CN201824360U - System for detecting whether material supported by mechanical arm is damaged - Google Patents
System for detecting whether material supported by mechanical arm is damaged Download PDFInfo
- Publication number
- CN201824360U CN201824360U CN2010205809838U CN201020580983U CN201824360U CN 201824360 U CN201824360 U CN 201824360U CN 2010205809838 U CN2010205809838 U CN 2010205809838U CN 201020580983 U CN201020580983 U CN 201020580983U CN 201824360 U CN201824360 U CN 201824360U
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- vacuum pad
- metal
- manipulator
- metal vacuum
- damaged
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Abstract
The utility model discloses a system for detecting whether a material supported by a mechanical arm is damaged, which comprises a mechanical arm, and also comprises a metal film wire, a first metal vacuum pad for loading signals on the metal film wire, a second metal vacuum pad for receiving the loaded signals from the metal film wire, and a detection system for judging whether the material supported by the mechanical arm is intact by the loaded signals, wherein the first metal vacuum pad and the second metal vacuum pad are arranged on the mechanical arm; the metal film wire is attached on the periphery of the material; two wire ends of the metal film wire are metal film areas corresponding to the first metal vacuum pad and the second metal vacuum pad; and the detection system is electrically connected with the first metal vacuum pad and the second metal vacuum pad. The system for detecting whether the material supported by the mechanical arm is damaged can conduct electricity detection on the material on the arm of a robot in real time, effectively avoids the breaking of the material such as glass caused by the fast moving speed of the robot, and achieves the purpose of testing the material accurately when the material is taken or supplied by the robot.
Description
Technical field
Whether damaged the utility model relates to robot automation's technology, relate in particular to a kind of material that manipulator lifts system that detects.
Background technology
LCDs etc. are the process of producing product of material with glass, need with automation equipment such as manipulator to glass adsorb, operation such as transfer, being products such as LCD with glass processing.
In the prior art, manipulator comprises two robots (robot) arm 10 as shown in Figure 1, and each robot arm 10 is provided with vacuum pad (vacuum pad 3), limit sensor (limit sensors 1) and detect sensor (detecting sensor 2).
Wherein, vacuum pad 3 is used for inhaling glass, guarantees that glass is not got rid of in robot motion's process.Vacuum pad 3 has perceptional function simultaneously, and when glass fragmentation serious situation occurring, vacuum pad 3 is not inhaled vacuum, will report to the police.
Limit sensors 1 and detecting sensor 2 are optical pickocff.Limit sensors 1 is used for spacing, will report to the police in the time of above glass is pressed in it.Detecting sensor 2 is used for perception glass, has one on each robot arm 10, when manipulator is got glass, if detecting sensor 2 perception will be reported to the police less than glass, for fear of robot glass is got partially simultaneously, and it also can be used to adjust the position of manipulator.Particularly, when getting glass, manipulator inserts the moment of glass below, detecting sensor 2 on two robot arms 10, can whether there be glass to respond to the top simultaneously, if certain detecting sensor 2 perceives the time lag of glass, robot can according to circumstances adjust the position of manipulator below glass so.
The defective that prior art exists is: when place that glass damages is not above vacuum pad or sensor, robot can't detect the unusual of glass, especially for the glass that crackle is arranged, robot can will have the glass of damage to draw as certified products, be transferred to process equipment by robot, the risk that has glass breakage in the transfer process directly causes the process equipment fault, has increased production cost of products.
The utility model content
Whether damaged the utility model provide a kind of material that manipulator lifts system that detects, detect when realizing that robot fetches and delivers material the integrality of the material of being lifted such as glass.
