End effector protection structure for a pick-and-place fpc robot

Abstract

The utility model discloses a kind of end effector protection structures for clamping FPC robot, belong to robot automation technical field, including mechanical arm, bottom plate, power module, control cabinet, emergency brake hub, heat dissipation groove, fixed block, cable, rotary hub, adapter plate, six cone force sensor, protective shell, clamp and elastomer, adapter plate is fixed in the end flange of mechanical arm, six cone force sensor is fixed in adapter plate, protective shell is fixed in six cone force sensor outside, clamp is fixed in six cone force sensor, elastomer is clamped in clamp inside.The utility model realizes force control and flexible buffering by six cone force sensor and elastomer, protects FPC workpiece, and through protective shell and adapter plate protection sensor and ensure installation concentricity, improve the clamping good product rate and equipment stability.

Description

Technical Field

[0001] This utility model relates to the field of robot automation technology, and in particular to a protective structure for an end effector of a gripping FPC robot. Background Technology

[0002] In modern automated production lines, especially in the electronics manufacturing sector, robotic end effectors are widely used to grip and transport various workpieces. The gripping accuracy and stability of robotic grippers are crucial to product quality.

[0003] Flexible circuit boards (FPCs) are a common type of electronic component. They are characterized by precision and fragility. If the gripping force is not properly controlled during the clamping process, excessive clamping force can easily damage the precision circuits on the FPC or cause permanent deformation of the metal board.

[0004] To address the aforementioned issues, existing technologies have begun to explore integrating high-precision force sensors, such as six-cone force sensors, into end effectors in order to achieve real-time monitoring and closed-loop control of the fastening force. However, these high-precision force sensors are inherently complex and expensive. They are typically exposed to the working environment and are highly susceptible to dust, debris, or accidental impacts during the production process, which can damage the sensors and increase maintenance costs.

[0005] Furthermore, the end effector assembly, especially the complex gripper that integrates sensors, needs to be docked with the end flange of different models of industrial robot arms. In actual installation, the mounting interfaces of the sensors and the robot arm flange often have size differences, which makes installation difficult. More seriously, even if forced to install, it is difficult to ensure the coaxiality between the two. This will cause the end effector to shake or deviate when the robot moves at high speed, reducing the grasping accuracy and stability.

[0006] Therefore, this utility model proposes an end effector protection structure for gripping FPC robots to overcome the shortcomings of the prior art. Utility Model Content

[0007] In view of the problems existing in the end effector of FPC gripping robot, such as inaccurate gripping force control that easily damages the workpiece, lack of effective protection for precision sensors, and instability caused by dimensional differences between the sensor and the robotic arm and difficulty in ensuring coaxiality, this utility model aims to provide an improved protection structure for the end effector of FPC gripping robot that can effectively solve the above problems.

[0008] This utility model provides a protective structure for an end effector of a gripping FPC robot, including: a robotic arm; and a base plate, a power module, a control cabinet, an emergency braking hub, a heat sink, a fixing block, a cable, a rotation hub, an adapter plate, a six-cone force sensor, a protective shell, a clamp, and an elastomer fixed on the robotic arm.

[0009] Furthermore, a base plate and a power module are fixedly connected to the bottom of the robotic arm. A control cabinet is fixedly connected to the outer wall of the power module, an emergency braking hub is fixedly installed, and a heat dissipation groove is provided. A fixing block is fixedly installed on the top of the robotic arm, and a section of a cable is embedded in the inner wall of the fixing block. The other end of the cable is fixedly connected to the robotic arm. A rotating hub is fixedly connected to the front side of the robotic arm. An adapter plate is fixed to the end flange of the robotic arm. A six-cone force sensor is fixed to the adapter plate. A protective shell is fixed to the outside of the six-cone force sensor. A clamp is fixed to the six-cone force sensor, and an elastomer is added inside the clamp.

[0010] Preferably, the rotation hub can be rotated to adjust the clamping height of the clamp.

[0011] Preferably, the adapter plate is used to compensate for the difference in installation dimensions between the six-cone force sensor and the end flange of the robotic arm, and to ensure coaxiality.

[0012] Preferably, the six-cone force sensor is used to monitor the clamping force of the fixture in real time.

[0013] Preferably, the clamp is used for gripping by rotation.

[0014] Preferably, the elastomer is configured to contract when the clamp is engaged.

[0015] Furthermore, the elastomer is used to ensure the integrity of the clamped metal plate and prevent interference with the circuit.

