CN108297085B

CN108297085B - Multi-degree-of-freedom manipulator capable of accurately positioning and transferring and method for carrying tray by same

Info

Publication number: CN108297085B
Application number: CN201810276457.3A
Authority: CN
Inventors: 陈建魁; 姜玺
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2023-05-26
Anticipated expiration: 2038-03-30
Also published as: CN108297085A

Abstract

The invention belongs to the field of flexible electronic production related equipment, and discloses a multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical material tray, which comprises a first palm module, a second palm module, an alpha rotation module, an XZ two-axis translation module and an air path distribution unit, wherein the first palm module comprises a cover plate, a side plate, a positioning table and a vacuum air pipe joint device; the alpha rotating module comprises an alpha rotating connecting seat and a connecting shaft; the X Z two-axis translation module is arranged on the alpha rotation connecting seat, and the second palm module is arranged on the X Z two-axis translation module; the air channel distribution unit is arranged on the alpha rotation connecting seat and connected with the vacuum air channel, so as to realize the on-off control of the air flow channel and the air channel in the first palm module. The invention can realize accurate positioning of the material tray in a compact structure and convenient operation and control mode, and can obtain the adjustment of the palm space postures at the upper side and the lower side in a larger range, thereby improving the efficiency of pick-and-place operation.

Description

Multi-degree-of-freedom manipulator capable of accurately positioning and transferring and method for carrying tray by same

Technical Field

The invention belongs to the field of flexible electronic production related equipment, and particularly relates to a multi-degree-of-freedom manipulator for accurate positioning and transferring and a method for carrying a tray by the manipulator.

Background

With the improvement of industrial automation technology and the requirement of production efficiency, industrial robots are increasingly adopted in industrial production for processing production, and manipulators as the earliest industrial robots have been widely used in the fields of industrial production and manufacturing, medical treatment, military and the like. SMD (surface mounted device) trays, wafer discs and the like are common raw materials in the field of electronic packaging, and in the production process, transfer operations such as picking up, placing and the like are usually required to be performed on the trays, and the precision and the speed of the transfer operations directly affect the processing efficiency of the final product. However, the diameter and thickness of the tray are varied, and there is a problem in that pick-up and placement positions are inaccurate during transfer, so the manipulator structure should solve the positioning problem of various tray pick-and-place operations.

Some devices for handling a tray using a robot have been proposed in the prior art. But the existing material tray pick-and-place equipment adopts a clamping manipulator to take down the material tray from the goods shelf bin. In the scheme, the clamping manipulator is not provided with the positioning mechanism, the position of the clamping tray is changed each time, and the tray is likely to shift in the moving process, so that the accuracy of transferring the tray is greatly reduced, and the difficulty is brought to the subsequent blanking work; meanwhile, the scheme needs to have a special positioning structure at the position where the material tray is placed during blanking, is structurally complicated, and has high efficiency.

Disclosure of Invention

Aiming at the defects or improvement demands of the prior art, the invention provides the multi-degree-of-freedom manipulator for accurate positioning and transferring and the method for carrying the trays by the manipulator, which can realize the pick-and-place positioning work of the trays in a high-precision and convenient-to-operate mode.

In order to achieve the above object, according to the present invention, there is provided a multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical tray, which is characterized by comprising a first palm module, a second palm module, an α rotation module, an XZ two-axis translation module, and an air path distribution unit, wherein:

the first palm module comprises a cover plate, side plates, a positioning table and a vacuum air pipe joint device, wherein the cover plate comprises an upper plate and a lower plate, the upper plate is arranged on the lower plate, the side plates are arranged on the same side of the upper plate and the lower plate and are connected with the upper plate and the lower plate, one side of the upper plate, which is used for being contacted with a material disc, is provided with a plurality of material grooves so as to be convenient for receiving the material disc, each material groove is respectively provided with an air hole group, each air hole group is provided with a plurality of air passages and a plurality of air chambers which are communicated with the air passages, one side of the upper plate, which is contacted with the lower plate, is provided with a plurality of air passages and a plurality of air chambers which are communicated with the air passages, each air passage is respectively communicated with one air hole group through one air chamber, one side of the upper plate, which is contacted with the material disc is provided with a positioning table cavity, the positioning table is arranged in the positioning table cavity so as to be used for extending into the material disc, the lower plate is provided with an air flow passage which is communicated with the positioning table cavity so as to be convenient for controlling the air flow to control the positioning table, and the air passages are further communicated with the vacuum air pipe joint device, and the vacuum air pipe joint device is arranged on the air pipe joint device;

the alpha rotating module comprises an alpha rotating connecting seat and a connecting shaft, wherein the alpha rotating connecting seat is arranged on the side plate, and the connecting shaft is arranged on the alpha rotating connecting seat and is used for connecting the tail end of the robot and enabling the tail end of the robot to drive the alpha rotating connecting seat to rotate around the axis of the connecting shaft;

the X Z two-axis translation module is arranged on the alpha rotation connecting seat, and the second palm module is arranged on the X Z two-axis translation module and is used for driving the second palm module to move along the axial direction and the radial direction of the material tray, and the second palm module and the cover plate are arranged oppositely;

the air channel distribution unit is arranged on the alpha rotating connecting seat and connected with the vacuum air channel, so as to realize the on-off control of the air flow channel and the air channel in the first palm module.

