Flat cable assembly end effector

Abstract

The utility model discloses a flat cable assembly end effector, which relates to the technical field of 3C assembly and comprises a touch sensor, a mounting seat, a connecting seat and a rotating ring, the mounting seat, the connecting seat and the rotating ring are coaxially arranged, the mounting seat is fixedly connected to an actuating mechanism, the rotating ring is rotatably connected to the mounting seat, the connecting seat is sleeved with the rotating ring and can be rotatably connected with the rotating ring, and the connecting seat is provided with a pressing head; the touch sensor comprises a sensitive head which is parallel and is in surface fit with the outer side surface, deviating from the rotating ring, of the pressing head; the rotating ring and the connecting base can rotate relatively along the axis, so that the second limiting parts and the first limiting parts are opposite in the axial direction and abut against each other to lock the relative positions of the rotating ring and the connecting base in the axial direction, or the opening grooves and the second limiting parts are opposite in the axial direction so that the connecting base can move relative to the rotating ring in the axial direction. The flat cable assembly end effector provided by the utility model is convenient to replace pressing heads with different sizes, and the applicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of 3C assembly, in particular to a cable arrangement assembly end effector. Background Art

[0002] The 3C assembly manufacturing industry has the characteristics of fast product iteration, complex operation tasks, and a high degree of non-standard operation objects. There is obvious uncertainty in its production and precision assembly environment. Most 3C parts are light and small non-standard parts with complex shapes and easy deformation. Their assembly places high demands on the dexterity and adaptability of the actuator. At the same time, 3C assembly has high requirements for assembly operations, and traditional automated assembly methods that lack perception capabilities are difficult to complete adaptive operations. With the widespread application of automated actuators in the field of 3C assembly, some simple assembly tasks have been changed from manual to automated production, but complex and precise assembly tasks still rely on manual completion.

[0003] With the increase in demand, various end effectors for specific 3C assembly scenarios have emerged at home and abroad; for the task scenario of small cable assembly, there are combined end effectors that use clamping and pressing, and there are automated actuators that fix the equipment to be assembled on the platform and use a push rod to insert the cable. These actuators can complete the assembly task in a single, unchanging fixed scene, but due to the high requirements for operating accuracy in cable assembly, if the actuator does not have tactile perception, it will not be able to complete the perception of the cable fastening state, and thus will not have the ability to make fine adjustments during the assembly process, which can easily cause damage to the cable during the assembly process, and the success rate of cable fastening is low. In addition, these actuators are required to be in a fixed assembly scene and have poor intelligence and autonomy, which requires adjustment of the assembly system when the assembly tasks and scenes change, resulting in low production efficiency. Therefore, tactile perception can be applied to the end effector to give the end effector tactile perception capabilities. For example, patent CN202310785093.2 provides an intelligent end effector and a snap-on state sensing method, in which a tactile sensor is set in the end effector and a pressing head is used to realize cable assembly. However, considering that different sizes of pressing heads need to be replaced for cable assembly, the current end effector is inconvenient to replace. Utility Model Content

[0004] The purpose of the utility model is to provide a cable assembly end effector to solve the problems existing in the above-mentioned prior art, facilitate replacement of pressing heads of different sizes, and improve applicability.

[0005] To achieve the above purpose, the utility model provides the following solutions:

[0006] The utility model provides an end effector for cable assembly, comprising a tactile sensor and a coaxially arranged mounting seat, a connecting seat and a rotating ring, wherein one axial end of the mounting seat is used for fixed connection to an actuator, and the rotating ring is rotatably connected to the other axial end of the mounting seat, one axial end of the connecting seat is sleeved with the rotating ring and can be rotatably connected, and a pressing head is arranged at the other axial end of the connecting seat; the tactile sensor comprises a sensitive head which is parallel to and in contact with the outer side surface of the pressing head away from the rotating ring, and the sensitive head is used for measuring the force signal of the contact surface when the pressing head contacts the cable. Information; the rotating ring is provided with a first limiting portion along the circumferential direction, and the first limiting portion is provided with a plurality of open grooves at intervals along the circumferential direction; the side end of the connecting seat away from the pressing head has a plurality of second limiting portions distributed at intervals along the circumferential direction; the rotating ring and the connecting seat can rotate relative to each other along the axis, so that the plurality of second limiting portions are axially opposite to and abut against the first limiting portion to lock the relative position of the rotating ring and the connecting seat in the axial direction, or so that the plurality of open grooves are axially opposite to the plurality of second limiting portions so that the connecting seat can move axially relative to the rotating ring.

