CN108608460A - Mechanical arm configuration and robot - Google Patents
Mechanical arm configuration and robot Download PDFInfo
- Publication number
- CN108608460A CN108608460A CN201810366714.2A CN201810366714A CN108608460A CN 108608460 A CN108608460 A CN 108608460A CN 201810366714 A CN201810366714 A CN 201810366714A CN 108608460 A CN108608460 A CN 108608460A
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- CN
- China
- Prior art keywords
- horizontal
- detection sensor
- coordinate
- axis detection
- fork
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical arm configuration of present invention offer and robot, the machinery arm configuration include mechanical arm, horizontal fork, Z axis detection sensor and control assembly；The mechanical arm is connect with the connecting pin of the horizontal fork, and the Z axis detection sensor is set to the free end of the horizontal fork；The Z axis detection sensor is used to detect when the standard upright coordinate of free end when being under horizontality of the horizontal fork, and for detecting the vertical coordinate of reality when the horizontal fork uses；The control assembly is connect with the Z axis detection sensor to obtain the standard upright coordinate and the vertical coordinate of the reality, and the offset of the horizontal fork is judged according to the difference of the standard upright coordinate and the vertical coordinate of the reality.
Description
Technical field
The present invention relates to liquid crystal display panel manufacture fields, and in particular to a kind of machinery arm configuration and robot.
Background technology
Liquid crystal display panel industry toilet robot arm needs often carry full wafer glass substrate in small space
Pick and place piece action, the fork of bearing glass substrate is made of carbon fibre material at present, with good deformation resistant and
Recoverable force function.But still unavoidably there are the feelings that locking loosens in longtime running in fork fixed position in robot
Condition can cause fork is sagging to lose previous level in this way, can lead to glass substrate because fork is sagging when picking and placeing glass substrate
Crash.
Therefore, the prior art is defective, needs to improve.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of mechanical arm configuration and robot, with automatic detection level fork
The advantageous effect of offset of vertical amount.
An embodiment of the present invention provides a kind of mechanical arm configuration, including mechanical arm, horizontal fork, Z axis detection sensor with
And control assembly；
The mechanical arm is connect with the connecting pin of the horizontal fork, and the Z axis detection sensor is set to the level
The free end of fork；
The Z axis detection sensor is used to detect when the mark of free end when being under horizontality of the horizontal fork
Accurate vertical coordinate, and for detecting the vertical coordinate of reality when the horizontal fork uses；
The control assembly is connect with the Z axis detection sensor to obtain the standard upright coordinate and the reality
Vertical coordinate, and the inclined of the horizontal fork is judged according to the difference of the standard upright coordinate and the vertical coordinate of the reality
Shifting amount.
In mechanical arm configuration of the present invention, the horizontal fork includes a crossbeam and multiple horizontally-supported
Bar, the crossbeam are connect with the mechanical arm, and the multiple horizontal horizontal support bar is connect with the crossbeam respectively.
In mechanical arm configuration of the present invention, the multiple horizontal support bar is mutually parallel.
In mechanical arm configuration of the present invention, the multiple horizontal support bar respectively with the beam vertical.
In mechanical arm configuration of the present invention, the horizontal support bar is carbon fiber bar.
In mechanical arm configuration of the present invention, the upper surface of one end far from the crossbeam of the horizontal support bar
Be arranged it is fluted, the Z axis detection sensor be mounted on the groove in.
In mechanical arm configuration of the present invention, the mechanical arm includes at least two lever arms and at least one rotation
Turn joint；The two neighboring lever arm is connected by rotary joint.
A kind of robot, including robot body and the mechanical arm configuration that is set on the robot body, it is described
Mechanical arm configuration includes mechanical arm, horizontal fork, Z axis detection sensor and control assembly；
The mechanical arm is connect with the connecting pin of the horizontal fork, and the Z axis detection sensor is set to the level
The free end of fork；
The Z axis detection sensor is used to detect when the mark of free end when being under horizontality of the horizontal fork
Accurate vertical coordinate, and for detecting the vertical coordinate of reality when the horizontal fork uses；
The control assembly is connect with the Z axis detection sensor to obtain the standard upright coordinate and the reality
Vertical coordinate, and the inclined of the horizontal fork is judged according to the difference of the standard upright coordinate and the vertical coordinate of the reality
Shifting amount.
