Flexible plugging mechanism

Abstract

The utility model relates to the field of automation, in particular to a flexible plugging mechanism, which comprises a pick-up deviation adjusting component, a head component and a positioning tool, the head component is mounted on a mechanical arm of a robot through a fixed interface, the pick-up deviation adjusting component is mounted on one side of the head component, the positioning tool is mounted on a main board, the head component comprises a component body, and the component body is mounted on the main board. The utility model relates to a piece-taking deviation-adjusting assembly, a piece-taking deviation-adjusting assembly, a force sensor, a flexible actuator, a visual unit and a server clamping jaw assembly, the flexible actuator can flexibly grab a workpiece, and a using method of the piece-taking deviation-adjusting assembly comprises five steps. The piece-taking deviation-adjusting assembly has the beneficial effects that the piece-taking accuracy is ensured through the piece-taking deviation-adjusting assembly; the positioning tool and the visual unit guarantee that the position of the workpiece clamping jaw is accurate during insertion, the mechanical quantity of the workpiece during insertion and extraction is accurately controlled through the force sensor and the flexible actuator, flexible insertion and extraction are achieved, and therefore the full-automatic workpiece insertion and extraction device not only achieves full-automatic workpiece insertion and extraction, but also achieves the yield above 95%.

Description

TECHNICAL FIELD

[0001] The utility model relates to the automation field, concretely relates to a flexible plug mechanism. BACKGROUND

[0002] In the era of big data and cloud computing, server applications are more widely used, and the configuration requirements for servers are increasingly high, resulting in increasingly high capacity requirements for memory and hard disks, and the number of memory slots, solid state disks, PCI / PXI slots, etc. on the server mainboard is also increasing. During the testing and verification process in the research and development and production stages, it is often necessary to plug and unplug memory sticks, which not only takes time but also has a high risk of causing damage to the operator's fingers during the process of frequently prying open the memory slot hooks.

[0003] Taking a memory stick as an example, the existing server mainboard memory stick plug-in method is mostly manual plug-in operation. When plugging in a memory stick, the memory stick clamps at both ends of the memory stick slot are first pried open outward, and the memory stick is pressed into the memory stick slot until the memory stick clamps return to their original positions, completing the insertion of the memory stick. When unplugging the memory stick, the memory stick clamps are first pried open outward, and the memory stick can be ejected from the memory stick slot.

[0004] The existing manual memory stick plug-in method has certain defects: the manual memory stick plug-in method has low plug-in efficiency, requires a large amount of force to press the memory stick, the operator is prone to fatigue, and the fingers are easily scratched by surrounding devices during the operation process; the manual memory stick plug-in method is prone to unstable plugging, which can cause the test to be interrupted, in addition, the memory stick and the memory stick slot can be easily damaged during manual insertion of the memory stick, therefore, a robot using an automatic plug-in mechanism needs to be developed to meet the demand. UTILITY MODEL CONTENTS

[0005] To solve the problems in the prior art, the utility model provides a flexible plug mechanism.

[0006] The technical scheme of the utility model comprises the following:

[0007] On the basis of a multi-axis robot, a flexible plug mechanism is added to realize full automation of the robot in picking, plugging, and unplugging.

[0008] The utility model provides a flexible plug mechanism, which comprises a picking and adjusting assembly, a head assembly, and a positioning tool.

[0009] The head assembly is installed on the mechanical arm of the robot through a fixed interface, the picking and adjusting assembly is installed on one side of the head assembly, and the positioning tool is installed on the mainboard.

[0010] The robot controls the displacement of the plug-in mechanism, including up and down, forward, backward, and rotation.

[0011] The head assembly comprises an assembly body, a force sensor, a flexible executor, a vision unit and a server gripper assembly; the flexible executor can flexibly grab the workpiece.

[0012] Further, the force sensor, the flexible executor, the vision unit and the server gripper assembly are installed on the assembly body, and the assembly body is connected to the mechanical arm of the robot through a fixed interface.