[0007] Preferably, the rotating ring is rotatably sleeved outside the connecting seat; the first limiting portion is set as an annular groove on the inner wall of the rotating ring; the second limiting portion is set as a limiting protrusion that can protrude from the outer wall of the connecting seat; the second limiting portion can slide in the annular groove and can be detached through the opening groove.

[0008] Preferably, a first slide groove is circumferentially arranged on the end surface of the mounting seat away from the actuator, and a first slider is arranged on the end surface of the rotating ring away from the connecting seat, and the first slider is slidably embedded in the first slide groove.

[0009] Preferably, a second slide groove is circumferentially arranged on the end surface of the rotating ring away from the connecting seat, and a second slider is arranged on the end surface of the mounting seat away from the actuator, and the second slider is slidably embedded in the second slide groove.

[0010] Preferably, a handle is provided on the outer peripheral wall of the rotating ring.

[0011] Preferably, a glue overflow groove is provided on the outer side surface of the pressing head facing away from the rotating ring, and the sensitive head is bonded to the outer side surface of the pressing head.

[0012] Preferably, an edge is circumferentially provided at one end of the pressing head away from the rotating ring, and the outer side of the edge away from the rotating ring is flush with the outer side surface of the sensitive head.

[0013] Preferably, the tactile sensor also includes a first circuit board, a second circuit board and a sensor main board, the first circuit board is fixedly arranged inside the connecting seat and is communicatively connected with the sensitive head, the second circuit board and the sensor main board are communicatively connected and are both fixedly arranged in the mounting seat, and the sensor main board is used for communication connection with an external terminal; a first metal contact is provided on one side of the first circuit board, and a second metal contact is provided on one side of the second circuit board, and the first metal contact and the second metal contact can abut against each other to be communicatively connected, so that the force information measured by the sensitive head is transmitted to the external terminal in sequence through the first circuit board, the second circuit board and the sensor main board.

[0014] Preferably, the mounting base is also provided with a plug for communication connection with the sensor mainboard, and the plug is also used for communication connection with the external terminal device.

[0015] Preferably, the pressing head and the connecting seat are detachably connected.

[0016] Compared with the prior art, the utility model has achieved the following technical effects:

[0017] The cable assembly end effector provided by the utility model is fixedly arranged on the execution end of an actuator such as a mechanical arm through a mounting seat, and a pressing head is arranged on a connecting seat, and the sensitive head of the tactile sensor is parallel and the surface is attached to the outer surface of the pressing head, so that when the pressing head presses the cable male head for assembly, the sensitive head can measure the force information of the contact surface of the pressing head, so as to facilitate subsequent adjustment and judgment of whether the assembly is in place; in addition, since the mounting seat and the connecting seat are connected by a rotating ring, the rotating ring and the connecting seat are respectively provided with a first limiting part and a second limiting part, when working stably, each first limiting part and each second limiting part are in a The entire end effector is abutted against each other axially, thus limiting the axial movement of the connecting seat; when it is necessary to replace a pressing head of a different size or replace a sensitive head, the rotating ring is rotated so that the second limiting parts are axially opposite to the opening groove, so that the first limiting part will not limit the second limiting part, allowing the connecting seat to be pulled out of the opening groove of the rotating ring; by setting the rotating ring to rotate to limit or release the limit, pressing heads of different sizes or damaged sensitive heads can be replaced to improve applicability, without the need for overall replacement to save costs, and compared with methods such as disassembling bolts, it is easy to operate and improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the assembly of the cable assembly end effector provided in the first embodiment;

[0020] Figure 2 A disassembly diagram of the cable assembly end effector provided in Example 1;

[0021] Figure 3 for Figure 2 Schematic diagram of the disassembly of the end effector of the middle cable assembly (without the tactile sensor);

[0022] Figure 4 This is a disassembly diagram of the tactile sensor provided in Example 1.

[0023] Figure 5 A schematic diagram of the cable assembly end effector (in a locked state) provided in Example 1;

[0024] Figure 6 for Figure 5 Schematic diagram of the end effector of the middle cable assembly (the position where the rotating ring is rotated to unlock);

[0025] Figure 7 for Figure 6 Schematic diagram of the middle cable assembly end effector (connector socket removed).

