CN107972394A - A kind of multiaxis automatic loading/unloading end mechanical gripper - Google Patents
A kind of multiaxis automatic loading/unloading end mechanical gripper Download PDFInfo
- Publication number
- CN107972394A CN107972394A CN201711106996.4A CN201711106996A CN107972394A CN 107972394 A CN107972394 A CN 107972394A CN 201711106996 A CN201711106996 A CN 201711106996A CN 107972394 A CN107972394 A CN 107972394A
- Authority
- CN
- China
- Prior art keywords
- mechanical gripper
- sucker group
- sheet glass
- sucker
- automatic loading
- 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
Links
- 239000005357 flat glass Substances 0.000 claims abstract description 35
- 239000011521 glass Substances 0.000 claims abstract description 21
- 238000007664 blowing Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/06—Accessories
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/06—Accessories, e.g. tool or work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/06—Accessories, e.g. tool or work holders
- B44B3/065—Work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B2700/00—Machines, apparatus, tools or accessories for artistic work
- B44B2700/12—Accessories; Tool or work holders
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The present invention relates to a kind of multiaxis automatic loading/unloading end mechanical gripper, there is multiple rows of sucker group to be fixed on mounting blocks, and can be rotated with mounting blocks around rotation axis.Often row's sucker group is equipped with multigroup sucker, when sucker group, which rotates to, is adjacent to sheet glass, the sheet glass of respective numbers can be drawn and/or discharge operation.The material that picks and places of the achievable plurality of glass sheets of the present invention at the same time operates, and greatly improves efficiency；The process of reloading need not return to magazine and carry out picking and placeing material, greatly reduce and pick and place the time that material expends, improve production efficiency；Machined sheet glass and sheet glass to be processed are located at same magazine, and the quantity of magazine halves, reduces cost, save space.
Description
Technical field
It is automatic more particularly to a kind of multiaxis the present invention relates to the automation equipment field being processed to mobile phone glass etc.
Loading and unloading end mechanical gripper, can be applied to the automatic loading/unloading equipment of multiaxis glass carving machine.
Background technology
In existing mobile phone glass finishing impression process, mobile phone glass loading and unloading mainly have traditional approach and automation mode two
Kind.Traditionally cutting mode is manually to remove the sheet glass processed on gauge first, is put into charging basket mainly by being accomplished manually
In, then sheet glass to be processed in charging basket is placed on gauge and carries out manual positioning, after having good positioning, manual unlocking vacuum
Device fixes sheet glass, finally opens carving machine and sheet glass is processed.Traditionally in cutting mode, in whole process
All operations need to be accomplished manually, efficiency is than relatively low, and easily appearance positioning is inaccurate during manual operation, sheet glass scuffing is broken
The problems such as, cause yield low.Existing automation loading and unloading mode is then to complete feeding, blowing by automation equipment, determine
Position, establish vacuum, start the series of processes such as carving machine, but existing carving machine automatic loading/unloading equipment be mostly single-station or
Double-station equipment, loading and unloading are provided for single shaft or twin shaft carving machine, thus are limited by structure type and limited with the device space, nothing
Method carries out loading and unloading for multiaxis glass carving machine, and production efficiency is also restricted.
According to the prior art retrieved, " a kind of automatic loading and unloading mechanism and loading and unloading method of carving machine "（Patent Shen
Please number：201310123563.5）The equipment that automatic loading/unloading is provided for single shaft carving machine is described, the device structure is simple, but
It can only meet a single shaft carving machine loading and unloading, formation efficiency is low." carving machine manipulator "（Number of patent application：
201310154935.0）A kind of carving machine manipulator is described, although the manipulator is double-station equipment, each manipulator
Work independently, manufacture cost is higher, and the structure type can not be embodied as multiaxis carving machine loading and unloading.A kind of " seven shaft mechanicals
Hand and seven axis robot carving machines "（Number of patent application：201520711714.3）Describe a kind of seven axis robots, the manipulator
The carving machine of single shaft or two axis is equally served only for, can not meet the use of multiaxis carving machine.A kind of " full-automatic loading and unloading of carving machine
Equipment "（Number of patent application：201610402366.0）A kind of planer-type loading and unloading equipment is described, which is used for two axis finishing impressions
The automatic loading/unloading of machine, and floor space is larger.The carving machine manipulator that above scheme is related to, is required to that feeding is respectively configured
Magazine and blanking magazine, required magazine quantity is more, and occupied space is big.
