CN105032836A - Mechanical arm type automatic piece insertion device - Google Patents
Mechanical arm type automatic piece insertion device Download PDFInfo
- Publication number
- CN105032836A CN105032836A CN201510517782.0A CN201510517782A CN105032836A CN 105032836 A CN105032836 A CN 105032836A CN 201510517782 A CN201510517782 A CN 201510517782A CN 105032836 A CN105032836 A CN 105032836A
- Authority
- CN
- China
- Prior art keywords
- washing basket
- mechanical arm
- push pedal
- manipulator
- material frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/02—Devices for holding articles during cleaning
Abstract
The invention relates to an automated technology, and in particular to a mechanical arm type automatic piece insertion device. The mechanical arm type automatic piece insertion device comprises a mechanical arm and further comprises a piece separation mechanism, a washing basket and a washing basket horizontally-moving mechanism. The piece separation mechanism is composed of a base, a push plate, a material frame and a piece separation cylinder. The tail end of the mechanical arm is connected with a vacuum suction gun. The washing basket horizontally-moving mechanism drives the washing basket to move in the X/Y plane. According to the mechanical arm type automatic piece insertion device, the industrially-universal six-freedom-degree mechanism arm is used as the core part for automatic piece insertion; the piece separation mechanism and the washing basket horizontally-moving mechanism are matched with the mechanical arm; and the mechanical arm moves along the fixed track; the movement time is shortened; the production efficiency is improved; and the development cycle is greatly shortened. The six-freedom-degree mechanical arm is an industrial-grade mechanical arm, and is high in universality and transplant rate; and the whole mechanical arm type automatic piece insertion device is high in automation degree and capable of saving the labor cost.
Description
Technical field
The present invention relates to technical field of automation equipment, particularly relate to a kind of automatic inserting piece device based on manipulator exploitation.
Background technology
Sapphire glass and crystal glass are widely used in the digital product such as mobile phone, camera screen or camera lens, its machining process comprise select materials, cut into slices, grind, polishing, chamfered edge, cleaning.In process, in order to reduce to collapse a breakage, use fluid as lubrication, therefore, the cleaning of sapphire glass and crystal glass finished product must effectively thoroughly.Most quartz plate processing factory adopts ultrasonic cleaning technology, it is towards cleaning fluid radiate supersonic wave, the immense pressure that ultrasonic cavitation produces can be destroyed insoluble dirt and make them break up in solution, the absorption on dirt and cleaning part surface can be destroyed, the fatigue rupture of crud layer can be caused again and refuted from, after adopting this technology, the consumption of chemical solvent can be reduced, reduce environmental pollution.In order to improve cleaning performance and efficiency, needing the slices point of the glassware lamination after by chamfered edge to be inserted in washing basket, then ultrasonic cleaner being put in washing basket.Existing inserted sheet process, complete by hand by artificial, labour intensity is large, and efficiency is low, and cost is high.
Summary of the invention
For the problems referred to above, goal of the invention of the present invention is to provide high, that efficiency the is high hand type of a kind of automatic degree automatic inserting piece device.
For reaching above-mentioned purpose, the scheme that the present invention adopts is: the automatic inserting piece device of a kind of hand type, include manipulator, its difference is: also include separating mechanism, washing basket, washing basket parallel moving mechanism, and separating mechanism is made up of base, push pedal, material frame, burst cylinder, and base is fixedly mounted on the work top below manipulator, floor installation has material frame, material frame is the middle hollow out frame structure for placing a folded quartz plate, and between material frame and base, be equipped with push pedal, push pedal offers square groove
,push pedal is connected with burst cylinder cylinder bar, and burst cylinder block is connected on base, and under the promotion of burst cylinder, the quartz plate of material frame falls into a slice to square groove and is pushed out for manipulator absorption; The end of manipulator is connected with vacuum suction gun, puts down quartz plate when holding quartz plate, inflation when vacuum suction gun is bled; Washing basket is made up of framework, positioning strip, support bar, positioning strip, support bar are level from top to bottom and are connected to alternately on framework, positioning strip exists together upper strata, support bar exists together lower floor, support bar is between two positioning strips, two positioning strips are respectively equipped with a row teeth groove relatively, and support bar is provided with a row teeth groove; Washing basket parallel moving mechanism drives washing basket in X/Y plane motion.