[0026] In the figure: 1-cable assembly end effector; 10-tactile sensor; 11-sensitive head; 12-first circuit board; 13-second circuit board; 14-sensor main board; 20-mounting seat; 21-plug; 30-connecting seat; 31-second limiting part; 40-rotating ring; 41-opening groove; 42-handle; 43-third limiting part; 50-pressing head; 51-glue overflow groove; 52-edge wrapping. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] The purpose of the utility model is to provide a cable assembly end effector to solve the problems existing in the above-mentioned prior art, facilitate replacement of pressing heads of different sizes, and improve applicability.

[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] Embodiment 1

[0031] This embodiment provides a cable assembly end effector 1, see Figure 1-Figure 7 , comprising a tactile sensor 10 and a coaxially arranged mounting seat 20, a connecting seat 30 and a rotating ring 40, wherein one axial end of the mounting seat 20 is used for fixed connection to the actuator, and the rotating ring 40 is rotatably connected to the other axial end of the mounting seat 20, one axial end of the connecting seat 30 is sleeved with the rotating ring 40 and can be rotatably connected, and a pressing head 50 is arranged at the other axial end of the connecting seat 30; the tactile sensor 10 comprises a sensitive head 11 which is parallel and in contact with the outer side of the pressing head 50 away from the rotating ring 40, and the sensitive head 11 is used to measure the force information of the contact surface when the pressing head 50 contacts the cable; the rotating ring 40 is used for rotating the mounting seat 20, and the connecting seat 30 is used for rotating the rotating ring 4 ... The rotating ring 40 is provided with a first limiting portion along the circumferential direction, and the first limiting portion is provided with a plurality of open grooves 41 at intervals along the circumferential direction; the side end of the connecting seat 30 away from the pressing head 50 has a plurality of second limiting portions 31 distributed at intervals along the circumferential direction; the rotating ring 40 and the connecting seat 30 can rotate relative to each other along the axis, so that the plurality of second limiting portions 31 are axially opposite and abut against the first limiting portion to lock the relative position of the rotating ring 40 and the connecting seat 30 in the axial direction, or so that the plurality of open grooves 41 are axially opposite to the plurality of second limiting portions 31 so that the connecting seat 30 can move axially relative to the rotating ring 40.

[0032] The mounting base 20 can be fixedly mounted on the actuator such as the actuator end of a robot arm by bolt connection, and the pressing head 50 is arranged on the connecting base 30, and the sensitive head 11 of the tactile sensor 10 is parallel and the surface is attached to the outer surface of the pressing head 50, so that when the pressing head 50 presses the male connector of the flat cable for assembly, the sensitive head 11 can measure the force information of the contact surface of the pressing head 50, so as to facilitate subsequent adjustment and determine whether the assembly is in place; in addition, since the mounting base 20 and the connecting base 30 are connected by the rotating ring 40, the rotating ring 40 and the connecting base 30 are respectively provided with a first limit portion and a second limit portion 31, see Figure 5 , Figure 6 and Figure 7 When working stably, each first limiting part and each second limiting part 31 abut against each other in the axial direction of the entire end effector, so that the axial movement of the connecting seat 30 can be limited; when it is necessary to replace the pressing head 50 of a different size or replace the sensitive head 11, the rotating ring 40 is rotated so that each second limiting part 31 is axially opposite to the opening groove 41, so that the first limiting part will not limit the second limiting part 31, so that the connecting seat 30 can be pulled out from the opening groove 41 of the rotating ring 40; by setting the rotating ring 40 to rotate to limit or release the limit, the pressing heads 50 of different sizes or the damaged sensitive heads 11 can be replaced to improve the applicability, and the cost is saved without the need for overall replacement, and it is easy to operate compared to methods such as disassembling bolts, thereby improving efficiency.

[0033] In the optional scheme of this embodiment, it is more preferred that the rotating ring 40 is rotatably sleeved on the outside of the connecting seat 30; the first limiting portion is set as an annular groove on the inner wall of the rotating ring 40; the second limiting portion 31 is set as a limiting protrusion that can protrude from the outer wall of the connecting seat 30; the second limiting portion 31 can slide in the annular groove and can be disengaged through the opening groove 41; the limiting protrusion is axially limited by the annular groove, and when the opening groove 41 is rotated to be opposite to the limiting protrusion, the connecting seat 30 can be axially disengaged; wherein the circumferential width of the opening groove 41 is not less than the circumferential size of the limiting protrusion, so that the limiting protrusion can be disengaged; in addition, the rotational cooperation between the connecting seat 30 and the rotating ring 40 can also adopt other conventional rotational snap-fitting methods.

