A flexible collision avoidance device and method for connector ultimate space walking

Abstract

The application discloses a kind of connector with limit space walking's anti-collision flexible avoidance device and method, device includes shell, linear bearing, floating threading rod, spring, ball head rod, line nozzle, upper cover;Linear bearing is installed in shell inner cavity with interference;Ball head rod is installed in shell interior, spherical surface and shell inner arc surface sliding fit;Line nozzle is inserted in ball head rod front end and is fixed by stop screw;Floating threading rod is inserted in linear bearing inner cavity, and its flat end is pressed on the end surface of ball head rod;Spring is inserted in floating threading rod inner cavity, and upper cover is fixedly connected with shell;Floating threading rod, ball head rod, line nozzle are all set with coaxial center threading hole, and metal filament is sequentially threaded from floating threading rod, ball head rod, line nozzle center threading hole.This application realizes multidirectional flexible avoidance and automatic accurate reset, avoids rigid collision, protects PIN needle, line nozzle and metal filament, compact structure, adapts limit space, stable operation, high efficiency.

Description

Technical Field

[0001] This invention relates to the field of sealed connector technology, and more specifically to a collision avoidance flexible device and method for connectors to travel in extreme space. Background Technology

[0002] Glass-sealed rectangular connectors require electroplating after sintering. The electroplating process relies on current conduction, typically achieved by winding metal wires around PIN pins. The PIN pins are densely packed with minute spacing and are susceptible to processing and assembly errors. When a robotic arm moves along a fixed coordinate path, the end lead pin tip is prone to rigid collisions with the PIN pins, leading to pin deformation, tip damage, and wire breakage. This disrupts continuous and stable equipment operation, impacting production efficiency and product yield.

[0003] Existing obstacle avoidance mechanisms are mostly fixed-stroke or unidirectional floating, which are difficult to adapt to the needs of arbitrary trajectory movement in extreme spaces, and have defects such as untimely avoidance, poor resetting accuracy, and complex structure. Therefore, there is an urgent need for a flexible obstacle avoidance device that is compact in structure, flexible in avoidance, reliable in collision protection, and suitable for precision movement in extreme spaces. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by designing a flexible, collision-avoidance device and method for connectors operating in confined spaces. This device achieves multi-directional flexible avoidance, automatic reset, collision prevention, and wire breakage prevention, ensuring stable operation of the robotic arm in narrow spaces. The technical solution adopted is as follows: A flexible collision avoidance device for connectors to navigate in extreme spaces includes a housing, a linear bearing, a floating threading rod, a spring, a ball-end rod, a wire nozzle, and a top cover. The linear bearing is interference-fitted into the inner cavity of the housing. The ball-end rod is installed inside the housing, with its spherical surface slidingly engaging with the inner arc surface of the housing. The wire nozzle is inserted into the front end of the ball-end rod and fixed by a set screw. The floating threading rod is inserted into the inner cavity of the linear bearing, with its flat end pressing against the end face of the ball-end rod. The spring is inserted into the inner cavity of the floating threading rod, and the top cover is fixedly connected to the housing. The floating threading rod, the ball-end rod, and the wire nozzle all have coaxial central threading holes, through which a thin metal wire sequentially passes.

[0005] Preferably, the floating threading rod consists of a screw and a piston rod, the screw is provided with external threads for connecting to the piston rod, and the screw is provided with a central threading hole along the axial direction.

[0006] Preferably, the outer shell is an open cylindrical structure with threaded holes evenly distributed on the open end face for connection with the upper cover, and a central hole is opened at the other end of the outer shell. The inner side of the central hole is machined with an arc surface for forming a spherical sliding pair with the ball head rod.

[0007] Preferably, the ball head has a T-shaped structure, with a rounded corner on the inner side of the flange face, a countersunk hole at the end of the ball head, and through threaded holes evenly distributed along the circumference for installing and fixing the wire nozzle. The ball head also has a central wire hole along the axial direction.

