CN106271826A - The automatic loading/unloading method of a kind of CNC processing glass and industrial robot - Google Patents
The automatic loading/unloading method of a kind of CNC processing glass and industrial robot Download PDFInfo
- Publication number
- CN106271826A CN106271826A CN201610839768.7A CN201610839768A CN106271826A CN 106271826 A CN106271826 A CN 106271826A CN 201610839768 A CN201610839768 A CN 201610839768A CN 106271826 A CN106271826 A CN 106271826A
- Authority
- CN
- China
- Prior art keywords
- raw material
- mechanical hand
- holding structure
- product holding
- cnc
- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- 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
Abstract
The invention discloses the automatic loading/unloading method of a kind of CNC processing glass, it comprises the following steps: (1) arranges mechanical hand, localization tool and raw material or product holding structure, and described mechanical hand is provided with vacuum cup parts；(2) raw material is drawn in mechanical hand stretches to raw material or product holding structure；(3) localization tool synchronizing moving is to immediately below mechanical hand, is about to raw material and is placed in localization tool under mechanical hand；(4) raw material is positioned and adsorbs raw material by localization tool；(5) after raw material is processed by CNC machine, immediately below localization tool to mechanical hand, mechanical hand descending absorption finished product；(6) mechanical hand puts down finished product in stretching to raw material or product holding structure, completes an automatic loading/unloading action cycle.The invention also discloses the automatic loading/unloading industrial robot of a kind of CNC processing glass.The industrial robot of the present invention arranges two groups or above vacuum cup group can pick and place two panels or many flake products simultaneously, it is achieved quickly reload, and improves efficiency, saves artificial.
Description
Technical field
The present invention relates to CNC processing glass industry robot technical field, be specifically related to a kind of CNC processing glass from
Dynamic loading and unloading method and industrial robot.
Background technology
Automatic loading and unloading device on Digit Control Machine Tool equipment is of a great variety, for panel computer, phone cover the most on the market
The automatic loading and unloading device of the processing such as plate is mostly mounted on the Z axis of lathe, to install and maintenance, and dismounting main shaft (Z axis)
Inconvenience, working (machining) efficiency is less than manual operation.
Summary of the invention
In order to solve the problems referred to above, the automatic loading/unloading method of a kind of CNC disclosed by the invention processing glass.
Invention additionally discloses the automatic loading/unloading industrial robot of a kind of CNC processing glass.
The present invention be the technical scheme is that for achieving the above object
The automatic loading/unloading method of a kind of CNC processing glass, it is characterised in that it comprises the following steps:
(1) arranging mechanical hand, localization tool and raw material or product holding structure, described localization tool is fixedly installed on CNC
On the XY axle workbench of lathe, described raw material or product holding structure are fixedly installed on the front of the XY axle workbench of CNC machine
Edge, described mechanical hand is fixedly connected in CNC machine, and is positioned at above XY axle workbench, and described mechanical hand is provided with and moves up and down
Mechanism and be arranged on the vacuum cup parts of reciprocating mechanism lower end；
(2) mechanical hand drives vacuum cup parts to come downwards to proper height, and XY axle stage motion drives raw material or product
After holding structure synchronizing moving, raw material or product holding structure move to mechanical hand side and continue to move along, mechanical hand is stretched
Entering to raw material or product holding structure absorption raw material, raw material or product holding structure are moved rearwards by, and raw material or product deposit machine
Structure leaves mechanical hand；
(3) XY axle stage motion drives localization tool synchronizing moving, and localization tool moves to mechanical hand, machinery
Subordinate row, the closedown of vacuum cup parts, raw material is placed in localization tool；
(4) raw material is positioned and adsorbs raw material by localization tool；
(5) after the raw material carried out in localization tool in step (4) has been processed by CNC machine, XY axle workbench
Action drives localization tool to move to mechanical hand, and mechanical hand is descending, and vacuum cup parts are opened, and draws finished product, machinery
Go on hand；
(6) XY axle stage motion drives raw material or product holding structure synchronizing moving, raw material or product holding structure to move
After moving mechanical hand side and continue to move along, mechanical hand puts down finished product, raw material in stretching to raw material or product holding structure
Or product holding structure leaves mechanical hand, complete an automatic loading/unloading action cycle.