[0034] In the optional scheme of this embodiment, it is more preferred that a first slide groove is circumferentially provided on the end face of one side of the mounting seat 20 away from the actuator, and a first slider is provided on the end face of one side of the rotating ring 40 away from the connecting seat 30, and the first slider is slidably embedded in the first slide groove, so as to realize the rotational connection between the rotating ring 4 and the connecting seat 30; in addition, a second slide groove can be circumferentially provided on the end face of one side of the rotating ring 40 away from the connecting seat 30, and a second slider is provided on the end face of one side of the mounting seat 20 away from the actuator, and the second slider is slidably embedded in the second slide groove; in this way, the rotational connection between the rotating ring 4 and the connecting seat 30 can also be realized; further preferably, the first slide groove or the second slide groove is set as a C-shaped slide groove, and correspondingly, the first slider or the second slider is set as a C-shaped slider, so that axial limitation can be performed while the rotational connection is in progress; in addition, the first slide groove or the second slide groove does not need to be set 360° circumferentially, and can be set only as an arc segment, as long as the axial limitation and separation of the connecting seat 30 can be met.

[0035] In an optional solution of this embodiment, more preferably, a handle 42 is provided on the outer peripheral wall of the rotating ring 40 to facilitate the rotation of the rotating ring 40 .

[0036] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 4 A glue overflow groove 51 is provided on the outer side surface of the pressing head 50 facing away from the rotating ring 40, and the sensitive head 11 is bonded to the outer side surface of the pressing head 50. The sensitive head 11 is bonded to the outer side surface of the pressing head 50 through adhesive. The glue overflow groove 51 is provided to prevent the adhesive from overflowing and affecting the flatness of the contact surface and the perception of the contact surface force information.

[0037] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 and Figure 3The end of the pressing head 50 away from the rotating ring 40 is provided with a rim 52 along the circumferential direction. The outer side of the rim 52 away from the rotating ring 40 is flush with the outer side of the sensitive head 11 to avoid affecting the force sensing of the sensitive head 11; the rim 52 can be made of metal material, which can play a protective role, and in the process of pressing the cable male connector and moving the cable male connector through friction, the rim 52 can improve the stability of the pressing movement.

[0038] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 4 The tactile sensor 10 also includes a first circuit board 12, a second circuit board 13 and a sensor main board 14. The first circuit board 12 is fixedly arranged inside the connecting seat 30 and is communicatively connected to the sensitive head 11. Specifically, the first circuit board 12 can be bolted or clamped in the connecting seat 30, and is communicatively connected to the sensitive head 11 through a flat cable; the second circuit board 13 and the sensor main board 14 are communicatively connected and are both fixedly arranged in the mounting seat 20, and can be communicatively connected through a flat cable, and are both bolted or directly clamped in the mounting seat 20; the sensor main board 14 is used for communication connection with an external terminal; a side surface of the first circuit board 12 has a first metal contact, and a side surface of the second circuit board 13 has a second metal contact, and the first metal contact and the second metal contact can abut to communicate and connect , so that the force information measured by the sensitive head 11 is transmitted to the external terminal in sequence through the first circuit board 12, the second circuit board 13 and the sensor main board 14; when the pressing head 50 or the sensitive head 11 needs to be replaced, after the connecting seat 30 is separated from the rotating ring 40, the first metal contact and the second metal contact between the first circuit board 12 and the second circuit board 13 are separated to realize communication disconnection, and after reinstallation, the first metal contact and the second metal contact are contacted to realize communication connection, so that the first circuit board 12 and the second circuit board 13 are arranged to facilitate communication connection or disconnection; and by arranging the first circuit board 12, the second circuit board 13 and the sensor main board 14 for communication connection, compared with being integrated on one circuit board, the stability of use can be improved to a certain extent.

[0039] In the optional scheme of this embodiment, it is more preferred that the mounting base 20 is also provided with a plug 21 which is communicatively connected with the sensor main board 14, and the plug 21 is also used for communication connection with an external terminal device; the plug 21 can be set as an aviation plug to facilitate communication connection with an external terminal device.

[0040] In the optional scheme of this embodiment, it is more preferred that the pressing head 50 and the connecting seat 30 can be detachably connected, such as by bolts, and when the connecting seat 30 is disassembled, the pressing head 50 can be replaced separately.

