An end effector for suctioning FPC robots

Abstract

The utility model discloses a kind of for sucking FPC robot end effector, belong to robot technical field, including mechanical arm, end effector, adapter plate and six-dimensional sensor, mechanical arm end is connected six-dimensional sensor through adapter plate, six-dimensional sensor is connected end effector again through another adapter plate, end effector is integrated with clamping mechanism and sucking mechanism on it, clamping mechanism includes by air pump connecting pipe one driven gripper arm and hook claw, sucking mechanism includes by air pump connecting pipe two driven sucking arm and suction head. The utility model realizes flexible force control to the flexible force control of grasping process by setting six-dimensional sensor, avoid damaging product, simultaneously by the collaborative work of hook claw and suction head, the problem that flexible material is difficult to separate and grasp is solved, and the success rate and stability of automated operation are significantly improved.

Description

Technical Field

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

[0002] In modern electronics manufacturing, flexible printed circuit boards (FPCs) are key components connecting various electronic components, and the demand for their automated production and assembly is increasing. Robots, with their advantages of high efficiency and high repeatability, are widely used in the handling, picking and placing of FPCs. In this process, the end effector installed at the end of the robot arm is the core component that directly contacts the FPC and performs tasks. Its performance directly determines the efficiency and reliability of the entire automation system.

[0003] Currently, for thin, flexible sheet materials like FPCs, existing technologies generally use end effectors based on vacuum suction cups for picking up materials. Under ideal conditions, this method can quickly pick up materials. However, FPCs are high-value and extremely precise components. They are very thin and easily crease or even break internal circuits due to improper force. Existing end effectors usually move rigidly according to a preset program path during operation, lacking the ability to sense and adjust the actual contact force between the end effector and the material. When there is a slight deviation in the position or stacking height of the FPC, the end effector may contact the FPC with excessive pressure, causing irreversible physical damage and seriously affecting the product yield.

[0004] Furthermore, when FPCs are stacked, due to their smooth surface and static electricity, the sheets are prone to sticking together. When traditional vacuum suction cups descend vertically to pick up the FPCs, they often fail to pick up multiple sheets at once due to excessive suction or sticking force, or they fail to form an effective seal. This unstable success rate of picking up the FPCs seriously restricts the continuity and overall efficiency of automated production lines, often requiring additional manual intervention, which goes against the original intention of automation.

[0005] Therefore, this utility model proposes an end effector for absorbing FPC robots to overcome the shortcomings of the prior art. Utility Model Content

[0006] In view of the problems existing in the end effector for FPC picking robots, such as the inability to monitor and adjust the contact force in real time when grasping precision materials such as flexible circuit boards, which easily causes material damage, and the difficulty in achieving stable and reliable single-piece separation and grasping, resulting in low automation efficiency, this utility model aims to provide an end effector for FPC picking robots with an improved structure that can effectively solve the above problems.

[0007] This utility model provides an end effector for a suction FPC robot, comprising: a robotic arm and an end effector disposed at the end of the robotic arm; as well as an adapter plate and a six-dimensional sensor.

[0008] The end effector integrates a clamping mechanism and a suction mechanism. The clamping mechanism includes a clamping arm driven by an air pump connecting pipe one and a hook fixed at the bottom of the clamping arm. The suction mechanism includes a suction arm and a suction head located at the end of the suction arm. The suction mechanism is driven by an air pump connecting pipe two.

[0009] Furthermore, the robotic arm, six-dimensional sensor, and end effector are connected in series and fixed together via an adapter plate.

[0010] Preferably, the six-dimensional sensor is used to monitor in real time the clamping force of the hook and the suction head when they come into contact with the product during operation.

[0011] Preferably, it also includes a base plate and a connecting block, wherein the robotic arm is fixed to the base plate by the connecting block.

[0012] Preferably, it also includes a connecting ring and a reinforcing rib. The connecting block and the base plate are fixedly connected by the connecting ring, and the reinforcing rib is fixedly connected between the connecting block and the connecting ring.