In robot of the present invention, the horizontal fork includes a crossbeam and multiple horizontal support bars, institute
It states crossbeam to connect with the mechanical arm, the multiple horizontal horizontal support bar is connect with the crossbeam respectively.
In robot of the present invention, the upper surface setting of one end far from the crossbeam of the horizontal support bar
Fluted, the Z axis detection sensor is mounted in the groove.
The present invention obtains the inclined of the horizontal fork in real time by the way that Z axis detection sensor is arranged in horizontal fork
Shifting amount can in time find when horizontal fork curved transitions or junction pine, glass substrate is avoided to hit
The generation of event
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of the mechanical arm configuration in some embodiments of the invention.
Fig. 2 is the structural schematic diagram of the robot in some embodiments of the invention.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, do not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.
In description of the invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be to be electrically connected or can mutually communicate to be mechanical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the interaction relationship of the connection or two elements inside two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Referring to Fig. 1, Fig. 1 is the schematic diagram of the mechanical arm configuration in some embodiments of the invention.The machinery arm configuration 100
Including mechanical arm 101, horizontal fork 102, Z axis detection sensor 103 and control assembly.
Wherein, which connect with the connecting pin of horizontal fork 102, and Z axis detection sensor 103 is set to the water
The free end of chain stay tool 102.The Z axis detection sensor 103 is used to detect when the horizontal fork is under horizontality
Free end standard upright coordinate, and the vertical coordinate of reality when being used for detection level fork 102.The control assembly
Connect with Z axis detection sensor 103 to obtain standard upright coordinate and practical vertical coordinate, and according to standard upright coordinate with
And the offset of the difference determined level fork 102 of practical vertical coordinate.When the control assembly detects the horizontal fork 102
When offset is more than threshold value, illustrates 102 curved transitions of horizontal fork of the machinery arm configuration, can not be continuing with, need to carry out
It replaces or repairs.
Specifically, which includes a crossbeam 1021 and multiple horizontal support bars 1022, the crossbeam
1021 connect with the mechanical arm 101, and the multiple horizontal support bar 1022 is connect with the crossbeam 1021 respectively.The level is pitched
When tool 102 is under intact serviceable condition, the crossbeam 1021 and multiple horizontal support bars 1022 are in same level
It is interior.The horizontal support bar 1022 of the horizontal fork 102 is used for placed thereon for display panel or glass substrate.
Wherein, the multiple horizontal support bar 1022 is mutually parallel, and multiple horizontal support bars 1022 respectively with the cross
Beam 1021 is vertical.
In some embodiments, the horizontal support bar 1022 and crossbeam 1021 all can be carbon fiber bars.
In some embodiments, the upper surface of one end of the separate crossbeam 1021 of the horizontal support bar 1022 is provided with recessed
Slot, the Z axis detection sensor 103 are mounted in the groove.
It is to be appreciated that in some embodiments, multiple horizontal support bar 1022 is located at one or two water at middle part
The Z axis detection sensor 103 is provided on flat supporting rod 1022.
It is to be appreciated that in some embodiments, the Z axis detection sensor is provided on each horizontal support bar 1022
103。
In some embodiments, which includes at least two lever arms 1011 and at least one rotary joint
1012；The two neighboring lever arm 1011 is connected by rotary joint 1012.So that the lever arm 1011 can surround
Rotary joint 1012 rotates in the horizontal plane.
Fig. 2 is please referred to, Fig. 2 is the structural schematic diagram of the robot in some embodiments of the invention.The robot includes machine
Device human agent 200 and the mechanical arm configuration 100 being set on the robot body 200.The machinery arm configuration 100 includes
Mechanical arm 101, horizontal fork 102, Z axis detection sensor 103 and control assembly.
