CN105479447A - Glass carving machine and control method - Google Patents
Glass carving machine and control method Download PDFInfo
- Publication number
- CN105479447A CN105479447A CN201610019593.5A CN201610019593A CN105479447A CN 105479447 A CN105479447 A CN 105479447A CN 201610019593 A CN201610019593 A CN 201610019593A CN 105479447 A CN105479447 A CN 105479447A
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- axis
- manipulator
- glass
- kinematic system
- sucker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
The invention discloses a glass carving machine and a control method. The glass carving machine comprises a machine table, two machine heads, a mechanical arm, four clamps arranged in the X-axis direction, two material frames arranged in the X-axis direction and a control system. The clamps comprise vacuum suction cups. The control system comprises a vacuum source, a compressed air source and a vacuum control valve. The mechanical arm comprises an X-axis movement system, a Y-axis movement system, a Z-axis movement system and a mechanical arm front end. The Z-axis movement system is arranged on the X-axis movement system. The Y-axis movement system comprises a feeding air cylinder arranged in the Y-axis direction, and the feeding air cylinder is arranged on the Z-axis movement system. A suction cup is arranged at the mechanical arm front end and arranged at the front end of a piston rod of the feeding air cylinder. The mechanical arm is arranged on the machine table. The mechanical arm of the glass carving machine is small in size and can be arranged on a table board of the carving machine with a guide rail of the X-axis movement system as a base, and using and maintaining are convenient.
Description
[technical field]
The present invention relates to carving machine, particularly relate to a kind of glass carving machine and control method.
[background technology]
A kind of plant equipment being mainly used in the retrofit, abnormity cutting etc. of various ultra-thin glass of glass carving machine, the patent No. is the utility model of CN201420355549.8, be provided with in carving machine and the finishing impression platform of fixing glass sheet material, the top of finishing impression platform are provided with finishing impression arm, carving machine is also provided with the transmission device for driving finishing impression arm to carry out finishing impression work, and the periphery of described carving machine is provided with the manipulator for carrying out material loading, location and blanking to glass sheet.The material loading of the whole control glass sheet of the glass carving machine of band manipulator of the present invention, location, blanking process are all by manipulator control, and the manipulator volume of this invention is large, and can not be arranged on the table top of carving machine, operation and maintenance is convenient not.
[summary of the invention]
The technical problem to be solved in the present invention is to provide the glass carving machine that a kind of operation and maintenance is convenient, productivity ratio is high.
The technical problem to be solved in the present invention is to provide a kind of control method of above-mentioned glass carving machine.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is, a kind of glass carving machine, comprise board, two heads, manipulator, 4 fixtures along X-direction arrangement, two material frames along X-direction arrangement and control system, fixture comprises vacuum cup, and control system comprises vacuum source, compressed air source and vacuum control valve, manipulator comprises X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system and manipulator front end, and Z axis kinematic system is arranged in X-axis kinematic system; Y-axis kinematic system comprises the feeding cylinder arranged along Y direction, and feeding cylinder is arranged in Z axis kinematic system; Manipulator front end is sucker, and sucker is arranged on the front end of feeding cylinder piston rod; Described manipulator is arranged on board.
Above-described glass carving machine, the Y-axis kinematic system of manipulator comprises the micromotion mechanism arranged along Y direction, and micromotion mechanism comprises servomotor, feed screw nut pair, nut fixed head, line slideway auxiliary, shaft coupling, rail support plate and cylinder mounting plate; Servomotor is arranged on the top of rail support plate, and the screw mandrel of feed screw nut pair is connected with the main shaft of servomotor by shaft coupling, and the nut of feed screw nut pair is fixed on nut fixed head; The lower end of nut fixed head is connected with one end of cylinder mounting plate, and the guide rails assembling of line slideway auxiliary is in the bottom surface of rail support plate, and the slide block of line slideway auxiliary is fixed on the end face of cylinder mounting plate, and the cylinder body of feeding cylinder is fixed on the bottom surface of cylinder mounting plate; Described screw mandrel, guide rail are parallel with the piston rod of feeding cylinder.