[0013] Preferably, the top of the outer wall of the connecting ring is provided with multiple reserved holes for fixing the base plate and the connecting block.

[0014] Preferably, it also includes a fixing plate and fastening bolts. The fixing plate is fixedly connected to the corner of the base plate, and the base plate is fixed by the fastening bolts.

[0015] Preferably, the air pump connecting pipe is connected to the left side of the outer wall of the end effector, and the clamp arm slides up and down on both sides of the outer wall of the end effector.

[0016] Preferably, the suction arm and the clamping arm are fixedly connected side by side to the bottom of the outer wall of the end effector so that the suction head and the hook can work together.

[0017] This utility model has the following beneficial effects: 1. This utility model solves the problem that existing technologies, when grasping precision materials such as flexible circuit boards, cannot monitor and control the contact force in real time, resulting in excessive pressure that easily damages the product. By setting a six-dimensional sensor in series between the robotic arm and the end effector, the present invention addresses the problem that existing technologies, when grasping precision materials such as flexible circuit boards, cannot easily monitor and control the contact force in real time, resulting in excessive pressure that easily damages the product.

[0018] 2. This utility model integrates a hook and a suction head that can work together on the end effector to form a composite actuator that combines gripping and suction. This solves the problem that the existing technology, which uses a single suction cup, is unable to effectively separate stacked, soft and easily sticky materials, resulting in low gripping success rate and low automation efficiency. Attached Figure Description

[0019] Figure 1 This is a front perspective view of an end effector for absorbing FPC robots proposed in this utility model; Figure 2 This is a partial structural illustration of a robotic arm for absorbing FPC robots proposed in this utility model; Figure 3 This is a partial structural diagram of a six-dimensional sensor for an end effector of an FPC robot proposed in this utility model; Figure 4 This is a partial structural exploded view of an end effector for absorbing FPC robots proposed in this utility model.

[0020] Legend: 1. Base plate; 2. Connecting block; 3. Connecting ring; 4. Reinforcing rib; 5. Fixing plate; 6. Fastening bolt; 7. Robotic arm; 8. Adapter plate; 9. Six-dimensional sensor; 10. End effector; 11. Air pump connecting pipe one; 12. Grip arm; 13. Hook; 14. Air pump connecting pipe two; 15. Suction arm; 16. Suction head. Detailed Implementation

[0021] 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.

[0022] Example: Please refer to Figures 1 to 4 This utility model provides an end effector for a robot that picks up FPCs, which aims to solve the technical problems in the prior art where the contact force cannot be precisely controlled when automatically grasping precision materials such as FPCs, which can easily cause product damage and make it difficult to stably separate and pick up single pieces of material.

[0023] like Figures 1 to 4As shown, an end effector for picking up FPC robots includes a robotic arm 7 as the main moving body and a working unit integrating sensing and execution functions. The working unit includes a six-dimensional sensor 9 and an end effector 10. A base plate 1 is fixedly connected to the bottom of the outer wall of the robotic arm 7 via a connecting block 2. The robotic arm 7 is stably installed through the base plate 1 and the connecting block 2. At the end of the robotic arm 7, a six-dimensional sensor 9 is fixedly connected to the end effector 10 via an adapter plate 8. The other end of the six-dimensional sensor 9 is then fixedly connected to the end effector 10 via another adapter plate 8, thereby connecting the robotic arm 7, the six-dimensional sensor 9, and the end effector 10 in series to form a functional whole. The end effector 10 integrates a gripping mechanism and a suction mechanism that work together. The gripping mechanism includes a gripper arm 12 driven by an air pump connecting pipe 11 and a hook 13 fixed to the bottom of the gripper arm 12. The suction mechanism includes a suction arm 15 and a suction head 16 located at the end of the suction arm 15. The suction mechanism is driven by an air pump connecting pipe 14.

