Feeding manipulator for electronic component production

Abstract

The invention relates to the technical field of feeding mechanical arms, and provides a feeding mechanical arm for electronic component production, which comprises a multi-shaft mechanical arm, the multi-shaft mechanical arm is provided with a base, the base is provided with a rotating seat, the rotating seat is connected with a hinge cylinder through a connecting seat, the hinge cylinder drives a first mechanical arm through a hinge shaft, and the first mechanical arm is connected with a second mechanical arm through a hinge shaft. A first harmonic gear motor is arranged at the tail end of the first mechanical arm, the output end of the first harmonic gear motor is connected with a second harmonic gear motor, through the arrangement of a flexible shaft, a pull rope control structure, a single-side flexible air bag and other structures, the adaptability to the complex environment is remarkably improved, the flexible shaft can be driven by an air cylinder to be bent in multiple directions, and the flexibility of the robot is improved. Production line obstacles can be flexibly bypassed; the multiple air bags are independently inflated and are attached to the surfaces of the components in different shapes in a self-adaptive mode, flexible wrapping grabbing is achieved, and the problems that in the prior art, adaptability is insufficient and accuracy is insufficient are solved.

Description

Technical Field

[0001] This invention relates to the field of loading robot technology, specifically to a loading robot for the production of electronic components. Background Technology

[0002] Electronic component manufacturing is a fundamental link in the electronics and information industry. As electronic products develop towards miniaturization, precision, and high integration, the size of electronic components is decreasing and the precision requirements are constantly increasing, placing extremely stringent demands on the material loading process. As a core piece of equipment in automated production lines, the performance of the loading robot directly affects production efficiency and product yield.

[0003] Existing robotic arms for loading electronic components suffer from several technical shortcomings: In terms of motion control, traditional multi-axis robotic arms often employ ordinary motors and reducers, resulting in limited motion precision and a narrow range of joint adjustment, making it difficult to meet the requirements of high-precision position control and adaptability to complex workstations when gripping minute components; regarding structural flexibility, rigid robotic arms have fixed motion trajectories, making it difficult to effectively avoid various obstacles on the production line and reach into narrow spaces or deep into material trays, often requiring additional auxiliary mechanisms to increase system complexity; in terms of gripping execution, traditional rigid clamps or vacuum suction cups have poor adaptability to components of different shapes and sizes, easily causing indentation damage to precision components, and... The lack of a flexible buffer mechanism leads to uneven distribution of gripping force; in terms of visual recognition, the fixed installation position and limited field of view of monocular or binocular cameras make it difficult to obtain multi-angle information of tiny components, and blind spots caused by occlusion can affect the accuracy of grasping; in terms of the working environment, traditional robotic arms lack active cleaning functions and cannot remove dust particles attached to the surface of components before grasping, which may affect the reliability of products in subsequent processes; more importantly, existing flexible robotic arm technologies are mostly limited to medical applications, and industrial-grade flexible arms not only have limited bending freedom and insufficient control precision, but also have poor integration with high-precision grippers, making it difficult to meet the comprehensive requirements of electronic component production for complex spatial motion trajectories and stringent precision. Summary of the Invention

[0004] This invention proposes a feeding robot for electronic component production, which solves the problems of insufficient adaptability and precision in related technologies.

[0005] The technical solution of the present invention is as follows: a loading robot for electronic component production, comprising a multi-axis robotic arm, the multi-axis robotic arm having a base, a rotating seat being provided on the base, the rotating seat being connected to a hinge cylinder via a connecting seat, the hinge cylinder driving a first robotic arm via a hinge shaft, a first harmonic reduction motor being provided at the end of the first robotic arm, a second harmonic reduction motor being connected to the output end of the first harmonic reduction motor, the second harmonic reduction motor driving a second robotic arm, and a rotation motor being provided at the end of the second robotic arm; A flexible robotic arm includes a support frame and a flexible shaft. The support frame is fixedly connected to the output end of the rotary motor. An axial control cylinder and a radial control cylinder are provided on the support frame. One end of the flexible shaft is connected to a bottom rigid connecting plate. The outer periphery of the flexible shaft is provided with multiple layers of angle control pads. The multiple layers of angle control pads are connected to the axial control cylinder and the radial control cylinder through control pull ropes. The system also includes a flexible gripper, comprising a multi-end gripper mounting frame, which is fixedly connected to the bottom rigid connecting plate via a connecting fixing block. The multi-end gripper mounting frame is equipped with a pneumatic connector and a pneumatic interface. Multiple single-sided flexible airbags are arranged around the periphery and center of the multi-end gripper mounting frame. Each single-sided flexible airbag has a high-pressure nozzle on its side wall and inner wall. Visual recognition devices are also provided at the corners and center of the multi-end gripper mounting frame.

[0006] In a preferred embodiment of the present invention, the cylinder body end of the articulated cylinder is hinged to the connecting seat, the piston rod end of the articulated cylinder is hinged to the middle part of the first robotic arm through the articulation shaft, and the root of the first robotic arm is hinged to the upper end of the rotating seat. The extension and retraction of the articulated cylinder drives the first robotic arm to swing around the rotating seat to adjust the gripping height and working range of the flexible gripper.