The manipulator of above-described glass carving machine, sucker comprises suction nozzle, rotary cylinder and blowing nozzle, and blowing nozzle is arranged in the top of suction nozzle, and the gas outlet of blowing nozzle is towards front lower place; Suction nozzle is driven by rotary cylinder and does 90 ° of rotations.
Above-described glass carving machine, Z axis kinematic system comprises base, the Z axis line slideway auxiliary vertically arranged, Z axis feed screw nut pair and Z axis motor; The lower end of Z axis line slideway auxiliary guide rail is fixed on base, and slide block is connected with the nut of Z axis feed screw nut pair; The screw mandrel of Z axis feed screw nut pair is driven by Z axis motor, and Z axis motor is fixed on the top of Z axis line slideway auxiliary guide rail; The micromotion mechanism of Y-axis kinematic system comprises Z axis connecting plate, and the side of rail support plate is connected with Z axis connecting plate is T-shaped, and Z axis connecting plate is fixed on the slide block of Z axis line slideway auxiliary.
Above-described glass carving machine, X-axis kinematic system comprises horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axis motor; The slide block of X-axis line slideway auxiliary is connected with the nut of X-axis feed screw nut pair; The screw mandrel of X-axis feed screw nut pair is driven by X-axis motor, and X-axis motor is fixed on one end of X-axis line slideway auxiliary guide rail; The base of Z axis kinematic system is fixed on the slide block of X-axis line slideway auxiliary.
Above-described glass carving machine, the outlet conduit of vacuum control valve connects the vacuum interface of vacuum cup, and vacuum control valve connects vacuum source; Control system comprises compressed air source and compressed air control valve, and the entrance of compressed air control valve connects compressed air source, the outlet conduit of compressed air control valve and described pipeline communication.
A control method for above-mentioned glass carving machine, 4 fixtures of carving machine are divided into two groups, and non-conterminous two fixtures are one group; When the glass of two heads to first group of two fixture adds man-hour respectively, manipulator successively carries out discharging and material loading to two fixtures of second group; After the glass processing of first group of two fixture, manipulator successively carries out discharging and material loading to two fixtures of first group, and meanwhile, the glass of two heads to second group of two fixture is processed respectively.
Above-described control method, the feeding process of fixture comprises the following steps:
801) sucker is moved to the side waiting to capture glass above labor and materials frame to be added by the X-axis kinematic system of manipulator, and sucker is dropped to the height capturing glass by manipulator Z axis kinematic system again;
802) sucker is moved to treating in material frame and captures glass place by manipulator X-axis kinematic system, and sucker vacuum is opened, and is adsorbed onto on sucker by glass.
803) rising of manipulator Z axis kinematic system gets back to initial point fast, and glass proposes by sucker from material frame;
804) rotary cylinder of sucker forwards sucker to transverse presentation, and the dihedral of upper material clamp tightens up by pin;
805) sucker moves on the Y-axis axis of upper material clamp by manipulator X-axis kinematic system;
806) piston rod of the feeding cylinder of manipulator stretches out, and the upper surface of the upwards material clamp of the blowing nozzle simultaneously on manipulator is blown, the foreign matter on cleaning material loading fixture upper surface; Piston rod projects forwardly to the terminal of stroke, and pin is all leaned near the dihedral of upper material clamp in the front end of glass and side;
807) manipulator Z axis kinematic system by sucker descending at slow speed to the vacuum cup of glass close to upper material clamp;
808) manipulator X-axis kinematic system and the micromotion mechanism slow motion along Y-axis kinematic system direction layout, comes to the dihedral of upper material clamp by pin along X-axis and Y direction by glass;
809), when manipulator sucker vacuum is closed, the vacuum of upper material clamp is opened, and sucks glass; Upper material clamp is opened by angle, and upper material clamp glass has been located.