[0024] Please refer to Figure 2 , Figure 3 and Figure 4 The six-dimensional sensor 9, as an independent force measuring unit, is positioned between the end effector of the robotic arm 7 and the functional start point of the end effector 10. Specifically, an adapter plate 8 is fixedly connected to the end of the outer wall of the robotic arm 7. One end of the six-dimensional sensor 9 is fixedly connected to the adapter plate 8, and the other end of the six-dimensional sensor 9 is fixedly connected to the end effector 10 via another adapter plate 8. This series rigid structure ensures that any minute forces experienced by the end effector 10 during operation, including pressure, tension, and torque, can be accurately monitored in real time by the six-dimensional sensor 9, and the force signal is fed back to the robot control system. This provides a foundation for achieving closed-loop force control and ensures that the product is not damaged when contacting the FPC. Meanwhile, the structure of the end effector 10 incorporates composite design. The design incorporates an air pump connection pipe 11 connected to the left side of the outer wall of the end effector 10. After the air pump connection pipe 11 is connected to an external drive pump, it can drive the clamping arms 12 on both sides of the outer wall of the end effector 10 to slide up and down. A hook 13 is fixedly connected to the bottom of the outer wall of the clamping arm 12 for assisting in gripping or separating materials. At the bottom of the outer wall of the end effector 10, a suction arm 15 is fixedly connected in parallel with the clamping arm 12. A suction head 16 is fixedly connected to the end of the outer wall of the suction arm 15. The suction head 16 is connected to an external drive pump through another air pump connection pipe 14 to generate suction. This parallel and cooperative structure of the hook 13 and the suction head 16 ensures that the FPC can be assisted in positioning or peeling by the hook 13 first, and then the suction head 16 can accurately pick it up.

[0025] As a preferred embodiment, to further enhance the structural stability and rigidity of the entire device during operation and prevent the robotic arm 7 from swaying during high-speed movement, thereby affecting operational accuracy, please refer to... Figure 1 and Figure 2 A component for reinforcing the connection is also provided between the connecting block 2 and the base plate 1. Specifically, a connecting ring 3 is fixedly connected to the bottom of the outer wall of the connecting block 2, and the base plate 1 and the connecting block 2 are fixedly connected by the connecting ring 3. At the same time, a reinforcing rib 4 is fixedly connected to the top of the outer wall of the connecting ring 3, and the connecting block 2 and the connecting ring 3 are firmly fixed by the reinforcing rib 4. The presence of the reinforcing rib 4 significantly enhances the structural stability between the connecting block 2 and the connecting ring 3.

[0026] As a more specific implementation, in order to facilitate installation and fixation, the top of the outer wall of the connecting ring 3 is provided with multiple reserved holes. These reserved holes are used to pass through fasteners, thereby realizing the fixed connection between the base plate 1 and the connecting block 2.

[0027] As another preferred embodiment, in order to reliably mount the entire device on a workbench or other equipment base, please refer to... Figure 1 A fixing plate 5 is fixedly connected at the corner of the base plate 1, and the base plate 1 is fixed to the fixing plate 5 by fastening bolts 6. The fixing plate 5 and the fastening bolts 6 can stably fix the base plate 1 to other components, ensuring the installation of the entire robot device.

