阅读说明：本技术 一种液晶屏搬运机械手执行末端及其防撞方法 (Liquid crystal display carrying manipulator execution tail end and anti-collision method thereof ) 是由 华伟 冯镇球 滕银银 张英军 于 2021-07-02 设计创作，主要内容包括：本发明涉及自动化搬运技术领域,具体涉及一种液晶屏搬运机械手执行末端及其防撞方法,包括托盘、第一吸杆组件以及第二吸杆组件；第一吸附区设有若干个第一吸杆调节槽；所述第一吸杆组件活动设于第一吸杆调节槽；第二吸附区设有第一滑杆调节槽；所述第一调节槽上活动设有第一可调滑杆；所述第一可调滑杆上设有第二滑杆调节槽；所述第二滑杆调节槽活动设有第二可调滑杆；所述第二可调滑杆设有若干个第二吸杆调节槽；所述第二吸杆组件活动设于第二吸杆调节槽。本发明通过将第一吸杆组件以及第二吸杆组件活动设置在托盘上,从而能够根据不同尺寸、不同重量的液晶屏调节第一吸杆组件以及第二吸杆组件的位置,增强了液晶屏搬运机械手执行末端的适用性。(The invention relates to the technical field of automatic carrying, in particular to an execution tail end of a liquid crystal screen carrying manipulator and an anti-collision method thereof, wherein the execution tail end comprises a tray, a first suction rod assembly and a second suction rod assembly; the first adsorption area is provided with a plurality of first adsorption rod adjusting grooves; the first suction rod component is movably arranged in the first suction rod adjusting groove; the second adsorption area is provided with a first slide bar adjusting groove; a first adjustable sliding rod is movably arranged on the first adjusting groove; a second slide bar adjusting groove is formed in the first adjustable slide bar; the second slide bar adjusting groove is movably provided with a second adjustable slide bar; the second adjustable sliding rod is provided with a plurality of second suction rod adjusting grooves; the second suction rod assembly is movably arranged in the second suction rod adjusting groove. According to the invention, the first suction rod assembly and the second suction rod assembly are movably arranged on the tray, so that the positions of the first suction rod assembly and the second suction rod assembly can be adjusted according to liquid crystal screens with different sizes and different weights, and the applicability of the execution tail end of the liquid crystal screen carrying manipulator is enhanced.)

1. The utility model provides a LCD screen transport manipulator carries terminal, its characterized in that: the liquid crystal display panel comprises a tray (1), a plurality of first suction rod assemblies (21) for adsorbing a liquid crystal screen panel and a plurality of second suction rod assemblies (22) for adsorbing a liquid crystal screen circuit board;

the tray (1) is provided with a first adsorption area and a second adsorption area; the first adsorption area is provided with a plurality of first adsorption rod adjusting grooves (3); the first suction rod component (21) is movably arranged in the first suction rod adjusting groove (3); the second adsorption area is provided with a first slide bar adjusting groove (41); a first adjustable sliding rod (42) is movably arranged on the first adjusting groove; a second slide bar adjusting groove (43) is arranged on the first adjustable slide bar (42); the second slide bar adjusting groove (43) is movably provided with a second adjustable slide bar (44); the second adjustable sliding rod (44) is provided with a plurality of second suction rod adjusting grooves (45); the second suction rod assembly (22) is movably arranged in the second suction rod adjusting groove (45).

2. The liquid crystal display handling manipulator execution terminal of claim 1, wherein: the first adsorption area is provided with a fixed center; the number of the first suction rod components (21) and the number of the first suction rod adjusting grooves (3) are multiple, and one first suction rod component (21) is movably arranged in one first suction rod adjusting groove (3); the plurality of first suction rod adjusting grooves (3) are distributed along the fixed center in a circumferential manner.

3. The liquid crystal display handling manipulator execution terminal of claim 2, wherein: the tray (1) is provided with lightening holes (11); the lightening holes (11) are formed between two adjacent first suction rod adjusting grooves (3).

