Single-degree-of-freedom liquid crystal panel carrying mechanical arm and carrying method thereof

Abstract

The invention discloses a single-degree-of-freedom liquid crystal panel carrying mechanical arm and a carrying method thereof.The single-degree-of-freedom liquid crystal panel carrying mechanical arm comprises a driving base, the driving base is rotationally connected with one end of a large arm, and the other end of the large arm is rotationally connected with one end of a small arm; the other end of the small arm is rotationally connected with one end of the fork arm bearing mechanism, and the other end of the fork arm bearing mechanism is used for bearing a liquid crystal product to be transferred; and the driving relation between the articulated arms is determined through a method for determining the length of the arm lever of the single-degree-of-freedom liquid crystal panel carrying mechanical arm and the rotation angle of the corresponding arm lever. The invention discloses a single-degree-of-freedom liquid crystal panel carrying mechanical arm and a carrying method thereof. The single-degree-of-freedom liquid crystal panel carrying mechanical arm has the effects of being low in driving cost, small in movement inertia, small in control difficulty and high in movement precision of a single-degree-of-freedom articulated arm. And the tail end movement precision can be effectively guaranteed, and safe and efficient carrying of advanced-generation liquid crystal panels is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of digital intelligent manufacturing, and in particular to a single-degree-of-freedom liquid crystal panel handling robot arm and a handling method thereof. Background Art

[0002] The production investment of LCD panels has greatly improved the production level and product quality of the LCD industry, but its extra-large size has put forward higher requirements on the structural size and movement accuracy of the handling robot arm.

[0003] At present, the mainstream high-precision and high-generation LCD panel handling robots are mostly imported from Japan and South Korea, such as the Sankyo SR8882 robot or the Yaskawa MFS2500D robot. To ensure the handling accuracy, drive motor modules are installed at each joint of the robot, but they are expensive, difficult to maintain, have large motion inertia, and are difficult to control.

[0004] In order to reduce costs, the existing technology has also achieved certain results in the research of single-motor articulated arms. However, they are mostly used in small-sized handling equipment such as the flat single-arm robot of patent CN109760029 and the wafer robot of CN116153845. For the handling of ultra-large-sized LCD panels, the movement error caused by the increase in the size of the robot body structure, the polygonal effect of the transmission mechanism such as the chain transmission, and the hysteresis effect of the flexible synchronous belt due to the amplification effect of the arm length are obvious, and the movement accuracy is poor. Summary of the invention

[0005] The present invention overcomes the shortcomings of the prior art and provides a single-degree-of-freedom liquid crystal panel handling robot arm and a handling method thereof, which has the effects of low driving cost, small motion inertia, low control difficulty, and high motion accuracy of the single-degree-of-freedom joint arm; it can effectively ensure the end motion accuracy and realize safe and efficient handling of high-generation liquid crystal panels.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a single-degree-of-freedom liquid crystal panel handling robot arm, comprising: a driving base, the driving base is rotatably connected to one end of the upper arm through a first joint, the other end of the upper arm is rotatably connected to one end of the lower arm through a second joint, the other end of the lower arm is rotatably connected to one end of a fork arm receiving mechanism through a third joint, and the other end of the fork arm receiving mechanism is used to receive the liquid crystal product to be transferred; the first joint comprises: a reducer 1, the input end of the reducer 1 is installed on the driving base and is connected to the motor drive on the driving base, and the output end of the reducer 1 is connected to the upper arm; the second joint comprises: a reducer 2, the input end of the reducer 2 is connected to the upper arm and moves with the upper arm; the output end of the reducer 2 is connected to the lower arm; the third joint comprises: a reducer 3, the input end of the reducer 3 is connected to the end of the lower arm and moves with the lower arm; the output end of the reducer 3 is connected to the fork arm receiving mechanism.

[0007] In a preferred embodiment of the present invention, a motor is provided in the driving base, a transmission component 1 is provided in the driving base, a transmission component 2 is provided in the upper arm, and a transmission component 3 is provided in the lower arm; the fork arm receiving mechanism, the lower arm, and the upper arm are respectively driven in sequence by the transmission component 3, the transmission component 2, and the transmission component 1 to realize the driving transmission with the motor of the driving base.

[0008] In a preferred embodiment of the present invention, the transmission assembly 1 includes a driving wheel and a synchronous pulley 1 which are rotatably arranged at both ends of the driving base, the driving wheel is connected to the rotating shaft of the motor, and the driving wheel and the synchronous pulley 1 are connected through a synchronous belt 1; The transmission component 2 includes a synchronous pulley 2 and a synchronous pulley 5 which are rotatably connected to both ends of the big arm, and the synchronous pulley 2 and the synchronous pulley 5 are connected through the synchronous belt component 1; The transmission component three includes a synchronous pulley six and a synchronous pulley nine which are rotatably connected to the two ends of the forearm, and the synchronous pulley six and the synchronous pulley nine are connected through the synchronous belt component two.

[0009] In a preferred embodiment of the present invention, synchronous pulley 1 and synchronous pulley 2 are coaxially connected through a connecting rod, and a reducer 1 is provided on the connecting rod, and the reducer 1 is drivingly connected with synchronous pulley 1 and synchronous pulley 2 through the connecting rod; The synchronous pulley 5 and the synchronous pulley 6 are coaxially connected through the connecting rod 2, and the connecting rod 2 is provided with a reducer 2, and the reducer 2 is driven and connected with the synchronous pulley 5 and the synchronous pulley 6 through the connecting rod 2; The rotating shaft of the synchronous pulley nine is connected with the reducer three.

[0010] In a preferred embodiment of the present invention, a synchronous belt assembly 1 includes a transmission transition device 1 arranged in the upper arm, and the transmission transition device 1 includes a driving seat, and a deep groove ball bearing 1 and a deep groove ball bearing 2 are respectively arranged at the lower end and the upper end of the driving seat, and a connecting rod 1 is inserted through the deep groove ball bearing 1 and the deep groove ball bearing 2, and a synchronous pulley 3 and a synchronous pulley 4 are sleeved on the connecting rod 1; and the synchronous pulley 2 and the synchronous pulley 4, and the synchronous pulley 3 and the synchronous pulley 5 are respectively connected through synchronous belt transmission; The synchronous belt assembly 2 includes a transmission transition device 2 arranged in the forearm, and the transmission transition device 2 includes a driving seat, and the lower end and the upper end of the driving seat are respectively provided with a deep groove ball bearing 1 and a deep groove ball bearing 2, and a connecting rod 1 is passed through the deep groove ball bearing 1 and the deep groove ball bearing 2, and a synchronous pulley 7 and a synchronous pulley 8 are sleeved on the connecting rod 1; and the synchronous pulley 7 and the synchronous pulley 6, the synchronous pulley 8 and the synchronous pulley 9 are respectively connected through the synchronous belt transmission; And a synchronous belt tensioning device is arranged on the synchronous belt.

[0011] Specifically, a synchronous belt retaining ring and a pulley retaining ring are arranged between the deep groove ball bearing 1, the deep groove ball bearing 2 and the driving seat.

