CN106945018A - Gantry robot's work station of ultraprecise finishing system - Google Patents

Gantry robot's work station of ultraprecise finishing system Download PDF

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Publication number
CN106945018A
CN106945018A CN201710310951.2A CN201710310951A CN106945018A CN 106945018 A CN106945018 A CN 106945018A CN 201710310951 A CN201710310951 A CN 201710310951A CN 106945018 A CN106945018 A CN 106945018A
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CN
China
Prior art keywords
finishing
fixed
handset shell
gantry robot
pressing plate
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Granted
Application number
CN201710310951.2A
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Chinese (zh)
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CN106945018B (en
Inventor
余胜东
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Wenzhou Vocational and Technical College
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Wenzhou Vocational and Technical College
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Priority to CN201710310951.2A priority Critical patent/CN106945018B/en
Publication of CN106945018A publication Critical patent/CN106945018A/en
Application granted granted Critical
Publication of CN106945018B publication Critical patent/CN106945018B/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
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0075Truss
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks

Abstract

The present invention relates to industrial automation equipment, more specifically to a kind of automation equipment for being used to improve the aesthetic appearance of handset shell.Gantry robot's work station of ultraprecise finishing system of the present invention, including:Machinery bed, the charging pipeline that the handset shell that finishing processing is not carried out is conveyed to direction where gantry robot, the handset shell that finishing is disposed carry out the gantry robot of carrying grabbing to the discharging transmission line conveyed away from direction where gantry robot, by the handset shell, the finishing mechanism of finishing processing are carried out to the handset shell, the quantity of the finishing mechanism is two, is respectively:A number finishing mechanism and No. two finishing mechanisms.The present invention plants gantry robot's work station of ultraprecise finishing system, in the beautification manufacturing process of handset shell, the skin processing to mobile phone shell body surface face is realized using four free motion platform carrying finishing mechanisms, the comprehensive skin processing without dead angle is provided to the outer surface of handset shell.

Description

Gantry robot's work station of ultraprecise finishing system
Technical field
It is beautiful more specifically to a kind of outward appearance for being used to improve handset shell the present invention relates to industrial automation equipment The automation equipment of sense.
Background technology
Handset shell is used as accurate communication apparatus, its manufacture, detection process and its precision.In order to realize to handset shell Automation processing, detection, debugging, it is necessary to it is more accurate and automation cloud platform, drive handset shell realize it is comprehensive Working process.
The content of the invention
Object of the present invention is to provide a kind of gantry robot's work station of ultraprecise finishing system, in mobile phone shell In the beautification manufacturing process of body, carry finishing mechanism using four free motion platforms and realize that the finishing to mobile phone shell body surface face adds Work, the comprehensive skin processing without dead angle is provided to the outer surface of handset shell;Handset shell is completed using gantry robot Carrying between different station, is that handset shell realizes full-automatic ground skin processing.
A kind of gantry robot's work station of ultraprecise finishing system, including:Machinery bed, it will not carry out finishing processing Handset shell conveyed to direction where gantry robot charging pipeline, by described in finishing is disposed Handset shell is carried to the discharging transmission line conveyed away from direction where gantry robot, by the handset shell The gantry robot of crawl, the finishing mechanism to handset shell progress finishing processing, the number of the finishing mechanism Measure as two, be respectively:A number finishing mechanism and No. two finishing mechanisms;A number finishing mechanism and No. two finishing mechanisms are arranged side by side In on the machinery bed, the charging pipeline is arranged in the side of a finishing mechanism, No. two finishing mechanisms Discharging transmission line is arranged in side;The gantry robot is fixed on the machinery bed, the charging pipeline, discharging conveying Line, a finishing mechanism and No. two finishing mechanisms are located in the range of the crawl of the gantry robot;The charging pipeline, Discharging transmission line, a finishing mechanism and No. two finishing mechanisms are to be equally spaced on the machinery bed;
The charging pipeline includes conveyer belt and correction cylinder, and the correction cylinder arrangement is in the one of the conveyer belt End;
The gantry robot includes:Servo slide table, column, manipulator, No. two manipulators, No. three manipulators, Manipulator motor, robot support;The robot support is fixed on the machinery bed by the column, the machinery Torch machine, servo slide table are fixed on the robot support, and the output shaft of the manipulator motor is connected to the servo slide table, A number manipulator, No. two manipulators, No. three manipulators are movably connected on the servo slide table, manipulator, two Number manipulator, No. three manipulators is are equidistantly spaced from;
The structure of the finishing mechanism includes:Done for fixing the frock of handset shell, carrying the frock along X-direction The X-axis slide unit of rectilinear movement, the polishing machine for realizing to the handset shell finishing processing, carry the polishing machine and turn about the X axis A axles turntable, carry the A axles turntable Y-axis slide unit moved linearly done along Y direction, the frock is fixed on the X-axis and slided On the X-axis slide plate of platform, the A axles turntable is fixed on the Y-axis slide plate of the Y-axis slide unit, and the handset shell is fixed on described Frock;
The A axles turntable includes:A bracing struts, the swing arm of A axles, toothed belt transmission, A spindle motors, sled motor, slide plate, guiding Block, gear, tooth bar, the A bracing struts are fixed on the Y-axis slide plate, and the A axles swing arm is movably connected on the A bracing struts, institute The swing arm of A axles is stated for gantry structure, the A spindle motors are fixed on the A bracing struts, and the A spindle motors are passed by the Timing Belt It is dynamic to be connected to the A axles swing arm;The sled motor is fixed on the A axles swing arm, and the gear is fixed on the sled motor Output shaft on;The slide plate is movably connected on the A axles swing arm by the guide pad, and the polishing machine is fixed on the cunning Plate, the tooth bar is fixed on the slide plate, and the gear and tooth bar match;During the centre of gyration of the A axles swing arm is swings Heart axle, the finishing band copline of the oscillation center axle and the polishing machine.
Preferably, a finishing mechanism carries out first of finishing processing, No. two finishings to the handset shell Mechanism carries out second finishing processing to the handset shell.