4. The liquid crystal display handling manipulator execution terminal of claim 1, wherein: the tray (1) is provided with an air inlet switch valve component (5); the first suction rod assembly (21) and the second suction rod assembly (22) are respectively connected with the air inlet switch valve assembly (5).

5. The liquid crystal display handling manipulator execution terminal of claim 1, wherein: the number of the first sliding rod adjusting grooves (41) is two; two ends of the first adjustable sliding rod (42) are respectively and movably arranged in the two first sliding rod adjusting grooves (41); two first sliding rod adjusting grooves (41) are arranged in parallel; the first sliding rod adjusting groove (41) is perpendicular to the first adjustable sliding rod (42);

the number of the second sliding rod adjusting grooves (43) is two; the two second slide bar adjusting grooves (43) are respectively arranged at two ends of the first adjustable slide bar (42); the number of the second adjustable slide bars (44) is two; the two second adjustable slide bars (44) are respectively and movably arranged in the two second slide bar adjusting grooves (43);

two ends of the second adjustable sliding rod (44) are respectively provided with a second suction rod adjusting groove (45); the second adjustable slide bar (44) and the second slide bar adjusting groove (43) are obliquely arranged.

6. The liquid crystal display handling manipulator execution terminal of claim 2, wherein: the liquid crystal screen carrying manipulator execution tail end further comprises a connecting piece (61) and a connecting flange (62); the fixed center is connected with a connecting piece (61) through a connecting flange (62).

7. The liquid crystal display handling manipulator execution terminal of claim 1, wherein: the first suction rod assembly (21) and the second suction rod assembly (22) both comprise suction rod bodies (71); one end of the suction rod body (71) is provided with an interface (72); the other end of the suction rod body (71) is provided with a suction nozzle (73); the suction rod body (71) is provided with a first nut (74) and a second nut (75) between the interface (72) and the suction nozzle (73).

8. The method for preventing collision of the execution tail end of the liquid crystal display screen carrying manipulator based on any one of claims 1 to 7 is characterized in that: the method comprises the following steps:

A. the execution tail end of the liquid crystal screen carrying manipulator is arranged on an SCARA four-axis manipulator (8) of a carrying device (9);

B. establishing a Cartesian coordinate system, and performing origin calibration on the SCARA four-axis manipulator (8) to ensure that the X, Y direction of the SCARA manipulator coordinate system is respectively vertical and parallel to one side frame of the carrying equipment (9);

C. dividing an area where the execution tail end of the liquid crystal screen carrying manipulator can move in the carrying equipment (9) into different rectangular areas along the Y direction or the X direction;

D. correcting the R-axis origin of the SCARA four-axis manipulator (8), and calculating the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ min (alpha) and dx _ min (alpha) which can be respectively reached between the Z-axis center of the SCARA four-axis manipulator (8) and the boundaries of each rectangular area in actual operation along with the difference of the R-axis angle alpha;

E. finding the minimum value and the maximum value which can be reached by the SCARA four-axis mechanical arm (8) in the X direction and the Y direction of each rectangular area when the SCARA four-axis mechanical arm (8) runs in each rectangular area, then calculating the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ min (alpha) and dx _ min (alpha) according to the step D, calculating the maximum coordinate value and the minimum coordinate value of the SCARA four-axis mechanical arm (8) running in the X direction and the Y direction along with the difference of the R angle when the execution tail end of the liquid crystal screen carrying mechanical arm runs in each rectangular area, and thus obtaining the running range of the execution tail end of the liquid crystal screen carrying mechanical arm in each rectangular area;

F. and E, when the operation of the SCARA four-axis manipulator (8) reaches the operation range value in the step E, alarming and stopping processing are carried out, so that the execution tail end of the liquid crystal screen carrying manipulator does not collide with the frame of the carrying equipment (9).

