Carrying robot, carrying control method, device and equipment thereof and medium

Abstract

The invention provides a carrying robot and a carrying control method, device and equipment thereof and a medium, capale of increasing the utilization rate of the carrying robot and the automation degree and saving the teaching time. The carrying robot comprises a hand, a first driving device, a second driving device and a controller, wherein the hand comprises a root and a plurality of fingers, the plurality of fingers are parallel and arranged in a first direction, each finger is installed on the root, can move in the first direction and is provided with a first sensor used for positioning a carried object, and each first sensor can move in a second direction; the first driving device is connected with the fingers and used for driving the plurality of fingers to move in the first direction; the second driving device is connected with the first sensor and used for driving the first sensors to move in the second direction; and the controller is connected with the first driving device and the second driving device and used for controlling the first driving device to adjust the positions of the fingers and controlling the second driving device to adjust the positions of the first sensors on the fingers respectively according to the received size of the carried object.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a handling robot and its handling control method, device, equipment and medium. Background technique [0002] In the existing liquid crystal glass substrate handling industry, a handling robot is usually used to transport the liquid crystal glass substrate. The handling machine completes the designated handling operation according to the received handling parameters, and transports the liquid crystal glass substrate to the designated position. [0003] The current handling robot includes a hand for grabbing the liquid crystal glass substrate. The hand includes multiple fingers. The distance between the fingers can be fixed or not fixed, and each finger is provided with a substrate positioning sensor. The mounting position of the sensor on the finger is fixed. However, at present, the sizes of mobile phones and tablet products in the market are diversified. In order to mee...

AI Technical Summary

Problems solved by technology

However, at present, the sizes of mobile phones and tablet products in the market are diversified. In order to meet the needs of different customers, small and medium-sized products after cutting will inevitably produce substrates of many specifications, that is, the size of the liquid crystal glass substrate is not fixed.

[0004] Therefore, if the current handling robot has a fixed finger spacing, it cannot handle liquid crystal glass substrates of different widths. If the finger spacing is not fixed, it will take a long time The time for teaching is not high, and at the same time, the installation position of the substrate positioning sensor on the finger is fixed, and it is impossible to carry liquid crystal glass substrates of different lengths, which will cause the utilization rate of the liquid crystal handling robot to be low

Images