiple assembly channels and communicate with the gas storage module. The rubber layer is connected to the end of the multiple rod-type elastic elements away from the clamping block.

[0010] As a further optimization of the present invention, the rod-type elastic element includes a hollow tube, and multiple hollow tubes are respectively installed in multiple assembly channels. One end of the hollow tube is provided with an air hole communicating with the gas storage module, and the other end of the hollow tube is inserted with an elastic clamping part extending therein.

[0011] As a further optimization of the present invention, the elastic clamping part includes a first spring, a piston, and a clamping rod. The first spring is installed inside a 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, and the rubber layer is connected to one end of a plurality of clamping rods.

[0012] As a further optimization of the present invention, the gas storage module includes a gas storage plate, an airbag component, and a valve component. The gas storage plate is installed between the V-shaped elastic component and the clamping block. A cavity is opened in the gas storage plate. The air hole at one end of the hollow tube communicates with the cavity. The airbag component is installed on the top of the gas storage plate and communicates with the cavity. The valve component is installed on the side of the gas storage plate and is used to control the amount of gas entering the V-shaped elastic component.

[0013] As a further optimization of the present invention, the valve includes an air guide pipe and a control valve. The air storage plate is connected to an air guide pipe that communicates with a V-shaped elastic element, and the control valve is installed on the air guide pipe.

[0014] As a further optimization of the present invention, the airbag component includes a connecting pipe and an airbag body, the connecting pipe being connected to the top of the air storage plate and communicating with the cavity, and the airbag body being connected to the top of the connecting pipe.

[0015] As a further optimization of the present invention, the V-shaped elastic element includes a compression plate and a balloon. The adjacent ends of the two compression plates are hinged to each other to form a V-shape. The ends of the two compression plates that are far apart are respectively hinged to the pressure warning module and the gas storage plate. The balloon is installed between the two compression plates and is connected to the gas guide pipe.

[0016] As a further optimization of the present invention, the pressure warning module includes a hollow block, a pressure sensor, and a pressure-blocking component. The inner wall of the clamping arm has an installation groove, the hollow block is installed in the installation groove, and an insertion cavity is formed inside 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 claw, and the pressure sensor is connected to the alarm. The pressure-blocking component is inserted into the insertion cavity and abuts against the pressure sensor. One of the extrusion plates is hinged to the pressure-blocking component.

[0017] As a further optimization of the present invention, the pressing member includes a second spring and a loading block. The 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. One of the pressing plates is hinged to the loading block.

[0018] The above-described technical solution of the present invention has the following beneficial technical effects:

[0019] 1. This invention uses a robotic arm to drive the gripper to move to the location of the LED bead, and then uses two gripping arms on the gripper to hold the LED bead. When the two gripping arms perform the gripping operation, the elastic covering modules on the two gripping arms can come into contact with the LED bead. The elastic covering modules can achieve self-adaptive covering and gripping of the LED bead, avoiding hard damage caused by the rigid gripper directly contacting the LED bead, reducing the risk of scratches and cracks on the surface of the LED bead, and improving the integrity and quality of the LED bead gripping process.

[0020] 2. When clamping the LED bead using the elastic covering module, the matrix-arranged rod-type elastic elements on the elastic covering module can adapt to the shape of the LED bead, so that the clamping force is evenly distributed, reducing the situation of excessive local pressure, thereby better protecting the surface of the LED bead from damage caused by concentrated pressure. Under the action of the rod-type elastic elements, the rubber layer on the rod-type elastic elements can cover the LED bead. The softness and elasticity of the rubber layer can effectively reduce the friction between the gripper and the LED bead, reducing scratches on the surface of the LED bead caused by friction. At the same time, the buffering effect of the rubber layer can also reduce the impact on the LED bead during clamping. Through the self-adaptive function of the rod-type elastic elements and the covering effect of the rubber layer, the gripper can clamp the LED bead more firmly. Even if vibration and impact occur during the movement of the robot arm, the LED bead is not easy to loosen or fall off, thus improving the stability of clamping.

