Flexible sensing circuit board for robot tactile feedback

Abstract

The utility model discloses a flexible sensing circuit board for robot tactile feedback, which belongs to the technical field of flexible circuit boards, and comprises a flexible circuit board body, the flexible circuit board body comprises a sensing circuit part, a transmission part, a wiring part and an external connection part, the wiring part is connected with a bearing terminal, the external connection part is connected with a plug-in terminal, and the bearing terminal is connected with the plug-in terminal. The plugging terminal is plugged with the bearing terminal, and the anti-drop clamping piece is used for clamping the two ends of the plugging terminal. The technical key points are as follows: in order to improve the firmness of the connecting part, the arranged anti-drop clamping piece can clamp the two ends of the plugging terminal, so that the plugging terminal cannot be pulled out from the bearing terminal, and the connecting part can maintain the firmness of electrical connection even if the connecting part faces dynamic load which is frequently acted; the buckling blocks are rotated to be buckled at the two ends of the plugging terminal and are in extrusion contact with the plugging terminal, so that the plugging terminal cannot be pulled out under the action of external force, and when the plugging terminal needs to be disassembled, the plugging terminal can be pulled out by pushing the buckling blocks aside.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible circuit board technical field, concretely is a kind of flexible sensing circuit board for robot touch feedback. BACKGROUND

[0002] Flexible sensing circuit board combines the advantages of flexible circuit board and sensing technology, and is a sensor module manufactured using flexible circuit board technology. The structure of flexible sensing circuit board mainly includes flexible substrate, conductive layer, insulating protective layer and cover film, etc. Flexible sensing circuit board can be bent and folded at will, and is suitable for scenes with relatively small internal space of equipment, and can be bent and twisted multiple times without damaging its performance.

[0003] In the prior art, when the flexible circuit board is connected with external devices or circuits, it is usually connected by the electrically connected terminals on the flexible circuit board. The terminals on the external connection circuit are usually connected in a plug-in connection mode to complete the connection of the circuit. In the above connection mode, the reliability of the connection between the terminals is maintained by friction. However, when the plug-in connection mode is subjected to frequent dynamic loads, the terminals are likely to come off each other, resulting in interruption of the circuit. Especially when the flexible circuit board is applied in the field of robots, the structure of the robot is compact and complex, and the robot has strong movement. Therefore, the plug-in connection mode is more likely to cause disconnection. Therefore, the present application provides a flexible sensing circuit board for robot touch feedback. SUMMARY

[0004] The technical problem to be solved by the utility model is to provide a flexible sensing circuit board for robot touch feedback. The flexible circuit board is connected to the external circuit through plug-in terminals and receiving terminals. To improve the firmness of the connection, the anti-disengagement clamping piece is arranged to clamp both ends of the plug-in terminal, so that it cannot be pulled out of the receiving terminal. Even if the connection is subjected to frequent dynamic loads, the firmness of the electrical connection can be maintained. Specifically, after plug-in is completed, the buckle block is rotated to be buckled on both ends of the plug-in terminal and is pressed to contact, so that the plug-in terminal cannot be pulled out under the action of external force. When it is necessary to disassemble the plug-in terminal, the buckle block is pushed away to pull it out. The technical problem of the prior art is solved, in which the plug-in terminals of the flexible circuit board are fixedly connected in a plug-in mode. When subjected to frequent dynamic loads, the terminals are likely to overcome the friction and come off each other, resulting in interruption of the circuit.

[0005] The technical solution adopted by the embodiment of the present application to solve the technical problem is as follows:

[0006] The utility model provides a flexible sensing circuit board for robot tactile feedback, including flexible circuit board body, which is constituted by sensing circuit part, transmission part and wiring part who connects gradually, still including external part, wherein, the wiring part is electrically connected with the bearing terminal, the external part is electrically connected with the plug-in terminal, the plug-in terminal is plugged with the bearing terminal, and the anti -drop clamp is fixedly arranged on both sides of the bearing terminal to clamp the both ends of the plug-in terminal, wherein, the anti -drop clamp includes the articulated seat, which is rotatably connected with the connecting rod, and the top of the connecting rod is fixedly connected with the buckling block, in order to improve the firmness of the connecting place, the anti -drop clamp can clamp both ends of the plug-in terminal, so that it cannot be pulled out of the bearing terminal, so that the connecting place can maintain the firmness of electrical connection even in the face of frequent action dynamic load, which is specifically shown as follows: after plugging, rotate the buckling block to make it buckle on both ends of the plug-in terminal and extrude contact, so that the plug-in terminal cannot be pulled out under the action of external force, when the plug-in terminal needs to be disassembled, the buckling block can be pulled out.