[0013] Further, the force sensor can detect mechanical quantities such as tension, pulling force, pressure, weight, torque, internal stress and strain.

[0014] Further, the flexible executor comprises an electric cylinder, a workpiece gripper, and a force sensor connected to the electric cylinder and the workpiece gripper; the force sensor can monitor the mechanical quantities of the electric cylinder and the workpiece gripper in real time, and transmit the mechanical quantities to the flexible executor and the control system; and the flexible executor can adjust the mechanical quantities of the electric cylinder and the workpiece gripper according to the real-time mechanical quantities and preset values.

[0015] Further, the vision unit comprises a distance sensor and an industrial camera.

[0016] Further, the head assembly is further provided with a positioning cylinder, which is installed on the assembly body and assists the head assembly in accurately positioning the workpiece taking and deviation adjusting assembly and the positioning tool.

[0017] Further, the workpiece taking and deviation adjusting assembly comprises a positioning support and a positioning seat.

[0018] Further, the positioning tool comprises a top plate and a base.

[0019] Further, the top surface of the top plate is a smooth plane, the height difference is not higher than 0.02 mm, and the top plate is provided with a positioning hole.

[0020] Further, the base can be fixedly installed on the main plate.

[0021] Further, the server gripper assembly can pull out or push the main plate.

[0022] The use method of the utility model is that the flexible plug-in mechanism is installed on the mechanical arm of the robot, the robot controls the displacement of the flexible plug-in mechanism, the flexible executor controls the workpiece gripper to clamp the workpiece, the server gripper assembly can pull the main plate to a specified position, the flexible plug-in mechanism inserts the workpiece into the main plate through the positioning tool which has been fixed on the main plate, when all the workpieces on a main plate are inserted, the server gripper assembly pushes the main plate to a specified position, the server starts to work, the work is completed, the server gripper assembly can pull the main plate to a specified position, and the flexible executor controls the workpiece gripper of the plug-in mechanism to pull out the workpiece on the main plate.

[0023] The taking-adjusting-and-deviating assembly guarantees the accuracy of taking, the positioning tool and the visual unit guarantee the accuracy of the workpiece clamping jaw position when the plug-in, the force sensor and the flexible actuator accurately control the mechanical quantity of the workpiece during plugging and unplugging, and flexible plugging and unplugging are realized.

[0024] The utility model discloses reached the beneficial effects are:

[0025] The utility model discloses reached the beneficial effects are: DRAWINGS

[0026] Figure 1 It is the whole structure schematic drawing of the utility model;

[0027] Figure 2 It is the one side schematic drawing of head assembly of the utility model;

[0028] Figure 3 It is the other side schematic drawing of head assembly of the utility model;

[0029] Figure 4 It is taking-adjusting-and-deviating assembly and packing box schematic drawing of the utility model;

[0030] Figure 5 It is mainboard schematic drawing of the utility model;

[0031] Figure 6 It is positioning tool schematic drawing of the utility model;

[0032] Figure 7 It is force sensor monitoring parameter schematic drawing of the utility model.

[0033] In the drawing: 1, robot;2, head assembly;3, taking-adjusting-and-deviating assembly;4, positioning tool;5, packing box;6, workpiece;7, aging box;

[0034] 101, mechanical arm;102, workbench;

[0035] 201, assembly body;2011, fixed interface;202, force sensor;203, flexible actuator;2031, electric cylinder;2032, workpiece clamping jaw;204, visual unit;2041, distance sensor;2042, industrial camera;20421, camera light domain;205, server clamping jaw assembly;206, positioning cylinder;2061, expansion peg;2062, positioning peg;

[0036] 301, positioning support;302, positioning seat;

[0037] 401. Top plate; 4011. Positioning hole; 402. Base;

[0038] 501. Feeding packaging box; 502. Receiving packaging box;

[0039] 701, handle; 702, mainboard; 7021, mounting hole. Detailed Implementation

[0040] To facilitate understanding of this utility model by those skilled in the art, the specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0041] In this embodiment, workpiece 6 is a memory module, slot is a memory module slot, process is aging test, motherboard 702 is installed in aging box 7, and multiple aging boxes 7 form a server rack.

