CN108500473A - A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure - Google Patents
A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure Download PDFInfo
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- CN108500473A CN108500473A CN201810521798.2A CN201810521798A CN108500473A CN 108500473 A CN108500473 A CN 108500473A CN 201810521798 A CN201810521798 A CN 201810521798A CN 108500473 A CN108500473 A CN 108500473A
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- 238000010147 laser engraving Methods 0.000 claims abstract description 25
- 238000013461 design Methods 0.000 claims abstract description 23
- 238000005520 cutting process Methods 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 18
- 239000002699 waste material Substances 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The technical issues of full-automatic dish prize disk engraving machine that the invention discloses a kind of based on tow-armed robot structure, solution：The not high technical problem of existing dish prize disk laser engraving automation degree of equipment mentioned in the background art.The technical solution taken, engraving machine, including dish prize disk engraving machine ontology, feed mechanism, cutting agency and controller, dish prize disk engraving machine ontology includes engraving platform, pattern Egraver, Jiang Pan testing agencies, dish prize disk clamping mechanism and personalized pattern design system；Feed mechanism and cutting agency include the walking mechanism of the column type manipulator and an one-dimensional of a four-degree-of-freedom, feed mechanism further includes a dish prize disk blank placing box, and cutting agency further includes a dish prize disk engraving finished product placing box and a dish prize disk engraving waste product placing box.The beneficial effects of the invention are as follows：This engraving machine is automatically performed the operations such as feeding, engraving, detection, the blanking of dish prize disk.
Description
Technical field
The present invention relates to a kind of, and the full-automatic dish based on tow-armed robot structure encourages disk engraving machine.
Background technology
As the demand of all kinds of prize disks is on the increase in today's society activity, traditional hand-filling mode is taken, is shown
So it is difficult to the requirement for meeting modern product cost declining, increasing matter effect.Especially as the increasingly raising of people's aesthetic conceptions, to prize disk processing
The requirement of quality is also harsher.Currently, the processing of prize disk ontology need to use special equipment, existing dish prize disk laser engraving equipment
The degree of automation is not high, and the development trend higher and higher in face of current recruitment cost, there is an urgent need to develop for encouraging disk packaging
Automated arm.
Invention content
The technical problem to be solved by the present invention is to existing dish prize disk laser engraving mentioned in the background art is set
The not high technical problem of standby the degree of automation.
To solve the above problems, the present invention proposes a kind of full-automatic dish prize disk engraving based on tow-armed robot structure
Machine adopts the technical scheme that：
A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure, including dish prize disk engraving machine ontology,
The cutting agency for being installed on the feed mechanism on the left of dish prize disk engraving machine ontology, being installed on the right side of dish prize disk engraving machine ontology
And controller,
Dish prize disk engraving machine ontology includes engraving platform, pattern Egraver, Jiang Pan testing agencies, dish prize disk clamping machine
Structure and personalized pattern design system, engraving platform include deck plate and four support columns loaded on deck plate quadrangle, pattern engraving
Mechanism, Jiang Pan testing agencies, dish prize disk clamping mechanism and personalized pattern design system are installed on engraving platform, pattern carving
It carves in mechanism and Jiang Pan testing agencies erecting bed panel posterior edges, dish prize disk clamping mechanism is being mounted on deck plate plate face just
Centre, personalized pattern design system are mounted in deck plate forward edge,
Feed mechanism and cutting agency include the walking mechanism of the column type manipulator and an one-dimensional of a four-degree-of-freedom,
Wherein feed mechanism further includes a dish prize disk blank placing box, and cutting agency further includes a dish prize disk engraving finished product pendulum
Put case and a dish prize disk engraving waste product placing box；The walking mechanism of one-dimensional is mounted on the bottom of the column type manipulator of four-degree-of-freedom
On seat, dish prize disk blank placing box is placed in the column type manipulator rear of the four-degree-of-freedom of feed mechanism, dish prize disk engraving
Finished product placing box and dish prize disk engraving waste product placing box are placed in four free column type manipulator right ends of cutting agency respectively
The rear and.