Preferably, the positioning table is of a thin-wall structure and is formed by combining a small hollow cylinder at the upper part and a large hollow cylinder at the lower part, and correspondingly, the positioning table cavity is a stepped hole with a small upper part and a large lower part.

Preferably, a pressure sensor is arranged on one side, close to the cover plate, of the second palm module, so that the second palm module is used for conducting contact force numerical detection in contact with the tray, and the tray is prevented from being damaged by the second palm module.

Preferably, a distance sensor is arranged on one side of the second palm module, which is close to the cover plate, for detecting the distance between the second palm module and the picked-up tray.

Preferably, the first palm module and the second palm module are respectively provided with a photoelectric sensor, so as to be used for detecting whether an obstacle is blocked in the moving process of the multi-degree-of-freedom manipulator.

Preferably, the upper plate is provided with a photoelectric sensor at a position corresponding to the positioning table for detecting the position of the positioning table.

Preferably, the second palm module is detachably mounted on the XZ two-axis translation module.

According to another aspect of the present invention, there is also provided a method for handling a tray by using a multi-degree of freedom manipulator, comprising the steps of:

1) The multi-degree-of-freedom manipulator moves to the side of the tray to be picked up, and the height of the second palm module is adjusted according to the thickness of the tray;

2) The multi-degree-of-freedom manipulator continuously moves to enable the material tray to enter the material groove on the upper plate, and the air path distribution unit controls the positioning table on the lower plate in the first palm module to lift and extend into the material tray, so that the material tray is positioned;

3) The second palm module descends to the top of the material tray and is matched with the first palm module to clamp the material tray, and the air hole group is vacuumized to assist in clamping the material tray;

4) The multi-degree-of-freedom manipulator moves into the goods shelf compartment, the manipulator is driven by the robot to turn over 180 degrees through the alpha rotation module, meanwhile, the two-axis translation module drives the second palm module to move along the radial direction of the material tray to avoid the material tray, and the air hole group is internally ventilated to enable the material tray to fall down, and finally the material tray is placed at a designated position.

In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:

1) By designing the pick-and-place unit structure and the spatial arrangement of the pick-and-place unit structure of the manipulator, the precise positioning of the material tray can be realized in a manner of compact structure and convenient operation; translational degrees of freedom in two directions of the manipulator XZ and rotational degrees of freedom in the alpha direction can be used for obtaining a larger range of palm space posture adjustment on the upper side and the lower side, so that the efficiency of pick-and-place operation is improved;

2) Through carrying out the location to the tray center that picks up and puts the unit adoption as key subassembly, can set up the breach of corresponding size to adapt to not unidimensional charging tray, can improve device practicality greatly from this, promote and pick up and put operating efficiency.

3) By providing the pick-and-place unit with the pressure sensor and the distance sensor, the contact force and the distance from the material tray can be fed back in real time, phenomena such as breakage of the material tray and the like are prevented, the distance between the upper palm and the material tray can be further finely adjusted, and the position of the upper palm clamping working section can be more accurately determined;

4) Through improving the internal structure of the air path distribution device and the connection mode between the air path distribution device and each vacuum air path in the upper palm and the lower palm, the vacuum state in the upper palm and the lower palm can be controlled more flexibly and conveniently, and the high-sensitivity vacuum degree meeting the requirements is ensured to be provided.

Drawings

FIG. 1 is a schematic diagram of a precision positioning multiple degree of freedom manipulator gripper tray constructed in accordance with a preferred embodiment of the present invention;

FIG. 2 is an overall block diagram of the first palm module and the second palm module shown in FIG. 1;

FIG. 3 is a top plan view of the first palm module shown in FIG. 2;

FIG. 4 is a cross-sectional view of the first palm module shown in FIG. 3 taken along line A-A;

FIG. 5 is a general block diagram of the first palm module top board of FIG. 3;