[0012] In a preferred embodiment of the present invention, a method for handling a liquid crystal panel using a single-degree-of-freedom liquid crystal panel handling robot is characterized in that the method is implemented using a single-degree-of-freedom liquid crystal panel handling robot and comprises the following steps: The method for determining the arm length and corresponding arm rotation angle of a single-degree-of-freedom liquid crystal panel handling robot arm includes: l1, l2, l3 represent the arm lengths of the driving base, the boom, and the forearm, respectively. Points A, B, C, and D correspond to the coordinates of the start and end points, respectively. θ1, θ2, and θ3 represent the angles between adjacent driving bases and the reference coordinate axis, the reverse angle between the driving base and the boom, and the reverse angle between the boom and the forearm, respectively. The formulas for the coordinates of point C and point D are as follows: ; When the fork arm receiving mechanism at the end is to realize single-degree-of-freedom linear reciprocating motion, the following conditions must be met: ; Then, the conditions for the reciprocating linear motion of the last rod of the three-bar linkage that completes radial motion are: .

[0013] In a preferred embodiment of the present invention, the speed control is achieved by driving a plurality of drive pulleys and reducers at the joints between the drive base, the upper arm, the lower arm, or the fork arm receiving mechanism; and the speed of the drive pulley at the corresponding joint is controlled by the tooth ratio between the drive pulleys at each joint, and serves as the drive of the reducer at the corresponding joint.

[0014] In a preferred embodiment of the present invention, the output end of the reducer at each joint is respectively connected to the driving base, the upper arm, the lower arm, or the arm of the fork arm receiving mechanism at the corresponding joint; Moreover, the driving base, the upper arm and the lower arm are extended and folded at a set angle ratio to realize the vacuum grabbing linear reciprocating motion of the end fork arm receiving mechanism; In order to achieve the terminal linear motion and assembly requirements, the number of teeth of each synchronous pulley in the transmission device and its center distance should satisfy the following relationship: ; z1-z8 represent the number of teeth of the synchronous pulleys installed in the boom and the arm respectively, and a1-a8 represent the center distance of the synchronous belt transmission system in the boom and the arm respectively.

[0015] In a preferred embodiment of the present invention, a flexible model of a synchronous belt transmission system is established, and the flexible model of the synchronous belt transmission system is used to simulate the deviation angles of the driving wheel and the driven wheel of the synchronous belt transmission system when the synchronous belt design parameters are changed; Determine the designable factors: To ensure the practicality of the optimization results, the designable factors of the synchronous belt transmission system are selected, including the number of teeth of each synchronous belt pulley and the center distance of the synchronous belt pulley, in combination with the synchronous belt selection standards, working condition information and commonly used industrial synchronous belt parameters; Conduct a three-factor five-level orthogonal experiment, which includes: establishing a three-factor five-level orthogonal table according to the orthogonal table, obtaining the factor level range of the number of pulley teeth and the center distance through a preliminary experiment, dividing the five levels into five levels at equal intervals, and conducting an orthogonal experiment with the minimum deviation of the driving and driven wheel angles as the response; Based on the flexible model of synchronous belt transmission system, the three-factor level data of the number of teeth of the driving pulley and the center distance are set according to the orthogonal table for simulation, and different deviation angles of the master and slave pulleys are obtained as orthogonal test results. The main effect diagram of the steering angle deviation is established based on the orthogonal test results. The trend of the main effect diagram is used as the optimization guide. With the goal of reducing the steering angle deviation of the driving and driven wheels, the level range is narrowed and divided into five levels at equal intervals. The test results are analyzed to determine whether the minimum steering angle error is obtained. When the judgment is "yes", the factor level is output to confirm the optimization result. When the judgment is "no", the factor level range is narrowed and the step of "determining the orthogonal test level at equal intervals" is jumped to conduct multiple rounds of orthogonal tests until the factor level combination corresponding to the optimal response value is obtained.

[0016] In a preferred embodiment of the present invention, the establishment of a flexible model of a synchronous belt transmission system includes: using a spring-damper discretization method to discretize the synchronous belt, dividing it into a certain number of units with mass and inertia, and connecting two adjacent units through a spring damper; And / or, determining the orthogonal test factors includes: synchronous belt transmission system parameters including the number of pulley teeth, center distance, synchronous belt width, synchronous belt thickness and belt body material.

[0017] And / or, choose a suitable orthogonal array including: according to the number of factors, choose the commonly used three factors and five levels Orthogonal table, and orthogonal test is carried out with the hysteresis angle of the driven wheel as the response; And / or, determining the factor level includes: combining the working conditions with the synchronous belt selection standard, the minimum number of teeth of the pulley and the maximum number of teeth of the synchronous pulley are; due to the relationship between the number of teeth of the pulleys under the terminal linear motion condition, a preliminary experiment is conducted on the grouping of the center distance in the range of 0-800mm, and the number of teeth of the synchronous pulley is determined during the preliminary experiment; by comparing the hysteresis angle of the driven wheel under different center distances, the value range of the center distance is determined; and / or, analyzing the test results includes: selecting a larger level for the first round of orthogonal test, and selecting five levels with equal intervals within each factor range based on the principle of uniform data dispersion; And / or, narrowing the range of factor levels includes: based on the iterative idea and the trend of the main effect of the first round of orthogonal experiments, exploring the values ​​of the hysteresis angle of the driven wheel near the reference level of the factor; 5 levels are selected at equal intervals near the reference level of each factor; And / or, verifying the optimization effect includes: taking the motion trajectory of the fork arm receiving mechanism at the end as the measurement object, and simulating to obtain the maximum swing amplitude of the fork arm receiving mechanism at the end.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention discloses a single-degree-of-freedom liquid crystal panel handling robot arm and a handling method thereof, which have the effects of low driving cost, small motion inertia, low control difficulty, and high motion accuracy of the single-degree-of-freedom joint arm; the end motion accuracy can be effectively guaranteed, and the safe and efficient handling of high-generation liquid crystal panels can be achieved.

