Multi-degree-of-freedom mechanical hand for transferring flexible film

Abstract

The invention discloses a multi-degree-of-freedom mechanical hand for transferring a flexible film. The mechanical hand comprises a pickup unit, an alpha rotating module, a gamma rotating module, an XYZ triaxial translation module, an air path distribution unit and a visual positioning unit, wherein the pickup unit has a beta rotating degree of freedom for rotation around the Y axis, and can be used for axially and circumferentially regulating a suction area; the alpha and gamma rotating modules and the XYZ triaxial translation module are used for achieving the alpha and gamma rotating degrees of freedom for the rotation of the mechanical hand around the X axis and the Z axis and a degree of freedom for translation in three directions X, Y and Z; the air path distribution unit is used for executing the switching control and the vacuum degree detection of each vacuum air path in the pickup unit; the visual positioning unit is used for the position and angle detection of the flexible film in an XY plane and the position detection of the flexible film in the Z axis. According to the mechanical hand, the space attitude, the transfer force and the suction interval of the mechanical hand can be automatically regulated to highly accurately suck and transfer the flexible film according to the characteristics, the size and the position of the flexible film.

Description

technical field [0001] The invention belongs to the field of equipment related to flexible electronics production, and more specifically relates to a multi-degree-of-freedom manipulator for flexible film transfer. Background technique [0002] With the improvement of industrial automation technology and the requirements for production efficiency, industrial robots are increasingly used in industrial production, and manipulators, as the earliest industrial robots, have been widely used in industrial manufacturing, medical, military and other fields. . Flexible film is a relatively common processing object in industrial production. It is usually required to perform transfer operations such as picking and placing, and the accuracy of the transfer operation directly affects the processing quality of the final product. However, for many flexible films, such as flexible substrate films in solar cells, RFID electronic smart labels and flexible membrane switches, etc., they have th...

AI Technical Summary

Problems solved by technology

In addition, CN20121012316.7 discloses a sheet material vacuum pick-and-place device, which can realize the position adjustment in the three directions of XYZ and the angle adjustment in the Z-axis direction; Active adaptive adjustment, and the degree of freedom of position and attitude adjustment and control accuracy need to be further improved

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