[0042] Structural Introduction:

[0043] like Figures 1-6 As shown, this utility model provides a flexible insertion and removal mechanism, including a part picking and adjusting component 3, a head component 2, and a positioning fixture 4.

[0044] Figure 1 The image shows multiple header components 2, indicating the working state of header component 2.

[0045] The head assembly 2 is mounted on the robotic arm 101 of the robot 1 via the fixing interface 2011. The part picking and adjusting assembly 3 can be placed separately on one side of the head assembly 2 or placed on the worktable 102 of the robot 1.

[0046] In this embodiment, the part picking and adjusting component 3 is installed on the workbench 102 of the robot 1, and the packaging box 5 is placed on one side of the part picking and adjusting component 3.

[0047] The positioning fixture 4 is pre-installed on the motherboard 702. The motherboard 702 has a fixing hole 7021. The base 402 of the positioning fixture 4 can be fixed to the motherboard 702 by screws, rivets, expansion screws, etc. A handle 701 is installed on one side of the motherboard 702.

[0048] Robot 1 controls the displacement of the plugging and unplugging mechanism, including up and down, forward, backward, and rotation movements, so that the head assembly 2 of the plugging and unplugging mechanism moves to the designated position.

[0049] The head assembly 2 includes a component body 201, a force sensor 202, a flexible actuator 203, a vision unit 204, and a server gripper assembly 205.

[0050] The force sensor 202, the flexible actuator 203, the visual unit 204 and the server gripper assembly 205 are installed on the assembly body 201, and the assembly body 201 is connected to the mechanical arm 101 of the robot 1 through the fixed interface 2011.

[0051] The force sensor 202 is used for detecting mechanical quantities such as tension, pulling force, pressure, weight, torque, internal stress and strain of the flexible actuator 203.

[0052] In the embodiment, the force sensor 202 is a six-dimensional force sensor, and a mode of simultaneously loading forces in three directions and torques in three directions is adopted, each set of test loads must be a random combination of Fx, Fy, Fz, Mx, My and Mz, meet the requirement of non-correlation and be more uniformly distributed in the sample space.

[0053] The flexible actuator 203 comprises an electric cylinder 2031 and a workpiece gripper 2032, the force sensor 202 is connected between the electric cylinder 2031 and the workpiece gripper 2032, the force sensor 202 can monitor mechanical quantities of the electric cylinder 2031 and the workpiece gripper 2032 in real time and transmit the mechanical quantities to the flexible actuator 203 and a control system, and the flexible actuator 203 can adjust the mechanical quantities of the electric cylinder 2031 and the workpiece gripper 2032 according to real-time mechanical quantities and preset values.

[0054] The force sensor 202 and the flexible actuator 203 are matched to realize flexible plugging, and the force is always used by manual plugging, the utility model can adjust the plugging force in real time according to parameters such as plugging distance and resistance, and problems can be found in advance by combining with early warning settings.

[0055] Referring to 2-3, the visual unit 204 is provided with a plurality of distance sensors 2041 and an industrial camera 2042 in the embodiment, and the camera light field 20421 of the industrial camera 2042 is used for measuring the distance between the head assembly 2 and the top plate 401 of the positioning tooling 4. Figure 3 .

[0056] The plurality of distance sensors 2041 can measure the distance between the head assembly 2 and the top surface of the top plate 401 of the positioning tooling 4 in real time, adjust the level of the head assembly 2 and the lowering height.

[0057] The industrial camera 2042 is used for deviation correction and server barcode recognition.