[0007] In a possible implementation, positioning clamps are fixedly arranged on both sides of the plug-in terminal, and anti -drop clamps are fixedly connected to the bottom of the positioning clamps. In the above structure, the positioning clamps can increase the contact area of the plug-in terminal and the bearing terminal, and improve the firmness of plugging, and the anti -drop clamps provide the necessary structural basis for the contact buckling of the buckling block.

[0008] In a possible implementation, the bearing terminal is provided with a slot corresponding to the plug-in terminal at the two ends, and the two ends are provided with positioning slots corresponding in size to the positioning clamps. The above structure provides the necessary structural basis for the plug-in connection between the plug-in terminal and the bearing terminal.

[0009] In a possible implementation, a rotating shaft is fixedly connected between the articulated seats, and a circular ring is fixedly arranged in the middle of the rotating shaft. The bottom end of the connecting rod is rotatably connected to the rotating shaft. The rotating shaft provides the necessary structural basis for the rotating connection of the connecting rod.

[0010] In a possible implementation, two symmetrical reset torsional springs are sleeved on the rotating shaft, and the two ends of the reset torsional springs are fixedly connected to the corresponding connecting rods and the circular ring. The reset torsional springs can exert a reset torque on the connecting rods, so that they always have a tendency to rotate inward under the action of force. The buckling block can be automatically reset after being pushed open, and can also provide resistance to prevent the buckling block from slipping off the anti -drop clamp, so that the anti -drop effect can be effectively stabilized.

[0011] In a possible implementation, the inner side of the buckling block is fixedly provided with a pressing piece, and the outer side of the buckling block is fixedly provided with an outwardly extending pressing piece, which can facilitate the user to press the buckling block, and when the pressing piece is attached to the outer end surface of the receiving terminal in the rotating process of the buckling block, the buckling block is buckled on the anti-withdrawal clamping block and attached thereto, and the pressing piece can play a limiting role.

[0012] In a possible implementation, the lower end surface of the buckling block is attached with a rubber material anti-skid pad layer, and a plurality of anti-skid convex patterns are fixedly arranged on the surface of the anti-skid pad layer, which can increase the friction between the buckling block and the anti-withdrawal clamping block, and prevent the buckling block from slipping off the anti-withdrawal clamping block.

[0013] In a possible implementation, the flexible circuit board body structure comprises a flexible substrate, a plurality of transparent tensile strips are arranged in the flexible substrate, a circuit layer is attached to the surface of the flexible substrate, and an insulating film is arranged on the surface of the circuit layer. In the above structure, the transparent tensile strips can enhance the tensile strength of the flexible substrate as a whole, so that the flexible circuit board body is not easily damaged in use.

[0014] In summary, the utility model has the following beneficial technical effects:

[0015] The flexible circuit board is connected with the external circuit through the plug-in connection of the plug-in terminal and the receiving terminal. In order to improve the firmness of the connection, the anti-withdrawal clamping piece is arranged to clamp the two ends of the plug-in terminal, so that the plug-in terminal cannot be pulled out of the receiving terminal, and the firmness of the electrical connection of the connection can be maintained even when the connection is frequently subjected to dynamic load. Specifically, after the plug-in connection is completed, the buckling block is rotated to be buckled on the two ends of the plug-in terminal and to be pressed and contacted, so that the plug-in terminal cannot be pulled out under the action of external force. When it is necessary to disassemble the plug-in terminal, the buckling block is pulled away, and then the plug-in terminal can be pulled out. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are included to provide a further understanding of the utility model, constitute a part of the specification, and are used together with the embodiments of the utility model to explain the utility model, and do not constitute a limitation on the utility model. In the drawings:

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the plug-in structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the local structure of the utility model;

[0020] Figure 4 It is a schematic diagram of the anti-withdrawal clamping piece structure of the utility model;

[0021] Figure 5 The utility model discloses a flexible circuit board body structure constitutes a schematic diagram.

[0022] In the drawing: 1, flexible circuit board body, 11, sensing circuit part, 12, transmission part, 13, wiring part, 14, external part, 101, flexible base material, 102, transparent tensile belt, 103, circuit layer, 104, insulating film, 2, receiving terminal, 21, slot, 22, positioning clamping groove, 3, plug-in terminal, 31, positioning clamping block, 32, anti -unclamping block, 4, anti -unclamping connecting piece, 41, hinged seat, 411, rotating shaft, 42, connecting rod, 43, buckling block, 431, push piece, 432, resistance piece, 44, antiskid pad layer, 45, reset torsional spring. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiment of the application is to solve the problems in the background art, and the general idea is as follows:

[0024] As shown in Figure 1 - Figure 3 The embodiment provides a flexible sensing circuit board for robot tactile feedback, which comprises a flexible circuit board body 1, which is composed of a sensing circuit part 11, a transmission part 12 and a wiring part 13 connected in sequence, and further comprises an external part 14, wherein the wiring part 13 is electrically connected with a receiving terminal 2, the external part 14 is electrically connected with a plug-in terminal 3, the plug-in terminal 3 is plugged with the receiving terminal 2, and an anti-unclamping connecting piece 4 is fixedly arranged on both sides of the receiving terminal 2 and used for clamping both ends of the plug-in terminal 3, wherein the anti-unclamping connecting piece 4 comprises a hinged seat 41, a connecting rod 42 is rotatably connected to the hinged seat 41, and a buckling block 43 is fixedly connected to the top end of the connecting rod 42, in order to improve the firmness of the connecting part, the anti-unclamping connecting piece 4 can clamp both ends of the plug-in terminal 3, so that the plug-in terminal 3 cannot be pulled out of the receiving terminal 2, and the connecting part can maintain the firmness of electrical connection even when facing frequent dynamic loads, which is specifically manifested as follows: after plugging, the buckling block 43 is rotated and buckled at both ends of the plug-in terminal 3 and is pressed to contact, so that the plug-in terminal 3 cannot be pulled out under the action of external force, and when the plug-in terminal 3 needs to be disassembled, the buckling block 43 is pushed away and then the plug-in terminal 3 can be pulled out.

[0025] As shown in Figure 2 - Figure 4As shown, the plug-in terminal 3 is fixedly provided with a positioning clamping block 31 on both sides, and the bottom is fixedly connected with an anti-dropping clamping block 32, in the above structure, the positioning clamping block 31 can improve the contact area of the plug-in terminal 3 and the receiving terminal 2, and improve the firmness of the plug-in, and the anti-dropping clamping block 32 provides a necessary structural basis for the contact buckling of the buckling block 43; Correspondingly, the receiving terminal 2 is provided with a plug slot 21 corresponding to the plug-in terminal 3, and the two ends are provided with a positioning clamping groove 22 corresponding to the size of the positioning clamping block 31, and the above structure provides a necessary structural basis for the plug-in connection between the plug-in terminal 3 and the receiving terminal 2.

[0026] As shown in the figure, Figure 4 The hinge seat 41 is fixedly connected with a rotating shaft 411, and the middle part is fixedly provided with a circular ring, and the bottom end of the connecting rod 42 is rotatably connected with the rotating shaft 411, and the rotating shaft 411 provides a necessary structural basis for the rotating connection of the connecting rod 42; wherein, the rotating shaft 411 is sleeved with two symmetrical reset torsion springs 45, and the two ends of the reset torsion spring 45 are fixedly connected with the corresponding connecting rod 42 and the circular ring respectively, the reset torsion spring 45 can exert a reset torque on the connecting rod 42, so that it always keeps the tendency of rotating inward under the action of force, so that the buckling block 43 can be automatically reset after being pushed away, and can also provide resistance to avoid the buckling block 43 from slipping off the anti-dropping clamping block 32, so that the anti-dropping effect can be stable and effective.

[0027] In addition, the inner side of the buckling block 43 is fixedly provided with a resisting piece 432, and the outer side of the buckling block 43 is fixedly provided with an outwardly extending pushing piece 431, the setting of the pushing piece 431 can facilitate the user to push the buckling block 43, and in the rotating process of the buckling block 43, when the resisting piece 432 is attached to the outer end surface of the receiving terminal 2, the buckling block 43 is buckled on the anti-dropping clamping block 32 and attached thereto, and the resisting piece 432 can play a limiting role; in addition, the lower end surface of the buckling block 43 is attached with a rubber material anti-skid pad layer 44, and the surface is fixedly provided with a plurality of anti-skid convex patterns, the anti-skid pad layer 44 can increase the friction between the buckling block 43 and the anti-dropping clamping block 32, and prevent the buckling block 43 from slipping off the anti-dropping clamping block 32.

[0028] As shown in the figure, Figure 5 The structure of the flexible circuit board body 1 includes a flexible base material 101, which is provided with a plurality of transparent anti-tension belts 102 inside, the surface of the flexible base material 101 is attached with a circuit layer 103, and the surface of the circuit layer 103 is covered with an insulating film 104, in the above structure, the transparent anti-tension belt 102 can enhance the overall tensile strength of the flexible base material 101, so that the flexible circuit board body 1 is not easy to be pulled off in use.