Technical Field

The invention relates to the technical field of automatic carrying, in particular to an execution tail end of a liquid crystal display carrying manipulator and an anti-collision method thereof.

Background

With the rapid increase of the global automobile output, the market of the vehicle-mounted liquid crystal display screen is correspondingly increased for a long time. In the production process of the vehicle-mounted liquid crystal screen on an automatic line, due to the fragile characteristic of the liquid crystal screen, the vehicle-mounted liquid crystal screen equipment basically carries the liquid crystal screen by adopting an adsorption type grabbing mode instead of a clamping jaw clamping mode. The suction positions of the suction nozzles need to be uniformly distributed on the surface of the liquid crystal panel of the liquid crystal screen in the process of adsorption type grabbing, otherwise, the suction nozzles are concentrated on one position for suction, and the quality problems of the liquid crystal panel, such as bluish spots, are easily caused due to the self weight of the liquid crystal panel. In addition, the sizes and weights of the vehicle-mounted liquid crystal screens of automobiles with different brands and models are different, so that the tail ends of the vehicle-mounted liquid crystal screen carrying manipulators are required to be executed to adsorb the vehicle-mounted liquid crystal screens with different sizes and weights, and inconvenience is brought.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an execution tail end of a liquid crystal screen carrying manipulator and an anti-collision method thereof.

The purpose of the invention is realized by the following technical scheme: an execution tail end of a liquid crystal screen carrying manipulator comprises a tray, a plurality of first suction rod assemblies for adsorbing a liquid crystal screen panel and a plurality of second suction rod assemblies for adsorbing a liquid crystal screen circuit board;

the tray is provided with a first adsorption area and a second adsorption area; the first adsorption area is provided with a plurality of first adsorption rod adjusting grooves; the first suction rod component is movably arranged in the first suction rod adjusting groove; the second adsorption area is provided with a first slide bar adjusting groove; a first adjustable sliding rod is movably arranged on the first adjusting groove; a second slide bar adjusting groove is formed in the first adjustable slide bar; the second slide bar adjusting groove is movably provided with a second adjustable slide bar; the second adjustable sliding rod is provided with a plurality of second suction rod adjusting grooves; the second suction rod assembly is movably arranged in the second suction rod adjusting groove.

The invention is further provided that the first adsorption zone is provided with a fixed centre; the number of the first suction rod components and the number of the first suction rod adjusting grooves are multiple, and one first suction rod component is movably arranged in one first suction rod adjusting groove; the plurality of first suction rod adjusting grooves are circumferentially distributed along the fixed center.

The invention is further provided that the tray is provided with lightening holes; the lightening hole is formed between two adjacent first suction rod adjusting grooves.

The invention is further provided that the tray is provided with an air inlet switch valve assembly; the first suction rod assembly and the second suction rod assembly are respectively connected with the air inlet switch valve assembly.

The invention is further provided that the number of the first slide bar adjusting grooves is two; two ends of the first adjustable sliding rod are respectively movably arranged in the two first sliding rod adjusting grooves; the two first slide bar adjusting grooves are arranged in parallel; the first slide bar adjusting groove is perpendicular to the first adjustable slide bar.

The invention is further provided that the number of the second slide bar adjusting grooves is two; the two second slide bar adjusting grooves are respectively arranged at two ends of the first adjustable slide bar; the number of the second adjustable sliding rods is two; the two second adjustable slide bars are respectively and movably arranged in the two second slide bar adjusting grooves.

The invention is further provided that two ends of the second adjustable sliding rod are respectively provided with a second suction rod adjusting groove; the second adjustable slide bar and the second slide bar adjusting groove are obliquely arranged.

The invention is further provided that the execution tail end of the liquid crystal screen carrying manipulator further comprises a connecting piece and a connecting flange; the fixed center is connected with the connecting piece through the connecting flange.

The invention is further configured such that the first and second sucker assemblies each comprise a sucker body; one end of the suction rod body is provided with a connector; the other end of the suction rod body is provided with a suction nozzle; the suction rod body is provided with a first nut and a second nut between the interface and the suction nozzle.