[0058] Deviation correction: before taking the workpiece 6 and after plugging, a photo is taken and sent to the control system, the control system automatically calculates the workpiece 6 coordinate and angle compensation to ensure the success rate of taking the workpiece 6.

[0059] The head assembly 2 is also provided with a positioning cylinder 206, which is installed on the assembly body 201, and is provided with a positioning pin 2062, which is used to position the head assembly 2 and the picking and adjusting assembly 3, and to position the head assembly 2 and the positioning tool 4.

[0060] The positioning pin 2062 positions the head assembly 2 and the picking and adjusting assembly 3 in the following manner: the mechanical arm 101 drives the head assembly 2 to be above the picking and adjusting assembly 3, the mechanical arm 101 drives the head assembly 2 to descend, and the positioning pin 2062 is inserted into the positioning support 301 of the picking and adjusting assembly 3.

[0061] The positioning pin 2062 positions the head assembly 2 and the positioning tool 4 in the following manner: the mechanical arm 101 drives the head assembly 2 to be above the positioning tool 4, the mechanical arm 101 drives the head assembly 2 to descend, and the positioning pin 2062 is inserted into the positioning hole 4011 of the top plate 401. In order to better fix the effect and ensure the accuracy of flexible plugging, at least one positioning pin 2062 in this embodiment is an expansion pin 2061, which expands at the end under the action of the positioning cylinder 206, and better fixes the head assembly 2.

[0062] The function of the picking and adjusting assembly 3 is to adjust the workpiece 6 during picking, because the workpiece 6 in the packaging box 5 is prone to tilt, unevenness, and other problems. When the workpiece clamping jaw 2032 of the head assembly 2 grabs the workpiece 6, there is a problem of clamping deviation. When the workpiece clamping jaw 2032 grabs the workpiece 6, the force sensor 202 can usually detect the difference in mechanical quantity on both sides of the workpiece clamping jaw 2032 to find the deviation problem.

[0063] When there is a picking deviation problem, the control system of the robot 1 controls the mechanical arm 101 to drive the head assembly 2 to be above the picking and adjusting assembly 3, the mechanical arm 101 drives the head assembly 2 to descend, and at the same time, the workpiece clamping jaw 2032 appropriately releases the workpiece 6. The workpiece 6 is adjusted by the workpiece 6 insertion slot of the positioning seat 302, and the workpiece clamping jaw 2032 regrabs the workpiece 6.

[0064] The picking and adjusting assembly 3 includes a positioning support 301 and a positioning seat 302. The positioning support 301 is provided with a hole, is fixed on the positioning seat 302, and is provided with a workpiece 6 insertion slot.

[0065] It should be noted that the workpiece 6 insertion slot of the positioning seat 302, the insertion slot of the packaging box 5, and the workpiece 6 insertion slot on the main board 702 are similar but different.

[0066] The function of the positioning tool 4 is to assist the mechanical arm 101 in accurately positioning the workpiece clamping jaw 2032.

[0067] The positioning tool 4 comprises a top plate 401 and a base 402, the top surface of the top plate 401 is a smooth plane, the height difference is not higher than 0.02 mm, the top plate 401 is provided with a positioning hole 4011, and the top plate 401 is installed on the base 402; and the base 402 can be fixedly installed on the main plate 702.

[0068] Further, the server clamping jaw assembly 205 can clamp the handle 701, pull out or push the main plate 702.

[0069] The specific use method of the utility model is:

[0070] 1. Take the workpiece 6 from the loading packaging box 501 and place it on the main plate 702 of the aging box 7.

[0071] When initial production, the equipment is started automatically, the mechanical arm 101 is moved above the loading packaging box 501, the industrial camera 2042 is photographed, the control system automatically calculates the workpiece 6 coordinate and angle compensation, so as to ensure the success rate of taking the workpiece 6, the two workpiece clamping jaws 2032 at the bottom of the head assembly 2 clamp the workpiece 6, then the workpiece 6 is placed on the workpiece taking and deviation adjusting assembly 3 for secondary positioning (this station can be sampled), then the arm re-clamps the workpiece 6.