[0029] The use principle and use process of the utility model are as follows:

[0030] The flexible circuit board is electrically connected with external circuit through the plug-in of the plug-in terminal 3 and the receiving terminal 2, in order to improve the firmness of the connection, the anti-disengagement clamping piece 4 is arranged to clamp both ends of the plug-in terminal 3, so that it cannot be pulled out of the receiving terminal 2, so that the firmness of the electrical connection can be maintained even when facing frequent dynamic loads; the specific performance is that after the plug-in is completed, the buckle block 43 is rotated to buckle and press the two ends of the plug-in terminal 3, so that the plug-in terminal 3 cannot be pulled out under the action of external force, when it is necessary to disassemble the plug-in terminal 3, the buckle block 43 is pushed away and then the plug-in terminal 3 can be pulled out.

[0031] In addition, the inner side of the buckle block 43 is fixedly provided with a resisting piece 432, and the outer side of the buckle block 43 is fixedly provided with an outwardly extending pushing piece 431, the arrangement of the pushing piece 431 can facilitate the user to push the buckle block 43, during the rotation of the buckle block 43, when the resisting piece 432 is attached to the outer end surface of the receiving terminal 2, the buckle block 43 buckles on the anti-disengagement clamping piece 32 and is attached thereto, the resisting piece 432 can play a limiting role; in addition, the lower end surface of the buckle block 43 is attached with a rubber material anti-skid pad layer 44, and a plurality of anti-skid convex patterns are fixedly arranged on the surface of the anti-skid pad layer 44, the anti-skid pad layer 44 can increase the friction between the buckle block 43 and the anti-disengagement clamping piece 32, so as to prevent the buckle block 43 from slipping off the anti-disengagement clamping piece 32.

[0032] Finally, it should be noted that: obviously, the above embodiments are only examples for clearly illustrating the present application, and are not limited to the implementation. For ordinary skilled in the art, on the basis of the above description, other different forms of changes or variations can be made. Here, it is not necessary and impossible to enumerate all the implementation. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A flexible sensing circuit board for robotic haptic feedback, characterized by, Including: Flexible circuit board body (1) is constituted by sensing circuit part (11), transmission part (12) and wiring part (13) connected in turn, further including external part (14), wherein, the wiring part (13) is electrically connected with the receiving terminal (2), the external part (14) is electrically connected with the plug-in terminal (3), and the plug-in terminal (3) is plugged with the receiving terminal (2); Anti-off clamping piece (4) is fixedly arranged on both sides of receiving terminal (2), used for clamping both ends of plug-in terminal (3); Wherein, the anti-off clamping piece (4) includes hinged seat (41), which is rotatably connected with connecting rod (42), and the top end of connecting rod (42) is fixedly connected with buckling block (43).

2. The flexible sensing circuit board for robotic haptic feedback of claim 1, wherein: The plug-in terminal (3) is fixedly provided with a positioning clamping block (31) on both sides, and the bottom is fixedly connected with an anti-off clamping block (32).

3. A flexible sensing circuit board for robotic haptic feedback according to claim 2, wherein: The receiving terminal (2) is provided with a slot (21) corresponding to the plug-in terminal (3) on it, and the both ends are provided with positioning clamping grooves (22) corresponding in size with the positioning clamping blocks (31).

4. The flexible sensing circuit board for robotic haptic feedback of claim 1, wherein: The hinged seat (41) is fixedly connected with a rotating shaft (411) between them, and a circular ring is fixedly arranged in the middle, and the bottom end of the connecting rod (42) is rotatably connected with the rotating shaft (411).

5. A flexible sensing circuit board for robotic haptic feedback according to claim 4, wherein: The rotating shaft (411) is provided with two symmetrically arranged reset torsion springs (45), and the both ends of the reset torsion springs (45) are fixedly connected with the corresponding connecting rods (42) and the circular ring respectively.

6. The flexible sensing circuit board for robotic haptic feedback of claim 2, wherein: The inner side of the buckling block (43) is fixedly provided with a resisting piece (432), and the outer side of the buckling block (43) is fixedly provided with an outwardly extending pushing piece (431), when the resisting piece (432) is attached to the outer end surface of the receiving terminal (2) in the rotating process of the buckling block (43), the buckling block (43) buckles on the anti-off clamping block (32) and is attached thereto.

7. The flexible sensing circuit board for robotic haptic feedback of claim 1, wherein: The lower end surface of the buckling block (43) is attached with a rubber material anti-skid pad layer (44), and a plurality of anti-skid convex patterns are fixedly arranged on the surface.

8. The flexible sensing circuit board for robotic haptic feedback of claim 1, wherein: The structure of the flexible circuit board body (1) includes a flexible substrate (101), which is provided with a plurality of transparent tensile strips (102) inside, the surface of the flexible substrate (101) is attached with a circuit layer (103), and the surface of the circuit layer (103) is covered with an insulating film (104).

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