A collision avoidance method for an execution tail end of a liquid crystal screen carrying manipulator comprises the following steps:

A. installing the execution tail end of the liquid crystal screen carrying manipulator on an SCARA four-axis manipulator of carrying equipment;

B. establishing a Cartesian coordinate system, and calibrating an origin point of the SCARA four-axis manipulator to ensure that the X, Y direction of the SCARA manipulator coordinate system is respectively vertical and parallel to one side frame of the carrying equipment;

C. dividing an area where the execution tail end of the liquid crystal screen carrying manipulator can move in carrying equipment into different rectangular areas along the Y direction or the X direction;

D. correcting the R-axis origin of the SCARA four-axis manipulator, and calculating the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ mi (alpha) and dx _ mi (alpha) which can be respectively reached between the Z-axis center of the SCARA four-axis manipulator and the boundaries of each rectangular area in actual operation along with the difference of the angle alpha of the R axis;

E. finding the minimum value and the maximum value which can be reached by the SCARA four-axis mechanical hand in the X direction and the Y direction of each rectangular area when the SCARA four-axis mechanical hand runs in each rectangular area, calculating the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ min (alpha) and dx _ min (alpha) obtained by the step D, and calculating the maximum coordinate value and the minimum coordinate value of the SCARA four-axis mechanical hand in the X direction and the Y direction when the execution end of the liquid crystal screen carrying mechanical hand runs in each rectangular area along with the difference of the R angle, thereby obtaining the operation range of the execution end of the liquid crystal screen carrying mechanical hand in each rectangular area;

F. and E, when the operation of the SCARA four-axis manipulator reaches the operation range value in the step E, performing alarm shutdown processing to ensure that the execution tail end of the liquid crystal screen carrying manipulator does not collide with the frame of the carrying equipment.

The invention has the beneficial effects that: according to the invention, the first suction rod assembly and the second suction rod assembly are movably arranged on the tray, so that the positions of the first suction rod assembly and the second suction rod assembly can be adjusted at the execution tail end of the liquid crystal screen carrying manipulator according to liquid crystal screens with different sizes and different weights, and the first suction rod assembly and the second suction rod assembly respectively adsorb a panel of the liquid crystal screen and a circuit board of the liquid crystal screen, thereby enhancing the applicability of the execution tail end of the liquid crystal screen carrying manipulator.

Drawings

The invention is further described with the aid of the accompanying drawings, in which the embodiments do not constitute any limitation to the invention, and for a person skilled in the art, without inventive effort, further drawings may be derived from the following figures.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a top plan view of the handling apparatus of the present invention;

FIG. 4 is a schematic view of an execution end of a liquid crystal display panel carrying manipulator according to the present invention;

FIG. 5 shows the shortest distance between the center of the Z axis of the SCARA four-axis manipulator and the boundary of the Y positive direction of each rectangular area of the carrying device along with the angle change of the R axis;

FIG. 6 shows the shortest distance between the Z-axis center of the SCARA four-axis manipulator of the present invention and the boundary of each rectangular area in the Y-negative direction along with the change of the R-axis angle;

FIG. 7 shows the shortest distance between the center of the Z axis of the SCARA four-axis manipulator and the boundary of the X positive direction of each rectangular area of the handling equipment along with the angle change of the R axis;

FIG. 8 shows the shortest distance between the Z-axis center of the SCARA four-axis manipulator of the present invention and the boundary of each rectangular area in the X negative direction along with the angle change of the R-axis;

wherein: 1. a tray; 11. lightening holes; 21. a first sucker assembly; 22. a second sucker rod assembly; 3. A first suction rod adjustment groove; 41. a first slide bar adjustment slot; 42. a first adjustable slide bar; 43. a second slide bar adjustment groove; 44. a second adjustable slide bar; 45. a second suction rod adjusting groove; 5. an intake switch valve assembly; 61. A connecting member; 62. a connecting flange; 71. a suction rod body; 72. an interface; 73. a suction nozzle; 74. a first nut; 75. a second nut; 8. a SCARA four-axis manipulator; 9. and (5) carrying equipment.