Step (1) described vacuum cup parts are provided with two groups or more sucker.
The concrete herein below that also includes of described step (2):
When mechanical hand draws raw material in stretching to raw material or product holding structure, draw two panels or above raw material simultaneously.
The industrial robot of a kind of automatic loading/unloading method implementing CNC processing glass, it includes mechanical hand, localization tool
And raw material or product holding structure, described localization tool is arranged on the XY axle workbench of CNC machine, and described raw material or product are deposited
Laying mechanism is arranged on the side of the XY axle workbench of CNC machine, and described mechanical hand is arranged on above XY axle workbench, described machinery
Hands is provided with reciprocating mechanism and is arranged on the vacuum cup parts of reciprocating mechanism lower end.
Described vacuum cup parts include two groups or above vacuum cup group and a connection piece, two groups or above institute
Stating vacuum cup group and be separately positioned on the downside of connector, described vacuum cup group is arranged towards raw material or product holding structure.
Described mechanical hand is fixed in CNC machine by a fixture.
Described raw material or product holding structure include four the material baskets being arranged side by side.
Described mechanical hand is arranged on the Z axis main spindle box side of CNC machine, the reciprocating mechanism of described mechanical hand and Z axis
Main spindle box is parallel.
It is an advantage of the current invention that: the localization tool of industrial robot of the present invention and raw material or product holding structure and CNC
The XY axle workbench linkage of lathe, does not have the impact interfered；The reciprocating mechanism band of the mechanical hand of industrial robot
Dynamic vacuum cup parts are drawn processed product from material basket and are placed in localization tool, are maybe put back to by the product machined
In material basket, mechanical hand does not has flip-flop movement after drawing product, and product keeps in moving process and between mechanical hand being relatively fixed
Position relationship, mechanical hand arranges two groups or above vacuum cup group can pick and place two panels or many flake products simultaneously, it is achieved fast
Quick change material, improves efficiency, saves artificial.
Below in conjunction with the accompanying drawings with detailed description of the invention, the present invention is further described.
Accompanying drawing explanation
Fig. 1 is the automatic loading/unloading industrial robot overall structure schematic diagram of the CNC processing glass of the present embodiment；
Fig. 2 is aminoacyl site structure for amplifying schematic diagram in Fig. 1.
In figure: 1. mechanical hand, 11. reciprocating mechanisms, 12. vacuum cup parts, 121. vacuum cup groups, 122. connect
Part, 2. localization tool, 3. raw material or product holding structure, 31. material basket, 4. fixtures, 5.CNC lathe, 51.XY axle workbench,
52.Z axle main spindle box.
Detailed description of the invention
Embodiment, sees Fig. 1～2, the automatic loading/unloading method of the CNC processing glass that the present embodiment provides, it include with
Lower step:
(1) arranging mechanical hand 1, localization tool 2 and raw material or product holding structure 3, described localization tool 2 is fixedly installed on
On the XY axle workbench 51 of CNC machine 5, described raw material or product holding structure 3 are fixedly installed on the XY axle work of CNC machine 5
The leading edge of platform 51, described mechanical hand 1 is fixedly connected in CNC machine 5, and is positioned at above XY axle workbench 51, described machinery
Hands 1 is provided with reciprocating mechanism 11 and is arranged on the vacuum cup parts 12 of reciprocating mechanism 11 lower end, and described vacuum is inhaled
Disk component 12 is provided with two groups or more sucker；
(2) mechanical hand 1 drives vacuum cup parts 12 to come downwards to proper height, XY axle workbench 51 action drive raw material or
After product holding structure 3 synchronizing moving, raw material or product holding structure 3 move to mechanical hand 1 side and continue to move along, machine
Tool hands 1 draws raw material in stretching to raw material or product holding structure 3, and raw material or product holding structure 3 are moved rearwards by, raw material or product
Product holding structure 3 leaves mechanical hand 1；
When mechanical hand 1 draws raw material in stretching to raw material or product holding structure 3, draw two panels or above former simultaneously
Material；
(3) XY axle workbench 51 action drive localization tool 2 synchronizing moving, localization tool 2 move to mechanical hand 1 just under
Side, mechanical hand 1 is descending, and vacuum cup parts 12 are closed, and raw material is placed in localization tool 2；
(4) raw material is positioned and adsorbs raw material by localization tool 2；
(5), after the raw material carried out in localization tool 2 in step (4) has been processed by CNC machine 5, XY axle works
Platform 51 action drives localization tool 2 to move to mechanical hand 1, and mechanical hand 1 is descending, and vacuum cup parts 12 are opened, and draws
Finished product, mechanical hand 1 is up；
(6) XY axle workbench 51 action drives raw material or product holding structure 3 synchronizing moving, raw material or product holding structure
After 3 move to mechanical hand 1 side and continue to move along, mechanical hand 1 puts down in stretching to raw material or product holding structure 3
Product, raw material or product holding structure 3 leave mechanical hand 1, complete an automatic loading/unloading action cycle.
