Electronic component clamp intelligent design and rapid changeover system

Abstract

The application discloses an electronic component clamp intelligent design and rapid change system, and relates to the technical field of clamps. The system comprises a component information extraction module for obtaining size information and special-shaped contour information of an electronic component to be clamped; a hardware decoupling design module for generating three-dimensional model data of a quick-change customized fingertip adapted to the electronic component to be clamped; a driving parameter adaptation module for obtaining opening and closing stroke data and clamping force data; a change monitoring and communication module for monitoring an assembly state and activating a parameter issuing channel of a controller; a control curve reconstruction module for generating a brand-new clamping motion curve to control the soft limit of the clamp and clamping action; and a force feedback correction module for generating a micro-step retreat instruction and correcting the operation parameters of the clamp according to the micro-step retreat instruction. The application has the effect of improving the production efficiency, parameter accuracy and safe reliability of the electronic component clamp in the intelligent design and rapid change process.

Description

Technical Field

[0001] This application relates to the technical field of fixtures, and in particular to an intelligent design and rapid changeover system for electronic component fixtures. Background Technology

[0002] With the development of electronic manufacturing, semiconductors, and precision assembly technologies, electronic components are constantly evolving towards miniaturization, fragility, irregular shapes, and high-end features. In automated production lines, the end effector of robotic arms, as the execution terminal that directly contacts electronic components, directly determines the production efficiency of the entire production line through its rational design and efficiency in changeover and debugging.

[0003] In existing technologies, when faced with a wide variety of new electronic components, engineers typically need to design fixtures. The inability to quickly and accurately extract the dimensions of electronic components automatically results in long fixture design cycles and high trial-and-error costs. Furthermore, most existing fixtures employ an integral structure, requiring manual replacement of the entire tooling when changing products on the production line, which is time-consuming and prone to mechanical assembly errors.

[0004] On the other hand, after the fixture has undergone physical transformation, the existing underlying control is often independent and lagging. The controller cannot perceive the status change of the physical hardware in real time, requiring manual re-entry and repeated debugging. If there is even a slight deviation between the theoretical design parameters and the actual assembly, the electronic components may be damaged due to excessive torque during the first gripping or high-frequency operation, or the components may fall due to insufficient force.

[0005] Therefore, improving the design efficiency, changeover efficiency, and adaptive capability of the control layer of fixtures has become an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent design and rapid changeover system for electronic component fixtures to solve the problems mentioned in the background art.

[0007] This application provides an intelligent design and rapid changeover system for electronic component fixtures, the system comprising: Component information extraction module: used to acquire the three-dimensional feature data of the electronic component to be clamped, perform contour recognition on the three-dimensional feature data, and obtain the size information and irregular contour information of the electronic component to be clamped; Hardware decoupling design module: used to obtain the physical structure of the fixture and decouple it into a general base and a quick-change custom fingertip. Based on the size information and the irregular contour information, it generates three-dimensional model data of the quick-change custom fingertip that is adapted to the electronic component to be gripped. Drive parameter adaptation module: used to extract the hardware attributes of the general base, and combine the hardware attributes with the three-dimensional model data to obtain the opening and closing stroke data and clamping force data that match the electronic component to be clamped; Changeover monitoring and communication module: used to monitor the assembly status between the universal base and the quick-change customized fingertip in real time. When the physical assembly is detected to be completed, a changeover completion signal is generated, and the parameter distribution channel of the controller is activated according to the changeover completion signal. Control curve reconstruction module: used to send the opening and closing stroke data and the clamping force data to the universal base through the parameter sending channel, and generate a new clamping motion curve, and control the soft limit and clamping action of the fixture according to the clamping motion curve; Force feedback correction module: used to acquire high-frequency micro force feedback data monitored by the fixture during the first gripping test after the change of type. Based on the high-frequency micro force feedback data, the peak torque at the moment of contact is obtained. The peak torque is compared with the preset theoretical simulation curve. If a deviation is found, a micro-step retreat command is generated, and the operating parameters of the fixture are corrected according to the micro-step retreat command.

[0008] Preferably, the component information extraction module includes: 3D scanning and recognition unit and feature data extraction unit; 3D scanning and recognition unit: used to activate a 3D vision scanning device pre-installed at the front end of the production line to scan the electronic component to be picked up entering the work area and obtain high-precision 3D feature data of the electronic component to be picked up; The high-precision three-dimensional feature data is subjected to point cloud denoising and three-dimensional reconstruction processing to construct a three-dimensional point cloud model that completely corresponds to the actual electronic component to be grasped, and the three-dimensional point cloud model is sent to the feature data extraction unit. Feature data extraction unit: used to receive the three-dimensional point cloud model, perform contour recognition on the three-dimensional point cloud model, and obtain the appearance boundary and feature inflection points of the electronic component to be clamped; Based on the appearance boundary and the feature inflection point, spatial coordinate information is transformed to generate the size information and irregular contour information of the electronic component to be clamped.