[0019] The invention discloses a single-degree-of-freedom liquid crystal panel handling robot arm and a handling method thereof, which are proposed with respect to joint flexibility, arm flexibility and synchronous belt flexibility; the invention improves cost-effectiveness and is a large-size single-degree-of-freedom articulated synchronous belt deceleration robot arm capable of realizing high-precision and smooth handling of liquid crystal panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is a schematic diagram of the axial structure of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Figure 2 It is a schematic diagram of the mechanical arm transmission structure of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Figure 3 It is a schematic diagram of the axial structure of a transition device of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Figure 4 It is a section diagram of the joint transmission of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Figure 5 It is a cross-sectional structural schematic diagram of a transition device of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Figure 6 It is a schematic diagram of the working process of a transition device of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Figure 7 It is a schematic diagram of the position of the maximum difference point before optimization of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Figure 8 It is a schematic diagram of simulation results of flexibility of a synchronous belt before optimization of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig. 9 It is a schematic diagram of experimental verification of optimization effect before and after optimization of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Fig.10 It is a schematic diagram comparing the displacement errors of the end of a single-degree-of-freedom liquid crystal panel handling robot arm before and after optimization of the present invention; Fig.11This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 1 (The number of teeth of the synchronous pulley in the first round of orthogonal test); Fig.12 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 2 (Number of four teeth of synchronous pulley in the first round of orthogonal test); Fig.13 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 3 (center distance of the first round of orthogonal test); Fig.14 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 4 (The number of teeth of synchronous pulley 2 in the second round of orthogonal test); Fig.15 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 5 (The number of teeth of synchronous pulley 4 in the second round of orthogonal test); Fig.16 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 6 (Center distance of the second round of orthogonal test); Fig.17 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 7 (The number of teeth of synchronous pulley 2 in the third round of orthogonal test); Fig.18 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 8 (The number of teeth of synchronous pulley 4 in the third round of orthogonal test); Fig.19 This is an orthogonal test effect curve of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention. Figure 9 (Center distance of the third round of orthogonal test); Fig. 20 It is a schematic diagram of a mechanical arm transmission chain of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Fig.21 It is a schematic diagram of the main effects of the first round of orthogonal test of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig. 22 It is a schematic diagram of the main effects of the second round of orthogonal test of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.23 It is a schematic diagram of the main effects of the third round of orthogonal test of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.24It is a parameter table of the synchronous pulley in the arm of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.25 This is an optimal synchronous belt transmission parameter table of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.26 It is a discrete unit viscoelastic model diagram of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig. 27 It is a discrete model diagram of a synchronous belt of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.28 It is a schematic diagram of the installation of a reducer of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Fig.29 It is a structural schematic diagram of a large arm of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Fig.30 It is a schematic cross-sectional structural diagram of a large arm of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Fig.31 It is a structural schematic diagram of a forearm of a single-degree-of-freedom liquid crystal panel handling mechanical arm of the present invention; Fig.32 It is a schematic cross-sectional structural diagram of a forearm of a single-degree-of-freedom liquid crystal panel handling robot arm of the present invention; Among them, 1-driving base, 2-big arm, 23-transmission transition device 1, 231-synchronous belt retaining ring, 232-deep groove ball bearing 1, 233-deep groove ball bearing 2, 234-pulley retaining ring, 3-small arm, 4-fork arm receiving mechanism, 5-liquid crystal product, 6-motor, 7-synchronous belt 1, 8-synchronous pulley 1, 9-reducer 1, 10-connecting rod, 11-synchronous pulley 2, 12-synchronous belt tensioning device, 13-synchronous pulley 3, 14-synchronous pulley 4, 15-synchronous pulley 5, 16-reducer 2, 17-synchronous pulley 6, 18-synchronous belt 2, 19-synchronous pulley 7, 20-synchronous pulley 8, 21-synchronous pulley 9, 22-reducer 3. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0023] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0024] In order to solve the problems that imported multi-motor driven large-scale handling robotic arms are expensive, difficult to control, and existing single-degree-of-freedom joint robotic arms are mostly small-sized devices, and large-scale handling robotic arms cannot meet the requirements of high-generation panel handling accuracy; the present invention provides a large-sized single-degree-of-freedom joint robotic arm with high cost-effectiveness, simple control, and high motion accuracy. The robotic arm is driven by a single motor and adopts an arc-shaped synchronous belt drive combined with a high-precision, large transmission ratio reducer to achieve single-degree-of-freedom motion with large load and large torque. It has low cost, small motion inertia, and small space occupation. The motion accuracy can be improved by selecting the parameters of the synchronous belt drive system, and the motion trajectory is strictly guaranteed to be stable and reliable. The end effector uses lightweight and high-rigidity carbon fiber materials to replace traditional metal materials to ensure stable support and handling of high-generation panels, which can achieve efficient, stable, and precise handling of LCD panels with a maximum size of 10.5 generations. Embodiment 1

[0025] like Figure 1-Figure 32 As shown, a single-degree-of-freedom liquid crystal panel handling robot arm comprises: a driving base 1, the driving base 1 is rotatably connected to one end of a large arm 2 through a first joint, the other end of the large arm 2 is rotatably connected to one end of a small arm 3 through a second joint, the other end of the small arm 3 is rotatably connected to one end of a fork arm receiving mechanism 4 through a third joint, and the other end of the fork arm receiving mechanism 4 is used to receive a liquid crystal product 5 to be transferred; the first joint comprises: a reducer 9, the input end of the reducer 9 is mounted on the driving base 1 and is drive-connected to a motor 6 on the driving base 1, and the output end of the reducer 9 is connected to the large arm; the second joint comprises: a reducer 16, the input end of the reducer 16 is connected to the large arm and moves with the large arm; the output end of the reducer 16 is connected to the small arm; the third joint comprises: a reducer 22, the input end of the reducer 22 is connected to the end of the small arm and moves with the small arm; the output end of the reducer 22 is connected to the fork arm receiving mechanism 4.

[0026] Specifically, a motor 6 is provided in the driving base 1, a transmission component 1 is provided in the driving base 1, a transmission component 2 is provided in the upper arm 2, and a transmission component 3 is provided in the lower arm 3; the fork arm receiving mechanism 4, the lower arm 3, the upper arm 2, and the driving base 1 are respectively connected in series through the transmission component 3, the transmission component 2, and the transmission component 1 to realize the transmission connection with the motor 6 driven by the driving base 1.

[0027] Specifically, the transmission component 1 includes a driving wheel and a synchronous pulley 1 8 rotatably arranged at both ends of the driving base 1, the driving wheel is connected to the rotating shaft of the motor 6, and the driving wheel and the synchronous pulley 1 8 are connected through a synchronous belt 1 7. The transmission component 2 includes a synchronous pulley 2 11 and a synchronous pulley 5 15 rotatably connected to both ends of the big arm 2, and the synchronous pulley 2 11 and the synchronous pulley 5 15 are connected through a synchronous belt component 1. Specifically, the synchronous belt assembly 1 includes a transmission transition device 1 23 arranged in the arm 3, and the transmission transition device 1 23 includes a driving seat, and the lower end and upper end of the driving seat are respectively provided with a deep groove ball bearing 1 232 and a deep groove ball bearing 2 233, and a connecting rod 1 is inserted through the deep groove ball bearing 1 232 and the deep groove ball bearing 2 233, and a synchronous pulley 3 13 and a synchronous pulley 4 14 are sleeved on the connecting rod 1; and the synchronous pulley 2 11 and the synchronous pulley 4 14, the synchronous pulley 3 13 and the synchronous pulley 5 15 are respectively connected by synchronous belt transmission; and a synchronous belt tensioning device 12 is provided on the synchronous belt. The transmission assembly 3 includes a synchronous pulley 6 17 and a synchronous pulley 9 21 rotatably connected to the two ends of the arm 3, and the synchronous pulley 6 17 and the synchronous pulley 9 21 are connected by synchronous belt assembly 2 transmission. The synchronous belt assembly 2 includes a transmission transition device 2 arranged in the small arm 3, and the transmission transition device 2 includes a driving seat, and the lower end and upper end of the driving seat are respectively provided with a deep groove ball bearing 1 232 and a deep groove ball bearing 2 233, and a connecting rod 1 is inserted through the deep groove ball bearing 1 232 and the deep groove ball bearing 2 233, and a synchronous pulley 7 19 and a synchronous pulley 8 20 are sleeved on the connecting rod 1; and the synchronous pulley 7 19 and the synchronous pulley 6 17, the synchronous pulley 8 20 and the synchronous pulley 9 21 are respectively connected by synchronous belt transmission; and a synchronous belt tensioning device 12 is arranged on the synchronous belt. A synchronous belt retaining ring 231 and a pulley retaining ring 234 are arranged between the deep groove ball bearing 1 232 and the deep groove ball bearing 2 233 and the driving seat.