Above-described control method, the discharge process of fixture comprises the following steps:
901) sucker moves on the Y-axis axis of discharging fixture by the X-axis kinematic system of manipulator;
902) manipulator telescopic cylinder stretches out, and the valve simultaneously going out sucker top is blown, and blows the foreign matter on glass off;
903) the Z axis kinematic system of manipulator by sucker descending at slow speed near glass;
904) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, and discharging holder vacuum is closed, and the glass machined is adsorbed onto on suction nozzle by sucker, and sucker is risen to desired location by manipulator Z axis kinematic system;
905) manipulator telescopic cylinder is regained, manipulator Z axis kinematic system back to zero, and sucker is rotated to perpendicular position by rotary cylinder;
906) the X-axis kinematic system of manipulator head begins to move to above finished product material frame, glass is aimed at material frame slot and prepares to insert glass;
907) sucker declines by manipulator Z axis kinematic system, glass is inserted material frame slot; Manipulator sucker vacuum is closed, release glass;
908) the X-axis kinematic system of manipulator drives sucker to retreat and leaves glass, and Z axis kinematic system drives sucker return-to-zero position.
Above-described control method, in step 904, after discharging holder vacuum is closed, the of short duration connection compressed air source of discharging fixture, compressed air is to glass blowback.
The manipulator volume of glass carving machine of the present invention is little, can using the guide rail of X-axis kinematic system as floor installation on the table top of carving machine, and operation and maintenance is convenient.
[accompanying drawing explanation]
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the stereogram of embodiment of the present invention glass carving machine manipulator.
Fig. 2 is the stereogram at another visual angle of embodiment of the present invention glass carving machine manipulator.
Fig. 3 is the front view of embodiment of the present invention glass carving machine manipulator.
Fig. 4 is the top view of embodiment of the present invention glass carving machine manipulator.
Fig. 5 is the left view of embodiment of the present invention glass carving machine manipulator.
Fig. 6 is the left view of embodiment of the present invention manipulator Y-axis kinematic system.
Fig. 7 is the front view of embodiment of the present invention manipulator Y-axis kinematic system.
Fig. 8 is the top view of embodiment of the present invention manipulator Y-axis kinematic system.
Fig. 9 is the stereogram of embodiment of the present invention glass carving machine.
Figure 10 is the stereogram at another visual angle of embodiment of the present invention glass carving machine.
Figure 11 is the front view of embodiment of the present invention glass carving machine.
Figure 12 is the top view of embodiment of the present invention glass carving machine.
Figure 13 is the left view of embodiment of the present invention glass carving machine.
Figure 14 is embodiment of the present invention glass carving machine fixture blowback gas circuit schematic diagram.
[detailed description of the invention]
The overall structure of embodiment of the present invention glass carving machine, as shown in Fig. 9 to Figure 13, comprises frame 900, board 400, two heads 500, manipulator, 4 fixtures 600 along X-direction arrangement, two material frames 70 along X-direction arrangement and control system.
Board 400 is arranged in the frame 900 of carving machine by the Y-axis kinematic system 700 of carving machine; Two heads 500 have respective Z axis kinematic system 550, and the Z axis kinematic system 550 of head 500 is arranged in the X-axis kinematic system 800 of carving machine; The X-axis kinematic system 800 of carving machine is arranged in the frame 900 of carving machine, and two heads 500 are positioned at the top of fixture 600.
Two material frames 70 are arranged on the table top of board 400, and one is labor and materials frame to be added, and another is finished product material frame.
Fixture 600 comprises the location of vacuum cup and dihedral by pin, and control system comprises control circuit, vacuum source, compressed air source and control valve.
As shown in Figures 1 to 8, comprise X-axis kinematic system 100, Y-axis kinematic system 200, Z axis kinematic system 300 and manipulator front end, Z axis kinematic system 300 is arranged in X-axis kinematic system 100 structure of embodiment of the present invention glass carving machine manipulator.