FIG. 6 is a schematic diagram of the overall configuration of the α -turn module, XZ-shift module, and air circuit distribution device shown in FIG. 1;

fig. 7 is a flow chart of a multiple degree of freedom manipulator.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1 to 7, a multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical tray 6 includes a first palm module 1, a second palm module 2, an α rotation module 3, an XZ two-axis translation module 4 and an air path distribution unit 5, wherein:

the first palm module 1 comprises a cover plate, side plates 12, positioning tables 13 and a vacuum air pipe joint device 14, wherein the cover plate comprises an upper plate 10 and a lower plate 11, the upper plate 10 is arranged on the lower plate 11, the side plates 12 are arranged on the same side of the upper plate 10 and the lower plate 11 and are connected with the upper plate 10 and the lower plate 11, one side of the upper plate 10, which is used for being contacted with the material disc 6, is provided with a plurality of grooves so as to be convenient for receiving the material disc 6, each groove is respectively provided with an air hole group, each air hole group is provided with a plurality of air holes, one side of the upper plate 10, which is contacted with the lower plate 11, is provided with a plurality of air passages and a plurality of air chambers communicated with the air passages, the number of the air passages is the same as the number of the air hole groups, each air passage is respectively communicated with one air hole group through one air chamber, one side of the upper plate 10, which is contacted with the material disc 6, is provided with a positioning table cavity 13a, the positioning tables 13 are arranged in the positioning table cavity 13a, which is used for being stretched into the material disc 6, each air passage is provided with the air passage is positioned on the material disc 6, each air passage is connected with the vacuum air pipe joint device 14, and the vacuum air pipe joint device is positioned in the air passage is connected with the air passage device 14;

the α rotation module 3 includes an α rotation connection seat 30 and a connection shaft 31, the α rotation connection seat 30 is mounted on the side plate 12, and the connection shaft 31 is mounted on the α rotation connection seat 30, so as to connect the robot end and allow the robot end to drive the α rotation connection seat 30 to rotate around the axis of the connection shaft 31;

the XZ two-axis translation module 4 is mounted on the α rotation connection seat 30, and the second palm module 2 is mounted on the XZ two-axis translation module 4, so as to drive the second palm module 2 to move along the axial direction and the radial direction of the tray 6, where the second palm module 2 includes a flat plate 20, and the flat plate 20 is disposed opposite to the cover plate; referring to fig. 1 and 6, the X axis of the XZ two-axis translation module 4 coincides with the axis of the connecting shaft 31, and the Z axis coincides with the axis of the tray 6. Referring to fig. 3 and 4, the two tanks are a first semicircular tank 10a and a second semicircular tank 10b, which have different depths, the air hole groups on the first semicircular tank 10a and the second semicircular tank 10b are a plurality of first air holes 10d and a plurality of second air holes 10c, respectively, the second air passage 10e is communicated with the second air cavity 10h, the first air passage 10f is communicated with the second air holes 10c through the first air cavity 10g,

the air path distribution unit 5 is mounted on the α rotation connection base 30 and connected to a vacuum air path, so as to realize on-off control of an air flow channel and an air path in the first palm module 1.

Further, the positioning table 13 has a thin-wall structure, which is formed by combining a small hollow cylinder at the upper part and a large hollow cylinder at the lower part, and correspondingly, the positioning table cavity 13a has a stepped hole with a small upper part and a large lower part.

Further, a pressure sensor 15 is disposed on a side of the second palm module 2 close to the cover plate, so as to be used for contacting with the tray 6 to detect a contact force value, and prevent the second palm module 2 from damaging the tray 6.

Further, a distance sensor 16 is provided on a side of the second palm module 2 close to the cover plate for detecting a distance between the second palm module 2 and the picked-up tray 6.

Further, photoelectric sensors are respectively arranged on the first palm module 1 and the second palm module 2, so as to be used for detecting whether an obstacle is blocked in the moving process of the multi-degree-of-freedom manipulator.

Further, the upper plate 10 is provided with a photoelectric sensor at a position corresponding to the positioning table 13 for detecting the position of the positioning table 13.

Further, the second palm module 2 is detachably mounted on the XZ two-axis translation module 4.

According to another aspect of the present invention, there is also provided a method for handling a tray 6 by using the multi-degree of freedom manipulator, comprising the steps of:

1) The multi-degree-of-freedom manipulator moves beside the tray 6 to be picked up, and the height of the second palm module 2 is adjusted according to the thickness of the tray 6;

2) The multi-degree-of-freedom manipulator continues to move, so that the material tray 6 enters a trough on the upper plate 10, and the air path distribution unit 5 controls the positioning table 13 on the lower plate 11 in the first palm module 1 to lift and extend into the material tray 6, so that the material tray 6 is positioned;

3) The second palm module 2 descends to the top of the material tray 6 and is matched with the first palm module 1 to clamp the material tray 6, and the air hole group is vacuumized to assist in clamping the material tray 6;

4) The multi-degree-of-freedom manipulator moves into the goods shelf compartment, the manipulator is driven by the robot to turn over 180 degrees through the alpha rotating module 3, meanwhile, the two-axis translation module drives the second palm module 2 to move along the radial direction of the material tray 6 to avoid the material tray 6, and the air hole group is ventilated to enable the material tray 6 to fall down, and finally the material tray 6 is placed at a specified position.