[0008] Preferably, the wire nozzle has a stepped shaft structure with a central wire hole along the axis, and the wire nozzle is fixed in the countersunk hole of the ball head rod by a set screw.

[0009] Preferably, the upper cover is a circular flange structure, with mounting holes evenly distributed on the flange surface for fixing to the outer shell, a central hole for the screw to pass through, and vertical mounting holes and positioning grooves for fixing to the robot arm.

[0010] Preferably, the spring is sleeved outside the screw, with the lower end of the spring abutting the bottom of the piston cylinder cavity and the upper end abutting the lower end face of the upper cover, providing a continuous preload to keep the ball joint rod in its initial centering state.

[0011] A collision avoidance flexible avoidance method for connectors using limit space travel, employing a collision avoidance flexible avoidance device for connectors using limit space travel, with the specific avoidance method as follows: Step 1: Installation and positioning; Fix the avoidance device to the end of the robot arm through the top cover, and lead out the metal wire by passing it through the floating threading rod, the ball head rod, and the center hole of the wire nozzle in sequence; Step 2: Track movement; the robotic arm drives the device along a preset track into the pin limit space of the connector to perform the winding operation; Step 3: Flexible Avoidance; When the wire tip collides with the PIN pin, the ball head deflects in multiple directions along the inner arc surface of the outer shell, causing the wire tip to flexibly avoid the impact and eliminate rigid impact; Step 4: Automatic Reset; After the collision is resolved, the spring pushes the floating threading rod down to press down the ball head rod, causing the ball head rod and the thread nozzle to return to center and reset. Step 5: Continuous operation; keep the threading smooth and continue to complete the PIN needle winding to avoid breaking the fine wires and damaging the needle tip and PIN needle.

[0012] Compared with the closest existing technology, the technical solution provided by the present invention has the following beneficial effects: 1. The spherical sliding fit of this invention enables deflection at any angle, adapts to irregular trajectories in extreme spaces, avoids rigid collisions, and achieves flexible avoidance in multiple directions; the avoidance action is gentle, does not damage the PIN needle and wire tip, the threading path is smooth, and the metal wire is not broken; a stable preload is provided by the spring, the reset response is fast, the centering accuracy is high, and the stability of continuous operation is guaranteed.

[0013] 2. The present invention has a compact structure, small size, is suitable for narrow spaces, is easy to assemble, has a long service life, and significantly improves winding efficiency and product qualification rate. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 This is a schematic diagram of the outer shell structure of the present invention; Figure 3 This is a schematic diagram of the linear bearing structure of the present invention; Figure 4 This is a schematic diagram of the floating threading rod structure of the present invention; Figure 5 This is a schematic diagram of the spring structure of the present invention; Figure 6 This is a schematic diagram of the ball joint structure of the present invention; Figure 7 This is a schematic diagram of the nozzle structure of the present invention; Figure 8 This is a schematic diagram of the upper cover structure of the present invention.

[0015] The components are: 1. outer shell, 2. linear bearing, 3. floating threading rod, 4. spring, 5. ball head rod, 6. thread nozzle, 7. top cover, 31. screw, 32. piston rod. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figures 1-8 The present invention provides the following technical solution: A flexible collision avoidance device for connectors to navigate in extreme spaces includes a housing 1, a linear bearing 2, a floating threading rod 3, a spring 4, a ball head rod 5, a wire nozzle 6, and a top cover 7. The linear bearing 2 is interference-fitted into the inner cavity of the housing 1. The ball head rod 5 is installed inside the housing 1, with its spherical surface slidingly engaging with the inner arc surface of the housing 1. The wire nozzle 6 is inserted into the front end of the ball head rod 5 and fixed by a set screw. The floating threading rod 3 is inserted into the inner cavity of the linear bearing 2, with its flat end pressing against the end face of the ball head rod 5. The spring 4 is inserted into the inner cavity of the floating threading rod 3, and the top cover 7 is fixedly connected to the housing 1. The floating threading rod 3, the ball head rod 5, and the wire nozzle 6 all have coaxial central threading holes, through which thin metal wires sequentially pass out.