[0016] Preferably, the heat dissipation groove is used for heat dissipation and ventilation when the power module is in operation.

[0017] Preferably, the emergency braking hub is used to brake the machine in an emergency.

[0018] This utility model has the following beneficial effects: 1. This utility model solves the problem of workpiece damage caused by inaccurate clamping force control or rigid contact when clamping precision workpieces such as FPCs by setting a six-cone force sensor to monitor the clamping force in real time, and by using an elastic body set inside the fixture to contract and buffer during clamping. It achieves the dual effect of precise control of clamping force and flexible buffer protection, and improves the yield and safety of FPC clamping.

[0019] 2. This utility model solves the problems in the prior art where precision sensors are easily damaged by external impacts, and where differences in size and coaxiality between the sensor and different models of robotic arms lead to unstable movement. By setting a protective shell to fix the outside of the six-cone force sensor and using an adapter plate to connect the six-cone force sensor to the end flange of the robotic arm, this invention effectively protects the sensor, improves the durability of the equipment, and ensures that the end effector is firmly installed and meets the coaxiality standard. Attached Figure Description

[0020] Figure 1 This is a front perspective view of a protective structure for an end effector of a gripping FPC robot proposed in this utility model; Figure 2 This is a partial structural diagram of the rotating hub of the end effector protection structure for a gripping FPC robot proposed in this utility model; Figure 3 This is a partial structural diagram of an emergency braking hub for an end effector protection structure of a gripping FPC robot proposed in this utility model; Figure 4 This is a partial structural exploded view of a six-cone force sensor for the end effector protection structure of a gripping FPC robot proposed in this utility model.

[0021] Legend: 1. Robotic arm; 2. Control cabinet; 3. Emergency braking hub; 4. Heat dissipation tank; 5. Power module; 6. Base plate; 7. Fixing block; 8. Cable; 9. Rotation hub; 10. Fixture; 11. Protective shell; 12. Six-cone force sensor; 13. Adapter plate; 14. Elastomer. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the protection scope of this utility model.

[0023] Example: Please refer to Figures 1 to 4This utility model provides a protective structure for the end effector of a FPC gripping robot. The purpose of this protective structure is to solve the problems in the prior art, such as the difficulty in accurately controlling the clamping force when gripping precision FPC, which leads to workpiece damage, the lack of effective physical protection for the force sensor used for sensing, and the difficulty in installation or unstable movement due to the size and coaxiality difference between the sensor and the end flange of the robotic arm 1.

[0024] like Figure 1 As shown, an end effector protection structure for a gripping FPC robot includes a robotic arm 1 as a base platform. A base plate 6 is fixedly connected to the bottom of the robotic arm 1. A power module 5 is also fixedly connected to the bottom of the robotic arm 1. The power module 5 provides power to the overall structure. A control cabinet 2 is fixedly connected to the outer wall of the power module 5. The control cabinet 2 and the power module 5 work together. An emergency braking hub 3 is also fixedly installed on the outer wall of the power module 5. The emergency braking hub 3 is used to brake the machine in an emergency. A heat dissipation groove 4 is provided on the front outer wall of the power module 5. The heat dissipation groove 4 is used to dissipate heat and allow ventilation when the power module 5 is in operation.

[0025] like Figure 1 and Figure 2 As shown, a fixing block 7 is fixedly installed on the top of the robotic arm 1. A section of cable 8 is embedded in the inner wall of the fixing block 7. The other end of the cable 8 is fixedly connected to the robotic arm 1 to stabilize the machine.

[0026] like Figure 2 As shown, a rotating hub 9 is fixedly connected to the front side of the robotic arm 1. The rotating hub 9 can be rotated to adjust the clamping height of the subsequent gripper 10.

[0027] like Figure 2 , Figure 3 and Figure 4 As shown, an end effector protection structure for a gripping FPC robot also includes multiple components constituting the end effector assembly. An adapter plate 13 is fixed to the end flange of the robotic arm 1. The adapter plate 13 is used to compensate for the difference in installation dimensions between the six-cone force sensor 12 and the end flange of the robotic arm 1, and to ensure that the installation is firm and the coaxiality meets the standard.

[0028] The six-cone force sensor 12 is fixed to the adapter plate 13. The six-cone force sensor 12 is used to monitor the clamping force of the clamp 10 in real time. The protective shell 11 is fixed to the outside of the six-cone force sensor 12 to protect the six-cone force sensor 12. The clamp 10 is fixed to the six-cone force sensor 12. The clamp 10 is the main device for clamping the metal plate. The clamp 10 clamps by rotating. An elastic body 14 is added inside the clamp 10. The elastic body 14 is configured to contract when the clamp 10 is clamped. When the elastic body 14 contracts, it is used to ensure the integrity of the clamped metal plate and prevent interference with the circuit.