Whether damaged the utility model provide a kind of material that manipulator lifts system that detects, comprise manipulator, wherein, also comprise: metal membrane line, be used for to described metal membrane line load signal the first metal vacuum pad, be used for receiving the second metal vacuum pad of load signal from described metal membrane line, and be used for judging the detection system that material that described manipulator lifts is whether complete by the signal that loads;
The described first metal vacuum pad, the second metal vacuum pad are arranged on the described manipulator, described metal membrane line is attached to the periphery of described material, two line ends of described metal membrane line are and the described first metal vacuum pad, the corresponding metallic film of second metal vacuum pad zone that described detection system is electrically connected with the described first metal vacuum pad, the second metal vacuum pad.
The system whether material that aforesaid detection manipulator is lifted is damaged, wherein, the described first metal vacuum pad, the second metal vacuum pad can be on different robot arms, also can be arranged on the same robot arm of described manipulator, preferably, whether the described first metal vacuum pad, the second metal vacuum pad are arranged on the same robot arm of described manipulator, complete more fully to detect glass.Described metal membrane line can be one, and metal membrane line is the closer to the edge of glass, and the area of the glass of detection is also big more, and is also more accurate to the breakage detection of glass.
The described first metal vacuum pad, the second metal vacuum pad can be set up in parallel between limit sensors and detecting sensor on the described robot arm.
Described metal membrane line, metallic film zone can be the metallic film that is deposited on the described material.
Described detection system can be arranged in the control appliance of described manipulator.
As further improvement of the utility model, whether damaged system also can comprise warning piece to the material that aforesaid detection manipulator is lifted, and links to each other with described detection system, to send alarm signal when detecting material breaks or breakage.Warning piece also can adopt the existing warning piece of robot itself, and at this moment, detection system links to each other with robot, abnormal signal is sent to robot get final product, and is reported to the police by robot control warning piece.
Described warning piece can be arranged in the control appliance of described manipulator.
The system whether material that the detection manipulator that the utility model provides is lifted is damaged, by the metal vacuum pad on the robot arm, metal membrane line on the material that manipulator is lifted and metallic film zone are in load signal on glass, judge by the signal that detection system detection metal vacuum pad receives whether material such as glass that manipulator is lifted is damaged, make robot in the process that moves, can carry out electrical detection to the material on the robot arm in real time, confirm more accurately whether material has crackle or incomplete, avoided effectively because the material breaks that the robot translational speed causes rapidly, reached when robot fetches and delivers material the purpose of identifying that accurately glass is whether complete, and then avoided effectively because the process equipment fault that material breaks causes.
Description of drawings
Fig. 1 is the structural representation of manipulator in the prior art;
The structural representation of the system whether material that Fig. 2 lifts for the detection manipulator that the utility model embodiment one provides is damaged;
The structural representation of metal vacuum pad and manipulator in the whether damaged system of the material that Fig. 3 lifts for the detection manipulator that the utility model embodiment one provides;
The structural representation in metal membrane line and metallic film zone in the whether damaged system of the material that Fig. 4 lifts for the detection manipulator that the utility model embodiment one provides.
The specific embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
The structural representation of the system whether material that Fig. 2 lifts for the detection manipulator that the utility model embodiment one provides is damaged, as shown in Figure 2, whether damaged system comprises manipulator, metal membrane line 6, the first metal vacuum pad, 4 (see figure 3)s, the second metal vacuum pad, 5 (see figure 3)s and detection system (not shown) to detect the material that manipulator lifts.Manipulator comprises first robot arm 11, second robot arm 12.The material that manipulator is lifted among the utility model embodiment is that example is carried out following specifying with glass.
As shown in Figure 3, the first metal vacuum pad 4, the second metal vacuum pad 5 are arranged on second robot arm 12, as shown in Figure 4, metal membrane line 6 is attached to the periphery of glass to be drawn 9, and two line ends of metal membrane line 6 are and the first metal vacuum pad 4, the second metal vacuum pad, the 5 corresponding first metallic film zones 7, the second metallic film zone 8.The metal membrane line 6 and the first metallic film zone 7, the second metallic film zone 8 can be by deposition, mask, exposure, etchings, technology such as peel off, at the thin metallic film of formation on glass to be drawn.And metal membrane line 6 and the first metallic film zone 7, the second metallic film zone 8 are to be deposited on glass and the contacted one side of manipulator, and the metal vacuum pad of robot plus signal when getting glass could contact with the film zone like this.The detection system (not shown) is electrically connected with the first metal vacuum pad 4, the second metal vacuum pad 5, can be arranged in the control appliance of described manipulator.