X-axis kinematic system 100 comprises horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axis motor 21.The slide block 22 of X-axis line slideway auxiliary is connected with the nut 23 of X-axis feed screw nut pair.The screw mandrel 24 of X-axis feed screw nut pair is driven by X-axis motor 21, and X-axis motor 21 is fixed on one end of X-axis line slideway auxiliary guide rail 25.The line slideway of X-axis kinematic system 100 can be directly installed on the table top of carving machine as base, use, easy to maintenance.The guide rail 25 of X-axis kinematic system 100 is fixed on the table top of carving machine board 400.
Z axis kinematic system 300 comprises base 36, the Z axis line slideway auxiliary vertically arranged, Z axis feed screw nut pair and Z axis motor 31.The lower end of Z axis line slideway auxiliary guide rail 35 is fixed on base 36, and slide block 32 is connected with the nut 33 of Z axis feed screw nut pair.The screw mandrel 34 of Z axis feed screw nut pair is driven by Z axis motor 31, and Z axis motor 31 is fixed on the top of Z axis line slideway auxiliary guide rail 35.
The base 36 of Z axis kinematic system 300 is fixed on the slide block 22 of X-axis line slideway auxiliary.
The detailed construction of Y-axis kinematic system 200 as shown in Figure 6 to 8, comprises the micromotion mechanism of installing rack, feeding cylinder, sucker and Y direction.
Sucker as manipulator front end is arranged on the front end of feeding cylinder piston rod 201.Feeding cylinder 2 is connected with installing rack by the micromotion mechanism of Y direction.
Sucker comprises suction nozzle 15, rotary cylinder 17 and blowing nozzle 16, and blowing nozzle 16 is arranged in the top of suction nozzle, and aeration cleaning, towards front lower place, is enough carried out to fixture in the gas outlet of blowing nozzle 16 before clamping glass.Suction nozzle 15 is driven by rotary cylinder 17 and does 90 ° of rotations, is convenient to from material frame, capture the glass vertically placed and the glass capturing horizontal positioned in fixture respectively.
Installing rack comprises rail support plate 3 and Z axis connecting plate 4, and Z axis connecting plate 4 is vertically arranged, rail support plate 3 is horizontally disposed, and the side of rail support plate 3 is connected with Z axis connecting plate 4T font.
Micromotion mechanism comprises servomotor 5, feed screw nut pair, nut fixed head 6, line slideway auxiliary, cylinder mounting plate 7, shaft coupling 8, motor fixing plate 9 and positioner.
Servomotor 5 is arranged on the top of rail support plate 3, and motor fixing plate 9 is vertically arranged, lower end is connected with rail support plate 3.Servomotor 5 is fixed on motor fixing plate 9 by the dish that connects of end face.Servomotor can not lose step, compared with stepper motor, can realize auto-compensation, can prevent data and the nonsynchronous error of the actual amount of feeding of stepper motor of output, improve positioning precision.
The screw mandrel 10 of feed screw nut pair is driven by servomotor 5, and screw mandrel 10 is connected with the main shaft 501 of servomotor 5 by shaft coupling 8, and shaft coupling 8 can absorb processing and alignment error, reduces processing and assembly cost.
The nut 11 of feed screw nut pair is fixed on nut fixed head 6, and the lower end of nut fixed head 6 is connected with one end of cylinder mounting plate 7.
The guide rail 12 of line slideway auxiliary is arranged on the bottom surface of rail support plate 3, and the slide block 13 of line slideway auxiliary is fixed on the end face of cylinder mounting plate 7, and feeding cylinder 2 is fixed on the bottom surface of cylinder mounting plate 7.
Screw mandrel 10, guide rail 12 are parallel with the piston rod 201 of feeding cylinder.