[0018] Furthermore, the floating threading rod 3 is composed of a screw 31 and a piston rod 32. The screw 31 is provided with an external thread for connecting the piston rod 32, and the screw 31 is provided with a central threading hole along the axial direction.

[0019] Furthermore, the outer shell 1 is an open cylindrical structure, with threaded holes evenly distributed on one end of the open end face, and a central hole on the other end face, with rounded corners inside the holes for sliding connection.

[0020] Furthermore, the ball head rod 5 has a T-shaped structure, with an arc corner on the inner side of the flange face, a countersunk hole at the end of the ball head rod 5, and through threaded holes evenly distributed along the circumference for installing and fixing the wire nozzle 6. The ball head rod 5 also has a central wire hole along the axial direction.

[0021] Furthermore, the wire nozzle 6 has a stepped shaft structure, with a central threading hole along the axis for threading.

[0022] Furthermore, the upper cover 7 is a circular flange structure with mounting holes evenly distributed on the flange surface for fixing to the outer shell 1. The screw 31 passes through the center hole of the flange. The upper cover 7 is provided with vertical mounting holes and positioning grooves for mounting on the robotic arm.

[0023] Furthermore, the spring 4 is spring-loaded onto the screw 31, with its lower end face placed inside the piston column 32 cavity and its upper end face pressed by the upper cover 7, providing positive pressure to keep the ball head rod free and vertical. The device is mounted on an X and Y axis module and can achieve arbitrary planar geometric trajectories. When the device is running on a fixed trajectory, due to the error in the actual pin spacing, the wire nozzle 6 and the pins may scrape against each other. The spring 4 will be compressed, causing the wire nozzle 6 to swing and float, thus avoiding hard collisions.

[0024] A collision avoidance flexible avoidance method for connectors using limit space travel, employing a collision avoidance flexible avoidance device for connectors using limit space travel, with the specific avoidance method as follows: Step 1: Installation and positioning; Fix the avoidance device to the end of the robot arm through the upper cover 7, and lead out the metal wire by passing it through the floating threading rod 3, the ball head rod 5, and the center hole of the wire nozzle 6 in sequence; Step 2: Track movement; the robotic arm drives the device along a preset track into the pin limit space of the connector to perform the winding operation; Step 3: Flexible avoidance; When the wire tip 6 collides with the PIN pin, the ball head rod 5 deflects in multiple directions along the inner arc surface of the outer shell 1, causing the wire tip 6 to flexibly avoid the collision. Step 4: Automatic reset; After the collision is resolved, spring 4 pushes floating threading rod 3 to press down ball head rod 5, so that ball head rod 5 and thread nozzle 6 return to center and reset. Step 5: Continuous operation; keep the threading smooth and continue to complete the PIN needle winding to avoid breaking the fine wires and damaging the needle tip and PIN needle.

[0025] In summary, the device of this invention is mounted on an X and Y axis module, enabling arbitrary planar geometric trajectories. The device operates within the narrow gaps between PIN pins. When the wire tip 6 collides with the PIN pin, the ball head rod 5 deflects at multiple angles to avoid it, and the spring 4 is compressed. After the collision disappears, the spring 4 pushes the floating threading rod 3 downwards, causing the ball head rod 5 and the wire tip 6 to quickly return to their center and reset, continuing stable winding. This method can completely achieve anti-collision, flexible avoidance, automatic reset, and anti-breakage, and is suitable for precision automated operations in extreme spaces such as electroplating winding of PIN pins for glass-sealed rectangular connectors. The above embodiments are only used to illustrate the technical solution of this invention and not to limit it. Although the invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific embodiments of this invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this invention are within the protection scope of the pending claims of this invention.