The automatic loading/unloading industrial robot of the CNC processing glass that the present embodiment also provides for, it includes mechanical hand 1, location
Tool 2 and raw material or product holding structure 3, described localization tool 2 is arranged on the XY axle workbench 51 of CNC machine 5, described former
Material or product holding structure 3 are arranged on the side of the XY axle workbench 51 of CNC machine 5, and described mechanical hand 1 is arranged on the work of XY axle
Above platform 51, described mechanical hand 1 is provided with reciprocating mechanism 11 and is arranged on the vacuum cup of reciprocating mechanism 11 lower end
Parts 12.Described mechanical hand 1 is fixed in CNC machine 5 by a fixture 4.Described mechanical hand 1 is arranged on the Z of CNC machine 5
Axle main spindle box 52 side, the reciprocating mechanism 11 of described mechanical hand 1 is parallel with Z axis main spindle box 52.
Described vacuum cup parts 12 include two groups or above vacuum cup group 121 and a connection piece 122, two groups or
Above described vacuum cup group 121 is separately positioned on the downside of connector 122, described vacuum cup group 121 towards raw material or
Product holding structure 3 is arranged, and mechanical hand can change two panels or many flake products simultaneously.
Described raw material or product holding structure 3 include four the material baskets 31 being arranged side by side, and can deposit processed product respectively
Or the machined product completed.
The present invention is not limited to above-mentioned embodiment, uses or approximation method identical with the above embodiment of the present invention or industry
Robot, and other obtained process automatic loading/unloading method and the industrial robot of glass for CNC, all the guarantor of the present invention
Within the scope of protecting.
Claims (8)
1. the automatic loading/unloading method of a CNC processing glass, it is characterised in that it comprises the following steps:
(1) arranging mechanical hand, localization tool and raw material or product holding structure, described localization tool is fixedly installed on CNC machine
XY axle workbench on, described raw material or product holding structure are fixedly installed on the leading edge of the XY axle workbench of CNC machine, institute
State mechanical hand to be fixedly connected in CNC machine, and be positioned at above XY axle workbench, described mechanical hand be provided with reciprocating mechanism,
And it is arranged on the vacuum cup parts of reciprocating mechanism lower end；
(2) mechanical hand drives vacuum cup parts to come downwards to proper height, and XY axle stage motion drives raw material or product to deposit
After mechanism's synchronizing moving, raw material or product holding structure move to mechanical hand side and continue to move along, mechanical hand stretches to
Drawing raw material in raw material or product holding structure, raw material or product holding structure are moved rearwards by, raw material or product holding structure from
Drive mechanical hand；
(3) XY axle stage motion drives localization tool synchronizing moving, and localization tool moves to mechanical hand, under mechanical hand
OK, vacuum cup parts are closed, and raw material is placed in localization tool；
(4) raw material is positioned and adsorbs raw material by localization tool；
(5) after the raw material carried out in localization tool in step (4) has been processed by CNC machine, XY axle stage motion
Driving localization tool to move to mechanical hand, mechanical hand is descending, and vacuum cup parts are opened, and draws finished product, on mechanical hand
OK；
(6) XY axle stage motion drives raw material or product holding structure synchronizing moving, raw material or product holding structure to move to
Behind mechanical hand side and continue to move along, mechanical hand puts down finished product, raw material or product in stretching to raw material or product holding structure
Product holding structure leaves mechanical hand, completes an automatic loading/unloading action cycle.