The height of the first metal vacuum pad 4, the second metal vacuum pad 5 can be consistent with the height of the vacuum pad 3 of suction vacuum on the robot arm, or short a little in vacuum pad 3, contact with the first metallic film zone 7, second the good of metallic film zone 8 on the glass 9 realizing.
The first metal vacuum pad 4, the second metal vacuum pad 5 are set up in parallel between limit sensors 1 and detecting sensor 2 on second robot arm 12, the first metal vacuum pad 4 is used for by the first metallic film zone 7 to metal membrane line 6 load signal, and the second metal vacuum pad 5 is used for receiving the signal that the first metal vacuum pad 4 loads by the second metallic film zone 8 from metal membrane line 6.Detection system is used for judging by the signal of judging 5 receptions of the second metal vacuum pad whether glass 9 is complete.
Particularly, having the step that robot is normally got have been increased in the process of glass to the glass plus signal now, with Fig. 2 is example, when robot holds up glass, all vacuum pads on first robot arm 11 and second robot arm 12, comprise the vacuum pad 3 and the first metal vacuum pad 4, the second metal vacuum pad 5, all adsorb glass 9, at this moment detection system is passed through the first metal vacuum pad 4 to first metallic film zone of glass 9,7 load signal, if the signal that loads is sent to the second metal vacuum pad 5 by the metal membrane line 6 and the second metallic film zone 8, the second metal vacuum pad 5 normally receives the signal that the first metal vacuum pad 4 loads, then detection system judges that glass 9 does not have crackle or breakage, illustrate that glass 9 is qualified, robot will drive first robot arm 11, second robot arm 12 moves glass 9 to process equipment; If the second metal vacuum pad 5 is not received signal, then get partially the detection system judgement or the position of glass 9, the first metal vacuum pad 4, the second metal vacuum pad 5 do not contact with the first metallic film zone 7, second metallic film zone 8 on the glass 9, be that glass 9 has breakage or crackle, then robot no longer carries out follow-up transfer operation.
And, whether damaged system also comprises warning piece to the material that the detection manipulator that the utility model embodiment provides is lifted, warning piece links to each other with detection system, when the situation that signal do not receive occurring, robot can send alarm signal by described warning piece, and robot is parked in current position at once simultaneously.Warning piece can be arranged in the control appliance of described manipulator.
The limit sensors 1, detecting sensor 2 and the vacuum pad 3 same prior aries that are provided with on first robot arm 11, second robot arm 12 repeat no more here.
When manipulator is used to lift other frangible plate materials, in the whether damaged system of the material that the detection manipulator that the utility model embodiment provides is lifted, the setting of the first metal vacuum pad, the second metal vacuum pad can be with above-mentioned embodiment, and metal membrane line can be arranged on the manipulator material to be lifted.
Whether damaged the material that the detection manipulator that provides as utility model embodiment is lifted whether damaged system be used for the test material part when, also the first metal vacuum pad, the second metal vacuum pad can be arranged on the different mechanical arms, be arranged on first robot arm 11 as the first metal vacuum pad, the second metal vacuum pad is arranged on second robot arm 12, correspondingly, metal membrane line is corresponding to be adjusted, and makes the line end and the first metal vacuum pad, second metal vacuum pad position coupling.
In the present embodiment, detect the whether damaged system of material that manipulator lifts by the metal vacuum pad on the robot arm, wait to adsorb metal membrane line on glass and metallic film zone in load signal on glass, judge by the signal that detection system detection metal vacuum pad receives whether glass is damaged, make robot in the process that moves, can carry out electrical detection to the glass on the robot arm in real time, confirm more accurately whether glass has crackle or incomplete, avoided effectively because the glass breakage that the robot translational speed causes rapidly, reached when robot fetches and delivers glass the purpose of identifying that accurately glass is whether complete, and then avoided effectively because the process equipment fault that glass breakage causes.