[0009] Preferably, the hardware decoupling design module includes: Structural decoupling unit and model generation unit; Structural decoupling unit: used to acquire the physical structure of the fixture, and to disassemble and identify the physical structure to obtain a standardized universal base and a quick-change custom fingertip; Identify the relative spatial relationship and signal connection relationship between the universal base and the quick-change custom fingertip, and establish a standardized mechanical connection interface and electrical communication connection interface between the universal base and the quick-change custom fingertip based on the relative spatial relationship and the signal connection relationship; Model generation unit: used to obtain the fixture design rules of all existing fixtures, and generate a fingertip design rule library based on the fixture design rules; Based on the size information and the irregular contour information, data matching is performed in the fingertip design rule base to obtain target fingertip matching data; Based on the target fingertip matching data, a 3D model is created to generate 3D model data of the quick-change customized fingertip that can fit the electronic component to be grasped.

[0010] Preferably, the drive parameter adaptation module includes: Hardware attribute extraction unit and parameter matching adaptation unit; Hardware attribute extraction unit: used to obtain the servo motor parameters, maximum output torque limit and mechanical travel boundary built into the universal base, and package them to generate hardware attributes; The hardware attributes are encapsulated in a data structure to generate a standard hardware configuration file, and a hardware parameter security protection threshold is established based on the standard hardware configuration file. Parameter matching and adaptation unit: used to import the three-dimensional model data of the quick-change customized fingertip into a preset virtual physical simulation environment; The standard hardware configuration file is loaded into the virtual physical simulation environment, and the force simulation is performed on the three-dimensional model data to obtain the simulated force results. Obtain the material yield limit boundary of the electronic component to be clamped, and combine the simulated stress results with the material yield limit boundary to obtain the opening and closing stroke data and clamping force data of the electronic component to be clamped.

[0011] Preferably, the replacement monitoring communication module includes: Assembly status monitoring unit and signal activation communication unit; Assembly status monitoring unit: used to install a sensor array inside the universal base, the sensor array monitoring the relative spatial position and mechanical locking status between the universal base and the quick-change custom fingertip in real time; Based on the relative spatial position and the mechanical locking state, determine whether the universal base and the quick-change custom fingertip have completed physical assembly. If it is determined that the physical assembly has been completed, record the timestamp data of the completion of the physical assembly. Signal-activated communication unit: used to obtain the unique identifier of the quick-change customized fingertip after physical assembly is completed, and generate a replacement completion signal by combining the timestamp data and the unique identifier; Based on the changeover completion signal, the parameter transmission channel between the controller preset in the background and the universal base is activated.

[0012] Preferably, the control curve reconstruction module includes: Parameter sending and receiving unit and curve reconstruction control unit; Parameter sending and receiving unit: used to package and encrypt the tension and clamping force data, generate control parameter data packets, and send the control parameter data packets to the universal base through the parameter sending channel; After receiving the control parameter data packet, the universal base parses and restores it to obtain core control data, and overwrites the previous initial control parameters according to the core control data to obtain the current core control parameters. Curve reconstruction control unit: used to generate a new fast approach trajectory, deceleration contact trajectory and clamping constant force magnitude of the clamp based on the opening and closing stroke data and the clamping force data in the core control data; Based on the rapid approach trajectory, the deceleration contact trajectory, and the magnitude of the clamping constant force, a clamping motion curve of the fixture is generated, and the soft limit and clamping action of the fixture are controlled according to the clamping motion curve.

[0013] Preferably, the force feedback correction module includes: Force data acquisition unit and deviation comparison and correction unit; Force data acquisition unit: used to activate the force sensor preset at the end of the quick-change customized fingertip during the first gripping test after the fixture has been changed, and to collect the initial micro force feedback data in real time throughout the gripping process; Interference identification is performed on the initial micro-force feedback data to obtain clutter noise interference, and the clutter noise interference in the initial micro-force feedback data is removed to obtain high-frequency micro-force feedback data of the quick-change customized fingertip contacting the electronic component to be grasped; Deviation comparison correction unit: used to obtain the actual peak torque of the quick-change customized fingertip when it is working based on the high-frequency micro-force feedback data; Obtain a preset theoretical simulation curve under theoretical conditions, extract the expected torque value from the theoretical simulation curve, and compare the expected torque value with the peak torque value to obtain the torque difference. Determine whether the torque difference exceeds a preset error threshold; If the torque difference is determined to exceed the error threshold, it is determined that there is a risk of clamping failure. A micro-step retraction command is generated based on the torque difference, and the operating parameters of the fixture are dynamically corrected based on the micro-step retraction command.