During transfer of the tray 6, the pressure sensor 15 and the distance sensor 16 detect the contact force and distance of the feedback tray 6 at the moment during pick-up and placement.

The first palm module 1 and the second palm module 2 are used for realizing the functions of clamping and adsorbing the trays with different sizes by the mechanical arm and detecting the contact force and the distance of the feedback tray; the alpha rotating module 3 is arranged on one side of the first palm module 1, which is far away from the material tray, through an alpha rotating connecting seat 30 and is used for realizing the rotating degree of freedom of the manipulator around an X axis (which is parallel to the axis of the connecting shaft 31), namely the alpha direction; the XZ two-axis translation module 4 is connected with the second palm module 2 and is used for realizing the translational degree of freedom of the manipulator along the XZ two directions; the air channel distribution device 5 is arranged on the alpha rotation module 3 and is used for realizing the on-off control of the vacuum air channel in the first palm module 1 and the air supply of the air holes, and can provide the function of vacuum degree detection.

The pressure sensor 15 is arranged at the contact side of the first palm module 1 and the material tray and is opposite to the material tray, and is used for detecting the value of the contact force in the material tray picking process; the distance sensor 16 is arranged at the contact side of the first palm module 1 and the material tray and is opposite to the material tray, and is used for detecting and feeding back the distance between the upper plate 10 and the material tray so as to determine the position of the clamping working section; two photoelectric sensors 17 are arranged at one ends of the first palm module 1 and the second palm module 2, which are contacted with the material tray, and emit outwards to detect whether the movement of the manipulator is blocked or not; a photoelectric sensor 18 is installed at one side of the positioning stage cavity 13a for detecting whether the positioning stage 13 is protruded.

Referring to fig. 6, the air path distribution device 5 includes a cartridge type solenoid valve 50 and air pressure sensors 51, the cartridge type solenoid valve 50 is composed of 5 solenoid valves for controlling the respective air paths inside the first palm module 1 and the switch of the air cylinder 40 driving the second palm module 2 to translate, the air cylinder 40 is mounted on the air

cylinder connection seat

41, 3 air pressure sensors 51 are provided, each air pressure sensor 51 is used for detecting the vacuum degree of a single vacuum air path inside the upper plate 10, for confirming whether the vacuum degree is established effectively, and the corresponding solenoid valve and air pressure sensor 51 control the switch of the vacuum air path and detect the vacuum degree.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. Multi-degree-of-freedom manipulator for accurate positioning and transferring of light and thin cylindrical material trays is characterized by comprising a first palm module, a second palm module, an alpha rotation module, an XZ two-axis translation module and an air path distribution unit, wherein:

2. The multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical material tray according to claim 1, wherein the positioning table is of a thin-wall structure and is formed by combining a small hollow cylinder at the upper part and a large hollow cylinder at the lower part, and correspondingly, the positioning table cavity is a stepped hole with a small upper part and a large lower part.

3. The multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical material tray according to claim 1, wherein a pressure sensor is arranged on one side, close to the cover plate, of the second palm module for detecting the contact force value in contact with the material tray, so that the second palm module is prevented from damaging the material tray.

4. The multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical tray according to claim 1, wherein a distance sensor is arranged on one side of the second palm module close to the cover plate, so as to detect the distance between the second palm module and the picked tray.

5. The multi-degree-of-freedom manipulator for accurately positioning and transferring a light and thin cylindrical material tray according to claim 1, wherein photoelectric sensors are respectively arranged on the first palm module and the second palm module, so as to detect whether an obstacle is blocked in the moving process of the multi-degree-of-freedom manipulator.

6. The multi-degree-of-freedom manipulator for precise positioning and transferring of a light and thin cylindrical tray according to claim 1, wherein the upper plate is provided with a photoelectric sensor at a position corresponding to the positioning table for detecting the position of the positioning table.

7. The multi-degree-of-freedom manipulator for accurate positioning transfer of a lightweight and thin cylindrical tray according to claim 1, wherein the second palm module is detachably mounted on the XZ two-axis translation module.

8. The method for handling trays by the multi-degree of freedom manipulator according to any one of claims 1 to 7, comprising the steps of:

4) The multi-degree-of-freedom manipulator moves into the goods shelf compartment, the manipulator is driven by the robot to turn over 180 degrees through the alpha rotation module, meanwhile, the XZ two-axis translation module drives the second palm module to move along the radial direction of the material tray to avoid the material tray, and the air hole group is ventilated to enable the material tray to fall down, and finally the material tray is placed at a designated position.