The content of the invention
The present invention is intended to provide a kind of multiaxis automatic loading/unloading end mechanical gripper, suitable for multiaxis glass carving machine from
Dynamic loading and unloading equipment, can increase substantially production efficiency, reduce production cost, reduce equipment volume.
In order to achieve the above object, the technical scheme is that providing a kind of multiaxis automatic loading/unloading end mechanical gripping
Hand, some row's sucker groups of mechanical gripper are separately fixed on mounting blocks, are often arranged sucker group and are equipped with multigroup sucker；The mounting blocks
With rotating axis connection；When rotation axis rotates, sucker group is driven to be rotated by the mounting blocks, after use is wherein rotated
The sucker group being adjacent to sheet glass carries out sucking action to sheet glass.
Preferably, drive sucker group to be rotated by the mounting blocks, the sucker group for wherein having adsorbed sheet glass is revolved
The position of alignment vacuum tool is gone to, carries out the blowing action of sheet glass to be processed；
Alternatively, driving sucker group to be rotated by the mounting blocks, the sucker group for wherein having adsorbed sheet glass is rotated to pair
The position of the slot of quasi- magazine, carries out the action that machined sheet glass turns back to magazine.
Preferably, the magazine coordinated with mechanical gripper, is controlled equipped with machined glass section to place mechanical gripper from vacuum
The machined sheet glass obtained on tool, being additionally provided with glass section to be processed need to be picked and placeed on vacuum tool to place by mechanical gripper
Sheet glass to be processed.
Preferably, the frame of mechanical gripper is fixedly attached to the automatic loading/unloading equipment of multiaxis glass carving machine, described turn
Moving axis is installed on the frame.
Preferably, mechanical gripper is equipped with driving motor, it is by transmission mechanism with rotating axis connection to drive the rotation
Axis rotates, so that sucker group rotates under the drive of mounting blocks around rotation axis.
Preferably, the transmission mechanism is belt.
Preferably, the sucker component of mechanical gripper is feeding sucker group and blowing sucker group, the feeding sucker group and is put
Expect that direction of the sucker group on mounting blocks is opposite.
Beneficial effects of the present invention are as follows：
1st, multigroup sucker can realize that the material that picks and places for being carried out at the same time plurality of glass sheets operates, and greatly improve efficiency.
2nd, feeding and blowing sucker can be separately positioned, or same group of sucker is at different moments（Or different rotary position
When）It can be used respectively as feeding or blowing sucker.
3rd, machined sheet glass and sheet glass to be processed are located at same magazine, and the quantity of magazine can reduce half, reduce
Cost, substantially reduces magazine the space occupied.
Brief description of the drawings
Fig. 1 is fully automatic feeding equipment scheme of installation in carving machine；
Fig. 2 is the schematic diagram of fully automatic feeding equipment overall structure；
Fig. 3 is the overall schematic of multiaxis automatic loading/unloading equipment end mechanical gripper in the present invention；
Fig. 4 is the schematic diagram of magazine.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings：
As shown in Figure 1, automatic loading/unloading equipment 20 is installed on the inside of multiaxis glass carving machine 10, and it is equipped with a cantilever design position
In the top of multiaxis glass carving machine 10.As shown in Fig. 2, the mechanical gripper 30 of the present invention is connected to the end of the cantilever design
End.
As shown in figure 3, the mechanical gripper 30 of the present invention, comprising：Frame 31, rotation axis 32, driving motor 33, transmission mechanism
34th, mounting blocks 35, feeding sucker group 36, blowing sucker group 37.
Wherein, the frame 31 of mechanical gripper 30 is fixedly attached to automatic loading/unloading equipment 20；The frame 31 is additionally operable to install
Rotation axis 32, and driving motor 33 can be carried.
