CN114700931A

CN114700931A - Large glass substrate carrying robot system and modular design method thereof

Info

Publication number: CN114700931A
Application number: CN202210304934.9A
Authority: CN
Inventors: 袁晓芳; 季炜铭
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-07-05

Abstract

The invention discloses a large-scale glass substrate carrying robot system, which comprises an auxiliary module, a mechanical arm module and a functional module, wherein the auxiliary module is used for conveying glass substrates; the auxiliary module comprises a base module and a sliding module; the mechanical arm module comprises a joint module and an arm module; the functional module comprises an adsorption module and a clamping module; the invention also discloses a modular design method of the large glass substrate carrying robot system. The invention has the advantages that firstly, the carrying robot system and the modular design method thereof simplify and shorten the design process of the robot; secondly, the transfer robot system and the modular design method thereof can lead the robot to be quickly adapted to the working environment of transferring different glass substrates through the replacement of the modules; finally, the transfer robot system and the modular design method thereof are matched with a modular management system, so that technicians can select types, maintain and monitor more conveniently.

Description

Large glass substrate carrying robot system and modular design method thereof

Technical Field

The invention relates to the technical field of modern manufacturing, in particular to a large-scale glass substrate carrying robot system and a modular design method thereof.

Background

Due to the development requirements of different application fields, industrial robots are developed towards the directions of multiple varieties, multiple specifications, small batch, complexity and the like. Particularly, in the design of a large industrial robot, if a traditional design mode aiming at the universal single user requirement of the industrial robot is still adopted, the requirements of construction and fine operation of specifications of the height, the width and the like of the robot under different environments are difficult to meet, and particularly in the process of carrying a large glass substrate, strict requirements on the high precision and the clean environment of the robot are required.

In the modern manufacturing of large-scale industrial robots, due to the requirement of high flexibility of a manufacturing system, the working capacity of the robots in the system needs to be capable of adapting to the change of environments and tasks, in this case, the modular design rapidly constructs the robots required by users by selecting proper modules, so that the adaptability of the robots is improved, and the contradictions between the variety and specification of the robots and the design and manufacturing period and cost can be well solved.

At present, the glass substrate carrying robot has the requirement that products of the same type need to meet different working conditions between different production lines, and in the face of the high requirement of fine operation such as movement or assembly of articles between a machine table and units on the production line, a modular design method is utilized, corresponding control modules and execution modules with excellent quality are selected and integrated according to a certain coordinate system, and the glass substrate carrying robot can be rapidly manufactured under specific working conditions.

Disclosure of Invention

1. Technical problem to be solved

The invention aims to provide a large-scale glass substrate carrying robot system and a modular design method thereof, so that interchangeable and reusable functional components with standard interfaces and capable of completing certain functions can be conveniently designed, and the robot system can be assembled by the functional components. The method integrates different tasks and environmental requirements, divides and designs corresponding operation modules, robot mechanism modules and corresponding control and servo modules in a universal and systematic way, and finally integrates module data capable of finishing preset operation functions in a standardized way to realize systematic management.

2. Technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a large-scale glass substrate carrying robot system comprises one or more of a plurality of auxiliary modules, mechanical arm modules or execution modules; each auxiliary module comprises one or more of a plurality of base modules or sliding modules; each mechanical arm module comprises one or more of a plurality of joint modules or arm modules; each execution module comprises one or more of a plurality of adsorption modules or clamping modules.

The transfer robot system further comprises a detection module; a number of the detection modules are mounted on one or more of the auxiliary module, the robotic arm module, or the execution module.

The transfer robot system described above, wherein the robot arm module includes at least two of the joint modules.

The invention also discloses a modular design method of the large glass substrate transfer robot system, which comprises the following steps:

step 1, determining the total function and main parameters of a robot system according to the application scene and function of the robot system;

step 2, classifying the robot system in the step 1 into a plurality of independent functional modules on the basis of functional analysis;

step 3, determining the constraint conditions of the structure, the size, the material and the like of each functional module of the robot system in the step 2, and establishing a mechanical structure, a configuration list and a performance parameter table of the robot system;

step 4, performing modification design on each functional module of the robot system in the step 3, and establishing a management system of the functional modules and corresponding production modules;

and 5, selecting each functional module and the corresponding production module in the management system according to the operation requirement, generating a three-dimensional model, and finishing trial production and production.

In the above modular design method for the transfer robot system, the step 2 is to realize the decomposition of the robot system from the total function module to the sub-function module by combining the clustering analysis principle based on the correlation degree between the functional parts of the robot, and establish the function module tree.

The modular design method of the transfer robot system, wherein the modular design method of step 3 includes, but is not limited to, a shared design, an interchangeable design, a cut design, a bus design, and a hybrid design.

In the above modular design method of the transfer robot system, the function module selection in step 5 follows the following rule:

determining the number and specification of each functional module according to the operation requirement;

(II) determining a main control module according to the operation requirement, programming an action program and setting a specific control method;

(III) determining parameters and models of the servo driving module;

(IV) determining a safety module by the servo module, the main control module and the complete machine requirement;

(V) determining a sensing module according to the performance, the interface and the operation requirement of the main control module;

(VI) determining the I/O module according to the quantity and the characteristic index of the I/O signals;

and (VII) calculating the required power system characteristics and parameters, and selecting a power source.

