Automatic feeding and discharging industrial robot and control method thereof

Abstract

The invention relates to the technical field of industrial robots, and discloses an automatic feeding and discharging industrial robot and a control method thereof. The automatic feeding and discharging industrial robot comprises a robot body, a clamping unit arranged at the tail end of the robot body and a control unit. The clamping unit comprises two clamping bodies, a clamping driving part used for driving the two clamping bodies to move in the same direction or in the opposite directions, and two auxiliary supporting parts correspondingly arranged on the clamping bodies. The auxiliary supporting component comprises a supporting piece, a fine adjustment driving piece and a posture sensing piece. The supporting piece is movably arranged on the clamping body. Through intelligent cooperation of the clamping unit and the control unit, self-adaptive clamping and carrying of microcosmic random warping of the high-temperature PCB after reflow soldering are achieved; risks of mechanical damages such as edge micro-cracks and pin deformation of the PCB are reduced, and zero-damage precise carrying of the high-temperature PCB after reflow soldering in a special scene is realized.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to an automated loading and unloading industrial robot and its control method. Background Technology

[0002] Industrial robots, as core equipment in modern intelligent manufacturing, play an irreplaceable role in material handling, loading and unloading, and assembly. By integrating various end effectors (such as pneumatic grippers, vacuum suction cups, and specialized fixtures), industrial robots can achieve rapid and accurate transfer of workpieces between different workstations, significantly improving the automation level and operational efficiency of production lines.

[0003] Currently, while existing industrial robots for loading and unloading can generally meet the loading and unloading needs of most regular, rigid workpieces, they still have shortcomings when transporting unconventional workpieces such as large, thin PCB boards. Specifically, after PCB boards have completed reflow soldering, their surface temperature is relatively high, which can cause slight random edge warping due to thermal stress, and the brittleness of the material increases. Existing clamping methods such as fixed-stroke clamping plates, floating clamping plates, or vacuum chucks all have defects. For example, fixed-stroke clamping plates cannot adapt to random warping, which may lead to local pressure concentration, causing micro-cracks at the PCB edges and deformation of leads; floating clamping plates can adapt to deformation as a whole, but their response speed is slow, affecting the production line cycle, and they are prone to shaking during transport; vacuum chucks are prone to failure due to residual flux on the hot PCB surface, conflict with the layout of densely packed components at the edges, and pose a risk of scratching. Therefore, there is an urgent need for an industrial robot capable of non-destructive, high-precision loading and unloading of hot, slightly warped, high-value PCBs. Summary of the Invention

[0004] The purpose of this invention is to provide an automated loading and unloading industrial robot and its control method to solve the aforementioned technical problems.

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions: The present invention provides an automated loading and unloading industrial robot, comprising: a robot body, a gripping unit disposed at the end of the robot body, and a control unit; The clamping unit includes two clamping bodies, a clamping drive component for driving the two clamping bodies to move towards or away from each other, and two auxiliary support components correspondingly disposed on the clamping bodies. The auxiliary support component includes: A support member is movably mounted on the clamping body; A fine-tuning drive component is connected to the support component and is used to drive the support component to make independent fine movements in the direction of approaching or moving away from the workpiece. An attitude sensing element is disposed on the clamping unit to acquire real-time attitude information of the edge of the workpiece to be clamped. The control unit is communicatively connected to the attitude sensing element, the fine-tuning drive element, and the clamping drive element, and is configured to: Based on the real-time attitude information obtained by the attitude sensing component, the local morphology of the workpiece edge is identified; Based on the local topography, the fine-tuning drive is controlled to move the corresponding support to the target support position that matches the edge of the workpiece. After the support is in place, the control clamping drive component drives the clamping body to perform the clamping action.

[0006] Preferably, the control unit is configured to dynamically adjust the output clamping force of the clamping drive component according to the amount of warping of the local topography, wherein the output clamping force decreases as the amount of warping increases.

[0007] Preferably, the control unit is configured to: according to formula H target =ΔH-C to calculate the target support position, where ΔH is the local warping height calculated based on real-time attitude information, and C is a preset buffer constant.

[0008] Preferably, the support member is a plate-shaped structure with an inclined surface on the side facing the workpiece, and an elastic buffer layer is provided on the inclined surface.

[0009] Preferably, there are two support members, which are symmetrically slidably disposed on one side of the clamping body.

[0010] Preferably, the fine-tuning drive component consists of two miniature electric push rods fixedly installed inside the clamping body, with the telescopic ends of the two miniature electric push rods respectively fixedly connected to two support components.

[0011] Preferably, the attitude sensing element is a laser displacement sensor, and at least one laser displacement sensor is provided on each of the clamping bodies to detect the distance at different positions on the edge of the workpiece.

