CN104786220A - Robot arm used for handling LCD screens - Google Patents
Robot arm used for handling LCD screens Download PDFInfo
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- CN104786220A CN104786220A CN201510123446.8A CN201510123446A CN104786220A CN 104786220 A CN104786220 A CN 104786220A CN 201510123446 A CN201510123446 A CN 201510123446A CN 104786220 A CN104786220 A CN 104786220A
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Abstract
The invention discloses a robot arm used for handling LCD screens. The robot arm comprises a large arm connected with a stand column of a robot. The tail end of the large arm is provided with a small arm and a small arm motor which are connected. The tail end of the small arm is provided with a claw used for handling the LCD screens. The robot arm is characterized in that the claw comprises a claw motor, a first finger and a second finger. A first sensor set is arranged at the bottom of the first finger. The first sensor set comprises a slip sensor, a touch sensor and a proximity sensor. A second sensor set is arranged at the bottom of the second finger. The second sensor set comprises a temperature sensor and a thermal sensor. Preferably, the first sensor set and the second sensor set are each provided with a force sensor. As the multiple types of sensors are arranged, the robot arm is more flexible to use. Furthermore, the force sensors and a warning device are arranged, so the LCD screens can be prevented from being damaged in the handling process.
Description
Technical field
The present invention relates to a kind of robot arm for carrying liquid crystal display.
Background technology
Due to liquid crystal display inside containing a lot of glass with sensitive electrical equipment, therefore very fragile, liquid crystal display can not have strong shock and vibration in handling process, because strong shock and vibration can cause the damage of screen and CB unit.When using robot transport liquid crystal display, firmly too small, cannot liquid crystal display be supported, firmly excessive, easily damage liquid crystal display, therefore the robot arm for carrying liquid crystal display needs special design production capacity to avoid the damage of liquid crystal display.Real realization is assisted aborning or is replaced the work of the mankind.
Summary of the invention
For the problems referred to above, the invention provides a kind of robot arm for carrying liquid crystal display, being provided with multiple sensors, use more flexible, further, force snesor and warning device are set, can avoid causing damage to liquid crystal display in the process of carrying liquid crystal display.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
A kind of robot arm for carrying liquid crystal display, comprise the large arm be connected with robot column, the end of large arm is provided with connected forearm and forearm motor, the end of forearm is provided with the paw for carrying liquid crystal display, it is characterized in that, described paw comprises paw motor, first finger and second finger, the bottom of described first finger is provided with first sensor group, described first sensor group comprises sliding feeling sensor, contacting feeling sensor, proximity scnsor, the bottom of described second finger is provided with the second sensor group, described second sensor group comprises temperature sensor and thermal sensor.
Preferably, described first sensor group and the second sensor components are not provided with force snesor.
Preferably, the warning device be connected with two force snesor respectively is also comprised.
By first sensor group and the second sensor group, robot is had close to many sensations such as feel, contacting feeling, sliding feel, temperature sensation, heat feel, power feel, make the intelligence that robot is certain, use more flexible.In handling process, the work of carrying liquid crystal display can be completed respectively by these sensors, and, when exerting oneself too small or excessive, realizing reporting to the police by warning device, can avoid causing damage to liquid crystal display in the process of carrying liquid crystal display.
The invention has the beneficial effects as follows: be provided with multiple sensors, use more flexible, further, force snesor and warning device are set, can avoid causing damage to liquid crystal display in the process of carrying liquid crystal display.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of robot arm for carrying liquid crystal display of the present invention;
Fig. 2 is the sectional view that the present invention first points;
Fig. 3 is the sectional view of second finger of the present invention;
The mark implication of accompanying drawing is as follows:
1: large arm; 2: forearm motor; 3: forearm; 4: paw motor; 5: wrist; 6: feed screw nut; 7: the first fingers; 8: first sensor group; 9: second finger; 10: the second sensor groups; 11: vertical direction proximity scnsor.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, technical solution of the present invention is described in further detail, can better understand the present invention to make those skilled in the art and can be implemented, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, a kind of robot arm for carrying liquid crystal display, comprise the large arm 1 be connected with robot column, the end of large arm 1 is provided with connected forearm 3 and forearm motor 2, and forearm motor 2 can drive forearm 3 to carry out gyration.The end of forearm 3 is provided with the paw for carrying liquid crystal display, and wherein, paw comprises paw motor 4, first and points 7 and second finger 9.
As shown in Figure 2, the bottom of the first finger 7 is provided with first sensor group 8, described first sensor group 8 comprises sliding feeling sensor (be used for measuring robots and grasp the sensor of slippage degree between object), contacting feeling sensor (being used for judging whether robot contacts the measuring transducer of object), proximity scnsor, proximity scnsor is a kind of non-contact sensor, robot utilizes it, can feel in-plant object or barrier, the distance of object can be detected, the relative inclination even characteristic of subject surface, can be used to prevent collision, realize without impacting close and grasping manipulation.