[0014] Preferably, the deviation comparison correction unit includes: Error threshold judgment component and parameter dynamic reset component; Error threshold judgment component: used to pre-build a dynamic error threshold library in the background that matches electronic components with different fragility levels; Obtain the material properties of the electronic component to be clamped, and match them with the dynamic error threshold library according to the material properties to obtain the error threshold; The torque difference is compared with the error threshold to determine whether the current clamping force will cause structural damage to the electronic component to be clamped. Parameter dynamic reset component: used when it is determined that the current clamping force will cause structural damage to the electronic component to be clamped; The subsequent commands issued by the controller are intercepted, and the percentage of the torque difference that exceeds the error threshold is extracted. Generate a corresponding yield length and force attenuation amount based on the numerical ratio, and generate a micro-step yield command based on the yield length and force attenuation amount. The position compensation parameters and torque limit parameters of the fixture are generated according to the micro-step retraction command, and the current core control parameters are adjusted according to the position compensation parameters and the torque limit parameters.

[0015] In summary, this application includes at least one of the following beneficial technical effects: The component information extraction module accurately identifies the 3D contours of irregularly shaped electronic components. A hardware decoupling design module decouples the fixture structure into a universal base and customized fingertips. Combined with a fingertip design rule library, parametric intelligent generation of the fixture fingertip model is achieved. Next, a drive parameter adaptation module pre-locks the optimal opening and closing stroke and gripping force in a virtual simulation environment. A changeover monitoring and communication module automatically activates the parameter transmission channel upon sensing the completion of physical assembly. A control curve reconstruction module dynamically plans motion trajectories for different component characteristics, and a force feedback correction module performs high-frequency monitoring and adaptive correction of torque deviations during the initial gripping process. If a damage risk is detected, a micro-step retraction command is immediately generated to adjust the core control parameters. This improves the production efficiency, parameter accuracy, and gripping safety and reliability of the electronic component fixture during intelligent design and rapid changeover processes. Attached Figure Description

[0016] Figure 1This is a block diagram of a smart design and rapid changeover system for electronic component fixtures provided in an embodiment of this application.

[0017] Explanation of reference numerals in the attached diagram: 1. Component information extraction module; 2. Hardware decoupling design module; 3. Drive parameter adaptation module; 4. Type change monitoring and communication module; 5. Control curve reconstruction module; 6. Force feedback correction module. Detailed Implementation

[0018] The following is in conjunction with the appendix Figure 1 This application will be described in further detail, but the embodiments of the present invention are not limited thereto.

[0019] This application discloses an intelligent design and rapid changeover system for electronic component fixtures.

[0020] In this embodiment, an intelligent design and rapid changeover system for electronic component fixtures is provided, the system comprising: Component Information Extraction Module 1: Used to acquire the three-dimensional feature data of the electronic component to be clamped, perform contour recognition on the three-dimensional feature data, and obtain the size information and irregular contour information of the electronic component to be clamped; Hardware decoupling design module 2: used to obtain the physical structure of the fixture and decouple it into a general base and a quick-change custom fingertip. Based on the size information and irregular contour information, it generates three-dimensional model data of the quick-change custom fingertip that is adapted to the electronic components to be gripped. Drive parameter adaptation module 3: used to extract the hardware attributes of the general base, and combine the hardware attributes and 3D model data to obtain the opening and closing stroke data and clamping force data that match the electronic component to be clamped; Changeover monitoring and communication module 4: Used to monitor the assembly status between the universal base and the quick-change customized fingertip in real time. When the physical assembly is detected to be completed, a changeover completion signal is generated, and the parameter distribution channel of the controller is activated according to the changeover completion signal. Control curve reconstruction module 5: It is used to send the opening and closing stroke data and clamping force data to the general base through the parameter sending channel, and generate a new clamping motion curve. Based on the clamping motion curve, it controls the soft limit and clamping action of the fixture. Force feedback correction module 6: Used to acquire high-frequency micro force feedback data monitored by the fixture during the first gripping test after the change of form. Based on the high-frequency micro force feedback data, the peak torque at the moment of contact is obtained. The peak torque is compared with the preset theoretical simulation curve. If a deviation is found, a micro-step back command is generated, and the operating parameters of the fixture are corrected according to the micro-step back command.

[0021] The component information extraction module includes: 3D scanning and recognition unit and feature data extraction unit; 3D scanning and recognition unit: used to activate the 3D vision scanning device pre-installed at the front end of the production line to scan the electronic components to be picked up entering the work area and obtain high-precision 3D feature data of the electronic components to be picked up; High-precision three-dimensional feature data is processed by point cloud denoising and three-dimensional reconstruction to construct a three-dimensional point cloud model that completely corresponds to the real electronic component to be grasped, and the three-dimensional point cloud model is sent to the feature data extraction unit. Feature data extraction unit: used to receive a 3D point cloud model, perform contour recognition on the 3D point cloud model, and obtain the appearance boundary and feature inflection points of the electronic component to be grasped; Based on the appearance boundary and feature inflection points, spatial coordinate information is transformed to generate the size information and irregular contour information of the electronic component to be clamped.