[0029] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The adapter plate 13 is fixed to the end flange of the robotic arm 1, and the six-cone force sensor 12 is fixed to the other side of the adapter plate 13. The adapter plate 13 acts as a connecting bridge, its structural feature being to compensate for the difference in installation dimensions between the six-cone force sensor 12 and the end flange of the robotic arm 1, and to ensure that both are securely installed and coaxially aligned. This high-precision coaxial docking method is fundamental to preventing the end effector from shifting or shaking during high-speed movement. The six-cone force sensor 12 is connected in series between the end flange of the robotic arm 1 and the clamp 10. Specifically, the clamp 10 is fixed to the force-bearing end of the six-cone force sensor 12. This connection method ensures that when the clamp 10 performs a clamping action, all the clamping forces from the FPC metal plate are evenly distributed. The force can be transmitted to the six-cone force sensor 12 without attenuation, so that the six-cone force sensor 12 can monitor the magnitude of the clamping force in real time and ensure the clamping is secure. An elastomer 14 is provided inside the clamp 10. The elastomer 14 is configured to contract under force when the clamp 10 is engaged. The contraction action of the elastomer 14 provides flexible buffer for the FPC metal plate, which not only ensures the integrity of the metal plate, but also prevents interference with the precision circuit. The protective shell 11 is fixed to the outside of the six-cone force sensor 12 by bolts or buckles and completely covers the key sensing area. The protective shell 11 provides robust physical protection for the expensive and precision six-cone force sensor 12, preventing damage caused by dust, debris or accidental collisions during operation.

[0030] As a preferred embodiment, please refer to Figure 2 A rotating hub 9 is fixedly connected to the front side of the robotic arm 1. The rotating hub 9 can be rotated to adjust the clamping height of the clamp 10 to accommodate FPC metal sheets of different heights.

[0031] As a preferred embodiment, please refer to Figure 4 The adapter plate 13 is fixed to the end flange of the robotic arm 1. The adapter plate 13 is used to compensate for the difference in installation size between the six-cone force sensor 12 and the end flange of the robotic arm 1. The precise fit of the adapter plate 13 ensures the coaxiality of the two when they are docked, which is crucial for stability during high-speed movement.

[0032] As a preferred embodiment, please refer to Figure 4 The six-cone force sensor 12 is fixed to the adapter plate 13. The six-cone force sensor 12 is used to monitor the magnitude of the clamping force when the clamp 10 performs the clamping action in real time, so as to realize the closed-loop control of the force.

[0033] As a preferred embodiment, please refer to Figure 2The clamp 10 is fixed to the six-cone force sensor 12. The clamp 10 performs the action of clamping or releasing the FPC metal plate by rotating.

[0034] As a preferred embodiment, please refer to Figure 4 An elastic body 14 is added inside the clamp 10. The elastic body 14 is configured to contract under pressure when the clamp 10 is engaged.

[0035] As a further limitation on the aforementioned implementation method, please refer to Figure 4 When the elastomer 14 contracts, it uses its own elastic deformation to ensure the integrity of the clamped metal plate and to prevent rigid contact from interfering with or damaging the circuits on the FPC metal plate.

[0036] As a preferred embodiment, please refer to Figure 1 The heat dissipation groove 4 is formed on the outer wall of the front side of the power module 5. The heat dissipation groove 4 is used to dissipate heat and allow ventilation for the power module 5 during long-term operation, so as to ensure the stability of electrical components.

[0037] As a preferred embodiment, please refer to Figure 1 and Figure 3 The emergency braking hub 3 is fixedly installed on the outer wall of the power module 5. In case of emergency, the operator can quickly strike the machine to achieve an immediate braking effect, ensuring the safety of personnel and equipment.