The basic function of the mounting blocks 35 is to carry out installation fixation to sucker group, can also be provided simultaneously with installation it is fixed and
The effect of gas circuit connection.Feeding sucker group 36 and blowing sucker group 37 are each attached on mounting blocks 35, the mounting blocks 35 and feeding
Multiple blowing suckers of multiple feeding sucker and blowing sucker groups 37 of sucker group 36 are respectively communicated with, and reduce tracheae connection, structure
It is compact.
Mounting blocks 35 and rotation axis 32 are fixed together, around rotation under the driving of driving motor 33 and transmission mechanism 34
Axis 32 rotates, it can be achieved that 37 multi-angle rotation of feeding sucker group 36 and blowing sucker group.Exemplary transmission mechanism 34 is belt.
Feeding sucker and the separation of blowing sucker, and the direction on mounting blocks 35 is opposite.When feeding sucker group 36 rotates to
It is parallel and when being adjacent to vacuum tool, feeding action can be carried out to the machined sheet glass on gauge；When blowing sucker group 37 rotates
To parallel and when being adjacent to vacuum tool, blowing action can be carried out sheet glass to be processed is put on gauge；When rotate to perpendicular to
During magazine 40, machined sheet glass can be carried out and turn back to the action taken out with sheet glass to be processed.
Be tod as shown in figure 4, the magazine 40 divides for machined glass section 41 and glass section 42 to be processed, mechanical gripper
The sheet glass for completing processing turns back to machined glass section 41 successively, and by the sheet glass to be processed of glass section 42 to be processed according to
Secondary taking-up, which is put on vacuum tool, to be processed.
In above-mentioned example, sheet glass to be processed can be drawn on blowing sucker in advance, will first be processed when reloading on gauge
The sheet glass of completion is taken away, rises to be put into sheet glass to be processed on gauge after rotating 180 ° and completes action of reloading.Reload
Process need not return to magazine and carry out picking and placeing material, greatly reduce and pick and place the time that material expends, improve production efficiency.
Limitation of the present invention to the concrete configuration mode of sucker group from above-mentioned example, for example, can make feeding sucker group,
Blowing sucker group is arranged on mounting blocks by other angles, direction.Alternatively, more plurality of rows of sucker is arranged on mounting blocks
Group, can make a certain row or multiple rows of sucker group dedicated for feeding or blowing, or each row's sucker group is can be not only used for feeding, again
Can be when being rotated to diverse location（Or different at the time of）For blowing.Or a minimum row is arranged on mounting blocks
During sucker group, the sucker group can be in diverse location（Or at different moments）It is respectively used to feeding and blowing.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
- A kind of 1. multiaxis automatic loading/unloading end mechanical gripper, it is characterised in thatSome row's sucker groups of mechanical gripper are fixed on mounting blocks, are often arranged sucker group and are equipped with multigroup sucker；The mounting blocks with Rotate axis connection；When rotation axis rotates, drive sucker group to be rotated by the mounting blocks, after use is wherein rotated with The sucker group that sheet glass is adjacent to carries out sucking action to sheet glass.
- 2. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 1, it is characterised in thatDrive sucker group to be rotated by the mounting blocks, the sucker group for wherein having adsorbed sheet glass is rotated into alignment vacuum The position of gauge, carries out the blowing action of sheet glass to be processed；Alternatively, driving sucker group to be rotated by the mounting blocks, the sucker group for wherein having adsorbed sheet glass is rotated to pair The position of the slot of quasi- magazine, carries out the action that machined sheet glass turns back to magazine.
- 3. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 2, it is characterised in thatThe magazine coordinated with mechanical gripper, obtains equipped with machined glass section to place mechanical gripper from vacuum tool Sheet glass is processed, is additionally provided with glass section to be processed to place the glass to be processed that need to be picked and placeed by mechanical gripper on vacuum tool Piece.
- 4. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 1 or 2, it is characterised in thatThe frame of mechanical gripper is fixedly attached to the automatic loading/unloading equipment of multiaxis glass carving machine, and the rotation axis is installed on institute State frame.
- 5. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 1 or 2, it is characterised in thatMechanical gripper is equipped with driving motor, it is by transmission mechanism and rotates axis connection to drive the rotation axis to rotate, so that Sucker group rotates under the drive of mounting blocks around rotation axis.
- 6. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 5, it is characterised in thatThe transmission mechanism is belt.