Detailed Description

The invention is further described with reference to the following examples.

As can be seen from fig. 1 and fig. 2, the liquid crystal panel carrying manipulator execution end of the embodiment includes a tray 1, a plurality of first sucker assemblies 21 for sucking the liquid crystal panel, and a plurality of second sucker assemblies 22 for sucking the liquid crystal panel circuit board;

the tray 1 is provided with a first adsorption area and a second adsorption area; the first adsorption area is provided with a plurality of first adsorption rod adjusting grooves 3; the first suction rod component 21 is movably arranged in the first suction rod adjusting groove 3; the second adsorption area is provided with a first slide bar adjusting groove 41; a first adjustable sliding rod 42 is movably arranged on the first adjusting groove; a second slide bar adjusting groove 43 is arranged on the first adjustable slide bar 42; the second slide bar adjusting groove 43 is movably provided with a second adjustable slide bar 44; the second adjustable sliding rod 44 is provided with a plurality of second suction rod adjusting grooves 45; the second suction rod assembly 22 is movably arranged in the second suction rod adjusting groove 45.

Specifically, the execution terminal of the liquid crystal display conveying manipulator according to this embodiment movably sets the first suction rod assembly 21 in the first suction rod adjusting groove 3, and meanwhile, the second suction rod assembly 22 can move on the second adjustable slide rod 44, the second adjustable slide rod 44 can move on the first adjustable slide rod 42, and the first adjustable slide rod 42 can move on the first slide rod adjusting groove 41, so that the execution terminal of the liquid crystal display conveying manipulator can adjust the positions of the first suction rod assembly 21 and the second suction rod assembly 22 according to liquid crystal displays of different sizes and different weights, and the first suction rod assembly 21 and the second suction rod assembly 22 respectively adsorb a panel of the liquid crystal display and a circuit board of the liquid crystal display, thereby enhancing the applicability of the execution terminal of the liquid crystal display conveying manipulator.

According to the liquid crystal display carrying manipulator execution tail end, the first adsorption area is provided with a fixed center; the number of the first suction rod assemblies 21 and the number of the first suction rod adjusting grooves 3 are multiple, and one first suction rod assembly 21 is movably arranged in one first suction rod adjusting groove 3; the plurality of first suction rod adjustment grooves 3 are circumferentially distributed along the fixed center. With the above arrangement, the center of the panel of the liquid crystal panel can be located at the fixed center, so that the first suction rod assembly 21 can stably suck the panel of the liquid crystal panel.

In the execution tail end of the liquid crystal display carrying manipulator of the embodiment, the tray 1 is provided with a lightening hole 11; the lightening hole 11 is arranged between two adjacent first suction rod adjusting grooves 3. Through the arrangement, the whole weight of the execution tail end of the liquid crystal screen carrying manipulator can be reduced.

In the execution tail end of the liquid crystal display carrying manipulator, the tray 1 is provided with an air inlet switch valve assembly 5; the first suction rod assembly 21 and the second suction rod assembly 22 are connected to the intake valve assembly 5, respectively. The first sucker rod assembly 21 and the second sucker rod assembly 22 can be controlled to be opened and closed conveniently by a user through the arrangement.

In the execution tail end of the liquid crystal display carrying manipulator according to this embodiment, the number of the first slide bar adjusting grooves 41 is two; two ends of the first adjustable slide bar 42 are respectively movably arranged in the two first slide bar adjusting grooves 41; the two first slide bar adjusting grooves 41 are arranged in parallel; the first slide bar adjustment slot 41 is arranged perpendicular to the first adjustable slide bar 42. Through the arrangement, the first sliding rod can move stably.