[0022] In application, taking a certain electronic product SMT assembly line as an example, when a new type of irregularly shaped connector component enters the production station, the system activates the component information extraction module. First, the 3D scanning and recognition unit triggers a high-precision 3D vision scanner installed at the front end of the assembly line to perform a comprehensive scan of the connector, collecting high-precision 3D feature data containing hundreds of thousands of points. This raw point cloud data contains some noise caused by ambient light and vibration. Next, the system performs point cloud denoising processing on this data, for example, using statistical filtering algorithms to remove outliers, and then performing 3D reconstruction through triangulation algorithms to generate a 3D point cloud model that completely corresponds to the actual size and shape of the component, with an accuracy of ±0.02mm. Then, the feature data extraction unit receives this point cloud model. The algorithm within the unit performs contour recognition on the model, first identifying the rectangular body outline of the connector, with a length, width, and height of 5.2mm, 3.8mm, and 1.5mm, respectively. Next, the algorithm further identifies two asymmetrical cylindrical pin protrusions on the main body as feature inflection points, and calculates the center coordinates of these two protrusions as (1.1, 0.5, 1.5) and (4.1, 3.3, 1.5), respectively, with a diameter of 0.6 mm. Finally, the system transforms and integrates the spatial coordinate information of these appearance boundaries and feature inflection points to generate complete dimensional information of the connector (such as overall dimensions, pin spacing, etc.) and detailed irregular contour information, providing accurate input data for subsequent fingertip design.

[0023] The hardware decoupling design module includes: Structural decoupling unit and model generation unit; Structural decoupling unit: used to acquire the physical structure of the fixture, and to disassemble and identify the physical structure to obtain a standardized universal base and quick-change custom fingertips; Identify the relative spatial relationship and signal connection relationship between the universal base and the quick-change custom fingertip, and establish a standardized mechanical connection interface and electrical communication connection interface between the universal base and the quick-change custom fingertip based on the relative spatial relationship and signal connection relationship; Model generation unit: used to obtain the fixture design rules of all existing fixtures and generate a fingertip design rule library based on the fixture design rules; Based on the size information and irregular contour information, data matching is performed in the fingertip design rule library to obtain the target fingertip matching data; Based on the target fingertip matching data, a 3D model is created to generate 3D model data of a quick-change custom fingertip that can fit the electronic component to be grasped.

[0024] In practice, taking an SMT assembly line for electronic products as an example, after obtaining the dimensions and contour information of the irregularly shaped connector, the hardware decoupling design module begins operation. The structural decoupling unit first retrieves the complete 3D drawing of the end effector of the robotic arm on the current production line. The unit's intelligent analysis algorithm automatically disassembles and identifies the drawing, decoupling the physical structure of the fixture into two parts: a standardized universal base and replaceable, quick-change customized fingertips. The universal base includes fixed components such as servo motors, guide rails, and communication interfaces. Next, the algorithm identifies the connection method between the base and the fingertips, such as mechanical locking via four M3 screws and electrical signal connection via an 8-pin aviation connector. Based on these relationships, the system establishes corresponding standardized mechanical connection interfaces (such as screw hole coordinates) and electrical communication connection interfaces (such as pin definitions) in the database. Simultaneously, the model generation unit retrieves all historically accumulated fixture design rules from the cloud server, such as fingertip wall thickness not less than 1mm and the need for anti-slip textures on the clamping surface, and generates a fingertip design rule library based on these rules. Then, the system matches the connector's size and irregular contour information with the rule base, selecting the most suitable fingertip type as "dual-point contact," and obtaining the target fingertip matching data, such as the clamping surface shape matching the pin protrusion surface. Finally, the system calls the 3D modeling engine to automatically generate a 3D model data file of a quick-change custom fingertip that perfectly fits the irregular connector pins based on this matching data.

[0025] The drive parameter adaptation module includes: Hardware attribute extraction unit and parameter matching adaptation unit; Hardware attribute extraction unit: used to obtain the servo motor parameters, maximum output torque limit and mechanical travel boundary built into the general base, and package them to generate hardware attributes; Hardware attributes are encapsulated in a data structure to generate a standard hardware configuration file, and hardware parameter security protection thresholds are established based on the standard hardware configuration file. Parameter matching and adaptation unit: used to import the 3D model data of the quick-change customized fingertip into a preset virtual physical simulation environment; The standard hardware configuration file is loaded into the virtual physics simulation environment to simulate the force on the 3D model data and obtain the simulated force results. Obtain the material yield limit boundary of the electronic component to be clamped, and combine the simulated stress results with the material yield limit boundary to obtain the opening and closing stroke data and clamping force data of the electronic component to be clamped.