[0021] 3. When the LED bead is clamped by the elastic covering module, the V-shaped elastic element between the clamping arm and the elastic covering module deforms under force. When the V-shaped elastic element deforms under force, it can play a buffering role, effectively absorbing the vibration and impact generated during the movement of the robot arm, reducing the impact of these external forces on the LED bead, and also preventing the LED bead from cracking or being damaged by hard impact during the clamping process, thus improving the safety of gripping the LED bead.

[0022] 4. When the rod-type elastic element on the elastic covering module self-adaptively clamps the LED bead, the rod-type elastic element moves within the clamping block, pushing gas into the gas storage module. Depending on the LED bead model, it is possible to select whether the gas enters the V-shaped elastic element to adjust its elasticity. When it is not necessary to adjust the elasticity of the V-shaped elastic element, the valve on the gas storage module does not open, and the gas only enters the air bladder on the gas storage module, where it expands. When the gripper drives the elastic covering module back to its original position, the gas immediately flows back into the elastic covering module to prepare for the next clamping. When it is necessary to adjust the elasticity of the V-shaped elastic element, the amount of gas entering the bladder can be controlled by the valve to adjust the degree of bladder expansion and control the deformation between the two extrusion plates. The above design, by controlling the amount of gas entering the bladder, can adjust the clamping force according to the different LED bead models and hardness, achieving personalized clamping force adjustment.

[0023] 5. When the LED bead is clamped by the gripper arm, a pressure warning module is provided between the V-shaped elastic element and the gripper arm. The pressure warning module can monitor the clamping force of the LED bead in real time. When the clamping force exceeds the threshold, an alarm can be triggered in time. The pressure warning module of this invention can monitor the clamping force of the gripper on the LED bead in real time, ensuring that the clamping force is always within a safe range, avoiding damage to the LED bead due to excessive clamping force. In addition, when the clamping force exceeds the preset threshold, the system can issue an alarm signal in time to remind the operator to take measures, such as adjusting the clamping force or stopping the clamping action, thereby effectively avoiding damage to the LED bead. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a robotic arm for auxiliary assembly of LED beads proposed in this invention.

[0025] Figure 2 This is a front view of a robotic arm for assisting in the assembly of LED beads, as proposed in this invention.

[0026] Figure 3 This is a schematic diagram of the gripper structure of the present invention.

[0027] Figure 4 This is a front view of the gripper of the present invention.

[0028] Figure 5 This is a schematic diagram of the clamping arm of the present invention.

[0029] Figure 6 This is a schematic diagram of the structure of the V-shaped elastic element, the gas storage module, and the elastic covering module of the present invention.

[0030] Figure 7 This is a schematic diagram of the rod-type elastic element of the present invention.

[0031] Figure 8 This is a schematic diagram of the gas storage module of the present invention.

[0032] Figure 9 This is a schematic diagram of the pressure warning module of the present invention.

[0033] Figure 10 This is an internal cross-sectional view of the hollow block in this invention.

[0034] Reference numerals: 1. Robotic arm; 2. Gripper; 21. Gripper arm; 3. V-shaped elastic element; 31. Extrusion plate; 32. Balloon; 4. Air storage module; 41. Air storage plate; 42. Airbag component; 421. Connecting pipe; 422. Airbag body; 43. Valve component; 431. Air guide pipe; 432. Control valve; 5. Elastic covering module; 51. Clamping block; 52. Rod-type elastic element; 521. Hollow tube; 522. Air hole; 523. Elastic clamping part; 5231. First spring; 5232. Piston; 5233. Clamping rod; 53. Rubber layer; 6. Pressure warning module; 61. Hollow block; 62. Pressure sensor; 63. Pressing component; 631. Second spring; 632. Loading block; 633. Pressing rod; 7. Alarm. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0036] like Figures 1-10 As shown, the present invention proposes a robotic arm for auxiliary assembly of LED beads, which includes a robotic arm 1 and a gripper 2 mounted thereon;

[0037] The gripper 2 includes two gripping arms 21. Each of the two gripping arms 21 has an air storage module 4 installed on one side of the adjacent side via a V-shaped elastic element 3. The air storage module 4 can be used to guide air to the V-shaped elastic element 3. Each of the two air storage modules 4 has an elastic covering module 5 installed on one side of the adjacent side and connected to it. A pressure warning module 6 is provided between the gripping arm 21 and the V-shaped elastic element 3.