Preferably, it is described when the servo slide table drives a manipulator and the charging pipeline to match No. two manipulators and a finishing mechanism match, and No. three manipulators and No. two finishing mechanisms match;When When the servo slide table drives a manipulator and the finishing mechanism to match, No. two manipulators and described No. two finishing mechanisms match, and No. three manipulators and the discharging transmission line match.
Preferably, the frock includes:Support, decelerator, servomotor, clamp system, pivot angle cylinder, the lower press of revolution Structure, rotating disk, dropout cylinder;The decelerator is fixed on the bottom of the support, and the output shaft of the servomotor is connected to institute Decelerator is stated, the rotating disk is movably connected on the support, and the rotating disk is fixed on the output of the decelerator by shaft coupling Axle, the clamp system is fixed on the rotating disk;The cylinder block of the pivot angle cylinder is fixed on the support, and the revolution is pushed Mechanism is fixed on the pivot angle cylinder by swing rod;Handset shell is fixed on the clamp system;The cylinder of the dropout cylinder Body is fixed on the support, the piston rod of the dropout cylinder and the dropout slopes which match of the clamp system.
Preferably, the tooth bar and guide pad are parallel to each other.
Preferably, the sled motor drives the polishing machine to do linear reciprocating motion, the side of the linear reciprocating motion To perpendicular with the oscillation center axle.
Preferably, the clamp system includes:Turntable, release lever, button pressing plate, hook pressing plate, spring, No. two bullets Spring, the first bearing pin, the second bearing pin, the 3rd bearing pin, cam, the release lever are movably connected on described turn by release lever chute Platform, the button pressing plate is movably connected on turntable by the button pressing plate chute, and the hook pressing plate is pressed by the hook Plate chute is movably connected on the turntable;The cam is movably connected on the turntable by centre bore, the cam relative to The centre of gyration of the turntable is centre point, is provided with the cam:The power hole that matches with the 3rd bearing pin and The second groove that the first groove and second bearing pin that first bearing pin matches match;In the button pressing plate and turntable Between be provided with a spring, it is described hook pressing plate and turntable between be provided with No. two springs;The release lever The power hole of the cam is movably connected on by the 3rd bearing pin, the button pressing plate is connected by first bearing pin activity First groove is connected to, the hook pressing plate is movably connected on second groove by second bearing pin.
Preferably, it is provided with first groove apart from the second different near-end of the centre point, the second distal end, described the The distance of two near-ends to the centre point is less than second distal end to the distance of the centre point, second near-end and second Distal end is interconnected;It is provided with second groove apart from the first different near-end of the centre point, the first distal end, described first The distance of near-end to the centre point is less than first distal end to the distance of the centre point.
Preferably, a spring, No. two springs are in pressured state;The quantity of a number spring is two, point The two ends of the button pressing plate are not arranged in;The quantity of No. two springs is two, is respectively arranged in the hook pressing plate Two ends.
Preferably, the button pressing plate and the button hole on the edge of the handset shell match, the hook Pressing plate and hook positioned at the head of the handset shell match.
Preferably, the direction of motion of the button pressing plate and the hook pressing plate is perpendicular.
Preferably, the revolution press mechanism includes:Mandrel, backing plate, plane bearing, locking nut, housing, the plane Bearing, backing plate, housing are movably connected on the mandrel, and the locking nut is fixed on the mandrel, and the plane bearing is located at Between the housing and locking nut.
Preferably, the material of the backing plate is plastics, quality of rubber materials.
Preferably, when the piston rod of the dropout cylinder stretches out, the end of the piston rod of the dropout cylinder promotes institute The motion of dropout inclined-plane is stated, the release lever promotes the certain angle of the cam rotation, then:First groove promotes described the One bearing pin moves to the second distal end from second near-end, the button pressing plate to direction where the centre point move one section away from From;Second groove promotes second bearing pin to move to the first distal end from first near-end, and the hook pressing plate is to described A segment distance is moved in direction where centre point.
Compared with conventional art, gantry robot's work station of ultraprecise finishing system of the present invention has following positive work With and beneficial effect:
Gantry robot's work station of ultraprecise finishing system of the present invention, is realized to institute using industrial automation technology State the ultraprecise skin processing of handset shell outer surface.The charging pipeline will not carry out the handset shell of finishing processing to purlin Direction where posture robot is conveyed, and the handset shell that finishing is disposed by the discharging transmission line is outside Portion is exported, and a finishing mechanism carries out first of finishing processing to the handset shell, and No. two finishing mechanisms are to institute State handset shell and carry out second finishing processing, by twice skin processing, the surface quality of more best bright finish can be obtained.Institute State the crawl that charging pipeline, discharging transmission line, a finishing mechanism and No. two finishing mechanisms are located at the gantry robot In the range of, the gantry robot grabs the handset shell, and the handset shell is removed between different stations Fortune, so as to realize entire roboticized work.Such as:By the handset shell in No. two finishing mechanisms be carried to it is described go out Expect on pipeline, meanwhile, the handset shell in a finishing mechanism is carried to No. two finishing mechanisms On, meanwhile, the handset shell on the charging pipeline is carried in a finishing mechanism.
The handling process of the gantry robot, the charging pipeline, discharging transmission line, a finishing for convenience Mechanism and No. two finishing mechanisms is are equally spaced, and a manipulator, No. two manipulators, No. three manipulators is at equal intervals Arrangement, both spacing distances are the same.I.e.:When the servo slide table drives a manipulator and charging conveying When line matches, No. two manipulators and a finishing mechanism match, No. three manipulators and No. two light Whole mechanism matches;It is described when the servo slide table drives a manipulator and a finishing mechanism to match No. two manipulators and No. two finishing mechanisms match, and No. three manipulators and the discharging transmission line match.