[0026] In application, taking an SMT assembly line for electronic products as an example, after the 3D model of the quick-change customized fingertip is generated, the drive parameter adaptation module is activated. First, the hardware attribute extraction unit reads the built-in hardware attributes from the controller of the universal base, including the servo motor's rated torque of 2.5Nm, the maximum output torque limit of 3.0Nm, and the maximum opening and closing stroke boundary of the robotic arm of 0-50mm. The unit packages these parameters and encapsulates them into a standard hardware configuration file named "Base_HW_Config.json". Simultaneously, it calculates the safety protection threshold based on these parameters, for example, setting 90% of the maximum stroke, i.e., 45mm, as a soft limit. Then, the parameter matching adaptation unit begins its work. It imports the fingertip 3D model data generated in the previous step into a preset virtual physical simulation environment (such as a simulation platform based on Unity3D or ROS). At the same time, it also loads the "Base_HW_Config.json" file into this environment. In the simulation environment, the system simulates the entire process of the fixture gripping the connector. Through mechanical calculations, the simulated force results are displayed at the most stable clamping point (the sides of the two pins), where the theoretical clamping force required is approximately 8N. Next, the system retrieves the connector's material properties from the material database, revealing that its body is PBT plastic, the pins are phosphor bronze, and the material's yield strength boundary is a maximum pressure of 15N at the pins. Combining the simulated clamping force of 8N and the 15N limit, the system performs optimization calculations and ultimately determines the opening and closing stroke data for this component as follows: starting at 5mm from the component, rapidly approaching to 0.5mm, then closing at a low speed, with a final clamping distance of 3.9mm (slightly smaller than the pin spacing to provide preload). The clamping force is set to a peak of 10N and a steady-state value of 8N, ensuring stable clamping while providing a safety margin to prevent pressure loss.

[0027] The replacement monitoring communication module includes: Assembly status monitoring unit and signal activation communication unit; Assembly status monitoring unit: used to set up a sensor array inside the universal base, the sensor array monitors the relative spatial position and mechanical locking status between the universal base and the quick-change custom fingertip in real time; Based on the relative spatial position and mechanical locking status, determine whether the general base and quick-change custom fingertip have completed physical assembly. If it is determined that the physical assembly has been completed, record the timestamp data of the completion of the physical assembly. Signal-activated communication unit: used to obtain the unique identifier of the quick-change customized fingertip after physical assembly is completed, and generate a replacement completion signal by combining the timestamp data and the unique identifier; Based on the changeover completion signal, activate the parameter distribution channel between the pre-set controller and the universal base station in the background.

[0028] In application, taking an SMT assembly line for electronic products as an example, when the operator creates a physical quick-change fingertip based on the 3D model of the fingertip generated by the system and prepares to install it onto the universal base, the changeover monitoring and communication module starts operating. The assembly status monitoring unit monitors the assembly process in real time through a sensor array embedded inside the universal base. This array includes a laser displacement sensor and three miniature Hall sensors. The laser sensor monitors the relative spatial position of the newly installed fingertip to the base reference surface, while the Hall sensors detect whether the mechanical locking pins are in place. When the operator pushes the customized fingertip into the base slot and tightens the locking screw, the sensor data begins to change. The system continuously compares the sensor readings with the preset "assembly complete" threshold (e.g., positional deviation <0.1mm, and all three locking pins are displayed as "locked"). When all data simultaneously meet the conditions for more than 500 milliseconds (anti-jitter processing), the system determines that the physical assembly is complete and immediately records the timestamp data of the assembly completion in the log, such as "2023-10-27 14:30:05.123". Next, the signal-activated communication unit starts. It reads the unique identification code of the customized fingertip, such as "Gripper_Tip_Connector_TypeA_001," through the RFID chip integrated on the fingertip. Combined with the previously recorded timestamp "2023-10-27 14:30:05.123," the system generates a unique replacement completion signal containing "timestamp + identification ID + assembly status confirmation." Upon receiving this signal, the backend main controller immediately activates a dedicated, encrypted parameter transmission channel, preparing to send control parameters for this fingertip and component to the universal base, thus preparing for the next step of curve reconstruction.

[0029] The control curve reconstruction module includes: Parameter sending and receiving unit and curve reconstruction control unit; Parameter sending and receiving unit: used to package and encrypt the tension and clamping force data, generate control parameter data packets, and send the control parameter data packets to the universal base through the parameter sending channel; After receiving the control parameter data packet, the universal base parses and restores it to obtain the core control data, and overwrites the previous initial control parameters based on the core control data to obtain the current core control parameters; Curve reconstruction control unit: used to generate new fast approach trajectory, deceleration contact trajectory and clamping constant force of the fixture based on the opening and closing stroke data and clamping force data in the core control data; Based on the rapid approach trajectory, deceleration contact trajectory, and the magnitude of the clamping constant force, the clamping motion curve of the fixture is generated, and the soft limit and clamping action of the fixture are controlled according to the clamping motion curve.