[0007] As a preferred embodiment of the present invention, the first harmonic reduction motor is fixedly installed at the end of the first robotic arm, the output shaft of the first harmonic reduction motor is fixedly connected to the housing of the second harmonic reduction motor, and the output shaft of the second harmonic reduction motor is fixedly connected to the root of the second robotic arm. The high-precision angle adjustment of the second robotic arm relative to the first robotic arm is achieved through the linkage of the two-stage harmonic reduction motors, ensuring accurate positioning when grasping electronic components.

[0008] In a preferred embodiment of the present invention, the rotary motor is fixedly installed at the end of the second robotic arm, and the output shaft of the rotary motor is fixedly connected to the support frame to drive the flexible robotic arm to rotate around its own axis, so as to adjust the circumferential gripping angle of the flexible gripper and adapt to electronic components with different placement postures.

[0009] In a preferred embodiment of the present invention, the support frame is a cylindrical structure, the flexible shaft is coaxially disposed inside the support frame, the bottom rigid connecting plate is fixed to the end of the flexible shaft, and the axial control cylinder and the radial control cylinder are both fixed on the outer or inner wall of the support frame. Their piston rods are connected to the multi-layer angle control pads through control ropes. By controlling the extension and retraction of different cylinders, the tension distribution of the control ropes is changed, thereby adjusting the bending angle and direction of the flexible shaft in three-dimensional space, so that the flexible gripper can bypass obstacles and grasp electronic components in narrow spaces.

[0010] As a preferred embodiment of the present invention, the multi-layer angle control pad consists of multiple annular pads coaxially sleeved on the flexible shaft. Each annular pad has multiple pull rope connection points distributed circumferentially. One end of the control pull rope is fixed to the pull rope connection point, and the other end is connected to the piston rod of the corresponding axial control cylinder or radial control cylinder. The multi-layer angle control pad is distributed along the axial direction of the flexible shaft to realize multi-point bending control of the flexible shaft, enabling it to form complex spatial curve shapes and meet the feeding path requirements of different production lines.

[0011] As a preferred embodiment of the present invention, the multi-end gripper mounting bracket is polygonal in shape, with mounting positions provided at its corners and center. At least three single-sided flexible airbags are provided, which are respectively installed at different corners of the multi-end gripper mounting bracket, and a single-sided flexible airbag is also provided at the center, forming a multi-point supported flexible wrapping structure for fitting the surface of electronic components of different shapes.

[0012] As a preferred embodiment of the present invention, each of the unilateral flexible airbags is an airbag structure with unilateral telescopic capability, and its air inlet is connected to the pneumatic interface. The pneumatic interface is connected to an external air source through a pneumatic connector. By independently controlling the inflation and deflation of each unilateral flexible airbag, flexible clamping of electronic components of different sizes and shapes can be achieved, avoiding indentation or damage to precision electronic components.

[0013] As a preferred embodiment of the present invention, the high-pressure nozzles are distributed on the sidewalls and inner walls of each single-sided flexible airbag, and the nozzles are oriented towards the inside and outside of the airbag. When the single-sided flexible airbag is inflated and clamps the electronic components, the high-pressure nozzles can spray high-pressure gas, which on the one hand helps the airbag to deform quickly and fit the surface of the components, and on the other hand forms an air cushion layer on the contact surface between the airbag and the components, reducing friction and blowing away the surface dust.

[0014] As a preferred embodiment of the present invention, multiple vision recognition devices are provided and are respectively installed at each corner and the center of the multi-end gripper mounting frame; the multiple vision recognition devices collect image information of electronic components from different angles, and accurately identify the type, position and posture of the components through image processing algorithms, providing real-time feedback for the motion control of multi-axis robotic arms and flexible robotic arms, and realizing the precise gripping and loading of electronic components.

[0015] The working principle and beneficial effects of this invention are as follows: 1. This invention significantly improves adaptability to complex environments by setting up a flexible shaft and a pull rope control structure, a single-sided flexible airbag, and other structures. The flexible shaft can bend in multiple directions under the drive of the cylinder, flexibly bypassing obstacles on the production line; multiple airbags inflate independently, adaptively conforming to the surface of components of different shapes, realizing flexible wrapping and gripping.

[0016] 2. This invention significantly improves the grasping accuracy by setting up structures such as multi-view vision recognition devices and harmonic reduction motors. Multiple recognition devices collect images from different angles and fuse them to calculate the three-dimensional pose of the components. Two-stage harmonic reduction motors work together to achieve high-precision angle adjustment, ensuring that the gripper is accurately aligned with the target. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the flexible robotic arm of the present invention; Figure 4 This is a bottom view of the overall structure of the flexible robotic arm of the present invention; Figure 5 This is a bottom view of the overall structure of the flexible gripper of the present invention; Figure 6 This is a schematic diagram of the overall structure of the flexible gripper of the present invention.