Described push pedal with slide rail chute be set between base coordinate.
Described push pedal is less than sheet of water wafer thickness with the gap of material frame.
Described manipulator is technical grade six degree of freedom manipulator.
The square groove degree of depth of described push pedal is greater than sheet of water wafer thickness and is less than two panels quartz plate thickness.
Described square groove periphery is wrapped up by plastic material.
Described washing basket parallel moving mechanism is electronic XY displacement platform.
Described vacuum suction gun front end suction nozzle is telescopic elastic suction nozzle.
The present invention adopts six of industrial general free manipulators as the core component of automatic inserted sheet, separating mechanism and washing basket translation mechanism cooperative mechanical hand, and manipulator moves along fixation locus, shortens run duration, improves production efficiency, and the construction cycle also significantly reduces; Six free manipulators are technical grade manipulator, and its versatility is good, and implantation rate is high; The automatic degree of whole device is high, can save cost of labor.
Accompanying drawing explanation
Fig. 1 is that embodiment of the present invention axle measures intention;
Fig. 2 is embodiment of the present invention front elevational schematic;
Fig. 3 is embodiment of the present invention schematic top plan view;
Fig. 4 is washing basket parallel moving mechanism top view in the embodiment of the present invention;
Fig. 5 is that embodiment of the present invention Plays washing basket axle measures intention;
Description of symbols in figure: 1-work top, 2-square groove, 3-push pedal, 4-material frame, 5-burst cylinder, 6-manipulator, 7-vacuum air gun, 8-washing basket translation mechanism, 9-washing basket, 10-quartz plate, 11-platform, 12-support bar, 13-positioning strip.
Detailed description of the invention
For understanding the present invention better, below in conjunction with the drawings and specific embodiments, embodiments of the invention are described further, see Fig. 1 to Fig. 5:
By the automatic inserting piece device of hand type of the invention process, the main six free manipulators of industrial general that adopt are as core component, and what complete quartz plate gets sheet and inserted sheet, and separating mechanism and washing basket translation mechanism are as auxiliary body, and cooperative mechanical is manually done.The effect of separating mechanism is that a folded quartz plate is separated a slice, washing basket translation mechanism is then drive washing basket to do XY translation, complete the inserted sheet of each grid of row and column in washing basket, with regard to not needing, the path of manipulator is planned like this, it is made to move along fixation locus, shorten run duration, improve production efficiency.
Separating mechanism carries out burst by adopting the mode of drawer, is specifically made up of base, push pedal, material frame, burst cylinder.Base is fixedly mounted on the work top below manipulator, and floor installation has material frame, and the quartz plate of a folded fragmented rear inserted sheet placed by material frame, so expect the frame structure of hollow out in the middle of frame employing, material frame two supporting legs are fixedly connected with base.Between material frame and base, be equipped with push pedal, push pedal is less than sheet of water wafer thickness with the gap of material frame.Push pedal offers square groove, and the square groove degree of depth is greater than sheet of water wafer thickness and is less than two panels quartz plate thickness, and square groove periphery is wrapped up by plastic material and prevents from damaging quartz plate.Push pedal is connected with burst cylinder cylinder bar, and when burst cylinder bounces back, the quartz plate of material frame falls into a slice to square groove, and burst cylinder extends to be released push pedal for manipulator absorption together with quartz plate.Due to the restriction in the square groove degree of depth and push pedal and material frame gap, guarantee only to release a slice at every turn.In order to push pedal move back and forth steady, bottom push pedal, be provided with chute, base is provided with slide rail, chute slide rail relative sliding.