[0030] In application, taking a certain electronic product SMT assembly line as an example, after the changeover signal activates the parameter sending channel, the control curve reconstruction module immediately executes. First, the parameter sending and receiving unit packages the tension / closing stroke data (e.g., rapid approach segment 0-45mm, deceleration contact segment 45-48.5mm, clamping segment 48.5mm to target 49mm) and clamping force data (peak 10N, steady-state 8N) calculated by the previously driven parameter adaptation module, and encrypts them using the AES-256 algorithm, generating a control parameter data packet named "Ctrl_Param_Package.bin". Then, this data packet is sent to the local controller of the target universal base through the activated dedicated channel. Upon receiving the data packet, the universal base first decrypts and reconstructs it to obtain the core control data. The base controller uses this new data to overwrite the old parameters previously used for other components, completing the control parameter update and obtaining the current core control parameters. Next, the curve reconstruction control unit begins operation based on the new core control parameters. Based on the opening and closing stroke data, it plans a new clamping motion trajectory: within the 0-45mm stroke range, the motor rapidly approaches the component at 80% of its maximum speed; within the 45-48.5mm stroke range, the speed linearly decreases to 10%, entering the deceleration contact phase; upon reaching the 48.5mm position, it switches to force control mode, closing to the final clamping position of 49mm with a constant force of 8N and holding it there. Based on this planning, the unit generates a completely new clamping motion curve comprising three segments: position, speed, and force. Finally, the controller, according to this new motion curve, controls the clamping servo motor in real time, simultaneously setting 45mm and 49mm as the soft limit start and end points of the motion, respectively.

[0031] The force feedback correction module includes: Force data acquisition unit and deviation comparison and correction unit; Force data acquisition unit: used to activate the force sensor preset on the quick-change customized fingertip during the first gripping test after the fixture has been changed, and to collect the initial micro force feedback data in real time throughout the gripping process; Interference identification is performed on the initial micro-force feedback data to obtain clutter noise interference. The clutter noise interference in the initial micro-force feedback data is then removed to obtain high-frequency micro-force feedback data of the quick-change customized fingertip contacting the electronic component to be grasped. Deviation comparison correction unit: used to obtain the true peak torque of the quick-change customized fingertip during operation based on high-frequency micro-force feedback data; Obtain the preset theoretical simulation curve under the theoretical environment, extract the expected torque value from the theoretical simulation curve, compare the expected torque value with the peak torque value to obtain the torque difference; Determine whether the torque difference exceeds the preset error threshold; If the torque difference is determined to exceed the error threshold, it is determined that there is a risk of clamping failure. A micro-step retraction command is generated based on the torque difference, and the operating parameters of the fixture are dynamically corrected based on the micro-step retraction command.

[0032] In application, taking an SMT assembly line for electronic products as an example, after the fixture completes physical transformation and loads a new motion curve, the system instructs the robotic arm to perform an initial gripping test on the sample component. At this time, the force feedback correction module is activated. The force data acquisition unit simultaneously activates a miniature high-precision force sensor (such as a six-dimensional force sensor) installed on the gripping surface of the quick-change customized fingertip. Throughout the gripping test, the sensor collects raw micro-force feedback data in real time at a frequency of 1kHz. This initial data is mixed with noise such as vibration noise from the robotic arm itself and electromagnetic interference from the motor drive current. The system uses a bandpass filter (e.g., cutoff frequencies of 5Hz and 200Hz) to identify and filter this initial data, eliminating obvious noise interference, and finally extracting the pure high-frequency micro-force feedback data at the moment of contact between the fingertip and the irregular connector. Then, the deviation comparison correction unit analyzes this high-frequency data to find the true peak torque at the moment of contact, assuming it is measured to be 9.5N. Simultaneously, the unit retrieves the ideal clamping force curve (theoretical simulation curve) preset for the connector in a theoretical simulation environment from the database, and extracts the expected torque value from the theoretical curve, which is 8.0N. The system compares the actual peak value of 9.5N with the theoretical expected value of 8.0N, calculating a torque difference of 1.5N. The system's preset error threshold is 1.0N (set according to the fragility of the component). Since 1.5N > 1.0N, the system determines that there is a risk of damaging the pins during this clamping operation. Therefore, the module immediately generates a micro-step retraction command based on the 1.5N difference. This command is sent to the underlying motion controller to dynamically correct the operating parameters of the clamp, such as adjusting the target clamping position backward by 0.1mm or reducing the steady-state clamping force by 1N in the next clamping cycle.

[0033] The deviation comparison correction unit includes: Error threshold judgment component and parameter dynamic reset component; Error threshold judgment component: used to pre-build a dynamic error threshold library in the background that matches electronic components with different fragility levels; Obtain the material properties of the electronic component to be clamped, and match them with the dynamic error threshold library to obtain the error threshold. The torque difference is compared with the error threshold to determine whether the current clamping force will cause structural damage to the electronic component to be clamped. Parameter dynamic reset component: used when it is determined that the current clamping force will cause structural damage to the electronic component to be clamped; The controller intercepts subsequent commands and extracts the percentage of torque difference that exceeds the error threshold. Generate the corresponding yield length and force attenuation amount based on the numerical ratio, and generate the micro-step yield command based on the yield length and force attenuation amount; The position compensation parameters and torque limit parameters of the fixture are generated based on the micro-step retraction command, and the current core control parameters are adjusted based on the position compensation parameters and torque limit parameters.