Gantry robot's work station of ultraprecise finishing system of the present invention, the finishing is carried using four axes motion platform Machine realizes the skin processing to the outer surface of the handset shell.The four axes motion platform includes driving the handset shell fortune The total of four motor of the polishing machine motion is moved or drives, this four motors are:It is positioned over the servo electricity in the frock Machine, the motor of the driving X-axis slide unit movement, the motor of the driving Y-axis slide unit movement, the driving A axles turntable are rotated The A spindle motors.Because the outer surface of the handset shell is 3-D solid structure, four axes motion platform, the finishing are utilized Machine possesses the motion mode of four frees degree relative to the handset shell, and this kind of mode can be to the outer of the handset shell Do comprehensive finishing processing in surface.The expectation that gantry robot's work station of ultraprecise finishing system of the present invention has is not To have the technical effect that:When the finishing band touches the outer surface of the handset shell, the finishing band always and The contact site of the handset shell is to what is cut, and this kind of mode can provide optimal finishing effect.
Next the course of work of the A axles turntable is described:
The A axles turntable drives the A axles swing arm around the oscillation center axle by the A spindle motors by toothed belt transmission Rotate.The polishing machine is movably connected on the A axles swing arm, and the slide plate is movably connected on the A axles by the guide pad Swing arm, the polishing machine is fixed on the slide plate, and the sled motor drives the slide plate to do back and forth by rack pinion Linear motion, the slide plate drives the polishing machine to do linear reciprocating motion, the direction of the linear reciprocating motion and the pendulum Dynamic central shaft is perpendicular.Due to adding the effect of linear reciprocating motion, the work area of the finishing band is increased, is improved Operating efficiency.The centre of gyration of the A axles swing arm is the finishing band of oscillation center axle, the oscillation center axle and the polishing machine Copline, reduces the difficulty of gantry robot's work station of ultraprecise finishing system of the present invention again on Design of Electrical Controling System Degree so that gantry robot's work station of ultraprecise finishing system of the present invention is easily controllable.
The frock includes:Support, decelerator, for driving servomotor that the rotating disk rotates, it is described for positioning The clamp system of handset shell, for drive it is described revolution press mechanism auxiliary positioning described in handset shell pivot angle cylinder, use In the dropout cylinder for triggering the clamp system.
The handset shell is fixed on the rotating disk by the clamp system, the swing rod driving institute of the pivot angle cylinder State revolution press mechanism to be contacted with the handset shell, provide Auxiliary support to the handset shell so that the mobile phone shell Body can be preferably connected on the clamp system.The servomotor drives the rotating disk, handset shell according to certain Sports rule is rotated, so as to coordinate other techniques to realize to the processing of the handset shell, detection, finishing.
Fully-automatic intelligent mobile phone of the present invention carries the frock of cloud platform, first by the revolution press mechanism realization pair The fixation of the handset shell, is then realized multi-faceted fixation by the clamp system to the handset shell, finally by institute State revolution press mechanism and leave the handset shell.Fully-automatic intelligent mobile phone carrying cloud platform of the present invention utilizes the clamp system Cleverly structure design, it is achieved thereby that to being accurately positioned of the handset shell, quick-clamping;Fully-automatic intelligent of the present invention Mobile phone carrying one of cloud platform is unexpected to be had the technical effect that:The clamping machine is not present in the outside of the handset shell Any part of structure, is conducive to carrying out freely processing, detection, finishing to the outside of the handset shell.By purely mechanic Structure design realize one can unlimited angular turn the clamp system, and the clamp system is located at the mobile phone shell The bottom or inside of body, in presence of the inside of the clamp system without mechanisms such as cylinders or motor;Utilize outside machine Structure, for example:Dropout cylinder, is acted to trigger the clamp system.It is achieved thereby that realizing complexity with exquisite structure Action.
Next the course of work and operation principle of the clamp system described:
When needing the handset shell being positioned on the clamp system, the rotating disk is in halted state, described Dropout inclined-plane is located at the surface of the dropout cylinder, and the piston rod of the dropout cylinder is in retracted mode.Now, described one Number spring, which has, promotes the button pressing plate to the trend moved away from the centre point;No. two springs, which have, promotes described The trend that hook pressing plate is moved to the remote centre point.
Then, the piston rod of the dropout cylinder stretches out, and the end of the piston rod of the dropout cylinder promotes described thread off Inclined-plane is moved to direction where the button pressing plate, and the release lever promotes the certain angle of the cam rotation, then:It is described First groove promotes first bearing pin to move to the second distal end from second near-end, and the button pressing plate is to the centre point institute Direction move a segment distance, i.e., inside from described button pressing plate to the turntable retract a segment distance;Second groove is promoted Second bearing pin moves to the first distal end from first near-end, and the hook pressing plate is moved to direction where the centre point One segment distance, i.e., it is described to link up with inside retraction one segment distance of the pressing plate to the turntable.
Then, the handset shell is positioned on the clamp system, turns round and push described in the pivot angle air cylinder driven The handset shell is firmly located in and is affixed on the clamp system by mechanism.Then, the piston rod contracting of the dropout cylinder Return, now, a spring promotes the button pressing plate to be moved to away from the centre point, until the end of the button pressing plate Hold through button hole;No. two springs promote the hook pressing plate to be moved to away from the centre point, until the hook pressure Plate touches the hook.So as to realize by the handset shell it is accurate, be firmly attached on the clamp system.
Brief description of the drawings
Fig. 1,2 be ultraprecise finishing system of the present invention gantry robot's work station structural representation;
Fig. 3 is the part-structure schematic diagram of gantry robot's work station of ultraprecise finishing system of the present invention;
Fig. 4 is the structural representation of the gantry robot of gantry robot's work station of ultraprecise finishing system of the present invention Figure;
Fig. 5,6,7 are the structural representations of the finishing mechanism of gantry robot's work station of ultraprecise finishing system of the present invention Figure;
Fig. 8,9 are that the part-structure of finishing mechanism of gantry robot's work station of ultraprecise finishing system of the present invention shows It is intended to;
Figure 10,11,12,13 are that the structure of the frock of gantry robot's work station of ultraprecise finishing system of the present invention is shown It is intended to;
Figure 14,15 be ultraprecise finishing system of the present invention gantry robot's work station handset shell structural representation Figure;
Figure 16 is the cam structure schematic diagram of gantry robot's work station of ultraprecise finishing system of the present invention;
Figure 17 is the turntable structure schematic diagram of gantry robot's work station of ultraprecise finishing system of the present invention;
Figure 18 is that the structure of the revolution press mechanism of gantry robot's work station of ultraprecise finishing system of the present invention is shown It is intended to.
