CN105479447B - A kind of glass carving machine and control method - Google Patents

A kind of glass carving machine and control method Download PDF

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Publication number
CN105479447B
CN105479447B CN201610019593.5A CN201610019593A CN105479447B CN 105479447 B CN105479447 B CN 105479447B CN 201610019593 A CN201610019593 A CN 201610019593A CN 105479447 B CN105479447 B CN 105479447B
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CN
China
Prior art keywords
axis
manipulator
glass
sucker
kinematic
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CN201610019593.5A
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Chinese (zh)
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CN105479447A (en
Inventor
张新建
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东莞市昌玖数控科技有限公司
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Priority to CN201610019593.5A priority Critical patent/CN105479447B/en
Publication of CN105479447A publication Critical patent/CN105479447A/en
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Publication of CN105479447B publication Critical patent/CN105479447B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683Details of suction cup structure, e.g. grooves or ridges
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Abstract

The invention discloses a kind of glass carving machine and control method.Glass carving machine includes board, two heads, manipulator, 4 fixtures along X-direction arrangement, two material frames and control system along X-direction arrangement, fixture includes vacuum cup, control system includes vacuum source, compressed air source and vacuum control valve, manipulator includes 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 includes 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.The manipulator small volume of glass carving machine of the present invention, can be 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.

Description

A kind of glass carving machine and control method

[technical field]

The present invention relates to carving machine, more particularly to a kind of glass carving machine and control method.

[background technology]

The machinery of a kind of retrofit for being mainly used in various ultra-thin glass of glass carving machine, abnormity cutting etc. is set It is standby, Patent No. CN201420355549.8 utility model, be provided with carving machine for fix glass sheet finishing impression platform, Finishing impression arm is provided with above finishing impression platform, carving machine is additionally provided with the transmission dress for driving finishing impression arm to carry out finishing impression work Put, the periphery of the carving machine is provided with for carrying out feeding, positioning and the manipulator of blanking to glass sheet.The band of the present invention Feeding, positioning, the blanking process of the whole control glass sheet of the glass carving machine of manipulator pass through manipulator control, the invention Manipulator volume it is big, it is impossible on the table top of carving machine, operation and maintenance is not convenient enough.

[content 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 above-mentioned technical problem, the technical solution adopted by the present invention is a kind of glass carving machine, including board, Two heads, manipulator, 4 fixtures along X-direction arrangement, two material frames and control system along X-direction arrangement, fixture Including vacuum cup, control system includes vacuum source, compressed air source and vacuum control valve, manipulator include X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system and manipulator front end, Z axis kinematic system are arranged in X-axis kinematic system;Y-axis kinetic system System includes the feeding cylinder arranged along Y direction, and feeding cylinder is arranged in Z axis kinematic system;Manipulator front end is sucker, is inhaled Disk 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 include the micromotion mechanism arranged along Y direction, Micromotion mechanism includes servomotor, feed screw nut pair, nut fixed plate, line slideway auxiliary, shaft coupling, rail support plate and cylinder Installing plate;Servomotor is arranged on the top of rail support plate, and the screw mandrel of feed screw nut pair passes through shaft coupling and servomotor Main shaft is connected, and the nut of feed screw nut pair is fixed in nut fixed plate;The lower end of nut fixed plate and the one of cylinder mounting plate End connection, the guide rail of line slideway auxiliary are arranged on the bottom surface of rail support plate, and the sliding block of line slideway auxiliary is fixed on cylinder installation The top surface of plate, the cylinder body of feeding cylinder are fixed on the bottom surface of cylinder mounting plate;The piston of described screw mandrel, guide rail and feeding cylinder Bar is parallel.

The manipulator of above-described glass carving machine, sucker include suction nozzle, rotary cylinder and blowing nozzle, blowing nozzle arrangement In the top of suction nozzle, 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 line slideway auxiliary, the Z axis that Z axis kinematic system includes base, arranged vertically Feed screw nut pair and Z axis motor;The lower end of Z axis line slideway auxiliary guide rail is fixed on base, sliding block and Z axis feed screw nut pair Nut connects;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 Portion;The micromotion mechanism of Y-axis kinematic system includes Z axis connecting plate, side and the T-shaped connection of Z axis connecting plate of rail support plate, Z Axis connection plate is fixed on the sliding block of Z axis line slideway auxiliary.

