CN110405802B - Display screen grabbing manipulator and control system - Google Patents
Display screen grabbing manipulator and control system Download PDFInfo
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- CN110405802B CN110405802B CN201910784824.5A CN201910784824A CN110405802B CN 110405802 B CN110405802 B CN 110405802B CN 201910784824 A CN201910784824 A CN 201910784824A CN 110405802 B CN110405802 B CN 110405802B
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- 238000001514 detection method Methods 0.000 claims abstract description 87
- 230000000712 assembly Effects 0.000 claims abstract description 31
- 238000000429 assembly Methods 0.000 claims abstract description 31
- 241000252254 Catostomidae Species 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims description 21
- 239000000463 material Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 14
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The display screen grabbing mechanical arm and the control system comprise a first action shaft assembly, a second action shaft assembly, a third action shaft assembly, a plurality of fourth action shaft assemblies and suckers; the first action shaft assembly, the second action shaft assembly and the third action shaft assembly are sequentially connected; the third action shaft assembly is connected with a plurality of fourth action shaft assemblies; the fourth action shaft component is connected with a sucker which can grab the display screen. The first action shaft assembly and the second action shaft assembly drive the sucker to move in the horizontal plane, and the third action shaft assembly drives the sucker to rotate in the horizontal plane, so that the display screen is in the horizontal plane of the sucker working space, and the position and the angle are adjusted at will; the fourth action shaft assembly drives the sucker to move up and down, so that a plurality of display screens can be grabbed at one time, and the display screens are placed into the detection jig one by one, namely the display screens can be synchronously grabbed and detected. The application provides a display screen snatchs manipulator, shafting simple structure, positioning accuracy is high, greatly provides the production efficiency of display screen.
Description
Technical Field
The application relates to the technical field of display screen production, in particular to a display screen grabbing manipulator and a control system.
Background
The display screen is an essential basic part of a mobile phone product, and in the production process of the display screen, the display screen is required to be placed in a detection jig for quality detection. The specific detection process is that before the display screen is assembled, the display screen is put into a detection jig, a test probe in the detection jig is in butt joint with a data signal interface of the display screen, and the display screen is subjected to tests such as lighting and cursor positioning.
In actual production, the traditional method for supplying the display screen to the detection jig is that the display screen is transported to a station of the detection table by a conveyor belt of the feeding machine, then the display screen is put into the detection jig on the detection table in a manual mode, and the working efficiency of the manual mode is low, for example, a worker cannot adapt to the feeding of the quick detection of the machine for a long time, so that the production efficiency of the display screen is greatly reduced. And the staff directly touches the display screen, so that the display screen is easy to damage, such as sweat stain pollution or scratch, thereby increasing the rejection rate of products and reducing the production efficiency of the display screen.
In summary, how to improve the production efficiency of the display screen and provide a feeding device for a display screen detection fixture are the problems to be solved by those skilled in the art.
Disclosure of Invention
The application provides a display screen snatchs manipulator and control system to solve the problem that display screen production efficiency is low.
The first aspect of the application provides a display screen grabbing manipulator, which comprises a first action shaft assembly, a second action shaft assembly, a third action shaft assembly, a plurality of fourth action shaft assemblies and a sucker;
the first action shaft assembly is connected with the detection table and the second action shaft assembly, and part of the first action shaft assembly extends to the upper part of the upper part table and can drive the second action shaft assembly to transversely move in the horizontal plane relative to the detection table;
the second action shaft assembly is connected with the third action shaft assembly; the third action shaft assembly can be driven to longitudinally move in the horizontal plane relative to the first action shaft assembly;
the third action shaft assembly is connected with a plurality of fourth action shaft assemblies and can drive the fourth action shaft assemblies to rotate in a horizontal plane relative to the second action shaft assemblies;
the fourth action shaft assembly is provided with a sucker which can be driven to move vertically; the sucker is used for grabbing the display screen.