[0034] In application, taking an SMT assembly line for electronic products as an example, the error threshold judgment component within the deviation comparison and correction unit begins a more refined judgment. This component is connected to a dynamic error threshold library in the background, which stores error thresholds matched to electronic components of different materials and fragility levels. For example, for fragile ceramic components, the threshold might be set to 0.5N; for ordinary plastic components, the threshold might be 1.5N; and for robust metal components, the threshold might be 3.0N. The component first obtains the material properties of the irregularly shaped connector to be clamped, identifying that its pins are phosphor bronze and its body is PBT plastic. Based on the combined properties of "phosphor bronze + PBT," it matches the threshold in the threshold library and ultimately determines that the applicable error threshold for this component is 1.2N. Then, the component compares the actual measured torque difference of 1.5N with this 1.2N threshold. Since 1.5N > 1.2N, the component ultimately determines that the current clamping force does indeed pose a risk of structural damage to the connector (such as causing slight plastic deformation of the pins). Once a risk is determined, the parameter dynamic reset component immediately intervenes. First, it sends an emergency command to the motion controller, intercepting the next motion command originally planned by the controller and pausing the current action. Next, the component calculates the percentage by which the torque difference exceeds the threshold, i.e., (1.5-1.2) / 1.2=25%. Based on this 25% excess, the component generates corresponding compensation amounts: for example, proportionally calculating a yield length of 0.15mm (proportional coefficient * basic yield amount) and a force attenuation of 2N. Based on these two values, the component generates a detailed micro-step yield command. Finally, based on this command, the system calculates new position compensation parameters (subtracting 0.15mm from the target position) and new torque limit parameters (reducing the maximum output force limit by 2N), and immediately uses these new parameters to adjust and override the current core control parameters.

[0035] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent design and rapid changeover system for electronic component fixtures, characterized in that, include: Component information extraction module: used to acquire the three-dimensional feature data of the electronic component to be clamped, perform contour recognition on the three-dimensional feature data, and obtain the size information and irregular contour information of the electronic component to be clamped; Hardware decoupling design module: used to obtain the physical structure of the fixture and decouple it into a general base and a quick-change custom fingertip. Based on the size information and the irregular contour information, it generates three-dimensional model data of the quick-change custom fingertip that is adapted to the electronic component to be gripped. Drive parameter adaptation module: used to extract the hardware attributes of the general base, and combine the hardware attributes with the three-dimensional model data to obtain the opening and closing stroke data and clamping force data that match the electronic component to be clamped; Changeover monitoring and communication module: used to monitor the assembly status between the universal base and the quick-change customized fingertip in real time. When the physical assembly is detected to be completed, a changeover completion signal is generated, and the parameter distribution channel of the controller is activated according to the changeover completion signal. Control curve reconstruction module: used to send the opening and closing stroke data and the clamping force data to the universal base through the parameter sending channel, and generate a new clamping motion curve, and control the soft limit and clamping action of the fixture according to the clamping motion curve; Force feedback correction module: used to acquire high-frequency micro force feedback data monitored by the fixture during the first gripping test after the change of type. Based on the high-frequency micro force feedback data, the peak torque at the moment of contact is obtained. The peak torque is compared with the preset theoretical simulation curve. If a deviation is found, a micro-step retreat command is generated, and the operating parameters of the fixture are corrected according to the micro-step retreat command.

2. The intelligent design and rapid changeover system for electronic component fixtures according to claim 1, characterized in that, The component information extraction module includes: 3D scanning and recognition unit and feature data extraction unit; 3D scanning and recognition unit: used to activate a 3D vision scanning device pre-installed at the front end of the production line to scan the electronic component to be picked up entering the work area and obtain high-precision 3D feature data of the electronic component to be picked up; The high-precision three-dimensional feature data is subjected to point cloud denoising and three-dimensional reconstruction processing to construct a three-dimensional point cloud model that completely corresponds to the actual electronic component to be grasped, and the three-dimensional point cloud model is sent to the feature data extraction unit. Feature data extraction unit: used to receive the three-dimensional point cloud model, perform contour recognition on the three-dimensional point cloud model, and obtain the appearance boundary and feature inflection points of the electronic component to be clamped; Based on the appearance boundary and the feature inflection point, spatial coordinate information is transformed to generate the size information and irregular contour information of the electronic component to be clamped.

3. The intelligent design and rapid changeover system for electronic component fixtures according to claim 2, characterized in that, The hardware decoupling design module includes: Structural decoupling unit and model generation unit; Structural decoupling unit: used to acquire the physical structure of the fixture, and to disassemble and identify the physical structure to obtain a standardized universal base and a quick-change custom fingertip; Identify the relative spatial relationship and signal connection relationship between the universal base and the quick-change custom fingertip, and establish a standardized mechanical connection interface and electrical communication connection interface between the universal base and the quick-change custom fingertip based on the relative spatial relationship and the signal connection relationship; Model generation unit: used to obtain the fixture design rules of all existing fixtures, and generate a fingertip design rule library based on the fixture design rules; Based on the size information and the irregular contour information, data matching is performed in the fingertip design rule base to obtain target fingertip matching data; Based on the target fingertip matching data, a 3D model is created to generate 3D model data of the quick-change customized fingertip that can fit the electronic component to be grasped.