Positioner comprises photoelectric sensor 13 and L shape baffle plate 14, photoelectric sensor 13 is arranged on the end face of rail support plate 3, the lower end of the riser 1401 of L shape baffle plate 14 is fixed on the side of cylinder mounting plate 7, and transverse slat 1402, towards photoelectric sensor 13, is positioned at the top of photoelectric sensor 13.
When Y-axis kinematic system 200 works, the main stroke of Y direction feeding feeding is completed by feeding cylinder, the last stroke of Y-direction feeding feeding is completed by micromotion mechanism, the micromotion mechanism be made up of servomotor and feed screw nut pair can realize accurate location, and reducing the impulse force of feeding cylinder high speed transfer, the glass of manipulator front end clamping can not be damaged because clashing into fixture.
As shown in figure 14, the blowback gas circuit of embodiment of the present invention glass carving machine fixture comprises fixture 600, vacuum source 82, vacuum control valve, control valve 86, compressed air source 84 and compressed air control valve.
Vacuum control valve is that cylinder 87A drives two position three-way valve 87, and the spool of two position three-way valve 87 is driven by the piston rod of cylinder 87A; Compressed air control valve is two-position two-way solenoid valve 85, and the air inlet of two-position two-way solenoid valve 85 connects compressed air source 84, and outlet connects the first air inlet of two position three-way valve 87; Second air inlet of two position three-way valve 87 connects vacuum source 82, and the gas outlet of two-position three way magnetic valve 3 connects the vacuum interface of vacuum cup; Control valve 86 is two-position four-way solenoid valves, and the air inlet of two-position four-way solenoid valve connects compressed air source 84, and the first gas outlet connects first air inlet of cylinder 87A, and the second gas outlet connects second air inlet of cylinder 87A.
Before manipulator captures glass, the action of control system order two-position four-way solenoid valve 86 makes cylinder 87A action drive the spool of two position three-way valve 87 to be closed by the entrance of vacuum source, cuts off vacuum source; The action of simultaneity factor order two-position two-way solenoid valve 85, connect compressed air, compressed air is blown 0.5 second to vacuum cup by two position three-way valve 87, accelerates loosening of workpiece, ensures fixture 600 thoroughly pressure release, then closes compression air.
Blow 0.5 second to vacuum cup, that accelerates workpiece loosens the blanking velocity can accelerating manipulator, stops workpiece because of holder vacuum and closes the workpiece breakage occurred not in time, shifting phenomena, make discharging yields reach 100%.
The course of work of embodiment of the present invention glass carving machine is as follows:
(1) after opening of device, the X-axis kinematic system of manipulator, Y-axis kinematic system and Z axis kinematic system returning to mechanical reference point; The sucker of manipulator is in perpendicular position;
(2) carving machine head spindle kinematic system is opened, and cooling water is opened, and the first head and the second head are moved to the top of the second fixture and the 4th fixture by the X-axis kinematic system of head respectively, are that space abdicated by the first fixture and the 3rd fixture material loading;
(3) sucker is moved to the side of first block of glass above labor and materials frame to be added by the X-axis kinematic system of manipulator, and sucker is dropped to the height of first piece of center of glass in labor and materials frame to be added by manipulator Z axis kinematic system again;
(4) suction nozzle of sucker is moved to first piece of glass place in material frame by manipulator X-axis kinematic system, and sucker vacuum is opened, suction nozzle air-breathing, is adsorbed onto on suction nozzle by first block of glass;
(5) rising of manipulator Z axis kinematic system gets back to initial point fast, and glass proposes by sucker from material frame;
(6) rotary cylinder of sucker forwards sucker to transverse presentation, and the dihedral of the first fixture tightens up by pin, and manipulator is prepared as the first fixture material loading;
(7) sucker moves on the Y-axis axis of the first fixture by manipulator X-axis kinematic system; Sucker is dropped to default height by manipulator Z axis kinematic system;
(8) piston rod of the feeding cylinder of manipulator stretches out, and the blowing nozzle simultaneously on manipulator is blown to the upper surface of the first fixture, clears up the foreign matter on the first fixture upper surface; Piston rod projects forwardly to the terminal of stroke, and pin is all leaned near the dihedral of the first fixture in the front end of glass and side;
(9) manipulator Z axis kinematic system is by sucker descending at slow speed to setting height, and now glass is apart from fixture end face 1mm;