1 support, 2 decelerators, 3 servomotors, 4 turntables, 5 shaft couplings, 6 pivot angle cylinders, 7 revolution press mechanisms, 8 mobile phones Shell, 9 button holes, 10 edges, 11 heads, 12 hooks, 13 dropout cylinders, 14 dropout inclined-planes, 15 rotating disks, 16 release levers, 17 buttons It is pressing plate, 18 hook pressing plates, No. 19 springs, 20 No. two springs, 21 first bearing pins, 22 second bearing pins, 23 the 3rd bearing pins, 24 convex Wheel, 25 first grooves, 26 second grooves, 27 first near-ends, 28 first distal ends, 29 second near-ends, 30 second distal ends, 31 power holes, 32 Centre point, 33 button pressing plate chutes, 34 hook pressing plate chutes, 35 release lever chutes, 36 centre bores, 37 swing rods, 38 mandrels, 39 pads Plate, 40 plane bearings, 41 locking nuts, 42 housings, 43 machinery beds, 44 charging pipelines, 45 discharging transmission lines, 46 truss-likes Robot, No. 47 finishing mechanisms, 48 No. two finishing mechanisms, 49 frocks, 50 X-axis slide units, 51 Y-axis slide units, 52 A axles turntables, 53 X-axis slide plates, 54 Y-axis slide plates, 55 A bracing struts, 56 A axles swing arms, 57 toothed belt transmissions, 58 A spindle motors, 59 slide plates electricity Machine, 60 slide plates, 61 guide pads, 62 gears, 63 tooth bars, 64 wax-polishing machines, 65 waxing faces, 66 oscillation center axles, 67 conveyer belts, 68 schools Positive cylinder, 69 servo slide tables, 70 columns, No. 71 manipulators, 72 No. two manipulators, 73 No. three manipulators, a 74 manipulator motors.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention, Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of ultraprecise finishing system Gantry robot's work station, in the beautification manufacturing process of handset shell, polishing machine is carried using four free motion platforms Structure realizes the skin processing to mobile phone shell body surface face, and the comprehensive skin processing without dead angle is provided to the outer surface of handset shell; Carrying of the handset shell between different station is completed using gantry robot, is that handset shell realizes that the finishing of full-automatic ground adds Work.
Fig. 1,2 be ultraprecise finishing system of the present invention gantry robot's work station structural representation, Fig. 3 is this hair The part-structure schematic diagram of gantry robot's work station of bright ultraprecise finishing system, Fig. 4 is ultraprecise finishing system of the present invention The structural representation of the gantry robot of gantry robot's work station of system, Fig. 5,6,7 are ultraprecise finishing systems of the present invention The structural representation of the finishing mechanism of gantry robot's work station of system, Fig. 8,9 be ultraprecise finishing system of the present invention purlin The part-structure schematic diagram of the finishing mechanism of posture robot workstation, Figure 10,11,12,13 are ultraprecise finishing systems of the present invention The structural representation of the frock of gantry robot's work station of system, Figure 14,15 be ultraprecise finishing system of the present invention truss The structural representation of the handset shell of formula robot workstation, Figure 16 is the gantry robot of ultraprecise finishing system of the present invention The cam structure schematic diagram of work station, Figure 17 is the turntable knot of gantry robot's work station of ultraprecise finishing system of the present invention Structure schematic diagram, Figure 18 is that the structure of the revolution press mechanism of gantry robot's work station of ultraprecise finishing system of the present invention is shown It is intended to.
A kind of gantry robot's work station of ultraprecise finishing system, including:Machinery bed 43, it will not carry out at finishing Charging pipeline 44 that the handset shell 8 of reason is conveyed to the place direction of gantry robot 46, finishing handled The complete handset shell 8 is to the discharging transmission line 45 conveyed away from the place direction of gantry robot 46, by the hand Casing body 8 carries out the gantry robot 46 of carrying grabbing, the polishing machine of finishing processing is carried out to the handset shell 8 Structure, the quantity of the finishing mechanism is two, is respectively:A number finishing mechanism 47 and No. two finishing mechanisms 48;A number light Whole mechanism 47 and No. two finishing mechanisms 48 are listed on the machinery bed 43, the side arrangement institute of a finishing mechanism 47 State charging pipeline 44, the side arrangement discharging transmission line 45 of No. two finishing mechanisms 48;The gantry robot 46 consolidates It is connected in the machinery bed 43, the charging pipeline 44, discharging transmission line 45, a finishing mechanism 47 and No. two finishing mechanisms 48 are located in the range of the crawl of the gantry robot 46;The charging pipeline 44, discharging transmission line 45, a polishing machine Structure 47 and No. two finishing mechanisms 48 is are equally spaced on the machinery bed 43;
The charging pipeline 44 includes conveyer belt 67 and correction cylinder 68, and the correction cylinder 68 is arranged in the transmission With 67 one end;
The gantry robot 46 includes:Servo slide table 69, column 70, manipulator 71, No. two manipulators 72, three Number manipulator 73, manipulator motor 74, robot support 75;The robot support 75 is fixed on described by the column 70 On machinery bed 43, the manipulator motor 74, servo slide table 69 are fixed on the robot support 75, the manipulator motor 74 output shaft is connected to the servo slide table 69, a manipulator 71, No. two manipulators 72, No. three activities of manipulator 73 The servo slide table 69 is connected to, a manipulator 71, No. two manipulators 72, No. three manipulators 73 are to be equidistantly spaced from;
The structure of the finishing mechanism includes:For fixing the frock 49 of handset shell 8, carrying the frock 49 along X-axis Do the X-axis slide unit 50 moved linearly, the polishing machine 64 for realizing to the handset shell 8 finishing processing, carry the finishing in direction A axles turntable 52 that machine 64 is turned about the X axis, carry the A axles turntable 52 the Y-axis slide unit 51 moved linearly is done along Y direction, it is described Frock 49 is fixed on the X-axis slide plate 53 of the X-axis slide unit 50, and the A axles turntable 52 is fixed on the Y-axis of the Y-axis slide unit 51 On slide plate 54, the handset shell 8 is fixed on the frock 49;
The A axles turntable 52 includes:A bracing struts 55, A axles swing arm 56, toothed belt transmission 57, A spindle motors 58, sled motor 59th, slide plate 60, guide pad 61, gear 62, tooth bar 63, the A bracing struts 55 are fixed on the Y-axis slide plate 54, the A axles swing arm 56 are movably connected on the A bracing struts 55, and the A axles swing arm 56 is gantry structure, and the A spindle motors 58 are fixed on the A axles Support 55, the A spindle motors 58 are connected to the A axles swing arm 56 by the toothed belt transmission 57;The sled motor 59 is consolidated It is connected in the A axles swing arm 56, the gear 62 is fixed on the output shaft of the sled motor 59;The slide plate 60 is by described Guide pad 61 is movably connected on the A axles swing arm 56, and the polishing machine 64 is fixed on the slide plate 60, and the tooth bar 63 is fixed on The slide plate 60, the gear 62 and tooth bar 63 match;The centre of gyration of the A axles swing arm 56 is oscillation center axle 66, institute State oscillation center axle 66 and the copline of finishing band 65 of the polishing machine 64.