Preferably, pattern Egraver include section in the column of U-typed, first motor, the first lead screw, the first sliding rail,
Cantilever, laser and laser engraving machine switch board,
Column is fixed on the left end of deck plate back edge vertically, and it is medial surface to define face of the column towards deck plate side,
Face far from deck plate side is lateral surface；
The upper and lower ends of first lead screw are vertically arranged in by bearing block on column respectively, and the first lead screw is located at the interior of column
On side, the first lead screw power intake connects first motor, cantilever level setting, and cantilever one end passes through the first lead screw, the
One sliding rail is connected with column, and the first sliding rail is vertically arranged on the medial surface of column, and cantilever passes through the first lead screw and passes through screw thread
Pair the first lead screw of connection, cantilever one end end point is provided with the sliding block that sliding is matched with the first sliding rail；Laser setting is outstanding
It is arranged on the arm other end and downward；Laser engraving machine switch board is placed in below deck plate, laser engraving machine switch board and laser
Signal connecting line is equipped between device, laser engraving machine switch board is electrically connected with the controller, and first motor is electrically connected with the controller.
Pattern Egraver of the present invention preferentially selects above-mentioned structure, this is simple in structure, easy to operate.Pattern Egraver
The laser inside referred to is typical laser in the prior art, while the laser engraving machine switch board being used cooperatively with laser
It is also conventional products in the prior art, in pattern Egraver of the present invention, laser and laser engraving machine switch board phase interworking
It closes and uses, the engraving of pattern is carried out to dish prize disk.In pattern Egraver of the present invention, lead screw tradition adjust automatically laser is taken
Device height enhances dish prize disk engraving machine ontology automation.
Preferably, Jiang Pan testing agencies include the first industrial camera and camera support；First industrial camera passes through camera branch
Frame is mounted in deck plate back edge, and camera support is L-shaped, and the first industrial camera is electrically connected controller, the first industrial camera
End head in the cross bar of " L " type camera support is set, and the first industrial camera is electrically connected with the controller.
Jiang Pan testing agencies of the present invention preferentially select above-mentioned structure, this is simple in structure, easy to operate.Jiang Pan testing agencies
Middle the first industrial camera used is conventional products in the prior art, and directly purchase obtains；The the first industrial phase referred to simultaneously
Machine is electrically connected with the controller, and controller is also common component in the art, and the first industrial camera and controller electricity
Connection, this is the connection of conventional signal transmission, this is also the prior art.
Preferably, dish prize disk clamping mechanism includes the second motor and puts the fixing bracket of two dish prize disks, and second
Motor is fixed on deck plate lower face upward vertically, and the second motor output shaft rotationally passes through deck plate and fixing bracket phase
Even；Fixing bracket is embedded in the plate face of deck plate, and two dish prize disks on fixing bracket put location hole and are located at laser
The underface of device and the first industrial camera, the second motor are electrically connected with the controller.Dish prize disk clamping mechanism of the invention preferentially selects
With above-mentioned structure, this is simple in structure, easy to operate.
Preferably, pattern design system includes computer and pattern collection in worksite subsystem, and computer is mounted on deck plate
On leading edge, pattern collection in worksite system includes circular abutment, the second industrial camera, cylindrical motor holder, the second work of driving
The 4th motor that the third motor and the second industrial camera of driving that industry camera is rotated along vertical axes are rotated along trunnion axis, it is round
Column is fixed on placement of foot before the deck plate right side vertically, and cylindrical motor holder is vertically arranged in the bottom of circular abutment, in cylinder
The notch being transferred to for third motor is provided on the side of shape electric machine support, third motor is arranged upward in cylinder vertically by notch
Cylindrical motor holder is stretched out on shape electric machine support and in third motor axial direction, and section is provided on third motor axis
In the second industrial camera holder of U-typed, the opening of the second industrial camera holder of U-typed vertically upward, the second industrial camera
It by camera case level and is rotatably arranged on the second industrial camera holder, the 4th motor is arranged in the second industrial camera branch
Frame, the camera case of the 4th the second industrial camera of motor axis connection；Computer is electrically connected with the controller, the second industrial camera
It is electrically connected with the controller, third motor is electrically connected with the controller with the 4th motor.
Pattern design system of the present invention preferentially selects above-mentioned structure, this is simple in structure, easy to operate.This design system
The computer used in system is routine techniques product in the prior art, and individualized pattern design is pre-loaded in computer of the present invention
Software and laser engraving machine control software, individualized pattern design software are prior art design common in the art
Software, laser engraving machine control software are the popular softwares in laser engraving field, both softwares are previously charged by the present invention
In computer, in conjunction with laser and laser engraving machine switch board, the engraving of pattern is carried out to dish prize disk.