In the above modular design method of the transfer robot system, the management system of step 4 is a PDM system.

3. Advantageous effects

In conclusion, the beneficial effects of the invention are as follows:

(1) the transfer robot system and the modular design method thereof simplify and shorten the design process of the robot;

(2) the transfer robot system and the modular design method thereof can lead the robot to be quickly adapted to the working environment for transferring different glass substrates by replacing the modules;

(3) the transfer robot system and the modular design method thereof are matched with a modular management system, so that technicians can select types, maintain and monitor more conveniently.

Drawings

FIG. 1 is a schematic view showing a simplified structure of a glass substrate transfer robot according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating the effects of a handling scenario in an embodiment of the present invention;

fig. 3 is a functional exploded process diagram of a robot in an embodiment of the invention.

In the figure: 1-a base module; 2-a sliding module; 3-a joint module; 4-an arm module; 100-an auxiliary module; 200-a robot arm module; 300-execution module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 3, a large glass substrate transfer robot system according to the present invention includes an auxiliary module 100, a robot arm module 200, and an execution module 300, which are independent of each other and have independent functions, and each of the three types of modules includes modules having different size series. Different kinds of robot body models can be built through different assembling of the modules. For example: the auxiliary module is composed of a sliding module 2 installed at the bottom of the auxiliary module by a base module 1, a mechanical arm module 200 composed of a joint module 3 and an arm module 4 is installed at the top of the base module 1, an execution module 300 is installed at the tail end of the mechanical arm module 200, and a plurality of detection modules are installed on the sliding module 2, the joint module 3 and the execution module 300 respectively. Wherein the robot arm module 200 is a double joint robot. And finally, according to the optimized model, combining the configuration requirements and the production process characteristics of the carrying robot body, developing a modular design of the carrying robot, obtaining specific module division types and parameters, and applying the specific module division types and parameters to the corresponding factory environment, as shown in the attached figure 2.

The invention relates to a modular design method of a large glass substrate transfer robot system, which comprises the following concrete implementation steps:

based on the functional requirements and performance requirements of the robot proposed by related problems, a design idea of robot mechanical body modularization is adopted, structural function decomposition of the large-scale glass substrate carrying robot is taken as a basis, and a design method of the large-scale substrate carrying robot body module is established by combining an industrial robot general structural module and production line typical station requirements.

According to the modular division principle, a functional division method is adopted, the robot parts are decomposed from the total functions to the sub-functions by combining the clustering analysis principle on the basis of the correlation degree of each part of the robot in function, and a series of unit modules with independent functions are obtained. The function decomposition process of the robot is shown in fig. 3, wherein F, F1 and F11 represent a primary function module, a secondary function module and a tertiary function module, respectively.

Furthermore, the performance parameter table of each module of the robot system should fully express the main parameters of geometry, kinematics and dynamics as much as possible. For example, the joint module 3 includes the following main attribute parameters:

(1) quality parameters are as follows: module mass, module centroid, module moment of inertia;

(2) structural parameters are as follows: maximum joint angle, minimum joint angle;

(3) motor and transmission parameters: motor payload, motor power, transmission reduction ratio;

(4) geometric size parameters: length, width, height;

(5) interface information: interface type, matching parameter and connecting direction;

(6) management information: module name, function description, working range.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A large-sized glass substrate transfer robot system is characterized in that: consists of one or more of a number of auxiliary modules (100), robotic arm modules (200) or execution modules (300); each of said auxiliary modules (100) comprises one or more of a number of base modules (1) or sliding modules (2); each of the robot arm modules (200) comprises one or more of a number of joint modules (3) or arm modules (4); each of the execution modules (300) includes one or more of a number of adsorption modules or clamping modules.

2. The large glass substrate handling robot system according to claim 1, wherein: the device also comprises a detection module; a number of the detection modules (400) are mounted on one or more of the auxiliary module (100), the robotic arm module (200), or the execution module (300).

3. The large glass substrate handling robot system according to claim 1, wherein: the robot arm module (200) comprises at least two of the joint modules (3).

4. A method for modular design of a large glass substrate handling robot system using any one of claims 1-3, comprising the steps of:

5. The modular design method for the large-scale glass substrate handling robot system according to claim 4, wherein the step 2 is based on the degree of correlation between the functional parts of the robot, and the functional module tree is established by means of the decomposition of the robot system from the total functional module to the sub-functional modules according to the clustering analysis principle.

6. The modular design method for large scale glass substrate handling robot system of claim 4, wherein the modular design method of step 3 comprises but is not limited to shared design, interchangeable design, trim design, bus design and hybrid design.

7. The method as claimed in claim 4, wherein the function module selection of step 5 follows the following rules:

(III) determining parameters and models of the servo driving module;

(IV) determining a safety module by the servo module, the main control module and the requirement of the whole machine;

8. The modular design method for large glass substrate handling robot system according to claim 4, wherein the management system of step 4 is PDM system.