(10) manipulator X-axis kinematic system and the micromotion mechanism slow motion along Y-axis kinematic system direction layout, comes to the dihedral of the first fixture by pin along X-axis and Y direction by glass;
(11) manipulator sucker vacuum is closed, and the first holder vacuum is opened, and sucks glass; First fixture is opened by angle, and the first fixture glass has been located; Manipulator Z axis kinematic system rises clear point fast;
(12) manipulator telescopic cylinder is regained, and micromotion mechanism returns original position, Y-axis kinematic system back to zero; The Z axis kinematic system fly back of manipulator, sucker is rotated to perpendicular position by rotary cylinder;
(13) sucker moves to above second block of glass by the X-axis kinematic system of manipulator head, by the material loading step of the 3-11 of the first fixture, to the 3rd fixture material loading;
(14) after manipulator completes the 3rd fixture glass clamping, the X-axis kinematic system of carving machine head moves the top that the first head and the second head move to the first fixture and the 3rd fixture respectively, first head and the second head decline, by the action of carving machine X-axis kinematic system, Y-axis kinematic system and head Z axis kinematic system, process the glass on the first fixture and the 3rd fixture;
(15) manipulator starts the second fixture and the 4th fixture material loading, and feeding process is identical with the feeding process of the 3rd fixture with the first fixture;
After (16) the 4th pieces of glass material loadings complete, manipulator quits work, and waits for that on carving machine first fixture and the 3rd fixture, glass processing completes;
After on (17) first fixtures and the 3rd fixture, glass processing completes, first head of carving machine and the second head rising back to zero position, first head and the second head are moved to the second fixture by the X-axis kinematic system of head, process the glass on the second fixture and the 4th fixture above in the of 4;
(18) sucker moves on the Y-axis axis of the first fixture by the X-axis kinematic system of manipulator;
(19) sucker drops to from glass 20mm place by manipulator Z axis kinematic system;
(20) manipulator telescopic cylinder stretches out, and outlet nozzle is blown simultaneously, blows the foreign matter on glass off, facilitates the suction of subsequent mechanical hand sucker;
(21) the Z axis kinematic system of manipulator by sucker descending at slow speed to from glass 1mm place;
(22) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, the first holder vacuum is closed, and the first fixture of carving machine was to the glass blowback machined 0.5 second simultaneously, the glass machined is adsorbed onto on suction nozzle by sucker, and sucker is risen to desired location by manipulator Z axis kinematic system;
(23) manipulator telescopic cylinder is regained, manipulator Z axis kinematic system back to zero, and sucker is rotated to perpendicular position by rotary cylinder;
(24) the X-axis kinematic system of manipulator head begins to move to finished product material frame preset coordinate, glass is aimed at material frame slot and prepares to insert glass;
(25) sucker is dropped to coordinate value stopping set by Z axis kinematic system by manipulator Z axis kinematic system, and glass inserts material frame slot; Manipulator sucker vacuum is closed, release glass;
(26) the X-axis kinematic system of manipulator drives sucker to retreat 0.5mm, and Z axis kinematic system drives sucker back to zero position;
(27) manipulator rotating cylinder rotating suction disc is to transverse presentation, prepares the glass of the completion of unloading on the 3rd fixture
(28) sucker moves on the Y-axis axis of the 3rd fixture by the X-axis kinematic system of manipulator; The discharging step 19 of same first fixture of all the other steps is to 26;
After the glass discharging of (29) first fixtures and the 3rd fixture completes, repeat step 2 to 12, to the first fixture and the 3rd fixture material loading, after the first fixture and the 3rd fixture glass material loading complete, the glass processing of wait second fixture and the 4th fixture completes;
After the glass processing of (30) second fixtures and the 4th fixture completes, the top that the first head and the second head are moved to the first fixture and the 3rd fixture by the X-axis kinematic system of carving machine head prepares processing;
(31) carving machine starts the glass processing the first fixture and the 3rd fixture, and meanwhile, manipulator starts the glass unloading the second fixture and the 4th fixture; Same first fixture of discharge process of the second fixture and the 4th fixture and the discharge process of the 3rd fixture;
After (32) second fixtures and the 4th fixture, then go up the second fixture, the glass of 4;
(33) manipulator and carving machine are as mentioned above, alternately cooperating, and after 48 sheet glass machine, carving machine, manipulator all return initial point, and control system prompting is reloaded;
(34) operator reload after follow procedure start, equipment starts the processing of next material frame glass (48).