Above-described glass carving machine, X-axis kinematic system include horizontally disposed X-axis line slideway auxiliary, X-axis screw mandrel spiral shell Female secondary and X-axis motor;The sliding block of X-axis line slideway auxiliary is connected with the nut of X-axis feed screw nut pair;The silk of X-axis feed screw nut pair Bar 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 X On the sliding block of axle line slideway auxiliary.

Above-described glass carving machine, the outlet conduit of vacuum control valve connect the vacuum interface of vacuum cup, vacuum control Valve processed connects vacuum source;Control system includes compressed air source and compressed air control valve, and the entrance of compressed air control valve connects pressure Contracting air-source, the outlet conduit of compressed air control valve and described pipeline communication.

A kind of control method of above-mentioned glass carving machine, 4 fixtures of carving machine are divided into two groups, non-conterminous two fixtures For one group;When two heads are processed respectively to the glass of first group of two fixture, manipulator is to two of second group folders Tool successively carries out discharging and feeding;After the glass processing of first group of two fixture, manipulator is to first group of two fixtures Discharging and feeding are successively carried out, at the same time, two heads are processed respectively to the glass of second group of two fixture.

Above-described control method, the feeding process of fixture comprise the following steps:

801) sucker is moved to the side of glass to be captured above material frame to be processed, machine by the X-axis kinematic system of manipulator Tool hand Z axis kinematic system again drops to sucker the height of crawl glass;

802) sucker is moved at the glass to be captured in material frame by manipulator X-axis kinematic system, and sucker vacuum is opened, will Glass is adsorbed onto on sucker.

803) manipulator Z axis kinematic system, which rises, is quickly returning to origin, and sucker proposes glass from material frame;

804) sucker is gone to transverse presentation by the rotary cylinder of sucker, and the angular of upper material clamp is tightened up by pin;

805) sucker is moved 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, while the upper table of the upward material clamp of blowing nozzle on manipulator Face is blown, the foreign matter cleared up on feeding fixture upper surface;Piston rod projects forwardly to the terminal of stroke, and the front end and side of glass are all leaned on Closely upper the angular of material clamp leans on pin;

807) vacuum cup of the manipulator Z axis kinematic system by sucker descending at slow speed to glass close to upper material clamp;

808) manipulator X-axis kinematic system and the micromotion mechanism slow motion arranged along Y-axis kinematic system direction, by glass along X Axle and Y direction come to the angular by pin of material clamp;

809) when manipulator sucker vacuum is closed, the vacuum of upper material clamp is opened, and sucks glass;Upper material clamp is beaten by angle Open, upper material clamp glass positioning is completed.

Above-described control method, the discharge process of fixture comprise the following steps:

901) sucker is moved on the Y-axis axis of discharging fixture by the X-axis kinematic system of manipulator;

902) manipulator telescopic cylinder is stretched out, while the valve for 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 close to glass;

904) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, and discharging holder vacuum is closed, the glass that sucker will machine Glass is adsorbed onto on suction nozzle, and sucker is risen to setting position by manipulator Z axis kinematic system;

905) manipulator telescopic cylinder is withdrawn, and manipulator Z axis kinematic system back to zero, rotary cylinder rotates to sucker perpendicular Position;

906) the X-axis kinematic system of mechanical hand machine head begins to be moved to above finished product material frame, and it is accurate that glass is aligned into material frame slot Standby slotting glass;

907) manipulator Z axis kinematic system declines sucker, and glass is inserted into material frame slot;Manipulator sucker vacuum is closed Close, discharge glass;

908) the X-axis kinematic system of manipulator drives sucker to pull back from glass, and Z axis kinematic system drives sucker to return to zero Position.

Above-described control method, in step 904, after discharging holder vacuum is closed, the of short duration connection pressure of discharging fixture Contracting air-source, compressed air is to glass blowback.