Optionally, the first action shaft assembly includes a first linear guide rail and a first linear motor; the second action shaft assembly comprises a second linear guide rail and a second linear motor; the third action shaft assembly comprises a rotation shaft and a rotation motor; the fourth action shaft assembly comprises a third linear guide rail and a third linear motor;
the first linear guide rail is arranged on the detection table, and one end of the first linear guide rail extends to the upper part of the feeding table; the primary of the first linear motor is fixed on the first linear guide rail, and the secondary of the first linear motor can be movably connected with the first linear guide rail;
the secondary of the first linear motor is connected with the primary of the second linear motor, and can drive the second linear motor to transversely move in the horizontal plane; the secondary of the second linear motor is connected with the secondary of the first linear motor through a second linear guide rail;
the secondary of the second linear motor is connected with the stator of the rotary motor and can drive the rotary motor to longitudinally move in the horizontal plane; the rotor of the rotating motor is connected with the secondary of the second linear motor through a rotating shaft;
the rotor of the rotating motor is connected with the primary of the third linear motor and can drive the third linear motor to rotate in the horizontal plane; the secondary of the third linear motor is connected with the rotor of the rotary motor through a third linear guide rail.
Optionally, the second action shaft assembly further comprises a first connecting plate, and the secondary of the second linear motor is connected with the second linear guide rail and the rotating shaft through the first connecting plate.
Optionally, the third action shaft assembly further comprises a second connecting plate, and the rotor of the rotating motor is connected with the rotating shaft and the plurality of fourth action shaft assemblies through the second connecting plate.
Optionally, the secondary of the first linear motor is also connected with a cylinder, a pressure regulating valve, a barometer, a filter and an electromagnetic valve;
the cylinder is connected with the pressure regulating valve through the gas pipe, the pressure regulating valve is connected with the plurality of filters, and a barometer is arranged between the pressure regulating valve and the filters; the filter is connected with the sucker through the electromagnetic valve.
Optionally, the system also comprises an industrial personal computer, a controller and a detection camera; the detection camera is arranged on the detection table and is positioned right above the detection jig, and the detection camera is used for detecting the position of the display screen;
the industrial personal computer is connected with the detection camera and the controller and is used for providing control parameters for the controller, and the industrial personal computer and the controller are arranged on the detection table;
the controller is connected with the first linear motor, the second linear motor, the rotating motor and the plurality of third linear motors, and is used for providing control signals.
The second aspect of the application provides a control system of a grabbing manipulator, which comprises an industrial personal computer, a controller, a driver and a power module;
the power module is connected with the industrial personal computer, the controller and the driver and is used for providing power;
the industrial personal computer is connected with the detection camera, the controller and the barometer, and the barometer is used for providing air pressure parameters of the filter for the industrial personal computer; the detection camera is used for providing display screen position information for the industrial personal computer; the industrial personal computer is used for providing control parameters for the controller;
the controller is connected with the driver and used for providing a control signal; the controller is connected with the air cylinder, the pressure regulating valve and the electromagnetic valve and is used for providing control signals;
the driver is connected with the first linear motor, the second linear motor, the rotating motor and the third linear motors and is used for providing driving signals and driving force.
The display screen grabbing manipulator comprises a first action shaft assembly, a second action shaft assembly, a third action shaft assembly, a plurality of fourth action shaft assemblies and a sucker; the first action shaft assembly is connected with the detection table and the second action shaft assembly, and part of the first action shaft assembly extends to the upper part of the upper table and can drive the second action shaft assembly to transversely move in the horizontal plane relative to the detection jig; the second action shaft assembly is connected with the third action shaft assembly; the third action shaft assembly can be driven to longitudinally move in the horizontal plane relative to the first action shaft assembly; the third action shaft assembly is connected with a plurality of fourth action shaft assemblies and can drive the fourth action shaft assemblies to rotate in a horizontal plane relative to the second action shaft assemblies; the fourth action shaft assembly is provided with a sucker which can be driven to move vertically; the sucker is used for grabbing the display screen.