[0038] When the two clamping arms 21 clamp the workpiece, the workpiece is self-adaptively clamped by the two elastic covering modules 5. The V-shaped elastic element 3 between the clamping arms 21 and the elastic covering module 5 is subjected to force deformation buffer. When the elastic covering module 5 clamps the workpiece, the force pushes the gas into the gas storage module 4. The gas storage module 4 can control the amount of gas entering the V-shaped elastic element 3 to adjust the elastic force of the V-shaped elastic element 3.

[0039] When the robotic arm 1 moves the gripper 2 above the LED bead, the two gripping arms 21 move inward, causing the elastic covering module 5 on the gripping arms 21 to contact the surface of the LED bead. The elastic covering module 5, through its structural characteristics, can adaptively deform according to the shape and contour of the LED bead, thus achieving a wrapping gripping effect. During this process, the V-shaped elastic element 3 between the gripping arms 21 and the elastic covering module 5 is compressed and deformed. This elastic deformation absorbs the impact force during gripping, preventing damage to the LED bead from hard collisions. Simultaneously, when gripping the LED bead, the elastic covering module 5 pushes internal gas into the gas storage module 4. The gas storage module 4 can store the gas and adjust its usage according to actual conditions. To meet actual needs, the amount of gas entering the V-shaped elastic element 3 is controlled to adjust the elastic force of the V-shaped elastic element 3, thus adapting to the clamping force requirements of different specifications of LED beads. The pressure warning module 6 monitors the pressure changes between the clamping arm 21 and the V-shaped elastic element 3 in real time. When the pressure exceeds the preset threshold, an alarm mechanism is triggered in time to remind the operator to adjust the clamping state. This design effectively avoids damage to the LED beads by rigid clamping through the adaptive clamping of the elastic covering module 5, the buffering of the V-shaped elastic element 3, the elastic force adjustment of the gas storage module 4, and the real-time monitoring of the pressure warning module 6, thereby improving the safety and stability of clamping. At the same time, it realizes personalized clamping force adjustment for different LED beads.

[0040] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in this embodiment, the elastic covering module 5 includes a clamping block 51, a rod-type elastic element 52, and a rubber layer 53. The clamping block 51 is installed on the gas storage module 4. The clamping block 51 has multiple through-type and matrix-arranged assembly channels. Multiple rod-type elastic elements 52 are respectively installed in multiple assembly channels and communicate with the gas storage module 4. The rubber layer 53 is connected to the end of the multiple rod-type elastic elements 52 away from the clamping block 51.

[0041] When the clamping arm 21 moves the clamping block 51 close to the LED bead, the rubber layer 53 first contacts the surface of the LED bead. Since the shape of the LED bead may be irregular, after the rubber layer 53 is squeezed, it will push multiple rod-type elastic elements 52 connected to it to move within the assembly channel of the clamping block 51. Each rod-type elastic element 52 independently responds to the undulations of the LED bead surface, achieving adaptive fitting to the shape of the LED bead. During the movement, the rod-type elastic element 52 will press the internal gas into the cavity of the gas storage module 4 through the air hole 522, completing the gas transfer and storage. This matrix arrangement structure of the rod-type elastic elements 52 allows the clamping force to be evenly distributed on the surface of the LED bead, avoiding excessive local pressure that could damage the LED bead. At the same time, the softness of the rubber layer 53 reduces the friction between it and the LED bead, reducing the risk of scratches. Its elastic buffering effect can also effectively reduce vibration and impact during the clamping process, further improving the reliability of LED bead clamping.

[0042] like Figure 7 As shown, in this embodiment, the rod-type elastic element 52 includes a hollow tube 521. Multiple hollow tubes 521 are respectively installed in multiple assembly channels. One end of the hollow tube 521 is provided with an air hole 522 communicating with the gas storage module 4. The other end of the hollow tube 521 is inserted with an elastic clamping part 523 extending therein. 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 slides 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 the multiple clamping rods 5233.

[0043] When the rubber layer 53 contacts the LED bead and is subjected to pressure, the clamping rod 5233 drives the piston 5232 to move into the hollow tube 521, compressing the first spring 5231. The piston 5232 forces 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, while limiting 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, through the cooperation of the first spring 5231 and the piston 5232, realizes the generation of elastic clamping force and the directional transmission of gas, 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 element 3.