The manipulator small volume of glass carving machine of the present invention, it can be existed using the guide rail of X-axis kinematic system as floor installation On the table top of carving machine, operation and maintenance is convenient.

[brief description of the drawings]

The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.

Fig. 1 is the stereogram of glass carving machine manipulator of the embodiment of the present invention.

Fig. 2 is the stereogram at another visual angle of glass carving machine manipulator of the embodiment of the present invention.

Fig. 3 is the front view of glass carving machine manipulator of the embodiment of the present invention.

Fig. 4 is the top view of glass carving machine manipulator of the embodiment of the present invention.

Fig. 5 is the left view of glass carving machine manipulator of the embodiment of the present invention.

Fig. 6 is the left view of manipulator Y-axis kinematic system of the embodiment of the present invention.

Fig. 7 is the front view of manipulator Y-axis kinematic system of the embodiment of the present invention.

Fig. 8 is the top view of manipulator Y-axis kinematic system of the embodiment of the present invention.

Fig. 9 is the stereogram of glass carving machine of the embodiment of the present invention.

Figure 10 is the stereogram at another visual angle of glass carving machine of the embodiment of the present invention.

Figure 11 is the front view of glass carving machine of the embodiment of the present invention.

Figure 12 is the top view of glass carving machine of the embodiment of the present invention.

Figure 13 is the left view of glass carving machine of the embodiment of the present invention.

Figure 14 is glass finishing impression machine clamp blowback air of embodiment of the present invention road schematic diagram.

[embodiment]

The overall structure of glass carving machine of the embodiment of the present invention as shown in Fig. 9 to Figure 13, including frame 900, board 400, Two heads 500, manipulator, 4 fixtures 600 arranged along X-direction, 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 There is respective Z axis kinematic system 550, 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 located at the top of fixture 600.

Two material frames 70 are arranged on the table top of board 400, and one is material frame to be processed, and another is finished product material frame.

Fixture 600 includes vacuum cup and pin is leaned in angular positioning, and control system includes control circuit, vacuum source, compression Air-source and control valve.

The structure of glass carving machine manipulator of the embodiment of the present invention as shown in Figures 1 to 8, including X-axis kinematic system 100, Y Axis motion system 200, Z axis kinematic system 300 and manipulator front end, Z axis kinematic system 300 are arranged on X-axis kinematic system 100 On.

X-axis kinematic system 100 includes horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axis motor 21.X The sliding block 22 of axle 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 by X-axis electricity Machine 21 drives, 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 To be directly installed on as base on the table top of carving machine, using, it is easy to maintenance.The guide rail 25 of X-axis kinematic system 100 is fixed on On the table top of carving machine board 400.

Z axis kinematic system 300 includes base 36, the Z axis line slideway auxiliary arranged vertically, Z axis feed screw nut pair and Z axis electricity Machine 31.The lower end of Z axis line slideway auxiliary guide rail 35 is fixed on base 36, and the nut 33 of sliding block 32 and Z axis feed screw nut pair connects Connect.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 Z axis line slideway auxiliary guide rail 35 Top.

The base 36 of Z axis kinematic system 300 is fixed on the sliding block 22 of X-axis line slideway auxiliary.

The detailed construction of Y-axis kinematic system 200 as shown in Figure 6 to 8, including mounting bracket, feeding cylinder, sucker and Y-axis The micromotion mechanism in direction.

Sucker as manipulator front end is arranged on the front end of feeding cylinder piston rod 201.Feeding cylinder 2 passes through Y-axis side To micromotion mechanism be connected with mounting bracket.

Sucker includes suction nozzle 15, rotary cylinder 17 and blowing nozzle 16, and blowing nozzle 16 is arranged in the top of suction nozzle, blowing nozzle 16 Gas outlet towards front lower place, it is enough that aeration cleaning is carried out to fixture before clamping glass.Suction nozzle 15 is driven by rotary cylinder 17 and done 90 ° of rotations, are easy to capture the glass placed vertically from material frame respectively and horizontal positioned glass are captured in fixture.