The display screen on the sucker is driven to move in the horizontal plane by the first action shaft assembly and the second action shaft assembly, and the display screen of the sucker is driven to rotate in the horizontal plane by the third action shaft assembly, so that the display screen can be positioned in the horizontal plane of the sucker working space and the position and angle can be adjusted at will; the display screen is driven to move up and down through the fourth action shaft assembly, so that the display screen can be placed in the detection jig, suction cups are arranged on the fourth action shaft assemblies, a plurality of display screens are grabbed at one time, and the display screens are placed in the detection jigs one by one, namely synchronous grabbing and synchronous detection of the display screens are realized. The application provides a display screen snatchs manipulator through a plurality of display screen sucking discs of installation at multiaxis manipulator end, realizes once snatching a plurality of display screens, and shafting simple structure, positioning accuracy is high, greatly provides the production efficiency of display screen.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic view of an installation scene of a display screen grabbing manipulator;
fig. 2 is a schematic diagram of the overall structure of the display screen grabbing manipulator;
FIG. 3 is a schematic view of a partial structure of a display screen grabbing manipulator;
FIG. 4 is a schematic view of a partial planar structure of a display screen grabbing manipulator;
FIG. 5 is a schematic view of a first motion shaft assembly of the display screen grabbing manipulator;
FIG. 6 is a schematic diagram of a second motion axis assembly of the display screen grabbing manipulator;
fig. 7 is a schematic structural diagram of a third motion shaft assembly and a fourth motion shaft assembly of the display screen grabbing manipulator;
fig. 8 is a schematic diagram of a sucker structure of the display screen grabbing manipulator;
fig. 9 is a schematic diagram of a detection camera structure of the display screen grabbing manipulator;
FIG. 10 is a schematic diagram of the electrical principle of the display screen grabbing manipulator control system;
illustration of:
wherein 1-first action shaft assembly, 11-first linear guide rail, 12-first linear motor, 2-second action shaft assembly, 21-second linear guide rail, 22-second linear motor, 23-first connecting plate, 3-third action shaft assembly, 31-rotation shaft, 32-rotation motor, 33-second connecting plate, the device comprises a 4-fourth action shaft assembly, a 41-third linear guide rail, a 42-third linear motor, a 5-sucker, a 51-cylinder, a 52-pressure regulating valve, a 53-barometer, a 54-filter, a 55-electromagnetic valve, a 6-industrial personal computer, a 7-controller, an 8-detection camera, a 9-feeding table, a 10-detection table and a 101-detection jig.
Detailed Description
Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the examples below do not represent all embodiments consistent with the present application. Merely as examples of systems and methods consistent with some aspects of the present application as detailed in the claims.
Referring to fig. 1, a schematic view of an installation scene of a display screen grabbing manipulator is shown.
Fig. 2 is a schematic diagram of the overall structure of the display screen grabbing manipulator.
The application provides a display screen snatchs manipulator, including first action axle subassembly 1, second action axle subassembly 2, third action axle subassembly 3, a plurality of fourth action axle subassembly 4 and sucking disc 5.
The first action shaft assembly 1 is connected with the detection table 10 and the second action shaft assembly 2, and a part of the first action shaft assembly 1 extends above the feeding table 9, so that the second action shaft assembly 2 can be driven to horizontally and transversely move relative to the detection table 10.
The second action shaft assembly 2 is connected with the third action shaft assembly 3; and can drive the third actuating shaft assembly 3 to horizontally and longitudinally move relative to the first actuating shaft assembly 1.
The third motion shaft assembly 3 is connected with a plurality of fourth motion shaft assemblies 4, and can drive the fourth motion shaft assemblies 4 to horizontally rotate relative to the second motion shaft assembly 2.
The fourth action shaft assembly 4 is provided with a sucker 5, and the sucker 5 can be driven to move vertically; the sucker 5 is used for grabbing a display screen.
In this embodiment, the first actuating shaft assembly 1 is disposed on the detection table 10, but is not limited to being disposed on the detection table 10, and a manipulator base may be separately disposed for supporting the first actuating shaft assembly 1. The first action shaft assembly 1 is directly arranged on the detection table 10, so that the space occupation of the manipulator can be reduced, and the whole structure is more compact.
Further, the first motion shaft assembly 1 is located above the detection jig 101, and has a portion extending above the upper stage 9, the second motion shaft assembly 2 is movably connected to the second motion shaft assembly 1, and the second motion shaft assembly 2 can move laterally in a horizontal plane relative to the detection jig 101, that is, in an X-axis direction of the three-dimensional space coordinate system.
Further, the third motion shaft assembly 3 is movably connected to the second motion shaft assembly 2, and the third motion shaft assembly 3 can move longitudinally in a horizontal plane relative to the first motion shaft assembly 1, that is, in a Y-axis direction of a three-dimensional space coordinate system, so that the third motion shaft assembly 3 can move arbitrarily in a horizontal plane of a working space through the first motion shaft assembly 1 and the second motion shaft assembly 2.
Further, the third motion shaft assembly 3 is provided with a plurality of fourth motion shaft assemblies 4, and the third motion shaft assembly 3 is a rotation shaft assembly and can drive the fourth motion shaft assembly 4 to rotate in a horizontal plane.