[0019] In the diagram: 1. Multi-axis robotic arm; 11. Base; 12. Rotary seat; 112. Connecting seat; 13. Articulated cylinder; 131. Articulated shaft; 132. First robotic arm; 133. First harmonic reduction motor; 14. Second harmonic reduction motor; 141. Second robotic arm; 142, 15. Rotary motor; 2. Flexible robotic arm; 21. Support frame; 22. Axial control cylinder; 23. Radial control cylinder; 24. Flexible shaft; 25. Multi-layer angle control pad; 26. Control rope; 27. Bottom rigid connecting plate; 3. Flexible gripper; 31. Multi-end gripper mounting bracket; 32. Connecting fixing block; 33. Pneumatic connector; 34. Pneumatic interface; 35. Single-sided flexible airbag; 36. High-pressure nozzle; 37. Vision recognition device. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] Example like Figures 1-6 As shown, a loading robot for electronic component production includes a multi-axis robotic arm 1. The multi-axis robotic arm 1 has a base 11, and a rotating seat 12 is provided on the base 11. The rotating seat 12 is connected to a hinge cylinder 13 through a connecting seat 112. The hinge cylinder 13 drives a first robotic arm 132 through a hinge shaft 131. A first harmonic reduction motor 133 is provided at the end of the first robotic arm 132. A second harmonic reduction motor 14 is connected to the output end of the first harmonic reduction motor 133. The second harmonic reduction motor 14 drives a second robotic arm 141. A rotary motor 142 is provided at the end of the second robotic arm 141. The flexible robotic arm 2 includes a support frame 21 and a flexible shaft 24. The support frame 21 is fixedly connected to the output end of the rotary motor 142. The support frame 21 is equipped with an axial control cylinder 22 and a radial control cylinder 23. One end of the flexible shaft 24 is connected to a bottom rigid connecting plate 27. The outer periphery of the flexible shaft 24 is equipped with multi-layer angle control pads 25. The multi-layer angle control pads 25 are connected to the axial control cylinder 22 and the radial control cylinder 23 through control pull ropes 26. And a flexible gripper 3, which includes a multi-end gripper mounting frame 31. The multi-end gripper mounting frame 31 is fixedly connected to the bottom rigid connecting plate 27 through a connecting fixing block 32. The multi-end gripper mounting frame 31 is provided with a pneumatic connector 33 and a pneumatic interface 34. Multiple single-sided flexible airbags 35 are provided around the periphery and center of the multi-end gripper mounting frame 31. Each single-sided flexible airbag 35 is provided with a high-pressure nozzle 36 on its side wall and inner wall. A visual recognition device 37 is also provided at the corners and center of the multi-end gripper mounting frame 31.

[0022] A robotic arm for loading electronic components mainly comprises a multi-axis robotic arm 1, a flexible robotic arm 2, and a flexible gripper 3. During electronic component loading, the multi-axis robotic arm 1 first achieves a wide range of position adjustments: a base 11 is fixedly installed beside the production line, and a rotating base 12 can rotate in the horizontal plane, driving the entire robotic arm to rotate; a hinged cylinder 13 drives the first robotic arm 132 to swing up and down around the rotating base 12 via extension and retraction, achieving vertical position adjustment; a first harmonic reduction motor 133 and a second harmonic reduction motor 14 are linked to drive the second robotic arm 141 to perform high-precision angle adjustments relative to the first robotic arm 132, allowing the flexible gripper 3 to reach the vicinity of the target component; a rotary motor 142 is installed at the end of the second robotic arm 141, and its output shaft is fixedly connected to the support frame 21 of the flexible robotic arm 2, driving the flexible robotic arm 2 to rotate around its own axis, adjusting the circumferential posture of the gripper. The support frame 21 of the flexible robotic arm 2 is equipped with an axial control cylinder 22 and a radial control cylinder 23. These cylinders are connected to a multi-layer angle control pad 25 sleeved on the outer periphery of the flexible shaft 24 via a control rope 26. By controlling the extension and retraction of different cylinders, the tension distribution of the rope 26 is changed, thereby precisely adjusting the bending angle and direction of the flexible shaft 24 in three-dimensional space. This allows the flexible gripper 3 to bypass obstacles on the production line and approach the target electronic component with the optimal path. The multi-end gripper mounting frame 31 of the flexible gripper 3 is fixedly connected to the bottom rigid connecting plate 27 via a connecting fixing block 32. The mounting frame is equipped with a pneumatic connector 33 and a pneumatic interface 34 for connecting to an air source. Multiple single-sided flexible airbags 35 are arranged around the periphery and center of the mounting frame. Each airbag has a high-pressure nozzle 36 on its side wall and inner wall. Visual recognition devices 37 are also provided at the corners and center of the mounting frame. The vision recognition device 37 collects image information of electronic components from multiple angles, accurately identifies the type, position and posture of the components through image processing algorithms, and transmits real-time feedback signals to the control system. The control system drives the multi-axis robotic arm 1 and the flexible robotic arm 2 to perform precise movements based on the feedback information, so that the flexible gripper 3 is accurately positioned on the target component. Then, the single-sided flexible airbag 35 is inflated to achieve flexible wrapping and gripping of the component, completing the loading operation.

[0023] The cylinder body end of the articulated cylinder 13 is hinged to the connecting seat 112, and the piston rod end of the articulated cylinder 13 is hinged to the middle of the first robotic arm 132 through the articulated shaft 131. The root of the first robotic arm 132 is hinged to the upper end of the rotating seat 12. The extension and retraction of the articulated cylinder 13 drives the first robotic arm 132 to swing around the rotating seat 12 to adjust the gripping height and working range of the flexible gripper 3.