Preferably, the column type manipulator of four-degree-of-freedom include manipulator Installation cabinet and in manipulator Installation cabinet four
Free manipulator ontology, four free manipulator ontologies include planker, column, swing arm, horizontal extension cylinder, vertical telescopic gas
Cylinder, vacuum cup and oscillating cylinder, planker are slidably arranged in manipulator by two the second sliding rails and second lead screw and install
Cabinet upper surface, two the second sliding rails and second lead screw are arranged at manipulator Installation cabinet upper surface, and the second lead screw is located at two
Between the second sliding rail of item, planker is connected with the second lead screw by screw thread pair, passes through sliding slot phase between planker and two the second sliding rails
Cooperation sliding is equipped with the 5th motor in the power intake of the second lead screw；Column is vertically installed at the centre of planker upper surface
At position, indent setting is there are one the notch for installing oscillating cylinder on the outer wall in the upper end of the column portion, and oscillating cylinder is by lacking
Mouth is arranged on column upward vertically, oscillating cylinder piston rod rotation the upper end of the column face is passed through to connect swing arm, swing arm level is set
It sets, swing arm free end indent is provided with the groove for installing horizontal extension cylinder, horizontal extension cylinder is by groove level
Setting rotationally passes through the peace of swing arm free end end face and vertical telescopic cylinder in swing arm free end, horizontal extension cylinder piston rod
It fills seat to be connected, vertical telescopic cylinder is arranged in mounting base downwards, and vacuum cup is mounted on vertical telescopic cylinder piston rod
On；5th motor is electrically connected with the controller.
The column type manipulator of four-degree-of-freedom of the present invention preferentially selects above-mentioned structure, this is simple in structure, easy to operate.Four selfs
By the column type manipulator spent, similar tow-armed robot structure devises feed mechanism and cutting agency, is grabbed to dish prize disk
Vanning is taken, the operating efficiency of dish prize disk laser engraving is improved.The level used in the column type manipulator of four-degree-of-freedom of the present invention
Telescopic cylinder, vertical telescopic cylinder and oscillating cylinder are routine techniques product, are all directly bought.
Preferably, the walking mechanism of one-dimensional includes the 6th motor, driving gear, driven gear, plinth and two rooted teeth
Item；6th motor is mounted on the bottom surface of manipulator Installation cabinet, and the 6th motor axis stretches out the bottom surface of manipulator Installation cabinet, main
Moving gear is arranged on the 6th motor axis, and driven gear is rotatably arranged on by axis on the bottom surface of manipulator Installation cabinet, from
Moving gear is coplanar with driving gear, and two racks are separately positioned on the inner wall of plinth, two racks respectively with driving tooth
Wheel and driven gear engagement；6th motor is electrically connected with the controller.
The walking mechanism of one-dimensional of the present invention preferentially selects above-mentioned structure, this is simple in structure, easy to operate.The walking of one-dimensional
The column type manipulator of mechanism and four-degree-of-freedom is used in combination, and the position of the column type manipulator for adjusting four-degree-of-freedom is convenient for
Classify to dish prize disk.
Preferably, dish prize disk blank placing box, dish prize disk engraving finished product placing box and dish prize disk engraving waste product pendulum
It includes babinet, upper isolating frame, lower isolating frame, the 7th motor, third lead screw and supporting plate to put case, and upper isolating frame and lower isolating frame divide
It is not fixedly mounted on babinet central through hole upper/lower terminal；7th motor is fixed on the lower face middle position of lower isolating frame, the
Seven motor axis are connected with third lead screw one end；Third lead screw is rotatably mounted on isolating frame and lower isolating frame, third
Lead screw is rotatedly connected with upper isolating frame and lower isolating frame, and supporting plate setting is isolated between upper isolating frame and lower isolating frame and on
Frame is parallel with lower isolating frame, and supporting plate is connect by screwed hole of centre with third wire rod thread；7th motor is electrically connected with the controller.
Dish prize disk blank placing box, dish prize disk engraving finished product placing box and dish prize disk engraving waste product of the invention are put
Case selects above-mentioned structure, this is simple in structure, easy to operate.
The beneficial effects of the invention are as follows：
1, based on tow-armed robot structure it is full-automatic dish prize disk engraving machine, be automatically performed dish prize disk feeding,
The operations such as engraving, detection, blanking.
2, based on the full-automatic dish prize disk engraving machine of tow-armed robot structure, using similar tow-armed robot structure,
The loading and unloading that can complete dish prize disk parallel can significantly improve dish prize disk engraving production efficiency.
Description of the drawings
Fig. 1 is to be illustrated according to full-automatic the whole of dish prize disk engraving machine based on tow-armed robot structure of the present invention
Figure.
Fig. 2 be the present invention rectangle carve platform and pattern Egraver, Jiang Pan testing agencies, dish prize disk clamping mechanism,
Personalized pattern design system attaching schematic diagram.