Further, a plurality of fourth action shaft assemblies 4 are provided with suction cups 5, and the fourth action shaft assemblies 4 can drive the suction cups to move in the vertical direction.
Further, the suction cup 5 is used as a manipulator end assembly for grabbing (adsorbing) the display screen, and the manipulator with a multi-axis structure can be moved to any position in the manipulator working space and can perform angular rotation in a horizontal plane.
The display screen grabbing manipulator comprises a first action shaft assembly 1, a second action shaft assembly 2, a third action shaft assembly 3, a plurality of fourth action shaft assemblies 4 and a sucker 5; the first action shaft assembly 1 is connected with the detection table 10 and the second action shaft assembly 2, and a part of the first action shaft assembly 1 extends above the feeding table 9 and can drive the second action shaft assembly 2 to transversely move in a horizontal plane relative to the detection jig 101; the second action shaft assembly 2 is connected with the third action shaft assembly 3; the third action shaft assembly 3 can be driven to longitudinally move in the horizontal plane relative to the first action shaft assembly 1; the third action shaft assembly 3 is connected with a plurality of fourth action shaft assemblies 4, and can drive the fourth action shaft assemblies 4 to horizontally rotate relative to the second action shaft assembly 2; the fourth action shaft assembly 4 is provided with the sucker 5, and can drive the sucker 5 to move vertically; the sucker 5 is used for grabbing a display screen.
The display screen on the sucker 5 is driven to move in the horizontal plane by the first action shaft assembly 1 and the second action shaft assembly 2, and the display screen of the sucker 5 is driven to rotate in the horizontal plane by the third action shaft assembly 3, so that the display screen can be randomly adjusted in position and angle in the horizontal plane of the working space of the sucker 5; the display screen is driven to move up and down through the fourth action shaft assembly 4, so that the display screen can be placed into the detection jig 101, the suckers 5 are arranged on the fourth action shaft assembly 4, a plurality of display screens are grabbed at one time, and the display screens are placed into the detection jigs 101 one by one, namely synchronous grabbing and synchronous detection of the display screens are realized. The application provides a display screen snatchs manipulator through a plurality of display screens of installation at multiaxis manipulator end sucking disc 5 realizes once snatching a plurality of display screens, and shafting simple structure, positioning accuracy is high, greatly provides the production efficiency of display screen.
Referring to fig. 3, a schematic diagram of a partial structure of the display screen grabbing manipulator is shown.
Referring to fig. 4, a schematic view of a partial planar structure of the display screen grabbing manipulator is shown.
Referring to fig. 5, a schematic structural diagram of a first motion shaft assembly of the display screen grabbing manipulator is shown.
The grabbing mechanical arm provided by the application, the first action shaft assembly 1 comprises a first linear guide rail 11 and a first linear motor 12; the second motion shaft assembly 2 comprises a second linear guide rail 21 and a second linear motor 22; the third action shaft assembly 3 includes a rotation shaft 31 and a rotation motor 32; the fourth motion shaft assembly 4 includes a third linear guide 41 and a third linear motor 42.
The first linear guide rail 11 is arranged on the detection table 10, and one end of the first linear guide rail 11 extends to the upper part of the upper material table; the primary of the first linear motor 12 is fixed on the first linear guide rail 11, and the secondary of the first linear motor 12 is movably connected with the first linear guide rail 11.
The secondary of the first linear motor 12 is connected with the primary of the second linear motor 22, and can drive the second linear motor 22 to transversely move in the horizontal plane; the secondary of the second linear motor 22 is connected to the secondary of the first linear motor 12 via the second linear guide 21.
The secondary of the second linear motor 22 is connected with the stator of the rotating motor 32, and can drive the rotating motor 32 to longitudinally move in the horizontal plane; the mover of the rotary motor 32 is connected to the secondary side of the second linear motor 22 through the rotary shaft 31.
The rotor of the rotating motor 32 is connected with the primary of the third linear motor 42, and can drive the third linear motor 42 to rotate in the horizontal plane; the secondary side of the third linear motor 42 is connected to the rotor of the rotary motor 32 via the third linear guide 41.