[0024] The cylinder body of the articulated cylinder 13 is hinged to the connecting seat 112 via a pin, allowing it to swing within a certain angle range. The piston rod of the articulated cylinder 13 is hinged to the middle of the first robotic arm 132 via a hinge shaft 131, while the root of the first robotic arm 132 is hinged to the upper end of the rotating seat 12, forming a stable triangular linkage mechanism. When the control system issues a command to drive the articulated cylinder 13 to extend or retract, the piston rod extends or retracts, pushing the first robotic arm 132 to swing up and down around its hinge point with the rotating seat 12 via the hinge shaft 131. Specifically, when the piston rod extends, the first robotic arm 132 lifts upward, causing the flexible gripper 3 at its end to rise; when the piston rod retracts, the first robotic arm 132 swings downward, and the flexible gripper 3 lowers. By controlling the extension and retraction of the articulated cylinder 13, the gripping height of the flexible gripper 3 can be continuously adjusted; at the same time, in conjunction with the horizontal rotation of the rotating base 12, the flexible gripper 3 can move over a wide range in the horizontal plane, thereby covering electronic components at different workstations and heights on the production line, ensuring that the robot has sufficient working space and flexibility.

[0025] The first harmonic reduction motor 133 is fixedly installed at the end of the first robotic arm 132. The output shaft of the first harmonic reduction motor 133 is fixedly connected to the housing of the second harmonic reduction motor 14. The output shaft of the second harmonic reduction motor 14 is fixedly connected to the root of the second robotic arm 141. The linkage of the two harmonic reduction motors enables high-precision angle adjustment of the second robotic arm 141 relative to the first robotic arm 132, ensuring accurate positioning when grasping electronic components.

[0026] The first harmonic geared motor 133 is fixedly installed inside the end housing of the first robotic arm 132, and its output shaft extends outward and is fixedly connected to the housing of the second harmonic geared motor 14 via a flange. The output shaft of the second harmonic geared motor 14 is fixedly connected to the root of the second robotic arm 141 via a keyway or flange structure. This series-connected dual harmonic geared motor layout achieves two-stage precision transmission. When it is necessary to adjust the angle of the second robotic arm 141 relative to the first robotic arm 132, the control system drives the two harmonic geared motors to work together: when the first harmonic geared motor 133 rotates, it drives the second harmonic geared motor 14 to rotate as a whole, achieving a large range of coarse angle adjustment; when the second harmonic geared motor 14 rotates, it directly drives the second robotic arm 141 to perform fine angle adjustment. Because harmonic geared motors have the characteristics of small size, large transmission ratio, small hysteresis, and high positioning accuracy, this two-stage linkage structure enables the second robotic arm 141 to achieve extremely high angle positioning accuracy, ensuring that the flexible gripper 3 can be accurately aligned when grasping small or precision electronic components, avoiding grasping failure or component damage due to positioning deviation.

[0027] The rotary motor 142 is fixedly installed at the end of the second robotic arm 141. The output shaft of the rotary motor 142 is fixedly connected to the support frame 21 and is used to drive the flexible robotic arm 2 to rotate around its own axis to adjust the circumferential gripping angle of the flexible gripper 3 to adapt to electronic components with different placement postures.

[0028] A rotary motor 142 is fixedly mounted at the end of the second robotic arm 141, and its output shaft is fixedly connected to the upper end of the support frame 21 of the flexible robotic arm 2 via a coupling or directly. The rotary motor 142 integrates a high-precision angle sensor and a reduction mechanism, enabling precise angle control and position holding. During operation, when the vision recognition device 37 detects a mismatch between the orientation of the target electronic component and the current angle of the flexible gripper 3, the control system issues a command to start the rotary motor 142. Its output shaft drives the support frame 21 to rotate around its own axis, thereby causing the entire flexible robotic arm 2 and the flexible gripper 3 to rotate synchronously. By precisely controlling the rotation angle of the rotary motor 142, the circumferential gripping direction of the flexible gripper 3 can be perfectly matched with the orientation of the electronic component, eliminating the need for complex composite movements of the multi-axis robotic arm 1 to adjust the orientation, simplifying the control logic and improving response speed. This structure is particularly suitable for situations where the orientation of electronic components changes randomly on the production line, ensuring that the robotic arm can approach and grasp the component at the most suitable angle.

[0029] The support frame 21 has a cylindrical structure, and the flexible shaft 24 is coaxially arranged inside the support frame 21. The bottom rigid connecting plate 27 is fixed to the end of the flexible shaft 24. The axial control cylinder 22 and the radial control cylinder 23 are both fixed on the outer or inner wall of the support frame 21. Their piston rods are connected to the multi-layer angle control pad 25 through the control pull rope 26. By controlling the extension and retraction of different cylinders, the tension distribution of the control pull rope 26 is changed, thereby adjusting the bending angle and direction of the flexible shaft 24 in three-dimensional space, so that the flexible gripper 3 can bypass obstacles and grab electronic components in narrow spaces.