More specifically, 47 pairs of the finishing mechanism handset shell 8 carries out first of finishing processing, described No. two 47 pairs of the finishing mechanism handset shell 8 carries out second finishing processing.
More specifically, when the servo slide table 69 drives a manipulator 71 and the charging pipeline 44 to match When, No. two manipulators 72 and a finishing mechanism 47 match, No. three manipulators 73 and No. two finishings Mechanism 48 matches;When the servo slide table 69 drives a manipulator 71 and a finishing mechanism 47 to match When, No. two manipulators 72 and No. two finishing mechanisms 48 match, No. three manipulators 73 and the discharging conveying Line 45 matches.
More specifically, the frock 49 includes:Support 1, decelerator 2, servomotor 3, clamp system, pivot angle cylinder 6, return Turn press mechanism 7, rotating disk 15, dropout cylinder 13;The decelerator 2 is fixed on the bottom of the support 1, the servomotor 3 Output shaft be connected to the decelerator 2, the rotating disk 15 is movably connected on the support 1, and the rotating disk 15 passes through shaft coupling 5 The output shaft of the decelerator 2 is fixed on, the clamp system is fixed on the rotating disk 15;The cylinder block of the pivot angle cylinder 6 The support 1 is fixed on, the revolution press mechanism 7 is fixed on the pivot angle cylinder 6 by swing rod 37;Handset shell 8 is connected In the clamp system;The cylinder block of the dropout cylinder 13 is fixed on the support 1, the piston rod of the dropout cylinder 13 and The dropout inclined-plane 14 of the clamp system matches.
More specifically, the tooth bar 63 and guide pad 61 are parallel to each other.
More specifically, the sled motor 59 drives the polishing machine 64 to do linear reciprocating motion, the reciprocating linear fortune Dynamic direction and the oscillation center axle 66 is perpendicular.
More specifically, the clamp system includes:Turntable 4, release lever 16, button pressing plate 17, hook pressing plate 18, a bullet Spring 19, No. two springs 20, the first bearing pin 21, the second bearing pin 22, the 3rd bearing pin 23, cams 24, the release lever 16 is by threading off Bar chute 35 is movably connected on the turntable 4, and the button pressing plate 17 is movably connected on by the button pressing plate chute 33 to be turned Platform 4, the hook pressing plate 18 is movably connected on the turntable 4 by the hook pressing plate chute 34;The cam 24 is in Heart hole 36 is movably connected on the turntable 4, and the cam 24 is centre point 32 relative to the centre of gyration of the turntable 4, in institute State and be provided with cam 24:The power hole 31 and first bearing pin 21 matched with the 3rd bearing pin 23 match The second groove 25 that one groove 26 and second bearing pin 22 match;It is provided between the button pressing plate 17 and turntable 4 described A number spring 19, No. two springs 20 are provided between the hook pressing plate 18 and turntable 4;The release lever 16 passes through institute The power hole 31 that the 3rd bearing pin 23 is movably connected on the cam 24 is stated, the button pressing plate 17 is lived by first bearing pin 21 Dynamic to be connected to first groove 26, the hook pressing plate 18 is movably connected on second groove 25 by second bearing pin 22.
More specifically, being provided with first groove 26 remote apart from the second different near-end 29, second of the centre point 32 End 30, the distance of second near-end 29 to the centre point 32 be less than the described second distal end 30 to the centre point 32 away from From the distal end of the second near-end 29 and second 30 is interconnected;It is provided with second groove 25 apart from the centre point 32 not First same the 27, first distal end 28 of near-end, the distance of first near-end 27 to the centre point 32 is less than the described first distal end 28 arrive the distance of the centre point 32.
More specifically, a spring 19, No. two springs 20 are in pressured state;The quantity of a number spring 19 is Two, it is respectively arranged in the two ends of the button pressing plate 17;The quantity of No. two springs 20 is two, is respectively arranged in described Link up with the two ends of pressing plate 18.
More specifically, the button pressing plate 17 and the button hole 9 on the edge 10 of the handset shell 8 match, The hook pressing plate 18 and the hook 12 positioned at the head 11 of the handset shell 8 match.
More specifically, the direction of motion of the button pressing plate 17 and the hook pressing plate 18 is perpendicular.