Claims (10)
1. a glass carving machine, comprise board, head, manipulator, a plurality of fixtures along X-direction arrangement, two material frames along X-direction arrangement and control system, fixture comprises vacuum cup, control system comprises vacuum source, compressed air source and vacuum control valve, it is characterized in that, comprises the head described in two and the fixture described in 4, manipulator comprises X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system and manipulator front end, and Z axis kinematic system is arranged in X-axis kinematic system; Y-axis kinematic system comprises the feeding cylinder arranged along Y direction, and feeding cylinder is arranged in Z axis kinematic system; Manipulator front end is sucker, and sucker is arranged on the front end of feeding cylinder piston rod; Described manipulator is arranged on board.
2. glass carving machine according to claim 1, it is characterized in that, the Y-axis kinematic system of manipulator comprises the micromotion mechanism arranged along Y direction, and micromotion mechanism comprises servomotor, feed screw nut pair, nut fixed head, line slideway auxiliary, shaft coupling, rail support plate and cylinder mounting plate; Servomotor is arranged on the top of rail support plate, and the screw mandrel of feed screw nut pair is connected with the main shaft of servomotor by shaft coupling, and the nut of feed screw nut pair is fixed on nut fixed head; The lower end of nut fixed head is connected with one end of cylinder mounting plate, and the guide rails assembling of line slideway auxiliary is in the bottom surface of rail support plate, and the slide block of line slideway auxiliary is fixed on the end face of cylinder mounting plate, and the cylinder body of feeding cylinder is fixed on the bottom surface of cylinder mounting plate; Described screw mandrel, guide rail are parallel with the piston rod of feeding cylinder.
3. glass carving machine according to claim 1, is characterized in that, sucker comprises suction nozzle, rotary cylinder and blowing nozzle, and blowing nozzle is arranged in the top of suction nozzle, and the gas outlet of blowing nozzle is towards front lower place; Suction nozzle is driven by rotary cylinder and does 90 ° of rotations.
4. glass carving machine according to claim 2, is characterized in that, Z axis kinematic system comprises base, the Z axis line slideway auxiliary vertically arranged, Z axis feed screw nut pair and Z axis motor; The lower end of Z axis line slideway auxiliary guide rail is fixed on base, and slide block is connected with the nut of Z axis feed screw nut pair; The screw mandrel of Z axis feed screw nut pair is driven by Z axis motor, and Z axis motor is fixed on the top of Z axis line slideway auxiliary guide rail; The micromotion mechanism of Y-axis kinematic system comprises Z axis connecting plate, and the side of rail support plate is connected with Z axis connecting plate is T-shaped, and Z axis connecting plate is fixed on the slide block of Z axis line slideway auxiliary.
5. glass carving machine according to claim 1, is characterized in that, X-axis kinematic system comprises horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axis motor; The slide block of X-axis line slideway auxiliary is connected with the nut of X-axis feed screw nut pair; The screw mandrel of X-axis feed screw nut pair is driven by X-axis motor, and X-axis motor is fixed on one end of X-axis line slideway auxiliary guide rail; The base of Z axis kinematic system is fixed on the slide block of X-axis line slideway auxiliary.