[0030] The support frame 21 adopts a cylindrical structure design, possessing a certain rigidity and support strength, with a hollow interior forming an accommodating space. A flexible shaft 24 is coaxially mounted inside the support frame 21. The flexible shaft 24 itself is made of elastic material and has the ability to bend in multiple directions. A rigid connecting plate 27 at the bottom is fixed to the end of the flexible shaft 24 for connecting the flexible gripper 3. Axial control cylinders 22 and radial control cylinders 23 are both fixedly mounted on the outer or inner wall of the support frame 21. The piston rod of each cylinder is connected to a multi-layer angle control pad 25 sleeved on the flexible shaft 24 via a control rope 26. When bending of the flexible shaft 24 is required, the control system calculates the required extension / retraction amount of each cylinder based on the target bending direction and angle, and then drives the corresponding axial control cylinder 22 or radial control cylinder 23 to operate: the piston rods of some cylinders extend, loosening the ropes; the piston rods of others retract, tightening the ropes. By changing the tension distribution of the ropes at different positions and in different directions, the flexible shaft 24 undergoes directional bending under tension. This rope-driven method enables the flexible shaft 24 to bend in any direction in three-dimensional space, allowing the flexible gripper 3 to bypass various obstacles on the production line and reach into narrow spaces or complex structures to grasp electronic components, greatly expanding the reach of the robot.

[0031] The multi-layer angle control pad 25 consists of multiple annular pads coaxially sleeved on the flexible shaft 24. Each annular pad has multiple pull rope connection points distributed circumferentially. One end of the control pull rope 26 is fixed to the pull rope connection point, and the other end is connected to the piston rod of the corresponding axial control cylinder 22 or radial control cylinder 23. The multi-layer angle control pad 25 is distributed along the axial direction of the flexible shaft 24 to realize multi-point bending control of the flexible shaft 24, enabling it to form complex spatial curve shapes to meet the feeding path requirements of different production lines.

[0032] The multi-layer angle control pads 25 consist of multiple annular pads coaxially sleeved on the flexible shaft 24. These annular pads are distributed equidistantly or unequally along the axial direction of the flexible shaft 24, and each annular pad is fixedly connected to the outer wall of the flexible shaft 24 or integrally formed. Each annular pad has multiple pull rope connection points evenly distributed circumferentially for fixing the end of the control pull rope 26. The other end of the control pull rope 26 is connected to the piston rod of the corresponding axial control cylinder 22 or radial control cylinder 23. This multi-point, multi-layer layout allows for more precise bending control of the flexible shaft 24: the multi-layer angle control pads 25 near the root mainly control the large curvature bending of the flexible shaft 24, achieving overall orientation adjustment; the multi-layer angle control pads 25 near the end are responsible for fine-tuning and precise positioning, enabling the flexible gripper 3 to align with the target component at a precise angle. By independently controlling the tension of the pull ropes on each layer of annular gaskets, the flexible shaft 24 can form complex spatial curve shapes, such as S-shapes, U-shapes, or multi-segment broken lines, thereby adapting to various complex production line layouts and material feeding path requirements, greatly improving the flexibility and adaptability of the robot.

[0033] The multi-end gripper mounting bracket 31 is polygonal in shape, with mounting positions at its corners and center. At least three single-sided flexible airbags 35 are provided, which are respectively installed at different corners of the multi-end gripper mounting bracket 31, and a single-sided flexible airbag 35 is also provided at the center, forming a multi-point supported flexible wrapping structure for fitting the surface of electronic components of different shapes.

[0034] The multi-pronged gripper mounting bracket 31 is polygonal in shape, such as an equilateral triangle, square, or regular hexagon. This polygonal structure facilitates the arrangement of gripping components in multiple directions. Each corner and the center of the mounting bracket has a dedicated mounting position for securing a single-sided flexible airbag 35. According to design requirements, at least three single-sided flexible airbags 35 are provided, installed at different corners of the multi-pronged gripper mounting bracket 31 to form a stable triangular gripping layout; simultaneously, a single-sided flexible airbag 35 is also located at the center, forming a central auxiliary support. This multi-point layout allows the airbags at the corners to wrap around the component from multiple directions, providing the primary gripping force when gripping electronic components. The airbag at the center applies auxiliary pressure from directly above or below, ensuring the component remains stable within the grippers. For components of different shapes, such as rectangular chips, cylindrical capacitors, or irregularly shaped modules, this multi-point flexible wrapping structure can adaptively conform to the component surface, dispersing the gripping force and preventing stress concentration that could damage precision electronic components.

[0035] Each unilateral flexible airbag 35 is an airbag structure with unilateral telescopic capability. Its air inlet is connected to the pneumatic interface 34, which is connected to an external air source through a pneumatic connector 33. By independently controlling the inflation and deflation of each unilateral flexible airbag 35, flexible clamping of electronic components of different sizes and shapes can be achieved, avoiding indentation or damage to precision electronic components.