[0012] Preferably, the clamping unit further includes a lifting drive component and a mounting frame installed at the output end of the lifting drive component. A clamping frame is installed at the bottom of the mounting frame, and the clamping body is slidably installed inside the clamping frame.

[0013] Preferably, the clamping drive component includes two clamping cylinders, and the telescopic ends of the two clamping cylinders are respectively connected to two clamping bodies.

[0014] A workpiece adaptive clamping control method includes the following steps: S100: Obtain real-time spacing information at different positions on the edge of the workpiece to be clamped; S200: Calculates the warping height and shape of the workpiece edge based on real-time spacing information; S300: Based on the warp height and shape, determine the target support position of the corresponding support component; S400: Controls the fine-tuning drive to move the support component to the target support position; S500: Dynamically calculates the appropriate clamping force based on the warp height, and uses this clamping force to control the clamping body to perform clamping actions.

[0015] The beneficial effects of this invention are as follows: This invention achieves adaptive clamping and handling of microscopic random warping of high-temperature PCBs after reflow soldering through intelligent collaboration between the clamping unit and the control unit. Before clamping, the system senses and analyzes the current posture of the PCB in real time, dynamically determining the optimal clamping force and auxiliary support position to precisely adapt to the random warping shape of each PCB. This invention changes the clamping contact method from point-line contact to uniform surface contact, effectively dispersing clamping stress. While ensuring high operating cycle time, it also reduces the risk of mechanical damage such as micro-cracks at PCB edges and pin deformation, achieving zero-damage precision handling for high-temperature PCBs after reflow soldering. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an automated loading and unloading industrial robot according to the present invention; Figure 2 This is a schematic diagram of the clamping unit in an automated loading and unloading industrial robot according to the present invention; Figure 3 This is a schematic diagram of the clamping frame in an automated loading and unloading industrial robot according to the present invention; Figure 4 This is a schematic diagram of the gripper in an automated loading and unloading industrial robot according to the present invention; Figure 5 This is a block diagram showing the relationship between the functional units of an automated loading and unloading industrial robot according to the present invention. Figure 6 This is a flowchart of a workpiece adaptive clamping control method according to the present invention.

[0017] In the diagram: 10, robot body; 20, gripping unit; 201, gripping body; 202, lifting cylinder; 203, support component; 204, miniature electric push rod; 205, laser displacement sensor; 206, mounting frame; 207, gripping frame; 208, gripping cylinder. Detailed Implementation

[0018] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0019] Please refer to the following: Figures 1 to 2 An automated loading and unloading industrial robot includes a robot body 10, a clamping unit 20, and a control unit. The clamping unit 20 is installed at the end of the robot body 10 and is mainly used for clamping and fixing PCB boards. The clamping unit 20 includes a lifting drive component, a clamping drive component, and an auxiliary support component. The lifting drive component is a lifting cylinder 202, which is vertically installed at the end of the robot body 10. A mounting frame 206 is fixedly installed at the telescopic end of the lifting cylinder 202, and two symmetrically distributed rectangular clamping frames 207 are fixedly installed at the bottom of the mounting frame 206. The number of clamping frames 207 can be adjusted according to actual usage requirements and is not limited to two. Two symmetrically distributed clamping bodies 201 are slidably installed on the inner side of each clamping frame 207.

[0020] The number of clamping drive components is consistent with the number of clamping frames 207. In this embodiment, two are also provided, corresponding to the two clamping frames 207 respectively. Each clamping drive component includes two independent clamping cylinders 208, and the telescopic ends of the two clamping cylinders 208 are fixedly connected to one side of the clamping body 201. When the two clamping cylinders 208 operate simultaneously, the two clamping bodies 201 can be driven to move towards each other (clamping) or away from each other (releasing) within the clamping frame 207 to achieve automatic clamping of the PCB board.

[0021] The auxiliary support component is mainly used to assist the clamping body 201 in providing auxiliary support to the bottom of the PCB board, thereby improving the stability and safety of the PCB board during transportation. It mainly includes a support component 203, a fine-tuning drive component, and an attitude sensing component. Two symmetrically distributed support components 203 are slidably arranged on the inner side of each clamping body 201. The support component 203 is a plate with a right-angled triangular cross-section and an inclined angle of 30-45°. This inclined angle allows it to smoothly wedge into the bottom edge of the PCB board. A layer of silicone buffer pad is bonded to this inclined surface to protect the edge of the PCB board.

[0022] The fine-tuning drive consists of multiple miniature electric push rods 204, the same number as the support member 203, which are fixedly installed in the internal cavity of the clamping body 201. The telescopic ends of the miniature electric push rods 204 are connected to the back of the support member 203, which can drive the support member 203 to make precise lifting and lowering in the vertical direction (i.e., the direction of approaching or moving away from the PCB board).