Fig. 3 is the pattern Egraver and Jiang Pan testing agencies model schematic of the present invention.
Fig. 4 is the dish prize disk clamping mechanism attaching schematic diagram of the present invention.
Fig. 5 is the personalized pattern design system schematic diagram of the present invention.
Fig. 6 is the four free column type manipulator schematic diagrames of the present invention.
Fig. 7 is the walking mechanism schematic diagram of the one-dimensional of the present invention.
Fig. 8 is the dish prize disk blank placing box of the present invention, dish-shaped prize disk carves finished product placing box and dish prize disk is carved
The schematic diagram of waste product placing box.
Specific implementation mode
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To keep present disclosure more obvious and easy to understand, done further below in conjunction with attached drawing 1- Fig. 8 and specific implementation mode
Description.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, the full-automatic dish prize disk engraving machine based on tow-armed robot structure in the present embodiment, including dish
Prize disk engraving machine ontology 1000, is installed on dish prize disk at the feed mechanism for being installed on 1000 left side of dish prize disk engraving machine ontology
The cutting agency and controller on 1000 right side of engraving machine ontology.
As shown in Fig. 2, dish prize disk engraving machine ontology 1000 includes engraving platform 1100, pattern Egraver 1200, prize disk
Testing agency 1300, dish prize disk clamping mechanism 1400 and personalized pattern design system 1500.It includes table top to carve platform 1100
Plate 1101 and four support columns 1102 loaded on 1,101 4 jiaos of deck plate, pattern Egraver 1200, Jiang Pan testing agencies 1300,
Dish prize disk clamping mechanism 1400 and personalized pattern design system 1500 are installed on engraving platform 1100, pattern Egraver
In 1200 and Jiang Pan testing agencies, 1300 erecting bed panel, 1101 posterior edges, dish prize disk clamping mechanism 1400 is mounted on table top
The middle of 1101 plate face of plate, personalized pattern design system 1500 are mounted in 1101 forward edge of deck plate.
As shown in Figure 1, feed mechanism and cutting agency include the column type manipulator and an one-dimensional of a four-degree-of-freedom
Walking mechanism, wherein feed mechanism further include one dish prize disk blank placing box, cutting agency further include one dish prize
Disk carves finished product placing box and a dish prize disk carves waste product placing box；The walking mechanism of one-dimensional is mounted on the column of four-degree-of-freedom
On the pedestal of type manipulator, dish prize disk blank placing box is placed in the column type manipulator rear of the four-degree-of-freedom of feed mechanism,
Dish prize disk engraving finished product placing box and dish prize disk engraving waste product placing box are placed in four free columns of cutting agency respectively
Type manipulator right end and rear.
As shown in figure 3, it is in the column 1201 of U-typed, first motor 1202, first that pattern Egraver 1200, which includes section,
Lead screw 1203, the first sliding rail 1204, cantilever 1205, laser 1206 and laser engraving machine switch board 1207,
Column 1201 is fixed on the left end of 1101 back edge of deck plate vertically, defines column 1201 towards deck plate 1,101 1
The face of side is medial surface, and the face far from 1101 side of deck plate is lateral surface.The upper and lower ends of first lead screw 1203 pass through respectively
Bearing block is vertically arranged on column 1201, and the first lead screw 1203 is located on the medial surface of column 1201, and the first lead screw 1203 is dynamic
Power input terminal connects first motor 1202, and cantilever 1205 is horizontally disposed, and 1205 one end of cantilever passes through the first lead screw 1203, first
Sliding rail 1204 is connected with column 1201, and the first sliding rail 1204 is vertically arranged on the medial surface of column 1201, and cantilever 1205 passes through
First lead screw 1203 and by screw thread pair connect the first lead screw 1203,1205 one end end point of cantilever is provided with and the first sliding rail
1204 match the sliding block of sliding；Laser 1206 is arranged on 1205 other end of cantilever and is arranged downward；Laser engraving machine control
Cabinet 1207 processed is placed in 1101 lower section of deck plate, and signal is equipped between laser engraving machine switch board 1207 and laser 1206 and is connected
Line, laser engraving machine switch board 1207 are electrically connected with the controller, and first motor 1202 is electrically connected with the controller.
As shown in figure 3, Jiang Pan testing agencies 1300 include the first industrial camera 1301 and camera support 1302；First industry
Camera 1301 is mounted on by camera support 1302 in 1101 back edge of deck plate, and camera support 1302 is L-shaped, the first industry
Camera 1301 is electrically connected controller, and the end head in the cross bar of " L " type camera support 1302 is arranged in the first industrial camera 1301, the
One industrial camera 1301 is electrically connected with the controller.