Wherein, which connect with the connecting pin of horizontal fork 102, and Z axis detection sensor 103 is set to the water
The free end of chain stay tool 102.The Z axis detection sensor 103 is used to detect when the horizontal fork is under horizontality
Free end standard upright coordinate, and the vertical coordinate of reality when being used for detection level fork 102.The control assembly
Connect with Z axis detection sensor 103 to obtain standard upright coordinate and practical vertical coordinate, and according to standard upright coordinate with
And the offset of the difference determined level fork 102 of practical vertical coordinate.When the control assembly detects the horizontal fork 102
When offset is more than threshold value, illustrate 102 curved transitions of horizontal fork or the junction pine of the machinery arm configuration, the level
Fork 10 can not be continuing with, and replaced or repaired.
Specifically, which includes a crossbeam 1021 and multiple horizontal support bars 1022, the crossbeam
1021 connect with the mechanical arm 101, and the multiple horizontal support bar 1022 is connect with the crossbeam 1021 respectively.The level is pitched
When tool 102 is under intact serviceable condition, the crossbeam 1021 and multiple horizontal support bars 1022 are in same level
It is interior.The horizontal support bar 1022 of the horizontal fork 102 is used for placed thereon for display panel or glass substrate.
Wherein, the multiple horizontal support bar 1022 is mutually parallel, and multiple horizontal support bars 1022 respectively with the cross
Beam 1021 is vertical.
In some embodiments, the horizontal support bar 1022 and crossbeam 1021 all can be carbon fiber bars.
In some embodiments, the upper surface of one end of the separate crossbeam 1021 of the horizontal support bar 1022 is provided with recessed
Slot, the Z axis detection sensor 103 are mounted in the groove.
It is to be appreciated that in some embodiments, multiple horizontal support bar 1022 is located at one or two water at middle part
The Z axis detection sensor 103 is provided on flat supporting rod 1022.
It is to be appreciated that in some embodiments, the Z axis detection sensor is provided on each horizontal support bar 1022
103。
In some embodiments, which includes at least two lever arms 1011 and at least one rotary joint
1012；The two neighboring lever arm 1011 is connected by rotary joint 1012.So that the lever arm 1011 can surround
Rotary joint 1012 rotates in the horizontal plane.
In some embodiments, it is provided with acoustic-optic alarm on the robot body 200, when the curvature of the fork is super
When crossing threshold value, alarm or prompt are sent out automatically so that worker can be with on-call maintenance or replacement fork.
The present invention obtains the inclined of the horizontal fork in real time by the way that Z axis detection sensor is arranged in horizontal fork
Shifting amount can in time find when horizontal fork curved transitions or junction pine, glass substrate is avoided to hit
The generation of event
Mechanical arm configuration provided in an embodiment of the present invention and robot are described in detail above, it is used herein
Principle and implementation of the present invention are described for specific case, and the explanation of above example is only intended to help to understand this
Invention.Meanwhile for those skilled in the art, according to the thought of the present invention, in specific embodiments and applications
It will change, in conclusion the content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of machinery arm configuration, which is characterized in that including mechanical arm, horizontal fork, Z axis detection sensor and control group
Part；
The mechanical arm is connect with the connecting pin of the horizontal fork, and the Z axis detection sensor is set to the horizontal fork
Free end；
The Z axis detection sensor is used to detect when the standard of free end when being under horizontality of the horizontal fork is perpendicular
Straight coordinate, and for detecting the vertical coordinate of reality when the horizontal fork uses；
The control assembly connect vertical to obtain the standard upright coordinate and the reality with the Z axis detection sensor
Coordinate, and judge according to the difference of the standard upright coordinate and the vertical coordinate of the reality offset of the horizontal fork
Amount.
2. machinery arm configuration according to claim 1, which is characterized in that the horizontal fork includes a crossbeam and more
A horizontal support bar, the crossbeam are connect with the mechanical arm, and the multiple horizontal horizontal support bar connects with the crossbeam respectively
It connects.
3. machinery arm configuration according to claim 2, which is characterized in that the multiple horizontal support bar is mutually parallel.