Mounting bracket includes rail support plate 3 and Z axis connecting plate 4, and Z axis connecting plate 4 is arranged vertically, and rail support plate 3 is horizontal Arrangement, the side of rail support plate 3 is connected with Z axis connecting plate 4T fonts.

Micromotion mechanism include servomotor 5, feed screw nut pair, nut fixed plate 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 arranged vertically, lower end and rail support plate 3 connections.Servomotor 5 is fixed on motor fixing plate 9 by the disk that connects of end face.Servomotor will not lose step, with stepper motor Compare, automatic compensation can be realized, the data and the nonsynchronous error of the actual amount of feeding of stepper motor of output can be prevented, improve Positioning precision.

The screw mandrel 10 of feed screw nut pair is driven by servomotor 5, and screw mandrel 10 passes through shaft coupling 8 and the main shaft of servomotor 5 501 connections, shaft coupling 8 can absorb processing and alignment error, reduce processing and assembly cost.

The nut 11 of feed screw nut pair is fixed in nut fixed plate 6, lower end and the cylinder mounting plate 7 of nut fixed plate 6 One end connection.

The guide rail 12 of line slideway auxiliary is arranged on the bottom surface of rail support plate 3, and the sliding block 13 of line slideway auxiliary is fixed on gas The top surface of cylinder installing plate 7, feeding cylinder 2 are 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 includes photoelectric sensor 13 and L-shaped baffle plate 14, and photoelectric sensor 13 is arranged on the top of rail support plate 3 Face, the lower end of the riser 1401 of L-shaped baffle plate 14 are fixed on the side of cylinder mounting plate 7, transverse slat 1402 towards photoelectric sensor 13, Positioned at the top of photoelectric sensor 13.

When Y-axis kinematic system 200 works, the main stroke of Y direction feeding feeding, Y-direction feeding are completed by feeding cylinder The last stroke of feeding is completed by micromotion mechanism, and the micromotion mechanism being made up of servomotor and feed screw nut pair can be realized accurately Positioning, and reduce the impulse force of feeding cylinder high speed transfer, the glass of manipulator front end clamping will not be damaged because hitting fixture.

As shown in figure 14, the blowback gas circuit of glass of embodiment of the present invention finishing impression machine clamp include fixture 600, vacuum source 82, Vacuum control valve, control valve 86, compressed air source 84 and compressed air control valve.

Vacuum control valve is cylinder 87A driving two position three-way valves 87, the valve element of two position three-way valve 87 by cylinder 87A piston Bar drives;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, 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, two-position three way The gas outlet of magnetic valve 3 connects the vacuum interface of vacuum cup;Control valve 86 is two-position four-way solenoid valve, two-position four-way solenoid valve Air inlet connects compressed air source 84, and the first gas outlet connects cylinder 87A the first air inlet, and the second gas outlet connects the of cylinder 87A Two air inlets.

Before manipulator captures glass, the action of control system order two-position four-way solenoid valve 86 drives cylinder 87A actions The valve element of two position three-way valve 87 closes the entrance of vacuum source, cuts off vacuum source;Simultaneity factor order two-position two-way solenoid valve 85 Action, compressed air is connected, compressed air is blown 0.5 second by two position three-way valve 87 to vacuum cup, accelerates loosening for workpiece, Ensure 600 thorough pressure release of fixture, be then shut off compressed air.

To vacuum cup blow 0.5 second, that accelerates workpiece loosens the blanking velocity that can accelerate manipulator, prevent workpiece because Holder vacuum closes the workpiece breakage occurred not in time, shifting phenomena, discharging yields is reached 100%.