More specifically, the revolution press mechanism 7 includes:Mandrel 38, backing plate 39, plane bearing 40, locking nut 41, shell Body 42, the plane bearing 40, backing plate 39, housing 42 are movably connected on the mandrel 38, and the locking nut 41 is fixed on institute Mandrel 38 is stated, the plane bearing 40 is located between the housing 42 and locking nut 41.
More specifically, the material of the backing plate 39 is plastics, quality of rubber materials.
More specifically, when the piston rod of the dropout cylinder 13 stretches out, the end of the piston rod of the dropout cylinder 13 The dropout inclined-plane 14 is promoted to move, the release lever 16 promotes the cam 24 to rotate certain angle, then:Described first Groove 26 promotes first bearing pin 21 to move to the second distal end 30 from second near-end 29, and the button pressing plate 17 is to the circle Move a segment distance in the place direction of heart point 32;Second groove 25 promotes second bearing pin 22 to be moved from first near-end 27 To the first distal end 28, the hook pressing plate 18 moves a segment distance to the place direction of centre point 32.
Below in conjunction with Fig. 1 to 14, gantry robot's work station of ultraprecise finishing system of the present invention is further described Operation principle and the course of work:
Gantry robot's work station of ultraprecise finishing system of the present invention, is realized to institute using industrial automation technology State the ultraprecise skin processing of the outer surface of handset shell 8.The charging pipeline 44 will not carry out the handset shell 8 of finishing processing Conveyed to the place direction of gantry robot 46, the mobile phone that finishing is disposed by the discharging transmission line 45 Housing 8 is exported to outside, and 47 pairs of the finishing mechanism handset shell 8 carries out first of finishing processing, described No. two 47 pairs of the finishing mechanism handset shell 8 carries out second finishing processing, by twice skin processing, can obtain higher bright and clean The surface quality of degree.The charging pipeline 44, discharging transmission line 45, a finishing mechanism 47 and No. two finishing mechanisms 48 are located at In the range of the crawl of the gantry robot 46, the gantry robot 46 grabs the handset shell 8, by the hand Casing body 8 is carried between different stations, so as to realize entire roboticized work.Such as:No. two finishing mechanisms will be located at The handset shell 8 on 48 is carried on the discharging transmission line 45, meanwhile, by a finishing mechanism 47 The handset shell 8 is carried in No. two finishing mechanisms 48, meanwhile, by the hand on the charging pipeline 44 Casing body 8 is carried in a finishing mechanism 47.
The handling process of the gantry robot 46, the charging pipeline 44, discharging transmission line 45, one for convenience Number finishing mechanism 47 and No. two finishing mechanisms 48 to be equally spaced, a manipulator 71, No. two manipulators 72, No. three Manipulator 73 is is equidistantly spaced from, and both spacing distances are the same.I.e.:When the servo slide table 69 drives a machine When tool hand 71 and the charging pipeline 44 match, No. two manipulators 72 and a finishing mechanism 47 match, No. three manipulators 73 and No. two finishing mechanisms 48 match;When the servo slide table 69 drives a manipulator 71 and a finishing mechanism 47 when matching, No. two manipulators 72 and No. two finishing mechanisms 48 match, institute State No. three manipulators 73 and the discharging transmission line 45 matches.
Gantry robot's work station of ultraprecise finishing system of the present invention, the finishing is carried using four axes motion platform Machine 64 realizes the skin processing of the outer surface to the handset shell 8.The four axes motion platform includes driving the mobile phone shell Body 8 moves or driven the total of four motor that the polishing machine 64 is moved, and this four motors are:It is positioned in the frock 49 Servomotor 3, the motor that moves of the driving X-axis slide unit 50, the driving Y-axis slide unit 51 move motor, drive the A The A spindle motors 58 that axle turntable 52 is rotated.Because the outer surface of the handset shell 8 is 3-D solid structure, four axles are utilized Motion platform, the polishing machine 64 possesses the motion mode of four frees degree relative to the handset shell 8, and this kind of mode can Comprehensive finishing processing is done with the outer surface to the handset shell 8.The truss-like machine of ultraprecise finishing system of the present invention What people's work station had unexpected has the technical effect that:When the finishing band 65 touches the appearance of the handset shell 8 When face, the contact site of the finishing band 65 always with the handset shell 8 is to what is cut, and this kind of mode can be provided most Good finishing effect.
Next the course of work of the A axles turntable 52 is described:
The A axles turntable 52 drives the A axles swing arm 56 around the pendulum by the A spindle motors 58 by toothed belt transmission 57 Dynamic central shaft 66 is rotated.The polishing machine 64 is movably connected on the A axles swing arm 56, and the slide plate 60 passes through the guide pad 61 The A axles swing arm 56 is movably connected on, the polishing machine 64 is fixed on the slide plate 60, and the sled motor 59 passes through gear teeth The bar transmission driving slide plate 60 does linear reciprocating motion, and the slide plate 60 drives the polishing machine 64 to do linear reciprocating motion, The direction of the linear reciprocating motion and the oscillation center axle 66 are perpendicular.Due to adding the effect of linear reciprocating motion, The work area of the finishing band 65 is increased, operating efficiency is improved.The centre of gyration of the A axles swing arm 56 is oscillation center The copline of finishing band 65 of axle 66, the oscillation center axle 66 and the polishing machine 64, reduces ultraprecise finishing system of the present invention The difficulty of gantry robot's work station of system again on Design of Electrical Controling System so that the purlin of ultraprecise finishing system of the present invention Posture robot workstation is easily controllable.
The frock 49 includes:Support 1, decelerator 2, for driving servomotor 3 that the rotating disk 15 rotates, for fixed The clamp system of the position handset shell 8, the pendulum for driving handset shell 8 described in the revolution auxiliary positioning of press mechanism 7 Angle cylinder 6, the dropout cylinder 13 for triggering the clamp system.
The handset shell 8 is fixed on the rotating disk 15 by the clamp system, the swing rod 37 of the pivot angle cylinder 6 The driving revolution press mechanism 7 is contacted with the handset shell 8, provides Auxiliary support to the handset shell 8 so that institute Stating handset shell 8 can preferably be connected on the clamp system.The servomotor 3 drives the rotating disk 15, mobile phone shell Body 8 is rotated according to certain sports rule, so as to coordinate other techniques to realize processing to the handset shell 8, inspection Survey, repair.