It should be noted that at last: above embodiment only in order to the explanation the technical solution of the utility model, is not intended to limit; Although the utility model is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (8)
1. whether damaged one kind detected material that manipulator lifts system, comprise manipulator, it is characterized in that, also comprise: metal membrane line, be used for to described metal membrane line load signal the first metal vacuum pad, be used for receiving the second metal vacuum pad of load signal from described metal membrane line, and be used for judging the detection system that material that described manipulator lifts is whether complete by the signal that loads;
The described first metal vacuum pad, the second metal vacuum pad are arranged on the described manipulator, described metal membrane line is attached to the periphery of described material, two line ends of described metal membrane line are and the described first metal vacuum pad, the corresponding metallic film of second metal vacuum pad zone that described detection system is electrically connected with the described first metal vacuum pad, the second metal vacuum pad.
2. the system whether material that detection manipulator according to claim 1 is lifted is damaged, it is characterized in that, the described first metal vacuum pad, the second metal vacuum pad are arranged on the same robot arm of described manipulator, and described metal membrane line is one.
3. the system whether material that detection manipulator according to claim 1 is lifted is damaged is characterized in that the described first metal vacuum pad, the second metal vacuum pad are arranged on the different machines human arm of described manipulator.
4. the system whether material that detection manipulator according to claim 2 is lifted is damaged is characterized in that the described first metal vacuum pad, the second metal vacuum pad are set up in parallel between limit sensors and detecting sensor on the described robot arm.
5. whether damaged the material of lifting according to each described detection manipulator of claim 1-4 system is characterized in that described metal membrane line, metallic film zone are for being deposited on the metallic film on the described material.
6. whether damaged the material of lifting according to each described detection manipulator of claim 1-4 system is characterized in that described detection system is arranged in the control appliance of described manipulator.
7. whether damaged the material of lifting according to each described detection manipulator of claim 1-4 system is characterized in that, also comprises warning piece, links to each other with described detection system.
8. the system whether material that detection manipulator according to claim 7 is lifted is damaged is characterized in that described warning piece is arranged in the control appliance of described manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205809838U CN201824360U (en) | 2010-10-22 | 2010-10-22 | System for detecting whether material supported by mechanical arm is damaged |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205809838U CN201824360U (en) | 2010-10-22 | 2010-10-22 | System for detecting whether material supported by mechanical arm is damaged |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201824360U true CN201824360U (en) | 2011-05-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205809838U Expired - Lifetime CN201824360U (en) | 2010-10-22 | 2010-10-22 | System for detecting whether material supported by mechanical arm is damaged |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201824360U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856036A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | Intelligent robot |
-
2010
- 2010-10-22 CN CN2010205809838U patent/CN201824360U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856036A (en) * | 2017-11-08 | 2018-03-30 | 徐蒙蒙 | Intelligent robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING BOE PHOTOELECTRICITY SCIENCE + TECHNOLOGY Effective date: 20150707 Owner name: JINGDONGFANG SCIENCE AND TECHNOLOGY GROUP CO., LTD Free format text: FORMER OWNER: BEIJING BOE PHOTOELECTRICITY SCIENCE + TECHNOLOGY CO., LTD. Effective date: 20150707 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150707 Address after: 100015 Jiuxianqiao Road, Beijing, No. 10, No. Patentee after: BOE Technology Group Co., Ltd. Patentee after: Beijing BOE Photoelectricity Science & Technology Co., Ltd. Address before: 100176 Beijing economic and Technological Development Zone, West Central Road, No. 8 Patentee before: Beijing BOE Photoelectricity Science & Technology Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20110511 |
|
| CX01 | Expiry of patent term |