In this embodiment, the first linear motor 12, the second linear motor 22 and the third linear motor 42 are linear motors, and the linear motors are a transmission device that directly converts electric energy into linear motion mechanical energy without any intermediate conversion mechanism, and can be regarded as a rotary motor that is split according to a radial direction and generates a plane.
The side from which the stator of the rotating electrical machine evolves is called primary and the side from which the rotor of the rotating electrical machine evolves is called secondary. In practice, the primary and secondary are manufactured in different lengths to ensure that the coupling between the primary and secondary remains unchanged over the required range of travel. The linear motor may be a short primary long secondary or a long primary short secondary.
Further, the first linear guide 11 is disposed on the detection table, the first linear guide 11 extends at least to the upper portion of the detection tool 101 and the feeding table 9, the primary of the first linear motor 12 is fixed on the first linear guide 11, and the secondary of the first linear motor 12 is movably connected to the first linear guide 11, so that the secondary of the first linear motor 12 is on the first linear guide 11 and can translate relative to the primary of the first linear motor 12.
Further, other connection components, such as a connection board, may be further disposed on the secondary side of the first linear motor 12, and other working components, such as a circuit structure for driving the motor to work or a mounting seat for mounting the second linear motor 22, may be disposed on the connection component.
Further, the secondary of the first linear motor 12 is fixedly connected with the primary of the second linear motor 22, and the second linear motor 22 can be driven by the secondary motion of the first linear motor 12 to move transversely in the horizontal plane, i.e. can be regarded as moving in the X-axis direction in the three-dimensional space coordinate system.
Further, the second linear guide 21 is mounted on the secondary side of the first linear motor 12, and the secondary side of the second linear motor 22 is movably connected to the second linear guide 21, and the secondary side of the second linear motor 22 can move longitudinally in a horizontal plane relative to the secondary side of the first linear motor 12, that is, can be regarded as moving in the Y-axis direction in the three-dimensional space coordinate system.
Further, the stator of the rotating motor 32 is fixedly connected to the secondary of the second linear motor 22, and can move along with the secondary of the second linear motor 22, so as to drive the rotating motor 32 to longitudinally move in a horizontal plane, and the secondary of the rotating motor 32 is connected to the secondary of the second linear motor 22 through the rotating shaft 31, so that the secondary of the rotating motor 32 can horizontally rotate relative to the secondary of the second linear motor 22.
Further, the primary of the third linear motor 42 is fixedly connected to the secondary of the rotating motor 32, and can follow the secondary rotation of the rotating motor 32, so as to drive the third linear motor 42 to rotate in the horizontal plane.
The third linear guide 41 is fixedly connected to the secondary of the rotary motor 32, and the secondary of the third linear motor 42 is movably connected to the third linear guide 41, so that the secondary of the third linear motor 42 can move in the paper feeding direction relative to the secondary of the rotary motor 32.
Referring to fig. 6, a schematic structural diagram of a second motion shaft assembly of the display screen grabbing manipulator is shown.
The grabbing mechanical arm provided by the application, the second action shaft assembly 2 further comprises a first connecting plate 23, and the secondary side of the second linear motor 22 is connected with the second linear guide rail 21 and the rotating shaft 31 through the first connecting plate 23.
In this embodiment, one surface of the first connecting plate 23 is connected to the secondary of the second linear motor 22 and the second linear rail 21, and the other surface is connected to the rotating shaft 31, and the secondary of the second linear motor 22 and the rotating shaft 31 are connected by the first connecting plate 23. The first connection plate 23 is provided to increase the connection range of the secondary of the two linear motors 22 so that it has sufficient space to connect other components.
Referring to fig. 7, a schematic structural diagram of a third action shaft assembly and a fourth action shaft assembly of the display screen grabbing manipulator is shown.
The grabbing mechanical arm provided by the application, the third action shaft assembly 3 further comprises a second connecting plate 33, and the rotor of the rotating motor 32 is connected with the rotating shaft 31 and the fourth action shaft assemblies 4 through the second connecting plate 33.
In this embodiment, the second connection plate 33 is connected to the rotation shaft 31, the mover of the rotating electrical machine 32, and the plurality of fourth motion shaft assemblies 4, and the purpose of the second connection plate 33 is to increase the connection range of the rotor of the rotating electrical machine 32, so that there is enough space for connecting other components, such as connecting a plurality of fourth motion shaft assemblies 4.
Referring to fig. 8, a schematic diagram of a sucker structure of a display screen grabbing manipulator is shown.