[0028] Furthermore, the synchronous pulley 1 8 and the synchronous pulley 2 11 are coaxially connected through the connecting rod 10, and the connecting rod 10 is provided with a reducer 1 9, and the reducer 1 9 is driven and connected with the synchronous pulley 1 8 and the synchronous pulley 2 11 through the connecting rod 10; the synchronous pulley 5 15 and the synchronous pulley 6 17 are coaxially connected through the connecting rod 2, and the connecting rod 2 is provided with a reducer 2 16, and the reducer 2 16 is driven and connected with the synchronous pulley 5 15 and the synchronous pulley 6 17 through the connecting rod 2; the rotating shaft of the synchronous pulley 9 21 is connected with the reducer 3 22; the reducer 1 9, the reducer 2 16, and the reducer 3 22 are respectively provided at the joints where the adjacent joints of the fork arm receiving mechanism 4, the small arm 3, the large arm 2 and the driving base 1 are connected.

[0029] Furthermore, the present invention adopts a single motor 6 drive, and uses a circular arc synchronous belt drive with stable transmission combined with a reducer to realize power transmission. A high-precision, high-torque, compact and lightweight hollow reducer is selected to improve the joint stiffness and ensure the angle accuracy. The articulated synchronous belt reduction mechanical arm structure provided by the present invention is as follows Figure 1-Figure 5 , Figure 28-Figure 32 As shown, the robot body is composed of a driving base 1, a large arm 2, a small arm 3 and a carbon fiber fork arm receiving mechanism 4, and the liquid crystal product 5 is vacuum-adsorbed on the carbon fiber fork arm receiving mechanism 4. Considering light weight, the large arm 2, the small arm 3 and the driving base 1 of the robot are made of Al6061 aluminum alloy, and the end fork arm receiving mechanism 4 is made of lightweight and high modulus carbon fiber material. The fork arm receiving mechanism 4 is a hollow square tube with a built-in vacuum suction cup to grab the liquid crystal panel. The hollow rectangular configuration can further improve the rigidity and reduce the influence of the insufficient rigidity of the long fork arm receiving mechanism on the motion accuracy.

[0030] Working principle: The motor 6 is the only drive to drive the synchronous belt transmission to achieve power transmission. Taking the power transmission of the boom as an example, when the power is transmitted to the boom 2, the synchronous pulley 8 is used as the driving pulley at the first joint, and is fixedly connected to the input end of the reducer 9, and the selected reducer 9 is a hollow type. The synchronous pulley 8 is also fixedly connected to one end of the connecting rod 10 passing through the reducer, and the other end of the connecting rod 10 is fixedly connected to the synchronous pulley 2 11, so that the synchronous pulley 8 and the synchronous pulley 2 11 rotate at the same speed to achieve power transmission. The joint dissection diagram is shown in FIG. Figure 4 As shown. The connecting rod 10 is a hollow shaft, and the rotation angle of the joint is not limited by the air circuit and circuit routing. The output end of the reducer 9 is fixedly connected to the arm 2, and the rotation of the joint drives the arm 2 to swing. In order to avoid the violent lateral vibration of the synchronous belt when the flexible synchronous belt is transmitted with a large center distance, the hysteresis effect is aggravated, and the transmission accuracy is affected, the synchronous pulley 3 13 and the synchronous pulley 4 14 are designed to cooperate with the deep groove ball bearing 1 232 and the deep groove ball bearing 2 233 and the pulley retaining ring 234 to achieve coaxial rotation as a transmission transition device. The installation and connection method of the synchronous belt retaining ring 231 in the transmission transition device in this embodiment adopts the conventional assembly relationship in the prior art, as long as the connection between the fixed synchronous pulley and the bearing can be basically achieved to avoid deviation during high-speed rotation. In order to ensure the correct assembly of the synchronous belt transmission device and prevent the synchronous belt from loosening after long-term work, resulting in an increase in the transmission angle error, a synchronous belt tensioning device 12 is designed, and the position of the transition device 23 and the angle of the tensioning device 12 can be fine-tuned through the slot hole to ensure the correct tensioning of the synchronous belt and reduce the transmission error.

[0031] The speed of the driving pulley at each joint is controlled by the gear ratio and driven as a reducer. The output end of the reducer is connected to the arm rod, driving the big arm 2 and the small arm 3 to extend and fold at a set angle ratio to realize the linear reciprocating motion of the vacuum grip at the end of the driving base 1.

[0032] Embodiment 2 like Figure 1-Figure 32 As shown, a method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot arm is provided, wherein the single-degree-of-freedom liquid crystal panel transporting robot arm includes: a driving base 1, the driving base 1 is rotatably connected to one end of a large arm 2, the other end of the large arm 2 is rotatably connected to one end of a small arm 3, the other end of the small arm 3 is rotatably connected to one end of a fork arm receiving mechanism 4, and the other end of the fork arm receiving mechanism 4 receives a liquid crystal product 5 to be transferred.

[0033] The method for determining the arm length and corresponding arm rotation angle of a single-degree-of-freedom liquid crystal panel handling robot arm includes: l1, l2, l3 represent the arm lengths of the driving base 1, the upper arm 2, and the lower arm 3, respectively. Points A, B, C, and D correspond to the coordinates of the start and end points, respectively. θ1, θ2, and θ3 represent the angles between the adjacent driving bases 1 and the reference coordinate axis, the reverse angle between the driving base 1 and the upper arm 2, and the reverse angle between the upper arm 2 and the lower arm 3, respectively. The formulas for the coordinates of point C and point D are as follows: ; When the fork arm receiving mechanism 4 at the end is to realize single-degree-of-freedom linear reciprocating motion, it needs to meet the following requirements: ; Then, the conditions for the reciprocating linear motion of the last rod of the three-bar linkage that completes radial motion are: .

[0034] Specifically, the speed control is achieved by driving a plurality of drive pulleys and reducers at the joints between the drive base 1, the upper arm 2, the lower arm 3, and the fork arm receiving mechanism 4; and the speed of the drive pulley at the corresponding joint is controlled by the gear ratio between the drive pulleys at each joint, and serves as the drive of the reducer at the corresponding joint.

[0035] Specifically, the output end of the reducer at each joint is respectively connected to the driving base 1, the upper arm 2, the lower arm 3, or the arm of the fork arm receiving mechanism 4 at the corresponding joint; and the driving base 1, the upper arm 2, and the lower arm 3 are extended and folded at a set angle ratio to realize the linear reciprocating motion of the terminal vacuum grasping fork arm receiving mechanism 4; in order to realize the terminal linear motion and assembly requirements, the number of teeth of each synchronous pulley in the transmission device and its center distance should meet the following relationship: ; z1-z8 represent the number of teeth of the synchronous pulleys installed in the boom and the arm respectively, and a1-a8 represent the center distance of the synchronous belt transmission system in the boom and the arm respectively.