The course of work of glass carving machine of the embodiment of the present invention is as follows:

(1) after opening of device, X-axis kinematic system, Y-axis kinematic system and the Z axis kinematic system returning to mechanical reference point of manipulator; The sucker of manipulator is in perpendicular position;

(2) carving machine head spindle kinematic system is opened, and cooling water is opened, and the X-axis kinematic system of head is by the first head The top of the second fixture and the 4th fixture is respectively moved to the second head, sky is conceded for the first fixture and the 3rd fixture feeding Between;

(3) sucker is moved to the side of first block of glass above material frame to be processed, machine by the X-axis kinematic system of manipulator Tool hand Z axis kinematic system again drops to sucker the height of first piece of center of glass in material frame to be processed;

(4) suction nozzle of sucker is moved at first in material frame block of glass by manipulator X-axis kinematic system, and sucker vacuum is beaten Open, suction nozzle air-breathing, first block of glass is adsorbed onto on suction nozzle;

(5) manipulator Z axis kinematic system, which rises, is quickly returning to origin, and sucker proposes glass from material frame;

(6) sucker is gone to transverse presentation by the rotary cylinder of sucker, and the angular of the first fixture is tightened up by pin, and manipulator is prepared as One fixture feeding;

(7) sucker is moved on the Y-axis axis of the first fixture by manipulator X-axis kinematic system;Manipulator Z axis kinematic system Sucker is dropped into default height;

(8) piston rod of the feeding cylinder of manipulator stretches out, while the blowing nozzle on manipulator is to the upper table of the first fixture Face is blown, the foreign matter cleared up on the first fixture upper surface;Piston rod projects forwardly to the terminal of stroke, and the front end and side of glass are all leaned on The angular of nearly first fixture leans on pin;

(9) manipulator Z axis kinematic system is by sucker descending at slow speed to setting height, and now glass is away from fixture top surface 1mm;

(10) manipulator X-axis kinematic system and the micromotion mechanism slow motion arranged along Y-axis kinematic system direction, by glass along X Axle and Y direction come to the angular by pin of the first fixture;

(11) manipulator sucker vacuum is closed, and the first holder vacuum is opened, and sucks glass;First fixture is opened by angle, the The positioning of one fixture glass is completed;Manipulator Z axis kinematic system rapid increase clear point;

(12) manipulator telescopic cylinder is withdrawn, and micromotion mechanism retracts original position, Y-axis kinematic system back to zero;The Z axis fortune of manipulator Sucker is rotated to perpendicular position by dynamic system fly back, rotary cylinder;

(13) sucker is moved to above second block of glass by the X-axis kinematic system of mechanical hand machine head, by the 3- of the first fixture 11 feeding step, to the 3rd fixture feeding;

(14) after manipulator completes the 3rd fixture glass clamping, the X-axis kinematic system of carving machine head moves the first head The top of the first fixture and the 3rd fixture is respectively moved to the second head, the first head and the second head decline, and pass through finishing impression The action of machine X-axis kinematic system, Y-axis kinematic system and head Z axis kinematic system, the glass processed on the first fixture and the 3rd fixture Glass;

(15) manipulator starts to the second fixture and the 4th fixture feeding, feeding process and the first fixture and the 3rd fixture Feeding process is identical;

After the completion of (16) the 4th pieces of glass feedings, manipulator is stopped, and waits on the fixture of carving machine first and the 3rd fixture Glass processing is completed;

On (17) first fixtures and the 3rd fixture after the completion of glass processing, the first head of carving machine and the second head rise First head and the second head are moved to the second fixture, 4 the second fixtures of top processing by back to zero position, the X-axis kinematic system of head With the glass on the 4th fixture;

(18) sucker is moved on the Y-axis axis of the first fixture by the X-axis kinematic system of manipulator;

(19) manipulator Z axis kinematic system drops to sucker from glass 20mm;

(20) manipulator telescopic cylinder is stretched out, while outlet nozzle is blown, and is blown the foreign matter on glass off, is facilitated subsequent mechanical hand Sucker suction;

(21) the Z axis kinematic system of manipulator by sucker descending at slow speed at from glass 1mm;

(22) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, and the first holder vacuum is closed, while the first folder of carving machine Has the glass blowback 0.5 second to machined completion, the glass machined is adsorbed onto on suction nozzle by sucker, the motion of manipulator Z axis Sucker is risen to setting position by system;

(23) manipulator telescopic cylinder is withdrawn, and manipulator Z axis kinematic system back to zero, rotary cylinder rotates to sucker perpendicular Position;