The grabbing manipulator provided by the application, the secondary of the first linear motor 12 is also connected with a cylinder 51, a pressure regulating valve 52, a barometer 53, a filter 54 and a solenoid valve 55.
The cylinder 51 is connected to the pressure regulating valve 52 via a gas pipe, the pressure regulating valve 52 is connected to the plurality of filters 54, and a barometer 53 is provided between the pressure regulating valve 52 and the filters 54. The filter 54 is connected to the suction cup 5 through the solenoid valve 55.
In this embodiment, the cylinder 51 is disposed on the secondary side of the first linear motor 12, but may be disposed directly on the detection table 10, or may be disposed directly on the detection table 10, so that the workload of the first operation shaft assembly 1 may be reduced, but a long gas pipe is required to be connected to the pressure regulating valve 52. The cylinder 51 is arranged on the secondary side of the first linear motor 12, so that the cylinder 51 can move along with the secondary side of the first linear motor 12, and a longer air pipe is avoided. If the gas pipe is longer, the gas pipe is easy to wind other parts in the working process of the manipulator.
The air cylinder 51 is connected with the pressure regulating valve 52 and is used for providing power, the pressure regulating valve 52 is used for regulating the air pressure in the air delivery pipe, and the sucker 5 is ensured to have stable adsorption force. The pressure regulating valve 52 is connected with a plurality of filters 54, and a barometer 53 is provided between the plurality of filters 54 and the pressure regulating valve 52, and the barometer 53 detects the air pressure in the air pipe.
The filters 54 are respectively connected with the suction cups through the electromagnetic valves 55, and the operation of the suction cups 5 is controlled through the electromagnetic valves 55.
Referring to fig. 9, a schematic diagram of a detection camera of the display screen grabbing manipulator is shown.
The application provides a snatch manipulator still includes industrial computer 6, controller 7 and detects camera 8. The detection camera 8 is arranged on the detection table 10 and is positioned right above the detection jig 101, and the detection camera 8 is used for detecting the position of the display screen.
The detection camera 8 is used for detecting the position of the display screen grabbed by the sucker 5, specifically detecting the position of the data signal interface on the display screen, and when the sucker 5 places the display screen into the detection jig 101, the data signal interface of the display screen needs to be abutted to the test probe of the detection jig 101.
The industrial personal computer 6 is connected with the detection camera 8 and the controller 7, and is used for providing control parameters for the controller 7, and the industrial personal computer 6 and the controller 7 are arranged on the detection table 10.
The controller 7 is connected to the first linear motor 12, the second linear motor 22, the rotary motor 32 and the plurality of third linear motors 42, and the controller 7 is configured to provide control signals.
In this embodiment, the detection camera 8 detects the position of the display screen captured by the suction cup 5 and sends the detected position information to the industrial personal computer 6, and the detection camera 8 is located right above the detection jig 101 and is detected by the detection camera 8.
Further, the industrial personal computer 6 and the controller 7 are disposed on the detection table 10, parameters of the suction cup to be adjusted are calculated by the industrial personal computer 6, a control signal is generated and sent to the controller 7, and the controller 7 generates a driving signal according to the control signal.
Further, the industrial personal computer 6 is a processor with storage and computing capabilities, such as a computer. The controller 7 is a PLC (Programmable Logic Controller ).
Further, the controller 7 is electrically connected to the first linear motor 12, the second linear motor 22, the rotary motor 32, and a plurality of third linear motors 42 for providing control signals and driving power to the respective motors.
Referring to fig. 10, an electrical schematic diagram of a control system of a display screen grabbing manipulator is shown.
The control system of the grabbing manipulator comprises an industrial personal computer, a controller, a driver and a power module; the power module is connected with the industrial personal computer, the controller and the driver and is used for providing power.
The industrial personal computer is connected with the detection camera, the controller and the barometer, and the barometer is used for providing air pressure parameters of the filter for the industrial personal computer; the detection camera is used for providing display screen position information for the industrial personal computer; the industrial personal computer is used for providing control parameters for the controller.
The controller is connected with the driver and used for providing control signals; the controller is connected with the air cylinder, the pressure regulating valve and the electromagnetic valve and is used for providing control signals.
The driver is connected with the first linear motor, the second linear motor, the rotating motor and the third linear motors and is used for providing driving signals and driving force.