[0072] 2. Insert the workpiece 6 into the slot of the main plate 702.

[0073] The robot 1 moves the head assembly 2 to the corresponding cabinet position, the industrial camera 2042 reads the server cabinet barcode that needs to be worked on to ensure that the working position is correct, then the mechanical arm 101 pulls out the server mainboard 702, exposing the workpiece 6 slot, then the head assembly 2 moves above the positioning tooling 4, the industrial camera 2042 takes a photo, identifies the feature points, calculates the coordinate compensation amount of the inserted workpiece 6, while multiple distance sensors 2041 measure three points on the top surface of the positioning tooling 4, fitting to generate a virtual plane as the reference for horizontal compensation of the workpiece gripper 2032, to ensure that the workpiece gripper 2032 is parallel to the insertion slot when it is pressed down, without damaging the workpiece 6. After the head assembly 2 is pressed into place, the positioning cylinder 206 is extended to ensure the stability of the workpiece gripper 2032 and the positioning tooling 4, ensuring the insertion accuracy, the positioning pin 2062 fixes the head assembly 2 on the positioning tooling 4, then the electric cylinder 2031 is extended to insert the workpiece 6 into the slot. The force sensor 202 monitors the pressure in real time during the insertion process. When the pressure reaches the set value, the gripper considers that the insertion is complete. Pressure monitoring can play a protective role to prevent hard insertion and damage to the workpiece 6. Then the corresponding electric cylinder 2031 controls the gripper to open and lift. After the two pieces of workpiece 6 are inserted, the positioning cylinder 206 is released, and the mechanical arm 101 repeats the above actions to continue taking materials from the packaging box 5 and then placing them in the server. Each server can insert 16 or more workpieces 6. In this implementation, it is 16 pieces. After all the workpieces 6 are fully inserted, the server gripper assembly 205 closes the aging box 7 and then pushes the drawer back. Thus, the work of inserting the server cabinet is completed.

[0074] 3. Pulling out the workpiece 6 from the server

[0075] After the workpiece 6 is aged, a signal is sent to the robot 1, which moves to the corresponding pickup and placement point. The server gripper assembly 205 pulls out the corresponding server mainboard 702, then opens all the aging boxes 7 in turn, exposing the aged workpieces 6. Then the head assembly 2 moves above the positioning tooling 4, the industrial camera 2042 takes a photo, identifies the feature points, calculates the coordinate compensation amount of the pulled workpiece 6, while three height sensors measure three points on the surface of the tooling, fitting to generate a virtual plane as the reference for horizontal compensation of the workpiece gripper 2032, to ensure that the workpiece gripper 2032 is parallel to the insertion slot when it is pressed down, without damaging the workpiece 6. After the head assembly 2 is pressed into place, the positioning cylinder 206 is extended to ensure the stability of the workpiece gripper 2032 and the positioning tooling 4, ensuring the insertion accuracy, then the electric cylinder 2031 is extended, and after it is extended to the set position, the electric cylinder 2031 controls the gripper to clamp. The force sensor 202 monitors the pressure in real time during the pulling-out process. When the pressure reaches the set value or the set pulling-out distance, the workpiece gripper 2032 considers that the pulling-out is complete. Pressure monitoring can play a protective role to prevent hard pulling and damage to the workpiece 6.

[0076] 4. Placing the workpiece 6 into the receiving packaging box 502

[0077] The head assembly 2 moves to the photographing position of the receiving packaging box 502, identifies the feature points, calculates the coordinate compensation amount of the workpiece 6 placed into the receiving packaging box 502, ensures that the workpiece 6 is accurately placed into the receiving packaging box 502, and then the workpiece clamping jaw 2032 accurately places the workpiece 6 into the receiving packaging box 502.