(24) the X-axis kinematic system of mechanical hand machine head begins to be moved to finished product material frame preset coordinate, and glass alignment material frame is inserted Groove prepares to insert glass;

(25) sucker is dropped to coordinate value set by Z axis kinematic system and stopped by manipulator Z axis kinematic system, glass insertion material Frame slot;Manipulator sucker vacuum is closed, and discharges 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 prepares to unload the glass of the completion on the 3rd fixture to transverse presentation;

(28) sucker is moved on the Y-axis axis of the 3rd fixture by the X-axis kinematic system of manipulator;Remaining step is the same as first The discharge step 19 to 26 of fixture;

After the completion of the glass discharging of (29) first fixtures and the 3rd fixture, repeat step 2 to 12, to the first fixture and the 3rd Wait the glass processing of the second fixture and the 4th fixture complete after the completion of fixture feeding, the first fixture and the 3rd fixture glass feeding Into;

After the completion of the glass processing of (30) second fixtures and the 4th fixture, the X-axis kinematic system of carving machine head is by first Head and the second head are moved to the first fixture and the top of the 3rd fixture prepares processing;

(31) carving machine starts to process the glass of the first fixture and the 3rd fixture, and at the same time, manipulator starts to unload second The glass of fixture and the 4th fixture;Discharging of the discharge process of second fixture and the 4th fixture with the first fixture and the 3rd fixture Journey;

After (32) second fixtures and the 4th fixture, then upper second fixture, 4 glass;

(33) manipulator and carving machine are as described above, replace cooperating, after 48 sheet glass machine, carving machine, machine Tool hand all returns to origin, and control system prompting is reloaded;

(34) start after operator reloads by program, equipment starts the processing of next material frame glass (48).

Claims (9)