[0041] The utility model uses specific examples to illustrate the principle and implementation of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A cable assembly end effector, characterized in that: The tactile sensor (10) comprises a mounting seat (20), a connecting seat (30) and a rotating ring (40) which are coaxially arranged, wherein one axial end of the mounting seat (20) is used for fixed connection to an actuator, and the rotating ring (40) is rotatably connected to the other axial end of the mounting seat (20); one axial end of the connecting seat (30) is sleeved with the rotating ring (40) and can be rotatably connected, and a pressing head (50) is arranged at the other axial end of the connecting seat (30); the tactile sensor (10) comprises a sensitive head (11) which is parallel to and in contact with the outer side surface of the pressing head (50) which faces away from the rotating ring (40); the sensitive head (11) is used for measuring the force information of the contact surface when the pressing head (50) contacts the flat cable; The rotating ring (40) is provided with a first limiting portion along the circumferential direction, and the first limiting portion is provided with a plurality of open grooves (41) at intervals along the circumferential direction; the side end of the connecting seat (30) away from the pressing head (50) has a plurality of second limiting portions (31) distributed at intervals along the circumferential direction; the rotating ring (40) and the connecting seat (30) can rotate relative to each other along the axis, so that the plurality of second limiting portions (31) are axially opposite to and abut against the first limiting portion to lock the relative position of the rotating ring (40) and the connecting seat (30) in the axial direction, or so that the plurality of open grooves (41) are axially opposite to the plurality of second limiting portions (31) so that the connecting seat (30) can move axially relative to the rotating ring (40).

2. The cable assembly end effector according to claim 1, characterized in that: The rotating ring (40) is rotatably sleeved outside the connecting seat (30); the first limiting portion is arranged as an annular sliding groove on the inner wall of the rotating ring (40); the second limiting portion (31) is arranged as a limiting protrusion that can protrude from the outer wall of the connecting seat (30); the second limiting portion (31) can slide in the annular sliding groove and can be disengaged through the opening groove (41).

3. The cable assembly end effector according to claim 1, characterized in that: A first slide groove is circumferentially arranged on the end surface of the mounting seat (20) facing away from the actuator, and a first slider is arranged on the end surface of the rotating ring (40) facing away from the connecting seat (30), and the first slider is slidably embedded in the first slide groove.

4. The cable assembly end effector according to claim 1, characterized in that: A second slide groove is circumferentially arranged on the end surface of the rotating ring (40) facing away from the connecting seat (30), and a second slider is slidably embedded in the second slide groove on the end surface of the mounting seat (20) facing away from the actuator.

5. The cable assembly end effector according to claim 1, characterized in that: A handle (42) is provided on the outer peripheral wall of the rotating ring (40).

6. The cable assembly end effector according to claim 1, characterized in that: An overflow glue groove (51) is provided on the outer side surface of the pressing head (50) facing away from the rotating ring (40), and the sensitive head (11) is bonded to the outer side surface of the pressing head (50).

7. The cable assembly end effector according to claim 1, characterized in that: An edge (52) is provided along the circumferential direction at one end of the pressing head (50) that is away from the rotating ring (40), and the outer side of the edge (52) that is away from the rotating ring (40) is flush with the outer side surface of the sensitive head (11).

8. The cable assembly end effector according to claim 1, characterized in that: The tactile sensor (10) further comprises a first circuit board (12), a second circuit board (13) and a sensor main board (14); the first circuit board (12) is fixedly arranged inside the connecting seat (30) and is communicatively connected with the sensitive head (11); the second circuit board (13) and the sensor main board (14) are communicatively connected and both are fixedly arranged inside the mounting seat (20); the sensor main board (14) is used for communicatively connecting with an external terminal; a first metal contact is provided on one side of the first circuit board (12); a second metal contact is provided on one side of the second circuit board (13); the first metal contact and the second metal contact can be abutted to be communicatively connected, so that the force information measured by the sensitive head (11) is sequentially transmitted to the external terminal through the first circuit board (12), the second circuit board (13) and the sensor main board (14).

9. The cable assembly end effector according to claim 8, characterized in that: The mounting seat (20) is also provided with a plug (21) for communication connection with the sensor mainboard (14), and the plug (21) is also used for communication connection with the external terminal device.

10. The cable assembly end effector according to claim 1, characterized in that: The pressing head (50) and the connecting seat (30) are detachably connected.

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