6. glass carving machine according to claim 1, is characterized in that, the outlet conduit of vacuum control valve connects the vacuum interface of vacuum cup, and vacuum control valve connects vacuum source; Control system comprises compressed air source and compressed air control valve, and the entrance of compressed air control valve connects compressed air source, the outlet conduit of compressed air control valve and described pipeline communication.
7. a control method for glass carving machine described in claim 1, is characterized in that, 4 fixtures of carving machine are divided into two groups, and non-conterminous two fixtures are one group; When the glass of two heads to first group of two fixture adds man-hour respectively, manipulator successively carries out discharging and material loading to two fixtures of second group; After the glass processing of first group of two fixture, manipulator successively carries out discharging and material loading to two fixtures of first group, and meanwhile, the glass of two heads to second group of two fixture is processed respectively.
8. control method according to claim 7, is characterized in that, the feeding process of fixture comprises the following steps:
801) sucker is moved to the side waiting to capture glass above labor and materials frame to be added by the X-axis kinematic system of manipulator, and sucker is dropped to the height capturing glass by manipulator Z axis kinematic system again;
802) sucker is moved to treating in material frame and captures glass place by manipulator X-axis kinematic system, and sucker vacuum is opened, and is adsorbed onto by glass on sucker;
803) rising of manipulator Z axis kinematic system gets back to initial point fast, and glass proposes by sucker from material frame;
804) rotary cylinder of sucker forwards sucker to transverse presentation, and the dihedral of upper material clamp tightens up by pin;
805) sucker moves on the Y-axis axis of upper material clamp by manipulator X-axis kinematic system;
806) piston rod of the feeding cylinder of manipulator stretches out, and the upper surface of the upwards material clamp of the blowing nozzle simultaneously on manipulator is blown, the foreign matter on cleaning material loading fixture upper surface; Piston rod projects forwardly to the terminal of stroke, and pin is all leaned near the dihedral of upper material clamp in the front end of glass and side;
807) manipulator Z axis kinematic system by sucker descending at slow speed to the vacuum cup of glass close to upper material clamp;
808) manipulator X-axis kinematic system and the micromotion mechanism slow motion along Y-axis kinematic system direction layout, comes to the dihedral of upper material clamp by pin along X-axis and Y direction by glass;
809), when manipulator sucker vacuum is closed, the vacuum of upper material clamp is opened, and sucks glass; Upper material clamp is opened by angle, and upper material clamp glass has been located.
9. control method according to claim 7, is characterized in that, the discharge process of fixture comprises the following steps:
901) sucker moves on the Y-axis axis of discharging fixture by the X-axis kinematic system of manipulator;
902) manipulator telescopic cylinder stretches out, and the valve simultaneously going out sucker top is blown, and blows the foreign matter on glass off;
903) the Z axis kinematic system of manipulator by sucker descending at slow speed near glass;
904) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, and discharging holder vacuum is closed, and the glass machined is adsorbed onto on suction nozzle by sucker, and sucker is risen to desired location by manipulator Z axis kinematic system;
905) manipulator telescopic cylinder is regained, manipulator Z axis kinematic system back to zero, and sucker is rotated to perpendicular position by rotary cylinder;
906) the X-axis kinematic system of manipulator head begins to move to above finished product material frame, glass is aimed at material frame slot and prepares to insert glass;
907) sucker declines by manipulator Z axis kinematic system, glass is inserted material frame slot; Manipulator sucker vacuum is closed, release glass;
908) the X-axis kinematic system of manipulator drives sucker to retreat and leaves glass, and Z axis kinematic system drives sucker return-to-zero position.
10. control method according to claim 9, is characterized in that, in step 904, after discharging holder vacuum is closed, the of short duration connection compressed air source of discharging fixture, compressed air is to glass blowback.
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