1. a kind of glass carving machine, including board, head, manipulator, along a plurality of fixtures of X-direction arrangement, along X-direction Two material frames and control system of arrangement, fixture include vacuum cup, and control system includes vacuum source, compressed air source and vacuum Control valve, it is characterised in that including the fixture described in the head described in two and 4, manipulator includes X-axis kinematic system, Y-axis Kinematic system, Z axis kinematic system and manipulator front end, Z axis kinematic system are arranged in X-axis kinematic system;Y-axis kinematic system bag The feeding cylinder arranged along Y direction is included, feeding cylinder is arranged in Z axis kinematic system;Manipulator front end is sucker, and sucker is pacified Mounted in the front end of feeding cylinder piston rod;Described manipulator is arranged on board;The Y-axis kinematic system of manipulator is included along Y The micromotion mechanism of direction of principal axis arrangement, micromotion mechanism include servomotor, feed screw nut pair, nut fixed plate, line slideway auxiliary, connection Axle device, 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 leads to The main shaft for crossing shaft coupling and servomotor is connected, and the nut of feed screw nut pair is fixed in nut fixed plate;Nut fixed plate Lower end and one end of cylinder mounting plate connect, and the guide rail of line slideway auxiliary is arranged on the bottom surface of rail support plate, line slideway auxiliary Sliding block be fixed on the top surface of cylinder mounting plate, the cylinder body of feeding cylinder is fixed on the bottom surface of cylinder mounting plate;Described screw mandrel, Guide rail is parallel with the piston rod of feeding cylinder.
2. glass carving machine according to claim 1, it is characterised in that sucker includes suction nozzle, rotary cylinder and blowing nozzle, 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.
3. glass carving machine according to claim 1, it is characterised in that Z axis kinematic system includes base, arranged vertically Z axis line slideway auxiliary, 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, sliding block It 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 it is straight that Z axis motor is fixed on Z axis The top of line guideway guide rail;The micromotion mechanism of Y-axis kinematic system includes Z axis connecting plate, and side and the Z axis of rail support plate connect The T-shaped connection of fishplate bar, Z axis connecting plate are fixed on the sliding block of Z axis line slideway auxiliary.
4. glass carving machine according to claim 1, it is characterised in that it is straight that X-axis kinematic system includes horizontally disposed X-axis Line guideway, X-axis feed screw nut pair and X-axis motor;The sliding 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;Z axis moves The base of system is fixed on the sliding block of X-axis line slideway auxiliary.
5. glass carving machine according to claim 1, it is characterised in that the outlet conduit of vacuum control valve connects vacuum cup Vacuum interface, vacuum control valve connects vacuum source;Control system includes compressed air source and compressed air control valve, compressed air The entrance of control valve connects compressed air source, the outlet conduit of compressed air control valve and described pipeline communication.
6. the control method of glass carving machine described in a kind of claim 1, it is characterised in that 4 fixtures of carving machine are divided into two Group, non-conterminous two fixtures are one group;When two heads are processed respectively to the glass of first group of two fixture, machinery Hand successively carries out discharging and feeding to second group of two fixtures;After the glass processing of first group of two fixture, manipulator Discharging and feeding, at the same time, glass of two heads to second group of two fixture are successively carried out to first group of two fixtures It is processed respectively.
7. control method according to claim 6, it is characterised in that the feeding process of fixture comprises the following steps:
701) sucker is moved to the side of glass to be captured above material frame to be processed, manipulator Z by the X-axis kinematic system of manipulator Axis motion system again drops to sucker the height of crawl glass;
702) sucker is moved at the glass to be captured in material frame by manipulator X-axis kinematic system, and sucker vacuum is opened, by glass It is adsorbed onto on sucker;
703) manipulator Z axis kinematic system, which rises, is quickly returning to origin, and sucker proposes glass from material frame;
704) sucker is gone to transverse presentation by the rotary cylinder of sucker, and the angular of upper material clamp is tightened up by pin;
705) sucker is moved on the Y-axis axis of upper material clamp by manipulator X-axis kinematic system;
706) piston rod of the feeding cylinder of manipulator stretches out, while the upper surface blown of the upward material clamp of blowing nozzle on manipulator Gas, the foreign matter cleared up on feeding fixture upper surface;Piston rod projects forwardly to the terminal of stroke, and the front end and side of glass are all close to upper The angular of material clamp leans on pin;
707) vacuum cup of the manipulator Z axis kinematic system by sucker descending at slow speed to glass close to upper material clamp;
708) manipulator X-axis kinematic system and the micromotion mechanism slow motion arranged along Y-axis kinematic system direction, by glass along X-axis and Y Direction of principal axis comes to the angular by pin of material clamp;
709) when manipulator sucker vacuum is closed, the vacuum of upper material clamp is opened, and sucks glass;Upper material clamp is opened by angle, on The positioning of material clamp glass is completed.
8. control method according to claim 6, it is characterised in that the discharge process of fixture comprises the following steps:
801) sucker is moved on the Y-axis axis of discharging fixture by the X-axis kinematic system of manipulator;
802) manipulator telescopic cylinder is stretched out, while the valve for going out sucker top is blown, and blows the foreign matter on glass off;
803) the Z axis kinematic system of manipulator by sucker descending at slow speed close to glass;
804) the sucker vacuum of manipulator is opened, suction nozzle air-breathing, and discharging holder vacuum is closed, and sucker inhales the glass machined It is attached on suction nozzle, sucker is risen to setting position by manipulator Z axis kinematic system;
805) manipulator telescopic cylinder is withdrawn, and sucker is rotated to perpendicular position by manipulator Z axis kinematic system back to zero, rotary cylinder;
806) the X-axis kinematic system of mechanical hand machine head begins to be moved to above finished product material frame, and glass is aligned into material frame slot prepares to insert Glass;
807) manipulator Z axis kinematic system declines sucker, and glass is inserted into material frame slot;Manipulator sucker vacuum is closed, and is released Put glass;
808) the X-axis kinematic system of manipulator drives sucker to pull back from glass, and Z axis kinematic system drives sucker return-to-zero position.
9. control method according to claim 8, it is characterised in that in step 804, after discharging holder vacuum is closed, The of short duration connection compressed air source of discharging fixture, compressed air is to glass blowback.
CN201610019593.5A 2016-01-11 2016-01-11 A kind of glass carving machine and control method CN105479447B (en)

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