The end of manipulator is connected with vacuum suction gun, and generation negative pressure of bleeding when the suction nozzle of vacuum suction gun touch quartz plate surface holds quartz plate, and manipulator walks to during washing basket and inflates, and puts down quartz plate.Suction nozzle is telescopic elastic suction nozzle, reduces the impact that suction gun presses to quartz plate, prevents it from damaging.The manipulator that the present embodiment adopts is six free manipulators of industrial general, and teaching is convenient, operates steadily reliable.Washing basket is made up of framework, positioning strip, support bar, positioning strip, support bar are level from top to bottom and are connected to alternately on framework, positioning strip exists together upper strata, support bar exists together lower floor, support bar is between two positioning strips, and two positioning strips are respectively equipped with a row teeth groove relatively, and support bar is provided with a row teeth groove, the groove on support bar one the first from left right side adds the support bar of upper bottom portion, is formed and stablizes 3 quartz plate fixed bearings that will insert.Washing basket parallel moving mechanism is the electronic XY displacement platform being added screw mandrel by stepper motor, and washing basket can be driven in X/Y plane motion.
Implementation process of the present invention is: (a) manipulator pilot teaching: carry out teaching operation by teaching system, Non-follow control machinery arm is along particular track operation process engineering, record routing information of walking, positional information and action message, complete tutorial program and be supplied to system repetition.
B () resets and checks: before starting device, whether in position to confirm push pedal, namely whether square groove is in material frame bottom, confirm that washing basket is in initial point position, namely mechanical arm trailing end position is in directly over washing basket first upper slice grid, then manual reset, to original position, and does not check in mechanical arm run trace and interferes without miscellaneous part in position.
(c) material loading: manually the quartz plate completing chamfering process is stacked in material frame, the several height according to material frame of sheet of quartz plate.
D () auto plate separation: starting device, in a folded quartz plate, a slice of least significant end falls under gravity into in square groove, and burst cylinder promotes push pedal, and push pedal takes sheet of water wafer out of to gettering site, draws for manipulator vacuum suction gun.
E () be inserted sheet automatically: manipulator marches to gettering site by both establishing track, the vacuum suction gun of arm end aims at quartz plate, manipulator decline vacuum suction gun is near quartz plate, fits in valve and quartz plate surface, is communicated with the source of the gas air-breathing of suction nozzle, valve and quartz plate bond firm after, manipulator rises and drives vacuum suction gun to leave square groove, manipulator marches to above washing basket to be inserted grid by track, and suction nozzle is inflated, and quartz plate falls in washing basket grid.
F () washing basket walks: judge whether washing basket one row grid inserted sheet completes, and does not have then washing basket translation mechanism to drive the distance of a washing basket longitudinal translation grid, if complete, and the distance of a longitudinal translation grid.
If g () material frame has material, repeat step (d) ~ step (f), if material frame is without material, repeat step (c) ~ step (f), till machining.
Claims (8)
1. the automatic inserting piece device of hand type, include manipulator, it is characterized in that: also include separating mechanism, washing basket, washing basket parallel moving mechanism, separating mechanism is by base, push pedal, material frame, burst cylinder forms, base is fixedly mounted on the work top below manipulator, floor installation has material frame, material frame is the middle hollow out frame structure for placing a folded quartz plate, push pedal is equipped with between material frame and base, push pedal offers square groove, push pedal is connected with burst cylinder cylinder bar, burst cylinder block is connected on base, under the promotion of burst cylinder, the quartz plate of material frame falls into a slice to square groove and is pushed out for manipulator absorption, the end of manipulator is connected with vacuum suction gun, puts down quartz plate when holding quartz plate, inflation when vacuum suction gun is bled, washing basket is made up of framework, positioning strip, support bar, positioning strip, support bar are level from top to bottom and are connected to alternately on framework, positioning strip exists together upper strata, support bar exists together lower floor, support bar is between two positioning strips, two positioning strips are respectively equipped with a row teeth groove relatively, and support bar is provided with a row teeth groove, washing basket parallel moving mechanism drives washing basket in X/Y plane motion.
2. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described push pedal with slide rail chute be set between base coordinate.
3. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described push pedal is less than sheet of water wafer thickness with the gap of material frame.
4. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described manipulator is technical grade six degree of freedom manipulator.
5. the automatic inserting piece device of hand type according to claim 1, is characterized in that: the square groove degree of depth of described push pedal is greater than sheet of water wafer thickness and is less than two panels quartz plate thickness.
6. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described square groove periphery is wrapped up by plastic material.
7. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described washing basket parallel moving mechanism is electronic XY displacement platform.
8. the automatic inserting piece device of hand type according to claim 1, is characterized in that: described vacuum suction gun front end suction nozzle is telescopic elastic suction nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510517782.0A CN105032836A (en) | 2015-08-23 | 2015-08-23 | Mechanical arm type automatic piece insertion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510517782.0A CN105032836A (en) | 2015-08-23 | 2015-08-23 | Mechanical arm type automatic piece insertion device |
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| Publication Number | Publication Date |
|---|---|
| CN105032836A true CN105032836A (en) | 2015-11-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510517782.0A Pending CN105032836A (en) | 2015-08-23 | 2015-08-23 | Mechanical arm type automatic piece insertion device |
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| Country | Link |
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| CN (1) | CN105032836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022165568A1 (en) * | 2021-02-06 | 2022-08-11 | Máquinas Sanmartin Ltda | Structural arrangement for a palletizer head and continuous movement system |
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| WO2013091012A1 (en) * | 2011-12-21 | 2013-06-27 | Foodmach Pty Ltd | A palletiser |
| CN104003181A (en) * | 2014-06-03 | 2014-08-27 | 南通大学 | Round sheet automatic feeding mechanism |
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| CN104112788A (en) * | 2013-04-16 | 2014-10-22 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Wafer inserting device |
| CN203932088U (en) * | 2014-06-19 | 2014-11-05 | 温州海旭科技有限公司 | A kind of Full-automatic silicon chip inserting machine |
| CN104163260A (en) * | 2013-08-20 | 2014-11-26 | 东旭集团有限公司 | Continuous discharging and packaging system of glass substrates |
| CN203991445U (en) * | 2014-08-27 | 2014-12-10 | 吴中区横泾博尔机械厂 | A kind of display screen luminous plaque automatic washing machine |
-
2015
- 2015-08-23 CN CN201510517782.0A patent/CN105032836A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2728657Y (en) * | 2004-10-21 | 2005-09-28 | 李耀恭 | Supporting frame for cleaning micro surface |
| CN201655772U (en) * | 2010-02-09 | 2010-11-24 | 东莞朗诚模具有限公司 | Full-automatic substrate arranging machine |
| WO2012177340A1 (en) * | 2011-06-22 | 2012-12-27 | The Boeing Company | Automated ply layup system and method of laying up |
| CN202167533U (en) * | 2011-08-08 | 2012-03-14 | 无锡市索克赛斯科技有限公司 | Full-automatic silicon chip inserting machine |
| WO2013091012A1 (en) * | 2011-12-21 | 2013-06-27 | Foodmach Pty Ltd | A palletiser |
| CN202845398U (en) * | 2012-08-08 | 2013-04-03 | 晋谱（福建）光电科技有限公司 | Multi-functional optical cleaning basket |
| CN104112788A (en) * | 2013-04-16 | 2014-10-22 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Wafer inserting device |
| CN104163260A (en) * | 2013-08-20 | 2014-11-26 | 东旭集团有限公司 | Continuous discharging and packaging system of glass substrates |
| CN104029838A (en) * | 2014-04-28 | 2014-09-10 | 广东顺捷威玻璃机械有限公司 | Insert machine |
| CN104003181A (en) * | 2014-06-03 | 2014-08-27 | 南通大学 | Round sheet automatic feeding mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022165568A1 (en) * | 2021-02-06 | 2022-08-11 | Máquinas Sanmartin Ltda | Structural arrangement for a palletizer head and continuous movement system |
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Application publication date: 20151111 |