- 7. multiaxis automatic loading/unloading end mechanical gripper as claimed in claim 2, it is characterised in thatThe sucker component of mechanical gripper is feeding sucker group and blowing sucker group, and the feeding sucker group and blowing sucker group are being pacified The direction filled on block is opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106996.4A CN107972394A (en) | 2017-11-10 | 2017-11-10 | A kind of multiaxis automatic loading/unloading end mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106996.4A CN107972394A (en) | 2017-11-10 | 2017-11-10 | A kind of multiaxis automatic loading/unloading end mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972394A true CN107972394A (en) | 2018-05-01 |
Family
ID=62013356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711106996.4A Pending CN107972394A (en) | 2017-11-10 | 2017-11-10 | A kind of multiaxis automatic loading/unloading end mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972394A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109228767A (en) * | 2018-11-09 | 2019-01-18 | 深圳市通快机电有限公司 | A kind of dynamic pillar automatic loading/unloading glass carving machine and its working method |
| CN111086345A (en) * | 2019-12-23 | 2020-05-01 | 江西衡源智能装备有限公司 | Panel turnover processing device and processing method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202964665U (en) * | 2012-11-12 | 2013-06-05 | 苏州谷夫道自动化科技有限公司 | Vacuum mechanical gripper |
| CN204222510U (en) * | 2014-09-25 | 2015-03-25 | 深圳大宇精雕科技有限公司 | A kind of carving machine of automatic loading/unloading |
| CN205058038U (en) * | 2015-09-15 | 2016-03-02 | 东莞市雕润数控科技有限公司 | Seven manipulators and seven manipulator cnc engraving and milling machine |
| CN205466186U (en) * | 2016-03-25 | 2016-08-17 | 苏州易昌光电科技有限公司 | Cell -phone glass carving mills arm of machine |
| CN205799494U (en) * | 2016-07-07 | 2016-12-14 | 厦门市汇丰达自动化科技有限公司 | A kind of glass carving machine automatic loading and unloading device |
| CN106239756A (en) * | 2016-09-21 | 2016-12-21 | 东莞市晋拓自动化科技有限公司 | The standby four axle robot automatic loading/unloading method and devices of automatic production line zero |
| CN206049175U (en) * | 2016-08-31 | 2017-03-29 | 东莞市雅乐自动化科技有限公司 | Built-in four axis robot of glass finishing impression |
-
2017
- 2017-11-10 CN CN201711106996.4A patent/CN107972394A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202964665U (en) * | 2012-11-12 | 2013-06-05 | 苏州谷夫道自动化科技有限公司 | Vacuum mechanical gripper |
| CN204222510U (en) * | 2014-09-25 | 2015-03-25 | 深圳大宇精雕科技有限公司 | A kind of carving machine of automatic loading/unloading |
| CN205058038U (en) * | 2015-09-15 | 2016-03-02 | 东莞市雕润数控科技有限公司 | Seven manipulators and seven manipulator cnc engraving and milling machine |
| CN205466186U (en) * | 2016-03-25 | 2016-08-17 | 苏州易昌光电科技有限公司 | Cell -phone glass carving mills arm of machine |
| CN205799494U (en) * | 2016-07-07 | 2016-12-14 | 厦门市汇丰达自动化科技有限公司 | A kind of glass carving machine automatic loading and unloading device |
| CN206049175U (en) * | 2016-08-31 | 2017-03-29 | 东莞市雅乐自动化科技有限公司 | Built-in four axis robot of glass finishing impression |
| CN106239756A (en) * | 2016-09-21 | 2016-12-21 | 东莞市晋拓自动化科技有限公司 | The standby four axle robot automatic loading/unloading method and devices of automatic production line zero |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109228767A (en) * | 2018-11-09 | 2019-01-18 | 深圳市通快机电有限公司 | A kind of dynamic pillar automatic loading/unloading glass carving machine and its working method |
| CN109228767B (en) * | 2018-11-09 | 2023-10-31 | 深圳市通快机电有限公司 | Movable column type automatic feeding and discharging glass engraving and milling machine and working method thereof |
| CN111086345A (en) * | 2019-12-23 | 2020-05-01 | 江西衡源智能装备有限公司 | Panel turnover processing device and processing method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180501 |