Wherein, sliding feeling sensor, contacting feeling sensor and proximity scnsor can be the sensors of integration, and profile is finger shape, is convenient to directly be installed on paw.
As shown in Figure 3, the bottom of second finger 9 is provided with the second sensor group 10, and described second sensor group 10 comprises temperature sensor and thermal sensor, and wherein, thermal sensor can be realized by heater element and platinum thermistor.When the proximity scnsor of first sensor group 8 is horizontal direction proximity scnsor, so vertical direction proximity scnsor 11 can be set in the second sensor group 10.
Preferably, first sensor group 8 and the second sensor group 10 are respectively arranged with force snesor, one warning device is connected with two force snesor respectively, the scope of force snesor can be set, before carrying, if the power that force snesor detects is not in the scope of setting, then warning device is reported to the police, remind staff to overhaul, prevent because of equipment fault damage liquid crystal display.
In order to improve the flexibility of paw, preferably, paw motor 4 is pointed 7 by wrist 5 and first and to be connected with second finger 9 and to drive opening of the first finger 7 and second finger 9 or closed by feed screw nut 6.
By first sensor group 8 and the second sensor group 10, robot is had close to many sensations such as feel, contacting feeling, sliding feel, temperature sensation, heat feel, power feel, make the intelligence that robot is certain, use more flexible.In handling process, the work of carrying liquid crystal display can be completed respectively by these sensors, and, when exerting oneself too small or excessive, realizing reporting to the police by warning device, can avoid causing damage to liquid crystal display in the process of carrying liquid crystal display.
The invention has the beneficial effects as follows: be provided with multiple sensors, use more flexible, further, force snesor and warning device are set, can avoid causing damage to liquid crystal display in the process of carrying liquid crystal display.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in the technical field that other are relevant, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. one kind for carrying the robot arm of liquid crystal display, comprise the large arm (1) be connected with robot column, the end of large arm (1) is provided with connected forearm (3) and forearm motor (2), the end of forearm (3) is provided with the paw for carrying liquid crystal display, it is characterized in that, described paw comprises paw motor (4), first finger (7) and second finger (9), the bottom of described first finger (7) is provided with first sensor group (8), described first sensor group (8) comprises sliding feeling sensor, contacting feeling sensor, proximity scnsor, the bottom of described second finger (9) is provided with the second sensor group (10), described second sensor group (10) comprises temperature sensor and thermal sensor.
2. a kind of robot arm for carrying liquid crystal display according to claim 1, is characterized in that, described first sensor group (8) and the second sensor group (10) are respectively arranged with force snesor.
3. a kind of robot arm for carrying liquid crystal display according to claim 2, is characterized in that, also comprises the warning device be connected with two force snesor respectively.
4. a kind of robot arm for carrying liquid crystal display according to claim 1, is characterized in that, described proximity scnsor is horizontal direction proximity scnsor.
5. a kind of robot arm for carrying liquid crystal display according to claim 4, is characterized in that, described second sensor group (10) also comprises vertical direction proximity scnsor (11).
6. a kind of robot arm for carrying liquid crystal display according to claim 5, it is characterized in that, described paw motor (4) by wrist (5) to point with first (7) to be connected with second finger (9) and pass through feed screw nut (6) drive first point (7) and second finger (9) open or closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123446.8A CN104786220A (en) | 2015-03-20 | 2015-03-20 | Robot arm used for handling LCD screens |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123446.8A CN104786220A (en) | 2015-03-20 | 2015-03-20 | Robot arm used for handling LCD screens |
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| CN104786220A true CN104786220A (en) | 2015-07-22 |
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| CN201510123446.8A Pending CN104786220A (en) | 2015-03-20 | 2015-03-20 | Robot arm used for handling LCD screens |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN107891421A (en) * | 2017-11-01 | 2018-04-10 | 北京理工大学 | A kind of method based on close to feel and touch sensor bionic hand study crawl object |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN110712994A (en) * | 2019-10-22 | 2020-01-21 | 三峡大学 | Automatic loading attachment of tray material supply type |
| CN111897323A (en) * | 2020-06-24 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot emergency stop control method and device based on proximity perception and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN108698225A (en) * | 2017-08-24 | 2018-10-23 | 深圳蓝胖子机器人有限公司 | The method and robot of robot store items |
| CN108698225B (en) * | 2017-08-24 | 2022-05-17 | 深圳蓝胖子机器智能有限公司 | Method for stacking goods by robot and robot |
| CN107891421A (en) * | 2017-11-01 | 2018-04-10 | 北京理工大学 | A kind of method based on close to feel and touch sensor bionic hand study crawl object |
| CN107891421B (en) * | 2017-11-01 | 2020-06-19 | 北京理工大学 | Method for capturing object by simulating hand learning based on proximity sense and touch sensor |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN110712994A (en) * | 2019-10-22 | 2020-01-21 | 三峡大学 | Automatic loading attachment of tray material supply type |
| CN111897323A (en) * | 2020-06-24 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot emergency stop control method and device based on proximity perception and storage medium |
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Application publication date: 20150722 |