In the execution tail end of the liquid crystal display carrying manipulator according to this embodiment, the number of the second slide bar adjusting grooves 43 is two; the two second slide bar adjusting grooves 43 are respectively arranged at two ends of the first adjustable slide bar 42; the number of the second adjustable slide bars 44 is two; the two second adjustable sliding rods 44 are respectively movably arranged in the two second sliding rod adjusting grooves 43. In the execution tail end of the liquid crystal display conveying manipulator according to this embodiment, two ends of the second adjustable sliding rod 44 are respectively provided with a second suction rod adjusting groove 45; the second adjustable slide bar 44 is arranged obliquely to the second slide bar adjustment slot 43. The position of the second sucker component 22 can be changed from a plurality of directions through the arrangement, so that the applicability of the execution tail end of the liquid crystal screen carrying manipulator is further enhanced.

According to the liquid crystal display conveying manipulator execution end, the liquid crystal display conveying manipulator execution end further comprises a connecting piece 61 and a connecting flange 62; the fixed center is connected with the connecting piece 61 through the connecting flange 62. Through being connected connecting piece 61 and transport manipulator, be convenient for carry out the end with LCD screen transport manipulator and fix on transport manipulator.

In the execution end of the liquid crystal display conveying manipulator according to this embodiment, the first suction rod assembly 21 and the second suction rod assembly 22 both include a suction rod body 71; one end of the suction rod body 71 is provided with a connector 72; the other end of the suction rod body 71 is provided with a suction nozzle 73; the suction rod body 71 is provided with a first nut 74 and a second nut 75 between the mouthpiece 72 and the nozzle 73. Specifically, the first nut 74 and the second nut 75 of the first suction bar assembly 21 are respectively provided on the front surface and the bottom surface of the tray 1, and the first suction bar assembly 21 is fixed in the first suction bar adjustment groove 3 by rotating the first nut 74 and the second nut 75; the first nut 74 and the second nut 75 of the second suction rod assembly 22 are respectively disposed on the front surface and the bottom surface of the second adjustable slide 44, and the second suction rod assembly 22 is fixed in the second suction rod adjusting groove 45 of the second adjustable slide 44 by rotating the first nut 74 and the second nut 75.

With the rapid increase of the global automobile yield, the market of the vehicle-mounted liquid crystal display correspondingly meets the rapid growth period. In the production process of the vehicle-mounted liquid crystal screen on an automatic line, due to the fragile characteristic of the liquid crystal screen, the vehicle-mounted liquid crystal screen equipment basically carries the liquid crystal screen in an adsorption type grabbing mode instead of a clamping jaw clamping mode. The suction position of the suction nozzle needs to be uniformly distributed on the surface of the liquid crystal panel of the liquid crystal screen in the process of adsorption type grabbing, otherwise, the suction nozzle concentrates on one position for suction, and the quality problems of the liquid crystal panel such as bluish spots and the like are easily caused due to the weight of the liquid crystal panel. In addition, the sizes and weights of the vehicle-mounted liquid crystal screens of automobiles with different brands and models are different, so that the positions of the suction nozzles on the execution tail end of the vehicle-mounted liquid crystal screen automatic production line equipment for conveying the liquid crystal screens are adjustable, and each suction nozzle can be uniformly distributed on the whole liquid crystal panel for sucking and conveying. In order to realize the production of the equipment suitable for various models, the size of the liquid crystal screen carrying execution tail end designed by a designer is basically designed according to the size of the maximum liquid crystal screen, so that the size of the execution tail end is larger. The large size of the execution end makes it take up a large portion of the space of the device, which increases the risk of the execution end colliding with the frame of the device. Especially in the manipulator charging equipment based on visual positioning, once the visual system is positioned wrongly, the manipulator execution tail end is easy to impact the equipment frame when the manipulator execution tail end carries the liquid crystal screen.