The automatic loading/unloading method of CNC processing glass the most according to claim 1, it is characterised in that step (1) described vacuum
Sucker parts are provided with two groups or more sucker.
The automatic loading/unloading method of CNC processing glass the most according to claim 2, it is characterised in that described step (2) is concrete
Also include herein below:
When mechanical hand draws raw material in stretching to raw material or product holding structure, draw two panels or above raw material simultaneously.
4. implement an industrial robot for the automatic loading/unloading method of one of the claims 1-3 described CNC processing glass,
It is characterized in that: it includes mechanical hand, localization tool and raw material or product holding structure, described localization tool is arranged on CNC machine
On the XY axle workbench of bed, described raw material or product holding structure are arranged on the side of the XY axle workbench of CNC machine, described machine
Tool hands is fixedly connected in CNC machine, and is positioned at above XY axle workbench, described mechanical hand be provided with reciprocating mechanism and
It is arranged on the vacuum cup parts of reciprocating mechanism lower end.
CNC the most according to claim 4 processing glass automatic loading/unloading industrial robot, it is characterised in that: described very
Suction disk component includes two groups or above vacuum cup group and a connection piece, two groups or above described vacuum cup component
Not being arranged on the downside of connector, described vacuum cup group is arranged towards raw material or product holding structure.
The automatic loading/unloading industrial robot of CNC the most according to claim 4 processing glass, it is characterised in that: described machine
Tool hands is fixed in CNC machine by a fixture.
The automatic loading/unloading industrial robot of CNC the most according to claim 4 processing glass, it is characterised in that: described former
Material or product holding structure include four the material baskets being arranged side by side.
The automatic loading/unloading industrial robot of CNC the most according to claim 6 processing glass, it is characterised in that: described machine
Tool hands is arranged on the Z axis main spindle box side of CNC machine, and the reciprocating mechanism of described mechanical hand is parallel with Z axis main spindle box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839768.7A CN106271826A (en) | 2016-09-21 | 2016-09-21 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839768.7A CN106271826A (en) | 2016-09-21 | 2016-09-21 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106271826A true CN106271826A (en) | 2017-01-04 |
Family
ID=57712844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839768.7A Pending CN106271826A (en) | 2016-09-21 | 2016-09-21 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
Country Status (1)
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|---|---|
| CN (1) | CN106271826A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225427A (en) * | 2017-06-21 | 2017-10-03 | 北京精雕科技集团有限公司 | A kind of basket automatic loading/unloading lathe of the material of machine outside fix |
| CN109532038A (en) * | 2018-12-26 | 2019-03-29 | 杭州金宇电子有限公司 | Full automatic planar vacuum glue plastering machine |
| CN109746747A (en) * | 2017-11-01 | 2019-05-14 | 湖南海擎智能科技有限责任公司 | CNC dental lamina automatic charging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225427A (en) * | 2017-06-21 | 2017-10-03 | 北京精雕科技集团有限公司 | A kind of basket automatic loading/unloading lathe of the material of machine outside fix |
| CN109746747A (en) * | 2017-11-01 | 2019-05-14 | 湖南海擎智能科技有限责任公司 | CNC dental lamina automatic charging system |
| CN109532038A (en) * | 2018-12-26 | 2019-03-29 | 杭州金宇电子有限公司 | Full automatic planar vacuum glue plastering machine |
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| C10 | Entry into substantive examination | ||
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| CB02 | Change of applicant information |
Address after: 233000 Daqing North Road, Bengbu, Anhui 199 Applicant after: Bengbu Xin Jin Tuo Intelligent Technology Co., Ltd. Address before: 523000 A401, building 1, Zhongshan Valley, No.1 Nanshan Road, Songshan Lake, Dongguan, Guangdong Applicant before: DONGGUAN JINTA AUTOMATION TECHNOLOGY CO., LTD. |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |
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| WD01 | Invention patent application deemed withdrawn after publication |