Fully-automatic intelligent mobile phone of the present invention carries the frock 49 of cloud platform, real by the revolution press mechanism 7 first Now to the fixation of the handset shell 8, multi-faceted fixation then is realized to the handset shell 8 by the clamp system, most The revolution press mechanism 7 is left into the handset shell 8 afterwards.Fully-automatic intelligent mobile phone carrying cloud platform of the present invention is described in The cleverly structure design of clamp system, it is achieved thereby that to being accurately positioned of the handset shell 8, quick-clamping;The present invention Fully-automatic intelligent mobile phone carrying one of cloud platform is unexpected to be had the technical effect that:Do not deposited in the outside of the handset shell 8 In any part of the clamp system, be conducive to carrying out freely processing, detection, finishing to the outside of the handset shell 8. By purely mechanic structure design realize one can unlimited angular turn the clamp system, and clamp system position In the bottom or inside of the handset shell 8, in the inside of the clamp system depositing without mechanisms such as cylinders or motor ;Using external agency, for example:Dropout cylinder 13, is acted to trigger the clamp system.It is achieved thereby that with exquisite Structure realizes the action of complexity.
Next the course of work and operation principle of the clamp system described:
When needing the handset shell 8 being positioned on the clamp system, the rotating disk 15 is in halted state, institute The surface that dropout inclined-plane 14 is located at the dropout cylinder 13 is stated, the piston rod of the dropout cylinder 13 is in retracted mode.This When, a spring 19, which has, promotes the button pressing plate 17 to the trend moved away from the centre point 32;Described No. two Spring 20, which has, promotes the hook pressing plate 18 to the trend moved away from the centre point 32.
Then, the piston rod of the dropout cylinder 13 stretches out, and the end of the piston rod of the dropout cylinder 13 promotes described Dropout inclined-plane 14 is moved to the place direction of button pressing plate 17, and the release lever 16 promotes the cam 24 to rotate certain angle Degree, then:First groove 26 promotes first bearing pin 21 to move to the second distal end 30 from second near-end 29, described to press Button pressing plate 17 moves a segment distance to the place direction of centre point 32, i.e., described button pressing plate 17 is to the inside of the turntable 4 Retract a segment distance;Second groove 25 promotes second bearing pin 22 to move to the first distal end 28 from first near-end 27, The hook pressing plate 18 moves a segment distance to the place direction of centre point 32, i.e., described pressing plate 18 of linking up with is to the turntable 4 Inside retract a segment distance.
Then, the handset shell 8 is positioned on the clamp system, the pivot angle cylinder 6 is driven under the revolution The handset shell 8 is firmly located in and is affixed on the clamp system by press mechanism 7.Then, the work of the dropout cylinder 13 Stopper rod is retracted, now, and a spring 19 promotes the button pressing plate 17 to be moved to away from the centre point 32, until described The end of button pressing plate 17 passes through button hole 9;No. two springs 20 promote the hook pressing plate 18 to away from the centre point 32 motions, until the hook pressing plate 18 touches the hook 12.So as to realize the handset shell 8 accurately, securely It is connected on the clamp system.
Finally it is pointed out that above example is only gantry robot's work station of ultraprecise finishing system of the present invention More representational example.Obviously, gantry robot's work station of ultraprecise finishing system of the present invention is not limited to above-mentioned implementation Example, can also there is many deformations.The technology of every gantry robot's work station according to ultraprecise finishing system of the present invention is real Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to ultraprecise finishing of the present invention The protection domain of gantry robot's work station of system.

Claims (10)

1. a kind of gantry robot's work station of ultraprecise finishing system, it is characterised in that including:Machinery bed, it will not enter Charging pipeline that the handset shell of row finishing processing is conveyed to direction where gantry robot, by finishing processing The handset shell finished is to the discharging transmission line conveyed away from direction where gantry robot, by the mobile phone shell Body carries out the gantry robot of carrying grabbing, the finishing mechanism of finishing processing, the light is carried out to the handset shell The quantity of whole mechanism is two, is respectively:A number finishing mechanism and No. two finishing mechanisms;A number finishing mechanism and No. two light Whole mechanism is listed on the machinery bed, and the charging pipeline, described No. two are arranged in the side of a finishing mechanism The side arrangement discharging transmission line of finishing mechanism;The gantry robot is fixed on the machinery bed, the charging conveying Line, discharging transmission line, a finishing mechanism and No. two finishing mechanisms are located in the range of the crawl of the gantry robot;It is described Charging pipeline, discharging transmission line, a finishing mechanism and No. two finishing mechanisms are to be equally spaced in the machinery bed On;
The charging pipeline includes conveyer belt and correction cylinder, and the correction cylinder arrangement is in one end of the conveyer belt;
The gantry robot includes:Servo slide table, column, manipulator, No. two manipulators, No. three manipulators, a machineries Torch machine, robot support;The robot support is fixed on the machinery bed by the column, the mechanical torch Machine, servo slide table are fixed on the robot support, and the output shaft of the manipulator motor is connected to the servo slide table, described A number manipulator, No. two manipulators, No. three manipulators are movably connected on the servo slide table, a manipulator, No. two machines Tool hand, No. three manipulators are to be equidistantly spaced from;
The structure of the finishing mechanism includes:For fixing the frock of handset shell, carrying the frock straight line is done along X-direction Mobile X-axis slide unit, the A axles that the polishing machine of finishing processing, the carrying polishing machine are turned about the X axis are realized to the handset shell Turntable, the carrying A axles turntable do the Y-axis slide unit moved linearly along Y direction, and the frock is fixed on the X of the X-axis slide unit On axle slide plate, the A axles turntable is fixed on the Y-axis slide plate of the Y-axis slide unit, and the handset shell is fixed on the frock;
The A axles turntable includes:A bracing struts, the swing arm of A axles, toothed belt transmission, A spindle motors, sled motor, slide plate, guide pad, Gear, tooth bar, the A bracing struts are fixed on the Y-axis slide plate, and the A axles swing arm is movably connected on the A bracing struts, the A Axle swing arm is gantry structure, and the A spindle motors are fixed on the A bracing struts, and the A spindle motors are connected by the toothed belt transmission It is connected to the A axles swing arm;The sled motor is fixed on the A axles swing arm, and the gear is fixed on the defeated of the sled motor On shaft;The slide plate is movably connected on the A axles swing arm by the guide pad, and the polishing machine is fixed on the slide plate, The tooth bar is fixed on the slide plate, and the gear and tooth bar match;The centre of gyration of the A axles swing arm is oscillation center Axle, the finishing band copline of the oscillation center axle and the polishing machine.