Generally, the method for performing the end collision avoidance by the manipulator generally adopts contact type and non-contact type collision avoidance. The contact type anti-collision method is generally used for forcing the manipulator to stop running according to the torque and current fed back after the collision is detected, the method can detect the result after the collision occurs, if the manipulator carries a product to run at a high speed, the product and the equipment can be damaged to different degrees after the collision, and particularly, the product is a vulnerable product like a liquid crystal display. The non-contact method usually includes installing hardware devices such as radar, sensor, and camera on the end of the robot to detect peripheral obstacles, which increases the cost.

In order to solve the above problem, the embodiment provides a method for preventing an execution tail end of a liquid crystal display carrying manipulator, including the following steps:

A. the execution tail end of the liquid crystal screen carrying manipulator is arranged on an SCARA four-axis manipulator 8 of a carrying device 9;

B. establishing a Cartesian coordinate system, and performing origin calibration on the SCARA four-axis manipulator 8 to ensure that the X, Y direction of the SCARA manipulator coordinate system is respectively vertical and parallel to one side frame of the carrying equipment 9;

C. dividing an area where the execution tail end of the liquid crystal screen carrying manipulator can move in the carrying equipment 9 into different rectangular areas along the Y direction or the X direction;

D. correcting the R-axis origin of the SCARA four-axis mechanical arm 8, and calculating the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ mi (alpha) and dx _ mi (alpha) which can be respectively reached between the Z-axis center of the SCARA four-axis mechanical arm 8 and the boundaries of each rectangular area in actual operation along with the difference of the R-axis angle alpha;

E. finding the minimum value and the maximum value which can be reached by the SCARA four-axis mechanical arm 8 in the X direction and the Y direction of each rectangular area when the SCARA four-axis mechanical arm 8 runs in each rectangular area, and then calculating the maximum coordinate value and the minimum coordinate value of the SCARA four-axis mechanical arm 8 running in the X direction and the Y direction along with the difference of the R angle when the execution tail end of the liquid crystal screen carrying mechanical arm runs in each rectangular area according to the shortest distances dy _ max (alpha), dx _ max (alpha), dy _ min (alpha) and dx _ min (alpha) obtained by calculation in the step D, so as to obtain the running range of the execution tail end of the liquid crystal screen carrying mechanical arm in each rectangular area;

F. and E, when the operation of the SCARA four-axis manipulator 8 reaches the operation range value in the step E, performing alarm shutdown processing to ensure that the execution tail end of the liquid crystal screen carrying manipulator does not collide with the frame of the carrying equipment 9.

Specifically, in the present embodiment, a cartesian coordinate system is established with the center of the mounting base of the SCARA four-axis robot 8 as the origin of the coordinate system, the origins of the 1 and 2 axes of the SCARA four-axis robot 8 are corrected, the X, Y directions of the SCARA four-axis robot 8 are as shown in fig. 3, and the X, Y directions of the SCARA four-axis robot 8 are respectively parallel to and perpendicular to the frame of the upper transfer device 9. According to the activity area of the SCARA four-axis manipulator 8 in the carrying equipment 9, the activity area is divided into 3 rectangular areas: region 1, region 2, region 3.

Fig. 4 is a schematic diagram of the execution end of the liquid crystal screen carrying manipulator, in the schematic diagram, O is the center of the Z axis of the SCARA four-axis manipulator 8, after the origin of the R axis of the SCARA four-axis manipulator 8 is corrected, the 90 ° direction of the R axis coincides with the positive direction of the X axis of the coordinate of the SCARA four-axis manipulator 8, and the 90 ° direction of the R axis coincides with the positive direction of the Y axis of the coordinate of the SCARA four-axis manipulator 8. Meanwhile, fig. 4 also shows the shortest distance length a from the center of the Z axis of the SCARA four-axis robot 8 to each vertex of the end of the liquid crystal panel carrying robot and to each side of the end of the liquid crystal panel carrying robot after the R axis of the SCARA four-axis robot 8 is calibrated to the origin₀、a₁、a₂(wherein a)₂<＝a₀，a₂<＝a₁) And the partial included angles theta and beta formed between the distance lines.