[0036] Specifically, the motion accuracy of the single-degree-of-freedom liquid crystal panel handling robot is verified through joint flexibility, arm flexibility, and synchronous belt flexibility.

[0037] In a preferred embodiment of the present invention, a method for handling a liquid crystal panel using a single-degree-of-freedom liquid crystal panel handling robot is characterized in that the method is implemented using a single-degree-of-freedom liquid crystal panel handling robot and comprises the following steps: The method for determining the arm length and corresponding arm rotation angle of a single-degree-of-freedom liquid crystal panel handling robot arm includes: l1, l2, l3 represent the lengths of the driving base 1, the upper arm 2, and the lower arm 3, respectively. Points A, B, C, and D correspond to the coordinates of the start and end points, respectively. θ1, θ2, and θ3 represent the angles between the adjacent driving bases 1 and the reference coordinate axis, the reverse angle between the driving base 1 and the upper arm 2, and the reverse angle between the upper arm 2 and the lower arm 3, respectively. The formulas for the coordinates of point C and point D are as follows: ; When the fork arm receiving mechanism 4 at the end is to realize single-degree-of-freedom linear reciprocating motion, it needs to meet the following requirements: ; Then, the conditions for the reciprocating linear motion of the last rod of the three-bar linkage that completes radial motion are: .

[0038] In a preferred embodiment of the present invention, the speed control is achieved by driving a plurality of drive pulleys and reducers at the joints between the drive base 1, the upper arm 2, the lower arm 3, or the fork arm receiving mechanism 4; and the speed of the drive pulley at the corresponding joint is controlled by the tooth ratio between the drive pulleys at each joint, and serves as the drive of the reducer at the corresponding joint.

[0039] In a preferred embodiment of the present invention, the output end of the reducer at each joint is respectively connected to the arm of the driving base 1, the upper arm 2, the lower arm 3, or the arm of the fork arm receiving mechanism 4 at the corresponding joint; and the upper arm 2 and the lower arm 3 are driven to extend and fold at a set angle ratio to realize vacuum grasping linear reciprocating motion at the end of the fork arm receiving mechanism 4.

[0040] In order to achieve the terminal linear motion and assembly requirements, the number of teeth of each synchronous pulley in the transmission device and its center distance should satisfy the following relationship: ; z1-z8 respectively represent the number of teeth of the synchronous pulleys installed in the boom and arm in sequence (z1 is synchronous pulley 2 11, z2 is synchronous pulley 4 14, z3 is synchronous pulley 3 13, z4 is synchronous pulley 5 15, z5 is synchronous pulley 6 17, z6 is synchronous pulley 7 19, z7 is synchronous pulley 8 20, z8 is synchronous pulley 9 21), and the number of teeth of synchronous pulley 1 8 is the same as that of synchronous pulley 8 20. a1-a8 respectively represent the center distance of the synchronous belt transmission system in the boom and arm.

[0041] Specifically, the motion accuracy of the single-degree-of-freedom liquid crystal panel handling robot is verified through joint flexibility, arm flexibility, and synchronous belt flexibility.

[0042] Embodiment 3 On the basis of Example 1 or Example 2, Figure 1-Figure 32 As shown, a method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot arm comprises: In a preferred embodiment of the present invention, a flexible model of a synchronous belt transmission system is established, and the flexible model of the synchronous belt transmission system is used to simulate the deviation angles of the driving wheel and the driven wheel of the synchronous belt transmission system when the synchronous belt design parameters are changed; Determine the designable factors: To ensure the practicality of the optimization results, the designable factors of the synchronous belt transmission system are selected, including the number of teeth of each synchronous belt pulley and the center distance of the synchronous belt pulley, in combination with the synchronous belt selection standards, working condition information and commonly used industrial synchronous belt parameters; Conduct a three-factor five-level orthogonal experiment, which includes: establishing a three-factor five-level orthogonal table according to the orthogonal table, obtaining the factor level range of the number of pulley teeth and the center distance through a preliminary experiment, dividing the five levels into five levels at equal intervals, and conducting an orthogonal experiment with the minimum deviation of the driving and driven wheel angles as the response; Based on the flexible model of synchronous belt transmission system, the three-factor level data of the number of teeth of the driving pulley and the center distance are set according to the orthogonal table for simulation, and different deviation angles of the master and slave pulleys are obtained as orthogonal test results. The main effect diagram of the steering angle deviation is established based on the orthogonal test results. The trend of the main effect diagram is used as the optimization guide. With the goal of reducing the steering angle deviation of the driving and driven wheels, the level range is narrowed and divided into five levels at equal intervals. The test results are analyzed to determine whether the minimum steering angle error is obtained. When the judgment is "yes", the factor level is output to confirm the optimization result. When the judgment is "no", the factor level range is narrowed and the step of "determining the orthogonal test level at equal intervals" is jumped to conduct multiple rounds of orthogonal tests until the factor level combination corresponding to the optimal response value is obtained.

[0043] Furthermore, the specific steps for synchronous belt optimization include: By analyzing the transmission structure of a single-degree-of-freedom robot arm, it is found that the joint flexibility, arm flexibility, and synchronous belt flexibility of the robot arm all have a certain influence on the end motion accuracy. The influence of joint flexibility and arm flexibility was considered in its structural design. As a flexible body, the elastic deformation of the synchronous belt during operation causes the speed of the master and slave wheels to be inconsistent, the driven wheel lags behind the driving wheel, and there is a deviation angle between the master and slave wheels. It is impossible to accurately meet the angle ratio required for the end linear motion. Therefore, it is considered to optimize the design parameters of the synchronous belt transmission system (such as the number of teeth of the synchronous belt wheel, the center distance, the width, thickness, material, etc. of the synchronous belt).

[0044] There are four sets of synchronous belt transmission systems in the boom and forearm, and the deviation angle caused by the hysteresis error is linearly superimposed on the end motion. Taking the optimization of one set of synchronous belt transmission systems as an example, the optimization methods of the other synchronous belt transmission systems are exactly the same.

[0045] Specifically, the establishment of the flexible model of the synchronous belt transmission system includes: using the spring-damper discretization method to discretize the synchronous belt, dividing it into a certain number of units with mass and inertia, and connecting two adjacent units through spring damping. Figure 7 , Figure 8 As shown: From the simulation results, it can be seen that the maximum displacement error of the end motion error of the robot arm is 29.843mm; the laser pen marking experiment of the fork arm receiving mechanism 4 at the end obtains that the maximum displacement error of the end motion of the robot arm is about 31mm, and the error with the simulation result is only 3.87%, which verifies the accuracy of the synchronous belt flexibility model.

[0046] Specifically, the spring-damper belt element discretization method is used to discretize the synchronous belt, which is divided into units with mass and inertia, and two adjacent units are connected by spring damping.