[0023] The attitude sensing component consists of four laser displacement sensors 205 correspondingly set on the four clamping bodies 201. The laser emission direction is horizontally pointed to the edge of the PCB board, and is used to measure the distance from the inner surface of the clamping body 201 to the edge of the PCB board in real time.

[0024] The control unit is communicatively connected to both the robot body 10 and the gripping unit 20, and can generally be a workstation PLC. To realize the intelligent adaptive gripping function of the gripping unit 20, the present invention configures a control strategy in the control unit that works in conjunction with the gripping unit 20. This strategy is a closed-loop control logic that includes real-time detection, analysis and decision-making, and precise execution, and specifically operates according to the following steps: S100, Data Acquisition and Triggering: When the robot body 10 moves the clamping unit 20 to a pre-clamping position close to the PCB board, the control unit activates the attitude sensing components and reads the distance data measured in real time. These data reflect the distance (L1, L2) between different measuring points on the edge of the workpiece and the corresponding clamping body 201. The measurement reference is the horizontal plane of the clamping body 201 as the reference zero point.

[0025] S200, Shape Analysis and Warp Judgment: The algorithm module within the control unit processes the collected spacing data. The specific steps are as follows: Calculate the warpage height: The difference between the distances of different measuring points on the same clamping body 201 is calculated using the formula ΔH=|L1-L2| to obtain the warpage height of the workpiece on that side edge; the specific calculation process is as follows: ΔH1=|L1 upper-L1 lower|, ΔH2=|L2 upper-L2 lower|. At the same time, by comparing the average values ​​of L1 upper and L2 upper, and L1 lower and L2 lower, it can be determined whether the PCB is shifted as a whole or warped on one side. Determine the warping morphology: Compare the calculated warping heights ΔH1 and ΔH2 with preset safety thresholds (ΔH≤0.05mm is flat, 0.05mm<ΔH≤0.3mm is adaptable warping, and ΔH>0.3mm is abnormal warping) to comprehensively determine the overall shape of the workpiece edge. Based on the comparison results, it is classified as: flat, unilateral warping (left or right side), bilateral asymmetrical warping, and abnormal warping. If ΔH1≤0.05mm and ΔH2≤0.05mm, the PCB board is considered flat. If 0.05mm < ΔH1 ≤ 0.3mm and ΔH2 ≤ 0.05mm, or ΔH1 ≤ 0.05mm and 0.05mm < ΔH2 ≤ 0.3mm, it is determined to be a single-sided warping. Then, the right-side warping or left-side warping is determined based on the edge position of the PCB corresponding to ΔH1 and ΔH2. If 0.05mm < ΔH1 ≤ 0.3mm and 0.05mm < ΔH2 ≤ 0.3mm, then it is determined to be bilateral warping; If either ΔH1 or ΔH2 is greater than 0.3 mm, it is determined to be an abnormal warping.

[0026] S300, supporting position decision and fine-tuning execution: Based on the judgment result of S200, the control unit generates precise instructions for the fine-tuning drive: If the PCB board is determined to be flat, all support components 203 are instructed to move to the standard standby position; If it is determined to be unilateral warping, according to formula H target =ΔH-C (where C is the buffer amount, with a value range of 0.02-0.08mm) Only the target height of the support member 203 on the warped side is calculated, and the fine-tuning drive member on that side is driven to raise the support member 203 to the target height so as to actively conform to the warped area, while the support member 203 on the left side maintains the base height; If it is determined to be a double warping, the target height on both sides is calculated separately, and the fine-tuning drive on both sides is driven independently to perform adjustment; If the warping is determined to be abnormal, the control unit will determine that the board is abnormal and beyond the processing range. It will immediately pause the process, control the robot to retract the clamping unit 20, and trigger an audible and visual alarm, waiting for manual handling.

[0027] S400, Dynamic calculation of clamping force: After the support 203 is adjusted into place, the control unit calls the dynamic compensation algorithm of clamping force according to the final confirmed warpage amount. First, it calculates the optimal clamping force F that should be applied at the moment according to the formula F=F0×(1-ΔH / 0.3), where F0 is the preset reference clamping force, which is determined by test based on the thickness and temperature-related parameters of the specific workpiece. This step ensures that the clamping force decreases adaptively with the degree of warpage, avoiding forced straightening.

[0028] S500, Action Execution and Monitoring: The control unit sends commands to the clamping drive component in sequence, and performs clamping action with the dynamic clamping force F calculated by S400. During clamping and subsequent transfer, the attitude sensing component can keep monitoring. Based on the real-time feedback of small distance changes, the control unit can instruct the fine-tuning drive component to perform compensatory micro-movements to maintain a stable and flexible clamping state.