[0036] Each unilateral flexible airbag 35 is an airbag structure with unilateral expansion and contraction capabilities. Its main body is made of flexible material, and it has an independent inflation chamber inside. One side of the wall is thicker or has a restraining layer to limit its expansion to that side, while the other side of the wall is thinner and can expand and deform freely. The air inlet of each airbag is connected to the pneumatic interface 34 on the multi-end gripper mounting bracket 31 through an air tube. The pneumatic interfaces 34 are collected and connected to an external high-pressure air source through a pneumatic connector 33. The air circuit is equipped with an independent solenoid valve and pressure sensor to control the inflation and deflation of each airbag. When gripping electronic components, the control system independently controls the inflation amount of each unilateral flexible airbag 35 based on the component size and shape information fed back by the vision recognition device 37: the airbag corresponding to the position that needs to be gripped is inflated more, with a larger expansion range, and closely fits the surface of the component; the airbag corresponding to the position that does not need to be gripped or contacted remains in a low-pressure or deflated state. Through this independent control, the flexible gripper 3 can adapt to electronic components of different sizes and shapes, and the clamping force is uniform and controllable, avoiding indentation, scratches or internal damage to precision components. It is particularly suitable for gripping and handling precision electronic components such as surface mount components, chips and wafers.

[0037] High-pressure nozzles 36 are distributed on the sidewalls and inner walls of each single-sided flexible airbag 35, with the nozzles facing the inside and outside of the airbag. When the single-sided flexible airbag 35 is inflated and clamps the electronic components, the high-pressure nozzles 36 can spray high-pressure gas, which on the one hand helps the airbag to deform quickly and fit the surface of the components, and on the other hand forms an air cushion layer on the contact surface between the airbag and the components, reducing friction and blowing away the surface dust.

[0038] The high-pressure nozzles 36 are micro-nozzle structures distributed on the side and inner walls of each single-sided flexible airbag 35, with the nozzles designed to spray in both directions towards the inside and outside of the airbag. The nozzles are connected to a high-pressure gas source via micro-channels and controlled by independent solenoid valves. When the single-sided flexible airbag 35 inflates to clamp electronic components, the control system can selectively activate some of the high-pressure nozzles 36: the high-pressure gas sprayed towards the inside of the airbag accelerates the inflation process, causing the airbag to expand and deform rapidly, quickly adhering to the surface of the component and improving the gripping response speed; the high-pressure gas sprayed towards the outside of the airbag forms a tiny air cushion layer between the airbag and the component contact surface, reducing the direct contact area and friction between the airbag and the component surface. Simultaneously, the high-pressure airflow can blow away fine dust, static electricity particles, or residual liquid from the component surface, providing a cleaning effect. When deflating to release the component, the high-pressure nozzles 36 can also assist in rapid venting, allowing the airbag to quickly contract and reset, improving operational efficiency. This structural design enables the flexible gripper 3 to perform multiple functions, including gripping, cleaning, and rapid response, making it particularly suitable for electronic component production lines with high requirements for cleanliness and response speed.

[0039] Multiple vision recognition devices 37 are installed at various corners and the center of the multi-end gripper mounting frame 31. The multiple vision recognition devices 37 collect image information of electronic components from different angles, and accurately identify the type, position and posture of the components through image processing algorithms, providing real-time feedback for the motion control of the multi-axis robotic arm 1 and the flexible robotic arm 2, so as to realize the precise gripping and loading of electronic components.

[0040] Multiple vision recognition devices 37 are installed, fixedly at various corners and the center of the multi-end gripper mounting bracket 31. These vision recognition devices 37 employ miniature industrial cameras with built-in image sensors and lenses to acquire image information of the target area from different angles and orientations. During operation, multiple vision recognition devices 37 work synchronously: the recognition devices at the corners acquire side views of the electronic components from multiple sides to identify the component's height, side contour, and placement angle; the recognition device at the center acquires a front view of the component to identify its surface features, model markings, and precise location. The image data acquired by all vision recognition devices 37 is transmitted to the host computer control system in real time. The control system performs fusion calculations using image processing algorithms to accurately identify the component's type, three-dimensional spatial position, and orientation angle, generating gripping point coordinates and gripping angle. These data serve as feedback signals, driving the multi-axis robotic arm 1 for coarse positioning and the flexible robotic arm 2 for precise positioning and attitude adjustment. Ultimately, the flexible gripper 3 accurately grasps the target electronic components in the optimal posture, achieving closed-loop control from recognition to grasping, and ensuring the accuracy and efficiency of the loading process.