[0038] Working Principle: When clamping FPC metal sheets is required, the power module 5, fixedly connected to the bottom of the robotic arm 1, is activated first. The power module 5 enables the machine to operate. The control cabinet 2, fixedly connected to the outer wall of the power module 5, works in conjunction with the power module 5, issuing control commands. The heat dissipation groove 4 on the front outer wall of the power module 5 is used to continuously dissipate heat and allow ventilation during operation, ensuring electrical stability. The base plate 6, fixedly connected to the bottom of the robotic arm 1, provides a stable mounting foundation for the entire device. The fixing block 7, fixedly installed at the top of the robotic arm 1, has one end of a cable 8 embedded in its inner wall. The other end of the cable 8 is fixedly connected to the robotic arm 1, providing power for the machine. The power and signal transmission provide a stable electrical connection. Under the command of the control cabinet 2, the robotic arm 1 moves to the target position. The rotating hub 9, fixedly connected to the front of the robotic arm 1, can be rotated to adjust the clamping height of the gripper 10. When the gripper 10 at the end of the robotic arm 1 is aligned with the FPC metal plate, the gripper 10 begins to perform the clamping action. The gripper 10 clamps by rotating. During the clamping process, the adapter plate 13, fixed to the flange at the end of the robotic arm 1, compensates for the difference in installation size and ensures a firm connection and high coaxiality between the six-cone force sensor 12 and the flange at the end of the robotic arm 1. This connection method prevents the robotic arm 1 from shifting or shaking during high-speed movement, ensuring positioning accuracy. The gripper 10 is fixed to the six-cone force sensor 12. The cone force sensor 12, with its structure making the clamp 10 the force-bearing end of the sensor, allows the elastic body 14 inside the clamp 10 to contract under force when the clamp 10 is fastening the FPC metal sheet. This contraction provides a flexible buffer for the FPC metal sheet, ensuring its integrity and preventing rigid impact interference to the precision circuitry on the FPC. Simultaneously, the fastening force is transmitted undiminished through the six-cone force sensor 12 fixed to the adapter plate 13. The six-cone force sensor 12 feeds back the real-time monitored fastening force data to the control cabinet 2. The control cabinet 2 uses the data from the six-cone force sensor 12 to implement closed-loop control of the clamping force, preventing excessive clamping force from damaging the FPC or insufficient clamping force from causing damage. This prevents clamping failure and achieves precise force control. Throughout the entire operation, the protective shell 11 fixed to the outside of the six-cone force sensor 12 provides physical protection for the precision six-cone force sensor 12 body, preventing damage to the sensor due to debris or accidental collisions. In case of emergency, the emergency braking hub 3 fixedly installed on the outer wall of the power module 5 can be operated to achieve an immediate braking effect on the machine. Through the precise docking of the adapter plate 13, the real-time force control of the six-cone force sensor 12, the flexible buffer of the elastomer 14, and the physical protection of the protective shell 11, the synergistic effect of the above components solves the problems of easy damage to FPC clamping, inaccurate force control, easy damage to the sensor, and poor coaxiality of the end effector installation in the prior art.

Claims

1. A protective structure for an end effector of a gripping FPC robot, comprising: robotic arm (1); The robot arm (1) is characterized by having a base plate (6) fixedly connected to its bottom and a power module (5) fixedly connected to its bottom. The outer wall of the power module (5) is fixedly connected to a control cabinet (2), an emergency braking hub (3) is fixedly installed, and a heat dissipation groove (4) is provided. A fixing block (7) is fixedly installed on the top of the robot arm (1). A section of a cable (8) is embedded in the inner wall of the fixing block (7). The other end of the cable (8) is fixedly connected to the robot arm (1). A rotating hub (9) is fixedly connected to the front side of the robot arm (1). A transition plate (13) is fixed to the end flange of the robot arm (1). A six-cone force sensor (12) is fixed to the transition plate (13). A protective shell (11) is fixed to the outside of the six-cone force sensor (12). A clamp (10) is fixed to the six-cone force sensor (12). An elastomer (14) is added inside the clamp (10).

2. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The rotating hub (9) can be rotated to adjust the clamping height of the clamp (10).

3. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The adapter plate (13) is used to compensate for the difference in installation dimensions between the six-cone force sensor (12) and the end flange of the robotic arm (1) and to ensure coaxiality.

4. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The six-cone force sensor (12) is used to monitor the clamping force of the clamp (10) in real time.

5. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The clamp (10) holds the object by rotating.

6. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The elastomer (14) is configured to contract when the clamp (10) is engaged.

7. The end effector protection structure for a gripping FPC robot according to claim 6, characterized in that, The elastic body (14) is used to ensure the integrity of the clamped metal plate and to prevent interference with the circuit.

8. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The heat sink (4) is used to dissipate heat and allow air to pass through when the power module (5) is in operation.

9. The end effector protection structure for a gripping FPC robot according to claim 1, characterized in that, The emergency braking hub (3) is used to brake the machine in an emergency.

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