[0029] S600, Reset and Abnormal Handling: When it is necessary to release the workpiece, the control unit strictly follows the sequence of first releasing the support and then opening the clamp. That is, first control all fine-tuning drive components to retract, so that the support component 203 is completely detached from the bottom of the workpiece, and then control the clamping drive component to release. During the entire process, if any abnormal judgment is triggered (such as exceeding the limit, sensor failure, execution timeout), the control unit will immediately pause the process, control each component to enter a safe state, and trigger an alarm signal.

[0030] This invention, by employing the aforementioned scheme for loading and unloading high-temperature PCBs after reflow soldering, not only achieves adaptive and precise clamping to microscopic random warping but also significantly improves operational efficiency and safety. Specifically, this invention dynamically adjusts the position of the support component 203 by real-time sensing of the PCB's edge posture, ensuring that each PCB receives a personalized support solution and effectively avoiding mechanical damage caused by localized pressure concentration. Simultaneously, the dynamic calculation and compensation mechanism of the clamping force further enhances the stability and reliability of the clamping process, maintaining the PCB's stability and preventing wobbling even during high-speed transport. Furthermore, this invention possesses a comprehensive anomaly handling mechanism; once an anomaly is detected, such as exceeding limits, sensor malfunction, or execution timeout, the operation is immediately suspended and an alarm is triggered, ensuring the continuity and safety of the production line. In summary, the automated loading and unloading industrial robot and its control method designed in this invention provide an efficient, safe, and damage-free solution for loading and unloading high-temperature PCBs after reflow soldering.

[0031] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. An automated pick-and-place industrial robot, characterized in that, The robot comprises a robot body, a clamping unit arranged at the end of the robot body, and a control unit. The clamping unit comprises two clamping bodies, a clamping driving component for driving the two clamping bodies to move towards or away from each other, and two auxiliary support components arranged on the clamping bodies correspondingly. The auxiliary support component comprises: a support member movably arranged on the clamping body; a fine adjustment driving member connected with the support member for driving the support member to move independently in the direction of approaching or moving away from the workpiece; a posture sensing member arranged on the clamping unit for acquiring real-time posture information of the edge of the workpiece to be clamped; The control unit is in communication connection with the posture sensing member, the fine adjustment driving member, and the clamping driving component, and is configured to: identify the local topography of the edge of the workpiece based on the real-time posture information acquired by the posture sensing component; control the fine adjustment driving member to drive the corresponding support member to move to a target support position adapted to the edge of the workpiece according to the local topography; control the clamping driving component to drive the clamping body to perform a clamping action after the support member is in place. The control unit is configured to dynamically adjust the output clamping force of the clamping driving component according to the amount of warping of the local topography, and the output clamping force decreases as the amount of warping increases.

2. The automated pick-and-place industrial robot of claim 1, wherein, The support member is a plate-shaped structure, and the side facing the workpiece is a bevel surface on which an elastic buffer layer is arranged.

3. The automated pick-and-place industrial robot of claim 2, wherein, The control unit is configured to calculate the target support position according to a formula H target = ΔH - C, where ΔH is a local warping height calculated according to real-time posture information, and C is a preset buffer constant.

4. The automated pick-and-place industrial robot of claim 1, wherein, The number of support members is two, and the two support members are symmetrically arranged on one side of the clamping body.

5. The automated pick-and-place industrial robot of claim 1, wherein, The fine adjustment driving member is two micro electric push rods fixedly installed inside the clamping body, and the extension ends of the two micro electric push rods are fixedly connected with the two support members respectively.

6. The automated pick and place industrial robot of claim 1, wherein, The posture sensing member is a laser displacement sensor, and at least one laser displacement sensor is arranged on each clamping body for detecting the distance between different positions of the edge of the workpiece.

7. The automated pick and place industrial robot of claim 1, wherein, The clamping unit further comprises a lifting driving component and a mounting frame mounted on the output end of the lifting driving component, and a clamping frame is mounted on the bottom of the mounting frame, and the clamping body is slidably mounted inside the clamping frame.

8. The automated pick and place industrial robot of claim 1, wherein, The clamping driving component comprises two clamping cylinders, and the extension ends of the two clamping cylinders are connected with the two clamping bodies correspondingly.

9. The automated pick and place industrial robot of claim 1, wherein, The application is applied to the automatic feeding and discharging industrial robot as claimed in any one of claims 1-9, and comprises the following operation steps:

10. A workpiece adaptive clamping control method, characterized by, S100: acquiring real-time distance information of different positions of the edge of the workpiece to be clamped; S200: calculating the warping height and shape of the edge of the workpiece according to the real-time distance information; S300: determining the target support position of the corresponding support member based on the warping height and shape; S400: controlling the fine adjustment driving member to drive the support member to move to the target support position; S500: dynamically calculating an adaptive clamping force based on the warping height, and controlling the clamping body to perform a clamping action with the clamping force. ​

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