4. The intelligent design and rapid changeover system for electronic component fixtures according to claim 3, characterized in that, The drive parameter adaptation module includes: Hardware attribute extraction unit and parameter matching adaptation unit; Hardware attribute extraction unit: used to obtain the servo motor parameters, maximum output torque limit and mechanical travel boundary built into the universal base, and package them to generate hardware attributes; The hardware attributes are encapsulated in a data structure to generate a standard hardware configuration file, and a hardware parameter security protection threshold is established based on the standard hardware configuration file. Parameter matching and adaptation unit: used to import the three-dimensional model data of the quick-change customized fingertip into a preset virtual physical simulation environment; The standard hardware configuration file is loaded into the virtual physical simulation environment, and the force simulation is performed on the three-dimensional model data to obtain the simulated force results. Obtain the material yield limit boundary of the electronic component to be clamped, and combine the simulated stress results with the material yield limit boundary to obtain the opening and closing stroke data and clamping force data of the electronic component to be clamped.

5. The intelligent design and rapid changeover system for electronic component fixtures according to claim 4, characterized in that, The replacement monitoring communication module includes: Assembly status monitoring unit and signal activation communication unit; Assembly status monitoring unit: used to install a sensor array inside the universal base, the sensor array monitoring the relative spatial position and mechanical locking status between the universal base and the quick-change custom fingertip in real time; Based on the relative spatial position and the mechanical locking state, determine whether the universal base and the quick-change custom fingertip have completed physical assembly. If it is determined that the physical assembly has been completed, record the timestamp data of the completion of the physical assembly. Signal-activated communication unit: used to obtain the unique identifier of the quick-change customized fingertip after physical assembly is completed, and generate a replacement completion signal by combining the timestamp data and the unique identifier; Based on the changeover completion signal, the parameter transmission channel between the controller preset in the background and the universal base is activated.

6. The intelligent design and rapid changeover system for electronic component fixtures according to claim 5, characterized in that, The control curve reconstruction module includes: Parameter sending and receiving unit and curve reconstruction control unit; Parameter sending and receiving unit: used to package and encrypt the tension and clamping force data, generate control parameter data packets, and send the control parameter data packets to the universal base through the parameter sending channel; After receiving the control parameter data packet, the universal base parses and restores it to obtain core control data, and overwrites the previous initial control parameters according to the core control data to obtain the current core control parameters. Curve reconstruction control unit: used to generate a new fast approach trajectory, deceleration contact trajectory and clamping constant force magnitude of the clamp based on the opening and closing stroke data and the clamping force data in the core control data; Based on the rapid approach trajectory, the deceleration contact trajectory, and the magnitude of the clamping constant force, a clamping motion curve of the fixture is generated, and the soft limit and clamping action of the fixture are controlled according to the clamping motion curve.

7. The intelligent design and rapid changeover system for electronic component fixtures according to claim 6, characterized in that, The force feedback correction module includes: Force data acquisition unit and deviation comparison and correction unit; Force data acquisition unit: used to activate the force sensor preset at the end of the quick-change customized fingertip during the first gripping test after the fixture has been changed, and to collect the initial micro force feedback data in real time throughout the gripping process; Interference identification is performed on the initial micro-force feedback data to obtain clutter noise interference, and the clutter noise interference in the initial micro-force feedback data is removed to obtain high-frequency micro-force feedback data of the quick-change customized fingertip contacting the electronic component to be grasped; Deviation comparison correction unit: used to obtain the actual peak torque of the quick-change customized fingertip when it is working based on the high-frequency micro-force feedback data; Obtain a preset theoretical simulation curve under theoretical conditions, extract the expected torque value from the theoretical simulation curve, and compare the expected torque value with the peak torque value to obtain the torque difference. Determine whether the torque difference exceeds a preset error threshold; If the torque difference is determined to exceed the error threshold, it is determined that there is a risk of clamping failure. A micro-step retraction command is generated based on the torque difference, and the operating parameters of the fixture are dynamically corrected based on the micro-step retraction command.

8. The intelligent design and rapid changeover system for electronic component fixtures according to claim 7, characterized in that, The deviation comparison correction unit includes: Error threshold judgment component and parameter dynamic reset component; Error threshold judgment component: used to pre-build a dynamic error threshold library in the background that matches electronic components with different fragility levels; Obtain the material properties of the electronic component to be clamped, and match them with the dynamic error threshold library according to the material properties to obtain the error threshold; The torque difference is compared with the error threshold to determine whether the current clamping force will cause structural damage to the electronic component to be clamped. Parameter dynamic reset component: used when it is determined that the current clamping force will cause structural damage to the electronic component to be clamped; The subsequent commands issued by the controller are intercepted, and the percentage of the torque difference that exceeds the error threshold is extracted. Generate a corresponding yield length and force attenuation amount based on the numerical ratio, and generate a micro-step yield command based on the yield length and force attenuation amount. The position compensation parameters and torque limit parameters of the fixture are generated according to the micro-step retraction command, and the current core control parameters are adjusted according to the position compensation parameters and the torque limit parameters.

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