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Mechanical hand control system for flexible film transferring

A control system and manipulator technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of lack of control means, need for further improvement, and the inability to adapt the pick-up head to achieve improved accuracy, compact structure, and accurate pick-up and positioning operations Effect

Active Publication Date: 2015-07-01
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
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  • Application Information

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Problems solved by technology

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

Method used

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  • Mechanical hand control system for flexible film transferring
  • Mechanical hand control system for flexible film transferring
  • Mechanical hand control system for flexible film transferring

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0039] figure 1 It is a schematic diagram of the main structure of the multi-degree-of-freedom manipulator constructed according to the preferred embodiment of the present invention. Such as figure 1 As shown in , the multi-degree-of-freedom manipulator mainly includes a pick-up head 1, an α-rotation module 2, a γ-rotation module 3, an XYZ three-axis translation module 4, and an air distributi...

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Abstract

The invention discloses a mechanical hand control system for flexible film transferring. The mechanical hand control system for flexible film transferring comprises a multi-degree-of-freedom mechanical hand, a multi-sensor feedback unit and a control unit, wherein the multi-degree-of-freedom mechanical hand is used for transferring a flexible film, the multi-sensor feedback unit comprises a CCD sensor, a laser displacement sensor, a gravity sensor set, a vacuum sensor, a pressure sensor and the like and is used for detecting the multiple state indexes, including the position, the posture, the vacuum degree and the contact force, of the mechanical hand, and the control unit is used for accurately controlling operation in the whole transferring process conducted by the mechanical hand based on the information of the multi-sensor feedback unit and adjusting the sucking area of a working section of a pickup head flexibly. By the adoption of the mechanical hand control system for flexible film transferring, the posture of the pickup head can be adjusted automatically according to the dimension and position of the flexible film, the flexible film can be picked up and placed down accurately in a sucked mode, and good contact and transferring of flexible films can be guaranteed.

Description

technical field [0001] The invention belongs to the field of equipment related to the production of flexible electronics, and more specifically, relates to a manipulator control system for flexible film transfer, which is suitable for flexible electronics such as solar cell flexible substrate films, RFID tags and flexible film switches. The membrane realizes the precise control and regulation of the whole process. 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...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 陈建魁马亮黄永安尹周平叶晓斌徐洲龙唐伟
Owner HUAZHONG UNIV OF SCI & TECH
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