2. gantry robot's work station of ultraprecise finishing system according to claim 1, it is characterised in that described one Number finishing mechanism carries out first of finishing processing to the handset shell, and No. two finishing mechanisms are carried out to the handset shell Second finishing is handled.
3. gantry robot's work station of ultraprecise finishing system according to claim 1, it is characterised in that when described When a servo slide table driving number manipulator and the charging pipeline match, No. two manipulators and a light Whole mechanism matches, and No. three manipulators and No. two finishing mechanisms match;When the servo slide table drives described one When number manipulator and a finishing mechanism match, No. two manipulators and No. two finishing mechanisms match, institute State No. three manipulators and the discharging transmission line matches.
4. gantry robot's work station of ultraprecise finishing system according to claim 1, it is characterised in that the work Dress includes:Support, decelerator, servomotor, clamp system, pivot angle cylinder, revolution press mechanism, rotating disk, dropout cylinder;It is described Decelerator is fixed on the bottom of the support, and the output shaft of the servomotor is connected to the decelerator, the rotating disk activity The support is connected to, the rotating disk is fixed on the output shaft of the decelerator by shaft coupling, and the clamp system is fixed on The rotating disk;The cylinder block of the pivot angle cylinder is fixed on the support, and the revolution press mechanism is fixed on institute by swing rod State pivot angle cylinder;Handset shell is fixed on the clamp system;The cylinder block of the dropout cylinder is fixed on the support, described The dropout slopes which match of the piston rod of dropout cylinder and the clamp system.
5. gantry robot's work station of ultraprecise finishing system according to claim 1, it is characterised in that the cunning Board motor drives the polishing machine to do linear reciprocating motion, and the direction of the linear reciprocating motion is mutually hung down with the oscillation center axle Directly.
6. gantry robot's work station of ultraprecise finishing system according to claim 4, it is characterised in that the folder Tight mechanism includes:Turntable, release lever, button pressing plate, hook pressing plate, spring, No. two springs, the first bearing pin, the second bearing pin, 3rd bearing pin, cam, the release lever are movably connected on the turntable by release lever chute, and the button pressing plate passes through described Button pressing plate chute is movably connected on turntable, and the hook pressing plate is movably connected on described turn by the hook pressing plate chute Platform;The cam is movably connected on the turntable by centre bore, and the cam is circle relative to the centre of gyration of the turntable Heart point, is provided with the cam:The power hole and first bearing pin matched with the 3rd bearing pin match The second groove that one groove and second bearing pin match;A spring is provided between the button pressing plate and turntable, No. two springs are provided between the hook pressing plate and turntable;The release lever is flexibly connected by the 3rd bearing pin In the power hole of the cam, the button pressing plate is movably connected on first groove, the hook by first bearing pin Pressing plate is movably connected on second groove by second bearing pin.
7. gantry robot's work station of ultraprecise finishing system according to claim 6, it is characterised in that described It is provided with one groove apart from the second different near-end of the centre point, the second distal end, second near-end to the centre point Distance is less than second distal end and is interconnected to the distance of the centre point, second near-end and the second distal end;Described It is provided with two grooves apart from the first different near-end of the centre point, the first distal end, first near-end to the centre point Distance is less than first distal end to the distance of the centre point.
8. gantry robot's work station of ultraprecise finishing system according to claim 6, it is characterised in that described one Number spring, No. two springs are in pressured state;The quantity of a number spring is two, is respectively arranged in the button pressing plate Two ends;The quantity of No. two springs is two, is respectively arranged in the two ends of the hook pressing plate.
9. gantry robot's work station of ultraprecise finishing system according to claim 6, it is characterised in that described time Turning press mechanism includes:Mandrel, backing plate, plane bearing, locking nut, housing, the plane bearing, backing plate, housing activity are even Be connected to the mandrel, the locking nut is fixed on the mandrel, the plane bearing be located at the housing and locking nut it Between.
10. gantry robot's work station of ultraprecise finishing system according to claim 6, it is characterised in that work as institute When the piston rod for stating dropout cylinder stretches out, the end of the piston rod of the dropout cylinder promotes the dropout inclined-plane motion, described Release lever promotes the certain angle of the cam rotation, then:First groove promotes first bearing pin near from described second End motion to the second distal end, the button pressing plate moves a segment distance to direction where the centre point;Second groove is promoted Second bearing pin moves to the first distal end from first near-end, and the hook pressing plate is moved to direction where the centre point One segment distance.
CN201710310951.2A 2017-04-24 2017-04-24 Gantry robot's work station of ultraprecise finishing system Active CN106945018B (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204868502U (en) * 2015-08-13 2015-12-16 东莞市卓安精机自动化设备有限公司 Full -automatic curve polishing equipment of polishing
CN105290919A (en) * 2015-11-19 2016-02-03 苏州博义诺智能装备有限公司 Five-axis automated device for mobile phone shell numerical control grinding and polishing

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204868502U (en) * 2015-08-13 2015-12-16 东莞市卓安精机自动化设备有限公司 Full -automatic curve polishing equipment of polishing
CN105290919A (en) * 2015-11-19 2016-02-03 苏州博义诺智能装备有限公司 Five-axis automated device for mobile phone shell numerical control grinding and polishing

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