In this embodiment of the application, control system is used for control snatch the manipulator, industrial computer connects detection camera and, controller and barometer, through receiving the gas-supply intraductal atmospheric pressure value that the barometer detected to control cylinder, air-vent valve and solenoid valve through the controller.
Further, the driver is a motor controller, and one controller may be used to control a plurality of motors (a first linear motor, a second linear motor, a rotary motor, and a third linear motor). Four motors may also be controlled separately using 4 drives.
The detection camera is used for detecting the position of the display screen grabbed by the sucker 5, specifically detecting the position of the data signal interface on the display screen, and when the sucker 5 places the display screen into the detection jig, the data signal interface of the display screen needs to be abutted against a test probe of the detection jig.
The display screen grabbing manipulator comprises a first action shaft assembly 1, a second action shaft assembly 2, a third action shaft assembly 3, a plurality of fourth action shaft assemblies 4 and a sucker 5; the first action shaft assembly 1 is connected with the detection table 10 and the second action shaft assembly 2, and a part of the first action shaft assembly 1 extends above the feeding table 9 and can drive the second action shaft assembly 2 to transversely move in a horizontal plane relative to the detection jig 101; the second action shaft assembly 2 is connected with the third action shaft assembly 3; the third action shaft assembly 3 can be driven to longitudinally move in the horizontal plane relative to the first action shaft assembly 1; the third action shaft assembly 3 is connected with a plurality of fourth action shaft assemblies 4, and can drive the fourth action shaft assemblies 4 to horizontally rotate relative to the second action shaft assembly 2; the fourth action shaft assembly 4 is provided with the sucker 5, and can drive the sucker 5 to move vertically; the sucker 5 is used for grabbing a display screen.
The display screen on the sucker 5 is driven to move in the horizontal plane by the first action shaft assembly 1 and the second action shaft assembly 2, and the display screen of the sucker 5 is driven to rotate in the horizontal plane by the third action shaft assembly 3, so that the display screen can be randomly adjusted in position and angle in the horizontal plane of the working space of the sucker 5; the display screen is driven to move up and down through the fourth action shaft assembly 4, so that the display screen can be placed into the detection jig 101, the suckers 5 are arranged on the fourth action shaft assembly 4, a plurality of display screens are grabbed at one time, and the display screens are placed into the detection jigs 101 one by one, namely synchronous grabbing and synchronous detection of the display screens are realized. The application provides a display screen snatchs manipulator through a plurality of display screens of installation at multiaxis manipulator end sucking disc 2 realizes once snatching a plurality of display screens, and shafting simple structure, positioning accuracy is high, greatly provides the production efficiency of display screen.
The foregoing detailed description of the embodiments is merely illustrative of the general principles of the present application and should not be taken in any way as limiting the scope of the invention. Any other embodiments developed in accordance with the present application without inventive effort are within the scope of the present application for those skilled in the art.
Claims (4)
1. The display screen grabbing manipulator is characterized by comprising a first action shaft assembly (1), a second action shaft assembly (2), a third action shaft assembly (3), a plurality of fourth action shaft assemblies (4) and a sucker (5);
the first action shaft assembly (1) is connected with the detection table (10) and the second action shaft assembly (2), and a part of the first action shaft assembly (1) extends to the upper part of the feeding table (9) and can drive the second action shaft assembly (2) to transversely move in the horizontal plane relative to the detection table (10);
the second action shaft assembly (2) is connected with the third action shaft assembly (3); the third action shaft assembly (3) can be driven to longitudinally move in the horizontal plane relative to the first action shaft assembly (1);
the third action shaft assembly (3) is connected with a plurality of fourth action shaft assemblies (4) and can drive the fourth action shaft assemblies (4) to rotate in a horizontal plane relative to the second action shaft assembly (2);
the fourth action shaft assembly (4) is provided with a sucker (5) which can drive the sucker (5) to move vertically; the sucker (5) is used for grabbing a display screen;
wherein the first action shaft assembly (1) comprises a first linear guide rail (11) and a first linear motor (12); the second action shaft assembly (2) comprises a second linear guide rail (21) and a second linear motor (22); the third action shaft assembly (3) comprises a rotating shaft (31) and a rotating motor (32); the fourth action shaft assembly (4) comprises a third linear guide rail (41) and a third linear motor (42);