[0041] Working principle: When loading electronic components, the multi-axis robotic arm 1 first achieves a wide range of position adjustments: the base 11 is fixedly installed next to the production line, and the rotating seat 12 rotates in the horizontal plane, driving the entire robotic arm to rotate to the target workstation; the cylinder end of the articulated cylinder 13 is hinged to the connecting seat 112, and the piston rod end is hinged to the middle of the first robotic arm 132 through the hinge shaft 131. When the control system drives the articulated cylinder 13 to extend or retract, the piston rod pushes the first robotic arm 132 to swing up and down around its hinge point with the rotating seat 12 through the hinge shaft 131, thereby adjusting the gripping height of the flexible gripper 3; the first harmonic reduction motor 133 is fixedly installed at the end of the first robotic arm 132, and its output shaft is connected to the housing of the second harmonic reduction motor 14. The two-stage harmonic reduction motor 14 is fixedly connected to the root of the second robotic arm 141. The high-precision angle adjustment of the second robotic arm 141 relative to the first robotic arm 132 is achieved through the linkage of the two-stage harmonic reduction motors, so that the flexible gripper 3 can reach the vicinity of the target component. The rotary motor 142 is fixedly installed at the end of the second robotic arm 141, and its output shaft is fixedly connected to the support frame 21 of the flexible robotic arm 2. When the vision recognition device 37 detects that the placement posture of the target electronic component does not match the current angle of the flexible gripper 3, the rotary motor 142 drives the support frame 21 to rotate around its own axis, causing the entire flexible robotic arm 2 and the flexible gripper 3 to rotate synchronously, adjusting the circumferential gripping angle to adapt to the posture of the component. Subsequently, the flexible robotic arm 2 begins precise adjustments: the support frame 21 is a cylindrical structure, with the flexible shaft 24 coaxially mounted inside it. The axial control cylinder 22 and the radial control cylinder 23 are fixed to the outer or inner wall of the support frame 21, and their piston rods are connected to the multi-layer angle control pads 25 sleeved on the outer periphery of the flexible shaft 24 via control pull ropes 26. The multi-layer angle control pads 25 are multiple annular pads coaxially sleeved on the flexible shaft 24, with multiple pull rope connection points distributed circumferentially on each annular pad. One end of the control pull rope 26 is fixed to the pull rope connection point, and the other end is connected to the corresponding cylinder piston rod. The control system calculates the extension and retraction of each cylinder according to the target path, drives the corresponding cylinder to move, and changes the tension distribution of the pull ropes at different positions to make the flexible shaft 24 directionally bend in three-dimensional space, forming a complex spatial curve shape, so that the flexible gripper 3 can bypass obstacles on the production line and approach the target electronic component with the optimal path.As the device approaches the target, the vision recognition devices 37 on the flexible gripper 3 begin to operate: multiple vision recognition devices 37 are respectively installed at various corners and the center of the multi-end gripper mounting frame 31. The recognition devices at the corners acquire side view images of the electronic components from multiple sides, identifying the height, side contours, and placement angle of the components. The recognition device at the center acquires a front view image of the components, identifying the surface features, model markings, and precise position of the components. The image data collected by all vision recognition devices 37 is transmitted to the control system in real time. Through image processing algorithms, the system performs fusion calculations to accurately identify the type, three-dimensional spatial position, and posture angle of the components, generate the gripping point coordinates and gripping angle, and transmits real-time feedback signals to the control system to drive the multi-axis robotic arm 1 and the flexible robotic arm 2 to perform precise movements, so that the flexible gripper 3 is accurately positioned on the target component. After alignment, the flexible gripper 3 performs a gripping action: the multi-end gripper mounting frame 31 is fixedly connected to the bottom rigid connecting plate 27 via the connecting fixing block 32. The mounting frame is equipped with a pneumatic connector 33 and a pneumatic interface 34 for connecting to an external air source. Multiple single-sided flexible airbags 35 are arranged around the periphery and center of the mounting frame. Each single-sided flexible airbag 35 is an airbag structure with unilateral telescopic capability, and its air inlet is connected to the pneumatic interface 34. The control system independently controls each single-sided flexible airbag based on the component size and shape information fed back by the vision recognition device 37. The airbags, with an inflation capacity of 35%, inflate and expand at the positions requiring clamping, tightly adhering to the surface of the component. Positions not requiring clamping remain under low pressure or deflated, forming a flexible, multi-point supported structure. During inflation, high-pressure nozzles 36, distributed on the side and inner walls of each flexible airbag 35, work synchronously. High-pressure gas injected into the airbag accelerates its rapid deformation, adhering to the component surface. High-pressure gas injected outwards forms an air cushion between the airbag and the component contact surface, reducing friction and blowing away fine dust particles. After gripping, the flexible gripper 3, carrying the electronic component, is transported to the target loading position via the coordinated movement of the multi-axis robotic arm 1 and the flexible robotic arm 2, driven by the control system. Upon reaching the target position, the flexible airbag 35 deflates and contracts, while the high-pressure nozzles 36 assist in rapid exhaust, allowing the airbag to quickly reset and release the component, thus completing the precise gripping and loading operation of the electronic component.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A loading robot for electronic component manufacturing, characterized in that, include: A multi-axis robotic arm (1) has a base (11) and a rotating seat (12) on the base (11). The rotating seat (12) is connected to a hinge cylinder (13) via a connecting seat (112). The hinge cylinder (13) drives a first robotic arm (132) via a hinge shaft (131). A first harmonic reduction motor (133) is provided at the end of the first robotic arm (132). A second harmonic reduction motor (14) is connected to the output end of the first harmonic reduction motor (133). The second harmonic reduction motor (14) drives a second robotic arm (141). A rotary motor (142) is provided at the end of the second robotic arm (141). A flexible robotic arm (2) includes a support frame (21) and a flexible shaft (24). The support frame (21) is fixedly connected to the output end of the rotating motor (142). An axial control cylinder (22) and a radial control cylinder (23) are provided on the support frame (21). One end of the flexible shaft (24) is connected to a bottom rigid connecting plate (27). The outer periphery of the flexible shaft (24) is provided with a multi-layer angle control pad (25). The multi-layer angle control pad (25) is connected to the axial control cylinder (22) and the radial control cylinder (23) through a control pull rope (26). And a flexible gripper (3), the flexible gripper (3) includes a multi-end gripper mounting frame (31), the multi-end gripper mounting frame (31) is fixedly connected to the bottom rigid connecting plate (27) through a connecting fixing block (32), the multi-end gripper mounting frame (31) is provided with a pneumatic connector (33) and a pneumatic interface (34), the periphery and center of the multi-end gripper mounting frame (31) are provided with multiple single-sided flexible airbags (35), each single-sided flexible airbag (35) is provided with a high-pressure nozzle (36) on its side wall and inner wall, and the corners and center of the multi-end gripper mounting frame (31) are also provided with a visual recognition device (37).