[0047] Specifically, the linear viscoelastic behavior model of a single discrete unit of the synchronous belt is as follows: Fig.26 As shown; the discrete model of synchronous belt is as follows Fig. 27 As shown. Among them, is the tangential dynamic load generated on the ith synchronous belt discrete unit, is the external force acting on the tangential direction of the ith discrete unit, is the pulling force exerted by the ith discrete unit on the mass block, is the damping force generated by the ith discrete unit damping on the mass block, is the tension exerted by the i-1th discrete unit spring on the mass block, is the damping force generated by the i-1th discrete unit damping on the mass block. Based on the force balance, the tangential equation of the synchronous belt force is analyzed as follows: ; is the matrix of the sum of the synchronous belt mass and the load on the synchronous belt; [C] is the damping coefficient matrix; [K] is the spring stiffness matrix; F is the synchronous belt tangential external force matrix; is the acceleration column vector, is the velocity column vector, is the displacement vector.

[0048] Through the discretization of the synchronous belt elements and the derivation and simulation of the dynamic model, when the synchronous belt material, synchronous belt pulley speed and acceleration are determined, the displacement of a certain point in the synchronous belt transmission system at any time during the movement can be obtained according to the number of synchronous belt pulley teeth and its center distance, and then the angular deviation of the master and driven wheels of the synchronous belt transmission system can be obtained.

[0049] Specifically, the orthogonal test factors include: the parameters of the synchronous belt transmission system include the number of teeth on the pulley, the center distance, the width of the synchronous belt, the thickness of the synchronous belt and the material of the belt body. Specifically, the orthogonal test factors are determined by the synchronous belt selection standard in the prior art (for example, the "JB / T7512.3-2014" synchronous belt selection standard in the prior art). Under certain working conditions, that is, when the torque and speed transmitted by the synchronous belt transmission system are determined, the width, thickness, belt material and the minimum number of teeth on the pulley can be obtained by looking up the table. Therefore, in the robot arm, the designable parameters in the synchronous belt transmission system are the number of teeth of each synchronous belt pulley and the corresponding center distance. In order to meet the workspace requirements, l1=l2=800mm and l3=2580mm in the robot arm. The angular error caused by the flexible synchronous belt in the arm and the forearm is linearly superimposed on the end motion accuracy, and the optimization method of the synchronous belt transmission parameters in the arm and the forearm is the same. Taking the parameters of the synchronous belt transmission system in the boom as an example, due to the linear feed action requirements of the end of the robot arm, the number of teeth and center distance of each pulley must meet the requirements of the formula. Therefore, the three factors of the number of teeth z1 of synchronous pulley 2 (11), the number of teeth z2 of synchronous pulley 4 (14) and the corresponding center distance a1 are selected as design variables for optimization, and the parameter optimization of the transmission device in the boom can be completed.

[0050] Specifically, the selection of an appropriate orthogonal table includes: according to the number of factors, the commonly used three factors and five levels are selected An orthogonal table is constructed and an orthogonal test is carried out with the lag angle of the driven wheel as the response.

[0051] Specifically, the same determination factor level includes: combined with the working conditions and synchronous belt selection standards, the minimum number of teeth of the pulley is 20z. Due to the limitation of the installation space of the robot arm, the maximum number of teeth of synchronous pulley 2 11 is 120z, and the maximum number of teeth of synchronous pulley 4 14 is 60z; due to the ratio of the number of teeth of the pulleys under the terminal linear motion condition, the value range of factor z1 is 40z-120z, and the value range of factor z2 is 20z-60z; a preliminary experiment was conducted on the grouping of center distance a1 in 0-800mm, and the number of teeth of synchronous pulley 2 11 and synchronous pulley 4 14 were determined to be 120z and 60z respectively during the preliminary experiment; by comparing the lag angle of the driven wheel under different center distances, when the center distance a1 is less than 360mm or a1 is greater than 480mm, the transmission error increases significantly; therefore, the value range of center distance a1 is initially selected as 360mm-480mm; Specifically, the same analysis test results include: the first round of orthogonal test selected a larger level to conduct, based on the principle of uniform data dispersion, five levels were selected at equal intervals within each factor range.

[0052] Narrowing the range of factor levels includes: based on the iterative idea and the main effect trend of the first round of orthogonal experiments, exploring the values ​​of the hysteresis angle of the driven wheel near the reference level of the factor. Five levels are selected at equal intervals near the reference level of each factor; Verifying the optimization effect includes: taking the motion trajectory of the fork arm receiving mechanism 4 at the end as the measurement object, and simulating to obtain that the swing amplitude of the fork arm receiving mechanism 4 at the end is the largest.

[0053] The first round of orthogonal test selected a larger level. Based on the principle of uniform data dispersion, five levels were selected at equal intervals within each factor range, a1: 360, 390, 420, 450, 480 mm; z1: 40, 60, 80, 100, 120, z2: 20, 30, 40, 50, 60. The first round of orthogonal test generated a total of 25 test schemes. The main effect diagram of the driven wheel lag angle is shown in the figure below. Fig.21 As shown in the main effect diagram of the first round of orthogonal experiment (main effect diagram of terminal motion error), in this orthogonal experiment, when the center distance is 420mm, the number of teeth of synchronous pulley 2 is 120z, and the number of teeth of synchronous pulley 4 is 50z, the mean value of the lag angle of the driven wheel is the smallest, but the horizontal span of the preliminary selected factors is large, and the lag angle may have a smaller value near the reference level of the factors.

[0054] Specifically, the range of factor levels is narrowed down by: based on the iterative idea and the main effect trend of the first round of orthogonal test, the value of the lag angle of the driven wheel near the reference level of the factor is explored. Five levels are selected at equal intervals near the reference level of each factor; a1: 400, 410, 420, 430, 440mm, z1: ​​80, 90, 100, 110, 120; z2: 32, 39, 46, 53, 60. The main effect diagram of the second round of orthogonal test analysis is shown in the figure below. Fig. 22 shown.

[0055] In the second round of orthogonal test, when the center distance is 420mm, the number of teeth of synchronous pulley 2 is 120z, and the number of teeth of synchronous pulley 4 is 39z (that is, z1 is 120z and z2 is 39z), the mean of the lag angle of the driven wheel is the smallest (that is, the end motion error is small). According to the trend of the main effect diagram, the lag angle a1 of the driven wheel is between 420mm-430mm in the center distance, and there may still be a smaller lag angle when the number of teeth of synchronous pulley 4 is 14 near 39z. At the same time, in order to verify whether the results of the number of teeth of synchronous pulley 2 is reliable, the third round of orthogonal test design is carried out. The selected factor level is confirmed by selecting data at equal intervals. Mainly through the trend of the main effect curve, the low point of the curve is used to judge whether there may be a smaller value. Through iterative selection, the factor level is focused on a smaller unit to obtain more accurate results. When z1 is 120z, z2 is 39z; when a1 is 420mm-430mm, there may be a center distance that makes the synchronous belt transmission error smaller. In order to further determine more accurate synchronous belt parameters, a third round of orthogonal tests is carried out.

[0056] In the third round of orthogonal experiment, the five levels of each factor were selected at equal intervals near the optimal point as follows: a1: 420, 422, 424, 426, 428 mm, z1: ​​112, 114, 116, 118, 120; z2: 38, 39, 40, 41, 42. The main effect diagram of the third round of orthogonal experiment is as follows Fig.23 shown.