[0028] Working Principle: Before performing the FPC suction operation, the base plate 1 is first securely installed on the equipment base using the fixing plate 5 and fastening bolts 6. The robotic arm 7 is firmly fixed to the base plate 1 via the connecting block 2, connecting ring 3, and reinforcing rib 4. This multi-reinforcement structure provides a solid foundation for the high-speed and high-precision operation of the entire system, effectively suppressing vibrations and shaking that may occur during operation. When the robot system is started, the robotic arm 7 moves the entire end-effector unit above the target FPC material. During the entire process of the end effector 10 approaching and contacting the FPC, the six-dimensional sensor 9 set between the robotic arm 7 and the end effector 10 begins to play a crucial role. The six-dimensional sensor 9 monitors all forces and torques experienced by the end effector 10 in three translational and three rotational dimensions in real time and with high precision, and feeds these data signals back to the robot's main controller (not shown). The main controller analyzes and compares the real-time data fed back by the six-dimensional sensor 9 according to the preset safety force threshold. Once the force detected in any dimension approaches or exceeds the safety threshold, the controller will immediately adjust the posture and speed of the robotic arm 7, thereby achieving closed-loop flexible control of the contact force. This active force sensing and adjustment mechanism fundamentally avoids damage to the FPC caused by rigid contact or positioning errors, such as excessive squeezing, impact, or bending. During the specific suction action, the composite mechanism on the end effector 10 begins to work in concert. First, the air pump connection pipe 11 connected to the external air source provides driving force to the clamp arm 12, causing the clamp arm 12 to slide downward or to the side, driving the bottom hook 13 to slightly move, separate, or assist in positioning the stacked FPCs. This action can effectively solve the problem of multiple FPCs sticking together due to static electricity or surface tension, ensuring that the topmost piece is effectively separated, creating ideal conditions for subsequent suction. After the hook 13 completes its auxiliary action, or simultaneously with the action of the hook 13, the air pump connection pipe 14 connected to the external air source drives the suction head 16 on the suction arm 15 to work. The suction head 16 generates negative pressure inside, thereby firmly adsorbing the separated single FPC piece onto the surface. Through the timing and synergistic action of the hook 13 and the suction head 16, this utility model solves the technical problem that a single suction cup is difficult to stably grasp a single piece of soft material in the prior art, and achieves high success rate and high precision suction and handling of FPCs.

Claims

1. An end effector for picking up FPC robots, comprising a robotic arm (7) and an end effector (10) disposed at the end of the robotic arm (7); Its features are, The end effector for absorbing FPC robots also includes an adapter plate (8) and a six-dimensional sensor (9). The end of the robotic arm (7) is connected to the six-dimensional sensor (9) through the adapter plate (8). The six-dimensional sensor (9) is then connected to the end effector (10) through another adapter plate (8). The end effector (10) integrates a clamping mechanism and a suction mechanism. The clamping mechanism includes a clamping arm (12) driven by an air pump connecting pipe one (11) and a hook (13) fixed at the bottom of the clamping arm (12). The suction mechanism includes a suction arm (15) and a suction head (16) disposed at the end of the suction arm (15). The suction mechanism is driven by an air pump connecting pipe two (14).

2. An end effector for a suction FPC robot according to claim 1, characterized in that, The six-dimensional sensor (9) is used to monitor in real time the clamping force of the hook (13) and the suction head (16) when they come into contact with the product during operation.

3. An end effector for a suction FPC robot according to claim 1, characterized in that, It also includes a base plate (1) and a connecting block (2), the robotic arm (7) being fixed to the base plate (1) via the connecting block (2).

4. An end effector for a suction FPC robot according to claim 3, characterized in that, It also includes a connecting ring (3) and a reinforcing rib (4). The connecting block (2) and the base plate (1) are fixedly connected through the connecting ring (3), and the reinforcing rib (4) is fixedly connected between the connecting block (2) and the connecting ring (3).

5. An end effector for a suction FPC robot according to claim 4, characterized in that, The outer wall of the connecting ring (3) has multiple reserved holes at the top for fixing the base plate (1) and the connecting block (2).

6. An end effector for a suction FPC robot according to claim 3, characterized in that, It also includes a fixing plate (5) and fastening bolts (6), the fixing plate (5) being fixedly connected to the corner of the base plate (1), and the base plate (1) being fixed by the fastening bolts (6).

7. An end effector for a suction FPC robot according to claim 1, characterized in that, The air pump connecting pipe (11) is connected to the left side of the outer wall of the end effector (10), and the clamp arm (12) slides up and down on both sides of the outer wall of the end effector (10).

8. An end effector for a suction FPC robot according to claim 1, characterized in that, The suction arm (15) and the clamp arm (12) are fixedly connected side by side to the bottom of the outer wall of the end effector (10) so that the suction head (16) and the hook (13) work together.

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