CN212463659U - Flexible bending device of robot - Google Patents
Flexible bending device of robot Download PDFInfo
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- CN212463659U CN212463659U CN202021487359.3U CN202021487359U CN212463659U CN 212463659 U CN212463659 U CN 212463659U CN 202021487359 U CN202021487359 U CN 202021487359U CN 212463659 U CN212463659 U CN 212463659U
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- vacuum adsorption
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- axis robot
- positioning mechanism
- visual positioning
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Abstract
The utility model relates to a flexible technical field of bending specifically is a flexible bending device of robot, aims at solving and how to provide one kind and can guarantee the precision of bending and simple structure, efficient, the strong technical problem of bending device of precision stability. The following technical scheme is adopted: including six-axis robot, six-axis robot J6The shaft is provided with a sucker; the vacuum adsorption platform and the sucker are positioned on the same horizontal plane and are respectively used for adsorbing two parts of a product; the detection head of the visual positioning mechanism is positioned right above the vacuum adsorption platform; the six-axis robot control system further comprises a PLC control system, and the PLC control system receives detection signals of the visual positioning mechanism so as to control the six-axis robot to act.
Description
Technical Field
The utility model relates to a flexible technical field that bends specifically is a flexible bending device of robot.
Background
The bending process of the FPC (flexible printed circuit) refers to that the FPC on a flat Panel display device is reversely bent for 180 degrees and is attached to a Panel, and the process has high precision requirement and certain difficulty. The existing FPC bending method mainly comprises the following two modes: one is manual bending, which is difficult to meet the precision requirement; the other kind is the structure of putting up through some linear modules, and this kind of structure is through the anti-process of rolling over of simulating the people hand of the motion parameter of each module of accurate matching, can tentatively solve above-mentioned precision problem, but the structure is complicated, and work load is big, and production efficiency is low, the poor stability of precision.
The six-axis robot is an existing mature mechanism and is mainly used for improving the automation degrees of material conveying speed, workpiece loading and unloading, machine assembly and the like, so that the labor productivity can be improved, and the production cost can be reduced. The six-axis robot is provided with the following six axes: j. the design is a square1Shaft, J1The axle is the position of the link chassis, the bearing and core position, which bears the weight of the whole robot and the large-amplitude horizontal swinging of the robot2Shaft, J2Important shaft for controlling front and back swing and extension of robot by shaft J3Shaft, J3The shaft is also the one that controls the robot to swing back and forth, butSwing amplitude ratio J2The axis is much smaller, but the length of the six-axis robot arm is the basis4Shaft, J4The shaft is used for controlling the upper arm part to rotate freely at 180 degrees, which is equivalent to the forearm of a person, J5Shaft, J5The shaft is important and when it is positioned more or less accurately on the product, J is used5A shaft equivalent to a wrist part of a human hand; j. the design is a square6Shaft, when J6After the shaft is positioned on the product, slight modifications are required, requiring the use of J6Shaft, J6The shaft corresponds to a turntable that can rotate 360 ° horizontally.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving and how to provide one kind and can guarantee the precision of bending and simple structure, efficient, the strong technical problem of bending device of precision stability.
The utility model provides a technical scheme that its technical problem adopted is:
a robot flexible bending device comprises a six-axis robot, wherein a suction cup is arranged on a J6 shaft of the six-axis robot; the vacuum adsorption platform and the sucker are positioned on the same horizontal plane and are respectively used for adsorbing two parts of a product; the device also comprises a visual positioning mechanism (mainly used for acquiring the position information of the product), wherein a detection head of the visual positioning mechanism is positioned right above the vacuum adsorption platform; the six-axis robot control system further comprises a PLC control system, and the PLC control system receives detection signals of the visual positioning mechanism so as to control the six-axis robot to act.
The following describes the operation of the device by taking the FPC product as an example:
firstly, the FPC is adsorbed on a sucker, the Panel is adsorbed on a vacuum adsorption platform, the visual positioning mechanism acquires position information and feeds the position information back to the PLC control system, the PLC control system controls the six-axis robot to act, the FPC is bent by 180 degrees and attached to the upper surface of the Panel, and the bending is completed. When bending, the placing position of each product has a slight difference, so the position compensation is needed to be carried out through a visual positioning mechanism.
The utility model has the advantages that:
1) the flexible bending device of the robot has higher bending precision, can better meet the existing high-precision bending requirement, and is particularly suitable for bending FPC;
2) the utility model discloses a flexible bending device of robot adopts six robots as the power of bending, realizes the mode of bending for current through the cooperation of a plurality of linear modules, simple structure, and it is efficient to bend, and the stability of precision is strong.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of the overall structure of the bending apparatus of the present invention;
fig. 2 to 5 are four operation state diagrams of the six-axis robot P1 to P4, respectively.