[0044] like Figure 6 As shown, in this embodiment, the gas storage module 4 includes a gas storage plate 41, an airbag component 42, and a valve component 43. The gas storage plate 41 is installed between the V-shaped elastic component 3 and the clamping block 51. A cavity is opened in the gas storage plate 41, and the air hole 522 at one end of the hollow tube 521 communicates with the cavity. The airbag component 42 is installed on the top of the gas storage plate 41 and communicates with the cavity. The valve component 43 is installed on the side of the gas storage plate 41 and is used to control the amount of gas entering the V-shaped elastic component 3.

[0045] When the gas in the rod-type elastic element 52 is forced into the cavity, the gas is first stored in the cavity. If the valve 43 is closed, the gas enters the airbag body 422 of the airbag element 42 through the connecting pipe 421, causing the airbag body 422 to expand and store gas energy. If the valve 43 is opened, the gas enters the V-shaped elastic element 3, thereby adjusting the elastic force of the V-shaped elastic element 3.

[0046] like Figure 8As shown, in this embodiment, the valve 43 includes an air guide pipe 431 and a control valve 432. The air storage plate 41 is connected to the air guide pipe 431, which communicates with the V-shaped elastic member 3. The control valve 432 is installed on the air guide pipe 431.

[0047] When the elastic force of the V-shaped elastic element 3 needs to be adjusted, the operator opens the control valve 432. The gas in the cavity of the gas storage plate 41 enters the V-shaped elastic element 3 through the air guide pipe 431, changing the degree of deformation of the V-shaped elastic element 3, thereby adjusting its elastic force. By controlling the opening degree of the control valve 432, the amount of gas entering the V-shaped elastic element 3 can be precisely controlled, achieving fine adjustment of the elastic force. When no adjustment is needed, the control valve 432 is closed, and all the gas enters the air bag 42 for storage. This structure realizes active control of the elastic force of the V-shaped elastic element 3. The operator can flexibly adjust the clamping force according to the model and hardness of the lamp bead, avoiding damage to the lamp bead or unstable clamping due to excessive or insufficient clamping force, thus improving the practicality and reliability of the robot.

[0048] like Figure 8 As shown, in this embodiment, the airbag component 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. The airbag body 422 is connected to the top of the connecting pipe 421.

[0049] When the gas in the rod-type elastic element 52 is forced into the cavity, if the valve 43 is closed, the gas enters the airbag 422, causing it to expand. The airbag 422 is elastic and can store the pressure energy of the gas. When the gripper 2 releases the lamp bead, the elastic force of the V-shaped elastic element 3 and the rod-type elastic element 52 causes the gripper arm 21 to reset. At this time, the gas in the airbag 422 flows back to the rod-type elastic element 52 through the connecting pipe 421 under the action of the elastic force, helping the rubber layer 53 and the V-shaped elastic element 3 to return to their initial state and prepare for the next gripping. This structure uses the elasticity of the airbag 422 to store and release gas, realizing the recycling of gas and reducing energy loss. At the same time, the expansion and contraction of the airbag 422 directly reflects the storage and release status of the gas, making it easy for operators to observe and judge the working status of the robot.

[0050] like Figure 6 As shown, in this embodiment, the V-shaped elastic element 3 includes a compression plate 31 and a balloon 32. The adjacent ends of the two compression plates 31 are hinged to each other to form a V-shape. The ends of the two compression plates 31 that are far apart are respectively hinged to the pressure warning module 6 and the gas storage plate 41. The balloon 32 is installed between the two compression plates 31 and is connected to the air guide pipe 431.