The shortest distances dy _ max (alpha), dx _ max (alpha), dy _ min (alpha) and dx _ min (alpha) which can be respectively reached between the Z-axis center of the SCARA four-axis manipulator 8 and the boundaries of each rectangular area along with the change of the R-axis angle alpha are calculated as follows:

wherein, when the tray 1 at the end of the liquid crystal screen carrying manipulator is square, namely a₀＝a₁＝a₂When a is true, then d_{y_max}(α)＝d_{x_max}(α)＝d_{y_min}(α)＝d_{x_min}(α) d (α), the formula for d (α) is as follows:

therefore, the maximum value and the minimum value y of the actual operation range of the execution tail end of the liquid crystal screen carrying manipulator changing along with the angle of the R axis along with the different angles of the R axis are calculated_max、x_max、y_min、x_min：

As shown in fig. 5, 6, 7 and 8, the shortest distance d that can be achieved between the center of the Z axis of the SCARA four-axis robot 8 and the boundary of each rectangular area along with the change of the R axis angle α in actual operation is shown respectively_{y_max}(α)、d_{x_max}(α)、d_{y_min}(α)、d_{x_min}And (. alpha.) the magnitude of each value. When the R shaft rotates to-90 degrees, the SCARA four-shaft mechanical arm 8 is moved to the Y + side of the equipmentTo the maximum value that can be reached, record the value as Y_MAX(ii) a When the R shaft rotates to 90 degrees, the SCARA four-shaft mechanical arm 8 is moved to the minimum value which can be reached in the Y-direction of the equipment, and the value is recorded as Y_MIN(ii) a When the R shaft rotates to 180 degrees, the SCARA four-shaft mechanical arm 8 is moved to the maximum value which can be reached in the X + direction of the equipment, and the value is recorded as X_MAX(ii) a When the R shaft rotates to 0 degree, the SCARA four-shaft mechanical arm 8 is moved to the minimum value which can be reached in the X-direction of the equipment, and the value is recorded as X_MIN. When the SCARA four-shaft mechanical arm 8 reaches y_max、x_max、y_min、x_minAnd performing alarm shutdown processing at the range value of the constraint. When the manipulator in the embodiment normally runs, the real-time speed is 500mm/S, the sigma is set to be 30, and the controller has 0.06S operation feedback time to control the manipulator to stop running before the manipulator execution tail end collides with the equipment frame, so that the manipulator execution tail end does not collide with the equipment frame. In the embodiment, when the SCARA four-axis manipulator 8 normally operates, the real-time speed is 500mm/S, and the sigma is set to be 30, so that the controller has 0.06S of operation feedback time to control the SCARA four-axis manipulator 8 to stop operating before the execution tail end of the liquid crystal screen carrying manipulator collides with the frame of the carrying equipment 9, and thus the execution tail end of the liquid crystal screen carrying manipulator does not collide with the frame of the carrying equipment 9. "embodiment σ is 500 × 0.06. If the edge of the execution tail end of the liquid crystal screen carrying manipulator is just on the boundary of the area of the device allowing the liquid crystal screen carrying manipulator to execute the tail end moving area, the controller is required to stand immediately to stop the motion of the manipulator, otherwise, the controller collides the frame of the carrying device 9, and the controller can stop the motion of the SCARA four-axis manipulator 8 only after a series of responses (the controller receives the real-time feedback position of the manipulator, performs internal calculation, and sends an instruction to stop the motion of the SCARA four-axis manipulator 8) are required, and the response time is different according to different performances, programming modes and the like of the controller. The setting of σ is to prevent the controller from also responding that the SCARA four-axis robot 8 has hit the equipment, i.e. the larger the setting of σ, the smaller the range of movement of the robot is allowed.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.