4. it is according to claim 2 machinery arm configuration, which is characterized in that the multiple horizontal support bar respectively with the cross
Beam is vertical.
5. machinery arm configuration according to claim 2, which is characterized in that the horizontal support bar is carbon fiber bar.
6. machinery arm configuration according to claim 2, which is characterized in that the separate crossbeam of the horizontal support bar
The upper surface setting of one end is fluted, and the Z axis detection sensor is mounted in the groove.
7. it is according to claim 2 machinery arm configuration, which is characterized in that the mechanical arm include at least two lever arms with
And at least one rotary joint；The two neighboring lever arm is connected by rotary joint.
8. a kind of robot, which is characterized in that including robot body and the mechanical arm being set on the robot body
Structure, the machinery arm configuration includes mechanical arm, horizontal fork, Z axis detection sensor and control assembly；
The mechanical arm is connect with the connecting pin of the horizontal fork, and the Z axis detection sensor is set to the horizontal fork
Free end；
The Z axis detection sensor is used to detect when the standard of free end when being under horizontality of the horizontal fork is perpendicular
Straight coordinate, and for detecting the vertical coordinate of reality when the horizontal fork uses；
The control assembly connect vertical to obtain the standard upright coordinate and the reality with the Z axis detection sensor
Coordinate, and judge according to the difference of the standard upright coordinate and the vertical coordinate of the reality offset of the horizontal fork
Amount.
9. robot according to claim 8, which is characterized in that the horizontal fork includes a crossbeam and multiple water
Flat supporting rod, the crossbeam are connect with the mechanical arm, and the multiple horizontal horizontal support bar is connect with the crossbeam respectively.
10. robot according to claim 9, which is characterized in that one far from the crossbeam of the horizontal support bar
The upper surface setting at end is fluted, and the Z axis detection sensor is mounted in the groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366714.2A CN108608460A (en) | 2018-04-23 | 2018-04-23 | Mechanical arm configuration and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366714.2A CN108608460A (en) | 2018-04-23 | 2018-04-23 | Mechanical arm configuration and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108608460A true CN108608460A (en) | 2018-10-02 |
Family
ID=63660405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366714.2A Pending CN108608460A (en) | 2018-04-23 | 2018-04-23 | Mechanical arm configuration and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608460A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1891591A (en) * | 2005-07-06 | 2007-01-10 | 上海华虹Nec电子有限公司 | Manil putor automatic silicon-wafer grabbing system and method |
| CN101360589A (en) * | 2006-07-11 | 2009-02-04 | 株式会社安川电机 | Multijoint robot |
| JP2012212746A (en) * | 2011-03-31 | 2012-11-01 | Tokyo Electron Ltd | Substrate transfer device and substrate transfer method |
| CN103273494A (en) * | 2013-05-21 | 2013-09-04 | 深圳市华星光电技术有限公司 | Liquid crystal displayer substrate carrying device and using method thereof |
| CN107883773A (en) * | 2017-11-06 | 2018-04-06 | 武汉华星光电半导体显示技术有限公司 | Substrate bearing device and roasting plant |
-
2018
- 2018-04-23 CN CN201810366714.2A patent/CN108608460A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1891591A (en) * | 2005-07-06 | 2007-01-10 | 上海华虹Nec电子有限公司 | Manil putor automatic silicon-wafer grabbing system and method |
| CN101360589A (en) * | 2006-07-11 | 2009-02-04 | 株式会社安川电机 | Multijoint robot |
| JP2012212746A (en) * | 2011-03-31 | 2012-11-01 | Tokyo Electron Ltd | Substrate transfer device and substrate transfer method |
| CN103273494A (en) * | 2013-05-21 | 2013-09-04 | 深圳市华星光电技术有限公司 | Liquid crystal displayer substrate carrying device and using method thereof |
| CN107883773A (en) * | 2017-11-06 | 2018-04-06 | 武汉华星光电半导体显示技术有限公司 | Substrate bearing device and roasting plant |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181002 |
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| RJ01 | Rejection of invention patent application after publication |