[0057] The main effect diagram of the mean hysteresis angle of the third round of orthogonal test shows that the range of values ​​of each factor is small at this time, and the mean hysteresis angle of the driven wheel fluctuates in a small range. When the center distance is 422mm, the number of teeth of synchronous pulley 2 is 118z, and the number of teeth of synchronous pulley 4 is 41z, the hysteresis angle of the driven wheel is the smallest.

[0058] Through three rounds of orthogonal test iterations, the parameters of the synchronous belt pulley group in the boom are selected as follows: Fig.24 As shown, its transmission error is the smallest. Furthermore, the optimal level of the three factors selected in the arm is finally obtained through three rounds of orthogonal experiments, and the remaining parameters, a2, z3, z4, are obtained by combining the terminal linear motion and assembly requirements; and the angle error caused by the selected parameter results of the three rounds of orthogonal experiments is compared with the optimal parameters obtained by only one round of orthogonal experiments. The orthogonal experiment based on the iterative idea can obtain a better and smaller transmission error, such as Fig.25 shown.

[0059] Specifically, the verification of the optimization effect includes: taking the motion trajectory of the fork arm receiving mechanism 4 at the end as the measurement object, simulating the maximum swing amplitude of the fork arm receiving mechanism 4 at the end. Further, the effectiveness of the synchronous belt parameter optimization is verified by simulation and experiment, and the maximum swing amplitude of the fork arm receiving mechanism 4 at the end is 9.145mm.

[0060] The simulation results show that the maximum swing amplitude of the fork arm receiving mechanism 4 at the end is only 9.145mm. The experimental results show that the maximum offset position of the laser point at the end of the robot arm is about 10mm, which is close to the simulation result, further proving the effectiveness of the parameter optimization results. It also shows that the robot arm can achieve the motion requirements of smoothly transporting high-generation LCD panels.

[0061] Working principle: The present invention improves the motion accuracy from three aspects: joint flexibility, arm flexibility and synchronous belt flexibility. The influence of joint flexibility on the end motion accuracy is minimized by selecting a high-rigidity, high-precision reducer; the influence of arm flexibility on the end motion accuracy is reduced by selecting a lightweight, high-modulus carbon fiber hollow fork arm receiving mechanism 4 instead of traditional metal materials. Adding a transition device to the synchronous belt transmission system can reduce the angular error caused by the hysteresis effect of the flexible synchronous belt with a large center distance transmission to a certain extent; in order to further ensure the smooth handling of high-generation liquid crystal panels and improve the motion accuracy, a method is provided without increasing the structural complexity and vibration suppression structure to reasonably select the parameters of the synchronous belt transmission system to further reduce the angular error caused by the hysteresis effect of the flexible synchronous belt.

[0062] Based on the idea of ​​iteration, multiple orthogonal tests are used, and the effect curve is used to narrow the range of synchronous belt transmission parameters and determine the optimal parameter level. Taking the synchronous belt transmission parameters in the arm as an example, in order to meet the workspace requirements, l1=l2=800mm and l3=2580mm in the robot arm. The synchronous belt is a standard transmission part. Combined with the selection standard and the ratio of the number of teeth of the pulley, the number of teeth z1 of synchronous pulley 2 is 11, the number of teeth z2 of synchronous pulley 4 is 14, and the center distance a1 are selected. The orthogonal test of three factors and five levels is established by the preliminary test and three rounds of iteration are carried out. The optimal parameters are selected with the minimum end motion error as the goal.

[0063] Based on the ideal embodiment of the present invention, through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A single-degree-of-freedom liquid crystal panel handling robot, characterized in that: include: A driving base (1), wherein the driving base (1) is rotatably connected to one end of a large arm (2) via a first joint, the other end of the large arm (2) is rotatably connected to one end of a small arm (3) via a second joint, the other end of the small arm (3) is rotatably connected to one end of a fork arm receiving mechanism (4) via a third joint, and the fork arm receiving mechanism (4) is used to receive a liquid crystal product (5) to be transferred; The first joint comprises: a reducer 1 (9), the input end of the reducer 1 (9) being mounted on the driving base (1) and drivingly connected to the motor (6) on the driving base (1), and the output end of the reducer 1 (9) being connected to the upper arm; The second joint comprises: a reducer 2 (16), the input end of the reducer 2 (16) is connected to the upper arm and moves with the upper arm; the output end of the reducer 2 (16) is connected to the lower arm; The third joint comprises: a reducer three (22), the input end of the reducer three (22) being connected to the end of the forearm and moving with the forearm; and the output end of the reducer three (22) being connected to the fork arm receiving mechanism (4).

2. The single-degree-of-freedom liquid crystal panel handling robot arm according to claim 1, characterized in that: The motor (6) is arranged in the driving base (1), a transmission component 1 is arranged in the driving base (1), a transmission component 2 is arranged in the upper arm (2), and a transmission component 3 is arranged in the lower arm (3); the fork arm receiving mechanism (4), the lower arm (3), and the upper arm (2) are respectively driven by the transmission component 3, the transmission component 2, and the transmission component 1 in sequence to realize drive transmission with the motor (6) of the driving base (1).

3. The single-degree-of-freedom liquid crystal panel handling robot arm according to claim 2, characterized in that: The transmission assembly 1 comprises a driving wheel and a synchronous pulley 1 (8) which are rotatably arranged at both ends of the driving base (1), the driving wheel is drivingly connected to the rotating shaft of the motor (6), and the driving wheel and the synchronous pulley 1 (8) are connected through a synchronous belt 1 (7); The transmission component 2 comprises a synchronous belt pulley 2 (11) and a synchronous belt pulley 5 (15) which are rotatably connected to the two ends of the upper arm (2), and the synchronous belt pulley 2 (11) and the synchronous belt pulley 5 (15) are connected through a synchronous belt component 1; The transmission component three comprises a synchronous belt pulley six (17) and a synchronous belt pulley nine (21) which are rotatably connected to the two ends of the small arm (3), and the synchronous belt pulley six (17) and the synchronous belt pulley nine (21) are connected through the synchronous belt component two.

4. The single-degree-of-freedom liquid crystal panel handling robot arm according to claim 3, characterized in that: The synchronous pulley 1 (8) and the synchronous pulley 2 (11) are coaxially connected via a connecting rod (10), and a reducer 1 (9) is provided on the connecting rod (10), and the reducer 1 (9) is drivingly connected to the synchronous pulley 1 (8) and the synchronous pulley 2 (11) via the connecting rod (10); The synchronous pulley five (15) and the synchronous pulley six (17) are coaxially connected through the connecting rod two, and the connecting rod two is provided with a reducer two (16), and the reducer two (16) is drivingly connected with the synchronous pulley five (15) and the synchronous pulley six (17) through the connecting rod two; The rotating shaft of the synchronous pulley nine (21) is connected to the reducer three (22).