[0078] 5. Complete the entire server cabinet

[0079] The head assembly 2 repeats the procedures 1-4, and the workpiece 6 is taken and placed alternately. After the slots are filled with unaged workpieces 6, the head assembly 2 closes the aging box 7, and the server cabinet is pushed back. The robot 1 works on the current server cabinet.

[0080] The above-mentioned embodiments of the utility model do not constitute a limitation on the protection scope of the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims

1. A flexible insertion and extraction mechanism, characterized in that: The device includes a part picking and adjusting component (3), a head component (2), and a positioning fixture (4). The head component (2) is mounted on the robotic arm (101) of the robot (1) via a fixed interface (2011). The part picking and adjusting component (3) is mounted on one side of the head component (2), and the positioning fixture (4) is mounted on the motherboard (702). The head component (2) includes a component body (201), a force sensor (202), a flexible actuator (203), a vision unit (204), and a server gripper component (205). The flexible actuator (203) can flexibly grip the workpiece (6).

2. The flexible insertion and extraction mechanism according to claim 1, characterized in that: The part-picking and offset assembly (3) includes a positioning support (301) and a positioning seat (302). The positioning support (301) has a hole and is fixed on the positioning seat (302). The positioning seat (302) has a workpiece (6) slot.

3. The flexible insertion and extraction mechanism according to claim 1, characterized in that: The positioning fixture (4) includes a top plate (401) and a base (402). The top surface of the top plate (401) is a smooth plane with a height difference of no more than 0.02 mm. The top plate (401) is provided with a positioning hole (4011). The top plate (401) is installed on the base (402), and the base (402) can be fixedly installed on the main board (702).

4. The flexible insertion and extraction mechanism according to claim 1, characterized in that: The force sensor (202), the flexible actuator (203), the vision unit (204), and the server gripper assembly (205) are mounted on the assembly body (201). The flexible actuator (203) includes an electric cylinder (2031) and a workpiece gripper (2032). The server gripper assembly (205) can pull out or push the motherboard (702).

5. The flexible insertion and extraction mechanism according to claim 4, characterized in that: The force sensor (202) is connected to the electric cylinder (2031) and the workpiece gripper (2032). The force sensor (202) can monitor the mechanical quantities of the electric cylinder (2031) and the workpiece gripper (2032) in real time and transmit the mechanical quantities to the flexible actuator (203) and the control system. The flexible actuator (203) can adjust the mechanical quantities of the electric cylinder (2031) and the workpiece gripper (2032) according to the real-time mechanical quantities and preset values.

6. The flexible insertion and extraction mechanism according to claim 4, characterized in that: The vision unit (204) is equipped with a distance sensor (2041) and an industrial camera (2042). The distance sensor (2041) can measure the distance from the head assembly (2) to the top surface of the positioning fixture (4) in real time. The industrial camera (2042) is used for correction and identification of server barcodes.

7. The flexible insertion and extraction mechanism according to claim 4, characterized in that: The head assembly (2) is also provided with a positioning cylinder (206). The positioning cylinder (206) is installed on the assembly body (201). The positioning cylinder (206) assists the head assembly (2) in accurately positioning the part picking and adjusting assembly (3) and the positioning fixture (4). The positioning cylinder (206) is provided with a positioning pin (2062). At least one positioning pin (2062) is an expansion pin (2061).

8. The flexible insertion and extraction mechanism according to claim 7, characterized in that: The flexible insertion and removal mechanism is installed on the robotic arm (101) of the robot (1). The robot (1) controls the displacement of the flexible insertion and removal mechanism. The part picking and adjustment component (3) ensures the accuracy of part picking. The positioning fixture (4) and vision unit (204) ensure the accurate position of the workpiece gripper (2032) during insertion. The force sensor (202) and flexible actuator (203) accurately control the mechanical quantity of the workpiece (6) during insertion and removal. Multiple distance sensors (2041) measure three points on the top surface of the positioning fixture (4) and fit to generate a virtual plane.

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