the first linear guide rail (11) is arranged on the detection table (10), and one end of the first linear guide rail (11) extends to the upper part of the upper material table; the primary of the first linear motor (12) is fixed on the first linear guide rail (11), and the secondary of the first linear motor (12) is movably connected with the first linear guide rail (11);
the secondary of the first linear motor (12) is connected with the primary of the second linear motor (22) and can drive the second linear motor (22) to transversely move in the horizontal plane; the secondary of the second linear motor (22) is connected with the secondary of the first linear motor (12) through the second linear guide rail (21);
the secondary of the second linear motor (22) is connected with the stator of the rotating motor (32) and can drive the rotating motor (32) to longitudinally move in the horizontal plane; the rotor of the rotating motor (32) is connected with the secondary of the second linear motor (22) through the rotating shaft (31);
the rotor of the rotating motor (32) is connected with the primary of the third linear motor (42) and can drive the third linear motor (42) to rotate in the horizontal plane; the secondary of the third linear motor (42) is connected with the rotor of the rotating motor (32) through the third linear guide rail (41);
the display screen grabbing manipulator further comprises an industrial personal computer (6), a controller (7) and a detection camera (8);
the detection camera (8) is arranged on the detection table (10) and is positioned right above the detection jig (101), and the detection camera (8) is used for detecting the position of the display screen and sending the detected position information to the industrial personal computer (6);
the industrial personal computer (6) is connected with the detection camera (8) and the controller (7) and is used for providing control parameters for the controller (7), the industrial personal computer (6) and the controller (7) are arranged on the detection table (10), parameters of the suction cup to be adjusted are calculated by the industrial personal computer (6) according to the detected position information, a control signal is generated and sent to the controller (7), and the controller (7) generates a driving signal according to the control signal;
the controller (7) is connected with the first linear motor (12), the second linear motor (22), the rotating motor (32) and the plurality of third linear motors (42) to generate driving signals to the controller (7) according to control signals and output the driving signals to the first linear motor (12), the second linear motor (22), the rotating motor (32) and the plurality of third linear motors (42), so that the display screen on the sucker (5) is driven to move in a horizontal plane through the first action shaft assembly (1) and the second action shaft assembly (2), and the display screen of the sucker (5) is driven to rotate in the horizontal plane through the third action shaft assembly (3), so that the position and the angle of the display screen can be adjusted in the horizontal plane of the working space of the sucker (5) at will; the display screen is driven to move up and down through the fourth action shaft assembly (4), so that the display screen is placed in the detection jig (101);
the fourth action shaft assemblies (4) are provided with suckers (5) so as to grasp a plurality of display screens at a time, and the display screens are placed into a plurality of detection jigs (101) one by one so as to grasp and synchronously detect the display screens.
2. The grasping manipulator according to claim 1, wherein the second action shaft assembly (2) further includes a first connection plate (23), and the secondary side of the second linear motor (22) is connected to the second linear guide (21) and the rotation shaft (31) through the first connection plate (23).
3. The grasping manipulator according to claim 1, wherein the third action shaft assembly (3) further includes a second connection plate (33), and the mover of the rotary motor (32) connects the rotary shaft (31) and the plurality of fourth action shaft assemblies (4) through the second connection plate (33).
4. The grabbing manipulator according to claim 1, characterized in that the secondary side of the first linear motor (12) is further connected with a cylinder (51), a pressure regulating valve (52), a barometer (53), a filter (54) and a solenoid valve (55);
the air cylinder (51) is connected with the pressure regulating valve (52) through an air pipe, the pressure regulating valve (52) is connected with a plurality of filters (54), and an air pressure gauge (53) is arranged between the pressure regulating valve (52) and the filters (54);
the filter (54) is connected with the sucker (5) through the electromagnetic valve (55).
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| CN201910784824.5A CN110405802B (en) | 2019-08-23 | 2019-08-23 | Display screen grabbing manipulator and control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910784824.5A CN110405802B (en) | 2019-08-23 | 2019-08-23 | Display screen grabbing manipulator and control system |
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| CN110405802A CN110405802A (en) | 2019-11-05 |
| CN110405802B true CN110405802B (en) | 2024-01-26 |
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| CN113634503A (en) * | 2021-08-12 | 2021-11-12 | 蚌埠市高远光电有限公司 | Automatic clamping and sorting mechanism and method for LCD (liquid crystal display) |
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| CN110405802A (en) | 2019-11-05 |
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