5. The single-degree-of-freedom liquid crystal panel handling robot arm according to claim 4, characterized in that: The synchronous belt assembly 1 comprises a transmission transition device 1 (23) arranged in the forearm (3), the transmission transition device 1 (23) comprises a driving seat, the lower end and the upper end of the driving seat are respectively provided with a deep groove ball bearing 1 (232) and a deep groove ball bearing 2 (233), and a connecting rod 1 is inserted through the deep groove ball bearing 1 (232) and the deep groove ball bearing 2 (233), and a synchronous belt pulley 3 (13) and a synchronous belt pulley 4 (14) are sleeved on the connecting rod 1; and the synchronous belt pulley 2 (11) and the synchronous belt pulley 4 (14), the synchronous belt pulley 3 (13) and the synchronous belt pulley 5 (15) are respectively connected by synchronous belt transmission; The synchronous belt assembly 2 comprises a transmission transition device 2 arranged in the fork arm receiving mechanism (4), the transmission transition device 2 comprises a driving seat, the lower end and the upper end of the driving seat are respectively provided with a deep groove ball bearing 1 (232) and a deep groove ball bearing 2 (233), and a connecting rod 1 is inserted through the deep groove ball bearing 1 (232) and the deep groove ball bearing 2 (233), and a synchronous belt pulley 7 (19) and a synchronous belt pulley 8 (20) are sleeved on the connecting rod 1; and the synchronous belt pulley 7 (19) and the synchronous belt pulley 6 (17), the synchronous belt pulley 8 (20) and the synchronous belt pulley 9 (21) are respectively connected through synchronous belt transmission; Furthermore, a synchronous belt tensioning device (12) is provided on the synchronous belt.

6. A method for handling liquid crystal panels using a single-degree-of-freedom liquid crystal panel handling robot, characterized in that: The single-degree-of-freedom liquid crystal panel handling robot arm according to any one of claims 1 to 5 is adopted, comprising the following steps: The method for determining the arm length and the corresponding arm rotation angle of a single-degree-of-freedom liquid crystal panel handling robot arm includes: l1, l2, l3 represent the arm lengths of the driving base (1), the upper arm (2), and the lower arm (3), respectively; points A, B, C, and D correspond to the coordinates of the start and end points, respectively; θ1, θ2, and θ3 represent the angles between adjacent driving bases (1) and the reference coordinate axis, the reverse angle between the driving base (1) and the upper arm (2), and the reverse angle between the upper arm (2) and the lower arm (3), respectively; The calculation formulas of the coordinates of point C and point D are as follows: ； When the fork arm receiving mechanism (4) at the end is to realize single-degree-of-freedom linear reciprocating motion, the following conditions must be met: ； Then, the conditions for the reciprocating linear motion of the last rod of the three-bar linkage that completes radial motion are: 。 7. The method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot according to claim 6, characterized in that: The rotation speed control is achieved by driving a plurality of drive pulleys and reducers at each joint between a driving base (1), a large arm (2), a small arm (3), or a fork arm receiving mechanism (4); and the rotation speed of the drive pulley at each joint is controlled by the gear ratio between the drive pulleys, and serves as a drive for the reducer at the corresponding joint.

8. The method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot according to claim 7, characterized in that: The output end of the reducer at each joint is respectively connected to the drive base (1), the upper arm (2), the lower arm (3), or the arm of the fork arm receiving mechanism (4) at the corresponding joint; Furthermore, the upper arm (2) and the lower arm (3) are driven to extend and fold at a set angle ratio to achieve linear reciprocating motion of the end vacuum grabbing fork arm receiving mechanism (4); In order to achieve the terminal linear motion and assembly requirements, the number of teeth of each synchronous pulley in the transmission device and its center distance should satisfy the following relationship: ； z1-z8 respectively represent the number of teeth of the synchronous belt pulleys installed in sequence in the upper arm (2) and the lower arm (3), and a1-a8 respectively represent the center distance of the synchronous belt transmission system in the upper arm (2) and the lower arm (3).

9. The method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot according to claim 8, characterized in that: Establish a flexible model of the synchronous belt transmission system, and use the flexible model to simulate the deviation angles of the driving wheel and the driven wheel of the synchronous belt transmission system when the synchronous belt design parameters change; Determine the designable factors: To ensure the practicality of the optimization results, the designable factors of the synchronous belt transmission system are selected, including the number of teeth of each synchronous belt pulley and the center distance of the synchronous belt pulley, in combination with the synchronous belt selection standards, working condition information and commonly used industrial synchronous belt parameters; Conducting a three-factor five-level orthogonal experiment, the three-factor five-level orthogonal experiment comprising: establishing an orthogonal table of three factors and five levels according to the orthogonal table, obtaining the factor level range of the number of pulley teeth and the center distance through a preliminary experiment, dividing the range into five levels at equal intervals, and conducting an orthogonal experiment with the minimum deviation of the driving and driven wheel angles as a response; Based on the flexible model of synchronous belt transmission system, the three-factor level data of the number of teeth of the driving pulley and the center distance are set according to the orthogonal table for simulation, and different deviation angles of the master and slave pulleys are obtained as orthogonal test results. The main effect diagram of the steering angle deviation is established based on the orthogonal test results. The trend of the main effect diagram is used as the optimization guide. The goal is to reduce the steering angle deviation of the driving and driven wheels, narrow the level range, and divide the levels into five levels at equal intervals. The test results are analyzed to determine whether the minimum steering angle error is obtained. When the judgment is "yes", the factor level is output to confirm the optimization result. When the judgment is "no", the factor level range is narrowed and the step of "determining the orthogonal test level at equal intervals" is jumped to perform multiple rounds of orthogonal tests until the factor level combination corresponding to the optimal response value is obtained.

10. The method for transporting a liquid crystal panel using a single-degree-of-freedom liquid crystal panel transporting robot according to claim 9, characterized in that: The establishment of the flexible model of synchronous belt transmission system includes: using spring-damper discretization method to discretize the synchronous belt, dividing it into a certain number of units with mass and inertia, and connecting two adjacent units through spring damping; and / or, determining orthogonal test factors including: synchronous belt transmission system parameters including number of pulley teeth, center distance, synchronous belt width, synchronous belt thickness and belt body material; And / or, choose an appropriate orthogonal array including: according to the number of factors, choose the commonly used three factors and five levels Orthogonal table, and orthogonal test is carried out with the hysteresis angle of the driven wheel as the response; And / or, determining the factor level includes: combining the working conditions with the synchronous belt selection standard, the minimum number of teeth of the pulley and the maximum number of teeth of the synchronous pulley are; due to the relationship between the number of teeth of the pulleys under the terminal linear motion condition, a preliminary experiment is conducted on the grouping of the center distance in the range of 0-800mm, and the number of teeth of the synchronous pulley is determined during the preliminary experiment; by comparing the hysteresis angle of the driven wheel under different center distances, the value range of the center distance is determined; and / or, analyzing the test results includes: selecting a larger level for the first round of orthogonal test, and selecting five levels with equal intervals within each factor range based on the principle of uniform data dispersion; And / or, narrowing the range of factor levels includes: based on the iterative idea and the trend of the main effect of the first round of orthogonal experiments, exploring the values ​​of the hysteresis angle of the driven wheel near the reference level of the factor; 5 levels are selected at equal intervals near the reference level of each factor; And / or, verifying the optimization effect includes: taking the motion trajectory of the fork arm receiving mechanism (4) at the end as the measurement object, and simulating to obtain the maximum swing amplitude of the fork arm receiving mechanism (4) at the end.

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