Claims

1. A flexible collision avoidance device for connectors that allows for movement in extreme spaces, characterized in that, The device includes a housing (1), a linear bearing (2), a floating threading rod (3), a spring (4), a ball head rod (5), a thread nozzle (6), and a top cover (7). The linear bearing (2) is interference-fitted into the inner cavity of the housing (1). The ball head rod (5) is installed inside the housing (1), with its spherical surface slidingly engaging with the inner arc surface of the housing (1). The thread nozzle (6) is inserted into the front end of the ball head rod (5) and fixed by a set screw. The floating threading rod (3) is inserted into the inner cavity of the linear bearing (2), with its flat end pressing against the end face of the ball head rod (5). The spring (4) is inserted into the inner cavity of the floating threading rod (3), and the top cover (7) is fixedly connected to the housing (1). The floating threading rod (3), the ball head rod (5), and the thread nozzle (6) all have coaxial central threading holes, and the metal wires pass through the central threading holes of the floating threading rod (3), the ball head rod (5), and the thread nozzle (6) in sequence.

2. The connector collision avoidance flexible obstacle avoidance device for extreme space movement according to claim 1, characterized in that: The floating threading rod (3) consists of a screw (31) and a piston column (32). The screw (31) is provided with an external thread for connecting the piston column (32), and the screw (31) is provided with a central threading hole along the axial direction.

3. The connector collision avoidance flexible obstacle avoidance device for extreme space movement according to claim 1, characterized in that: The outer shell (1) is an open cylindrical structure with threaded holes evenly distributed on the open end face for connecting with the upper cover (7). The other end of the outer shell (1) has a central hole with an arc surface machined on the inner side for forming a spherical sliding pair with the ball head rod (5).

4. The connector collision avoidance flexible obstacle avoidance device for extreme space movement according to claim 1, characterized in that: The ball head rod (5) has a T-shaped structure with an arc corner on the inner side of the flange face. The end of the ball head rod (5) is provided with a countersunk hole and through threaded holes are evenly distributed along the circumference for installing and fixing the wire nozzle (6). The ball head rod (5) is provided with a central wire hole along the axial direction.

5. The connector collision avoidance flexible obstacle avoidance device for extreme space travel according to claim 1, characterized in that: The wire nozzle (6) has a stepped shaft structure. The wire nozzle (6) has a central wire hole along the axis. The wire nozzle (6) is fixedly installed in the countersunk hole of the ball head rod (5) by a set screw.

6. The connector collision avoidance flexible obstacle avoidance device for extreme space travel according to claim 1, characterized in that: The upper cover (7) is a round flange structure with mounting holes evenly distributed on the flange surface for fixing to the outer shell (1). The screw (31) passes through the center hole of the flange. The upper cover (7) is provided with vertical mounting holes and positioning grooves for mounting on the robotic arm.

7. The connector collision avoidance flexible obstacle avoidance device for extreme space travel according to claim 1, characterized in that: The spring (4) is sleeved on the outside of the screw (31), with the lower end of the spring (4) abutting the bottom of the inner cavity of the piston rod (32) and the upper end of the spring (4) abutting the lower end face of the upper cover (7).

8. A collision avoidance flexible avoidance method for connectors to navigate in extreme spaces, characterized in that: Using the connector collision avoidance flexible avoidance device for extreme space travel as described in any one of claims 1-7, the specific avoidance method is as follows: Step 1: Installation and positioning; Fix the avoidance device to the end of the robot arm through the top cover (7), and the metal wire passes through the floating threading rod (3), the ball head rod (5), and the center hole of the wire nozzle (6) in sequence and is led out; Step 2: Track movement; the robotic arm drives the device along a preset track into the pin limit space of the connector to perform the winding operation; Step 3: Flexible avoidance; When the wire tip (6) collides with the PIN pin, the ball head rod (5) deflects in multiple directions along the inner arc surface of the outer shell (1), causing the wire tip (6) to flexibly avoid the collision. Step 4: Automatic reset; After the collision is resolved, the spring (4) pushes the floating threading rod (3) down to press down the ball head rod (5), so that the ball head rod (5) and the thread nozzle (6) automatically return to the center and reset; Step 5: Continuous operation; keep the threading smooth and continue to complete the PIN needle winding to avoid breaking the fine wires and damaging the needle tip and PIN needle.

Images