[0051] When the clamping arm 21 clamps the LED bead, the extrusion plate 31 is subjected to pressure transmitted by the elastic covering module 5 and rotates around the hinge point, reducing the V-shaped angle and compressing the balloon 32. If the valve 43 is opened, the gas inside the balloon 32 can flow in or out through the air guide pipe 431, changing the degree of expansion of the balloon 32, thereby adjusting the elastic force between the two extrusion plates 31. When the balloon 32 expands, the elastic force of the extrusion plate 31 increases, and the clamping force is enhanced. When the balloon 32 contracts, the elastic force of the extrusion plate 31 decreases, and the clamping force is weakened. This structure achieves the dual functions of elastic buffering and elastic force adjustment through the V-shaped hinge and the gas control of the balloon 32. The V-shaped structure design allows the clamping force to be evenly distributed between the clamping arm 21 and the elastic covering module 5, while the gas adjustment of the balloon 32 allows the elastic force to be dynamically adjusted according to actual needs, improving the adaptability of the robot to different working conditions.

[0052] like Figure 5 , Figure 6 , Figure 9 and Figure 10 As shown, in this embodiment, the pressure warning module 6 includes a hollow block 61, a pressure sensor 62, and a pressing member 63. The inner wall of the clamping arm 21 has an installation groove, and the hollow block 61 is installed in the installation groove. An insertion cavity is opened in the hollow block 61, and 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 claw 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 extrusion 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 extrusion plates 31 is hinged to the loading block 632.

[0053] When the compression plate 31 of the V-shaped elastic element 3 rotates under force, the loading block 632, which is hinged to the compression plate 31, moves within the cavity, pushing the pressure rod 633 to contact the pressure sensor 62. The pressure sensor 62 monitors the pressure signal transmitted by the pressure rod 633 in real time and transmits the signal to the alarm 7. When the pressure exceeds the preset threshold, the alarm 7 sounds 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, ensuring that the loading block 632 can automatically reset when the clamping force decreases, maintaining the monitoring accuracy of the pressure sensor 62. This structure, through the combination of mechanical transmission and electronic monitoring, achieves real-time and accurate monitoring of the clamping force. The high sensitivity of the pressure sensor 62 can promptly capture changes in the clamping force, while the rapid response of the alarm 7 effectively avoids damage to the LED beads caused by excessive clamping force, improving the safety and reliability of the robot.

[0054] The specific working principle of this invention is as follows:

[0055] According to the preset program or operator's instructions, the robotic arm 1 drives the gripper 2 to move to the position where the lamp bead is to be grasped. The two gripping arms 21 move inward, so that the rubber layer 53 of the elastic covering module 5 contacts the surface of the lamp bead. Due to the compression of the lamp bead, the rubber layer 53 drives the gripping rod 5233 of the rod elastic element 52 to move into the hollow tube 521, compressing the first spring 5231 and pushing the piston 5232, so that the gas in the hollow tube 521 is forced into the cavity of the gas storage plate 41 of the gas storage module 4 through the air hole 522.

[0056] If the elastic force of the V-shaped elastic element 3 needs to be adjusted, open the control valve 432 of the valve 43. The gas enters the bulb 32 of the V-shaped elastic element 3 through the gas guide pipe 431, causing the bulb 32 to expand and push the extrusion plate 31 to rotate, thereby changing the elastic force of the V-shaped elastic element 3 to meet the lamp bead clamping force requirements. If no adjustment is required, the gas enters the airbag body 422 of the airbag 42 for storage.

[0057] During the clamping process, the extrusion plate 31 of the V-shaped elastic element 3 rotates under force, causing the loading block 632 of the pressure warning module 6 to move in the cavity of the hollow block 61. The pressure rod 633 abuts against the pressure sensor 62. When the pressure sensor 62 detects that the pressure exceeds the threshold, it triggers the alarm 7 to alarm and prompt the operator to make adjustments.

[0058] After clamping is completed, the robotic arm 1 moves the gripper 2 to the assembly position, the gripper arm 21 is released, the V-shaped elastic element 3 and the rod-type elastic element 52 are reset under their respective elastic action, and the gas in the airbag body 422 flows back to the rod-type elastic element 52 to prepare for the next operation.

[0059] Throughout the process, the elastic covering module 5 achieves adaptive flexible clamping of the LED beads through the rubber layer 53 and the rod-type elastic element 52, the V-shaped elastic element 3 buffers vibration and impact, the gas storage module 4 realizes gas storage and elasticity adjustment, and the pressure warning module 6 monitors the clamping force in real time, all of which together ensure the safety and reliability of the LED bead assembly process.