In the figure:
1 ┄ six-axis robot; 2 ┄ suction cup; 3 ┄ vacuum adsorption stage; 4 ┄ visual positioning mechanism; 5 ┄ a bracket; 6 ┄ a first linear module; 7 ┄ blanking mechanism; 8 ┄ second straight line module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1 to 5, the flexible bending device for the robot of the present invention includes a six-axis robot 1, wherein a suction cup 2 is installed on a J6 shaft of the six-axis robot 1; the vacuum adsorption platform 3 and the sucker 2 are positioned on the same horizontal plane and are respectively used for adsorbing two parts of a product, for example, when the PFC is bent, the sucker 2 adsorbs the PFC, and the vacuum adsorption platform 3 adsorbs Panel; the vacuum adsorption device further comprises a visual positioning mechanism 4, and a detection head of the visual positioning mechanism 4 is positioned right above the vacuum adsorption platform 3; the six-axis robot is characterized by further comprising a PLC control system, and the PLC control system receives detection signals of the visual positioning mechanism 4 so as to control the six-axis robot 1 to act. In concrete implementation, the six-axis robot 1 is a conventional mature structure, and the setting of the bending program is also easy to design by those skilled in the art, and the bending program enables the robot to sequentially operate in four states P1-P4 shown in fig. 2-5. In the specific design, the compensation time of the visual positioning mechanism 4 can be selected before the reverse folding or after the reverse folding. If compensation is carried out before reverse folding, the running tracks of the robot are different every time, and reverse folding cannot be safely and stably completed, even cannot be carried out; if the contraposition compensation is carried out after the reverse folding, the running track of the robot before each reverse folding is fixed, namely the robot is reversely folded according to the point position from P1 to P4 taught before, and then the reverse folding visual compensation can be completed safely and stably. Therefore, it is preferable to perform the vision compensation after the reverse bending, that is, after the six-axis robot 1 sequentially operates in four states of P1-P4, perform the fine adjustment of the position according to the position information acquired by the vision positioning mechanism 4, operate to the compensation point, and finally operate to the attachment point, thereby completing the bending.
Further, the vacuum adsorption device further comprises a support 5, wherein a first linear module 6 is arranged on the support 5, one section of the first linear module 6 is located right above the vacuum adsorption platform 3, the visual positioning mechanism 4 is installed on a moving block of the first linear module 6, and a blanking mechanism 7 is further installed on the moving block of the first linear module 6. The first linear module 6 may be of a synchronous belt type or a lead screw pair type. During bending, the moving block is controlled to move, so that the detection head of the visual positioning mechanism 4 is positioned right above the vacuum adsorption table 3 for visual compensation; when loading and unloading are needed, the moving block is controlled to move, and the unloading mechanism 7 is located right above the vacuum adsorption platform 3 to carry out loading and unloading. Specifically, the blanking mechanism 7 is a vacuum suction head.
Further, the vacuum adsorption platform further comprises a second linear module 8, the vacuum adsorption platform 3 is installed on a moving block of the second linear module 8, and the direction of the second linear module 8 is perpendicular to the direction of the first linear module 6. The second linear module 8 may be a synchronous belt type or a screw pair type. The second linear module 8 is mainly used for connecting the upper process and the lower process, and the smoothness of a product processing line is guaranteed.
The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (4)
1. The utility model provides a flexible bending device of robot which characterized in that: comprises a six-axis robot (1) and a J of the six-axis robot (1)6The shaft is provided with a sucker (2); the vacuum adsorption table (3) and the sucker (2) are positioned on the same horizontal plane and are respectively used for adsorbing two parts of a product; the vacuum adsorption device is characterized by also comprising a visual positioning mechanism (4), wherein a detection head of the visual positioning mechanism (4) is positioned right above the vacuum adsorption platform (3); the robot further comprises a PLC control system, and the PLC control system receives detection signals of the visual positioning mechanism (4) to control the six-axis robot (1) to act.
2. The device of claim 1, wherein: the vacuum adsorption device is characterized by further comprising a support (5), wherein a first straight line module (6) is arranged on the support (5), one section of the first straight line module (6) is located right above the vacuum adsorption platform (3), the visual positioning mechanism (4) is installed on a moving block of the first straight line module (6), and a blanking mechanism (7) is further installed on the moving block of the first straight line module (6).
3. The device of claim 2, wherein: the blanking mechanism (7) is a vacuum suction head.
4. A robotic flexible bending apparatus according to any one of claims 1 to 3, wherein: the vacuum adsorption platform is characterized by further comprising a second linear module (8), the vacuum adsorption platform (3) is installed on a moving block of the second linear module (8), and the second linear module (8) is perpendicular to the direction of the first linear module (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021487359.3U CN212463659U (en) | 2020-07-24 | 2020-07-24 | Flexible bending device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021487359.3U CN212463659U (en) | 2020-07-24 | 2020-07-24 | Flexible bending device of robot |
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| Publication Number | Publication Date |
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| CN212463659U true CN212463659U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021487359.3U Active CN212463659U (en) | 2020-07-24 | 2020-07-24 | Flexible bending device of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116175943A (en) * | 2023-04-25 | 2023-05-30 | 中电科风华信息装备股份有限公司 | Automatic bending device for FPC (flexible printed circuit) of B column of automobile |
-
2020
- 2020-07-24 CN CN202021487359.3U patent/CN212463659U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116175943A (en) * | 2023-04-25 | 2023-05-30 | 中电科风华信息装备股份有限公司 | Automatic bending device for FPC (flexible printed circuit) of B column of automobile |
| CN116175943B (en) * | 2023-04-25 | 2023-08-01 | 中电科风华信息装备股份有限公司 | Automatic bending device for FPC (flexible printed circuit) of B column of automobile |
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