2. The loading robot for electronic component production according to claim 1, characterized in that: The cylinder body end of the articulated cylinder (13) is hinged to the connecting seat (112). The piston rod end of the articulated cylinder (13) is hinged to the middle of the first robotic arm (132) through the articulated shaft (131). The root of the first robotic arm (132) is hinged to the upper end of the rotating seat (12). The extension and retraction of the articulated cylinder (13) drives the first robotic arm (132) to swing around the rotating seat (12) to adjust the gripping height and working range of the flexible gripper (3).

3. The loading robot for electronic component production according to claim 1, characterized in that: The first harmonic reduction motor (133) is fixedly installed at the end of the first robotic arm (132). The output shaft of the first harmonic reduction motor (133) is fixedly connected to the housing of the second harmonic reduction motor (14). The output shaft of the second harmonic reduction motor (14) is fixedly connected to the root of the second robotic arm (141). The high-precision angle adjustment of the second robotic arm (141) relative to the first robotic arm (132) is achieved through the linkage of the two-stage harmonic reduction motors, ensuring accurate positioning when grasping electronic components.

4. The loading robot for electronic component production according to claim 1, characterized in that: The rotating motor (142) is fixedly installed at the end of the second robotic arm (141). The output shaft of the rotating motor (142) is fixedly connected to the support frame (21) to drive the flexible robotic arm (2) to rotate around its own axis, so as to adjust the circumferential gripping angle of the flexible gripper (3) to adapt to electronic components with different placement postures.

5. The loading robot for electronic component production according to claim 1, characterized in that: The support frame (21) is a cylindrical structure. The flexible shaft (24) is coaxially arranged inside the support frame (21). The bottom rigid connecting plate (27) is fixed to the end of the flexible shaft (24). The axial control cylinder (22) and the radial control cylinder (23) are both fixed on the outer or inner wall of the support frame (21). Their piston rods are connected to the multi-layer angle control pad (25) through the control pull rope (26). By controlling the extension and retraction of different cylinders, the tension distribution of the control pull rope (26) is changed, thereby adjusting the bending angle and direction of the flexible shaft (24) in three-dimensional space, so that the flexible gripper (3) can bypass obstacles and grab electronic components in narrow spaces.

6. The loading robot for electronic component production according to claim 5, characterized in that: The multi-layer angle control pad (25) consists of multiple annular pads coaxially sleeved on the flexible shaft (24). Each annular pad has multiple pull rope connection points distributed circumferentially. One end of the control pull rope (26) is fixed to the pull rope connection point, and the other end is connected to the piston rod of the corresponding axial control cylinder (22) or radial control cylinder (23). The multi-layer angle control pad (25) is distributed along the axial direction of the flexible shaft (24) to realize multi-point bending control of the flexible shaft (24), enabling it to form a complex spatial curve shape to meet the feeding path requirements of different production lines.

7. The loading robot for electronic component production according to claim 1, characterized in that: The multi-end gripper mounting bracket (31) is polygonal in shape, with mounting positions at its corners and center. At least three single-sided flexible airbags (35) are provided, which are respectively installed at different corners of the multi-end gripper mounting bracket (31) and a single-sided flexible airbag (35) is also provided at the center, forming a flexible wrapping structure with multi-point support for fitting the surface of electronic components of different shapes.

8. The loading robot for electronic component production according to claim 7, characterized in that: Each of the single-sided flexible airbags (35) is an airbag structure with unilateral telescopic capability. Its air inlet is connected to the pneumatic interface (34), and the pneumatic interface (34) is connected to an external air source through a pneumatic connector (33). By independently controlling the inflation and deflation of each single-sided flexible airbag (35), flexible clamping of electronic components of different sizes and shapes can be achieved, avoiding indentation or damage to precision electronic components.

9. The loading robot for electronic component production according to claim 1, characterized in that: The high-pressure nozzles (36) are distributed on the sidewalls and inner walls of each single-sided flexible airbag (35), and the nozzles are oriented towards the inside and outside of the airbag. When the single-sided flexible airbag (35) is inflated and clamps the electronic components, the high-pressure nozzles (36) can spray high-pressure gas, which on the one hand helps the airbag to deform quickly and fit the surface of the components, and on the other hand forms an air cushion layer on the contact surface between the airbag and the components to reduce friction and blow away the surface dust.

10. The loading robot for electronic component production according to claim 1, characterized in that: Multiple vision recognition devices (37) are installed at various corners and the center of the multi-end gripper mounting frame (31). Multiple vision recognition devices (37) collect image information of electronic components from different angles and accurately identify the type, position and posture of the components through image processing algorithms. This provides real-time feedback for the motion control of the multi-axis robotic arm (1) and the flexible robotic arm (2), enabling precise gripping and loading of electronic components.

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