[0060] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A robotic arm for auxiliary assembly of LED beads, characterized in that, Includes a robotic arm (1) and grippers (2) mounted thereon; The gripper (2) includes two gripping arms (21). Each of the two gripping arms (21) has an air storage module (4) installed on one side of an adjacent V-shaped elastic element (3). The air storage module (4) can be used to guide air to the V-shaped elastic element (3). Each of the two air storage modules (4) has an elastic covering module (5) connected to it on one side of an adjacent side. A pressure warning module (6) is provided between the gripping arm (21) and the V-shaped elastic element (3). When the two clamping arms (21) clamp the workpiece, the workpiece is self-adaptively clamped by the two elastic covering modules (5). The V-shaped elastic element (3) between the clamping arms (21) and the elastic covering module (5) is subjected to force deformation buffer. When the elastic covering module (5) clamps the workpiece, the force pushes the gas into the gas storage module (4). The gas storage module (4) can control the amount of gas entering the V-shaped elastic element (3) to adjust the elastic force of the V-shaped elastic element (3). The elastic covering module (5) includes a clamping block (51), a rod-type elastic element (52), and a rubber layer (53). The clamping block (51) is installed on the gas storage module (4). The clamping block (51) has multiple through and matrix-arranged assembly channels. Multiple rod-type elastic elements (52) are installed in multiple assembly channels and communicate with the gas storage module (4). The rubber layer (53) is connected to one end of the multiple rod-type elastic elements (52) away from the clamping block (51). The rod-type elastic element (52) includes a hollow tube (521), and multiple hollow tubes (521) are respectively installed in multiple 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 part (523) extending therein. The elastic clamping part (523) includes a first spring (5231), a piston (5232) and a clamping rod (5233). The first spring (5231) is installed inside the hollow tube (521). The piston (5232) is connected to one end of the first spring (5231). The clamping rod (5233) slides 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 the plurality of clamping rods (5233). The gas storage module (4) includes a gas storage plate (41), an airbag component (42), and a valve component (43). The gas storage plate (41) is installed between the V-shaped elastic component (3) and the clamping block (51). A cavity is opened in the gas storage plate (41). The air hole (522) at one end of the hollow tube (521) is connected to the cavity. The airbag component (42) is installed on the top of the gas storage plate (41) and is connected to the cavity. The valve component (43) is installed on the side of the gas storage plate (41) and is used to control the amount of gas entering the V-shaped elastic component (3).

2. The robotic arm for auxiliary assembly of LED beads according to claim 1, characterized in that, The valve (43) includes an air guide pipe (431) and a control valve (432). The air storage plate (41) is connected to the air guide pipe (431) which communicates with the V-shaped elastic element (3). The control valve (432) is installed on the air guide pipe (431).

3. The robotic arm for auxiliary assembly of LED beads according to claim 2, characterized in that, The airbag component (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. The airbag body (422) is connected to the top of the connecting pipe (421).

4. The robotic arm for auxiliary assembly of LED beads according to claim 3, characterized in that, The V-shaped elastic element (3) includes a compression plate (31) and a balloon (32). The adjacent ends of the two compression plates (31) are hinged to each other to form a V-shape. The ends of the two compression plates (31) that are far apart are respectively hinged to the pressure warning module (6) and the gas storage plate (41). The balloon (32) is installed between the two compression plates (31) and is connected to the air guide pipe (431).

5. The robotic arm for auxiliary assembly of LED beads according to claim 4, characterized in that, The pressure warning module (6) includes a hollow block (61), a pressure sensor (62), and a pressure abutment (63). The inner wall of the clamping arm (21) is provided with an installation groove. The hollow block (61) is installed in the installation groove. An insertion cavity is provided 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 clamp (2), and the pressure sensor (62) is connected to the alarm (7). The pressure abutment (63) is inserted into the insertion cavity and abuts against the pressure sensor (62). One of the extrusion plates (31) is hinged to the pressure abutment (63).

6. The robotic arm for auxiliary assembly of LED beads according to claim 5, characterized in that, The pressing component (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). The inner side of the loading block (632) is equipped with a pressing rod (633) that abuts against the pressure sensor (62). One of the pressing plates (31) is hinged to the loading block (632).

Images