As shown in figure 4, dish-shaped prize disk clamping mechanism 1400 includes the second motor 1401 encourages consolidating for disk with two dishes are put
Fixed rack 1402, the second motor 1401 are fixed on 1101 lower face of deck plate upward vertically, and the second motor 1401 exports shaft rotation
It is connected dynamicly with fixing bracket 1402 across deck plate 1101；Fixing bracket 1402 is embedded in the plate face of deck plate 1101, fixed
Two on holder 1402 dish prize disks put location hole be located at laser 1206 and the first industrial camera 1301 just under
Side, the second motor 1401 are electrically connected with the controller.
As shown in figure 5, pattern design system 1500 includes computer 1510 and pattern collection in worksite subsystem 1520, calculate
Machine 1510 is mounted on 1101 leading edge of deck plate, and pattern collection in worksite system 1520 includes the 1521, second industry of circular abutment
The third motor 1525 that camera 1524, cylindrical motor holder 1523, the second industrial camera 1524 of driving are rotated along vertical axes
The 4th motor 1522 rotated along trunnion axis with the second industrial camera 1524 of driving, circular abutment 1521 are fixed on table top vertically
Placement of foot before 1101 right side of plate, cylindrical motor holder 1523 is vertically arranged in the bottom of circular abutment 1521, in cylindrical motor
The notch being transferred to for third motor 1525 is provided on the side of holder 1523, third motor 1525 is arranged upward vertically by notch
On cylindrical motor holder 1523 and 1525 motor shaft of third motor stretches out cylindrical motor holder 1523, third motor upwards
The second industrial camera holder 1526 that section is in U-typed, the second industrial camera holder of U-typed are provided on 1525 motor shafts
Vertically upward, the second industrial camera 1524 is horizontal by camera case and is rotatably arranged on the second industrial camera branch for 1526 opening
On frame 1526, the 4th motor 1522 is arranged in the second industrial camera holder 1526,1522 the second work of motor axis connection of the 4th motor
The camera case of industry camera 1524；Computer 1510 is electrically connected with the controller, and the second industrial camera 1524 is electrically connected with the controller,
Third motor 1525 is electrically connected with the controller with the 4th motor 1522.It is soft that individualized pattern design is pre-loaded in computer 1510
Part and laser engraving machine control software, individualized pattern design software are that prior art design common in the art is soft
Part, laser engraving machine control software are the popular softwares in laser engraving field, both softwares are previously charged by the present embodiment
In computer, in conjunction with laser and laser engraving machine switch board, the engraving of pattern is carried out to dish prize disk.
As shown in Fig. 1,6,7 and 8, feed mechanism and cutting agency include a four free column type manipulators, one
The walking mechanism of one-dimensional, wherein feed mechanism further include a dish prize disk blank placing box, and cutting agency further includes a dish
Shape encourages disk engraving finished product placing box and a dish prize disk carves waste product placing box；It is free that the walking mechanism of one-dimensional is mounted on four
On the pedestal of column type manipulator；Dish prize disk blank placing box is placed in four free column type manipulator rears of feed mechanism；
Dish prize disk engraving finished product placing box and dish prize disk engraving waste product placing box are placed in four free columns of small powder mechanism respectively
Type manipulator right end and rear.
As shown in fig. 6, the column type manipulator of four-degree-of-freedom includes manipulator Installation cabinet 2100 and is installed mounted on manipulator
Four free manipulator ontologies 2200 on cabinet 2100, four free manipulator ontologies 2200 include planker 2201, column 2202,
Swing arm 2203, horizontal extension cylinder 2204, vertical telescopic cylinder 2205, vacuum cup 2206 and oscillating cylinder 2210, planker
2201 are slidably arranged in 2100 upper surface of manipulator Installation cabinet by two the second sliding rails 2207 and second lead screw 2208, and two
The second sliding rail of item 2207 and second lead screw 2208 are arranged at 2100 upper surface of manipulator Installation cabinet, the second lead screw 2208
Between two the second sliding rails 2207, planker 2201 is connected with the second lead screw 2208 by screw thread pair, planker 2201 and two article
Sliding is matched by sliding slot between two sliding rails 2207, the 5th motor 2209 is housed in the power intake of the second lead screw 2208；
Column 2202 is vertically installed at the centre position of 2201 upper surface of planker, interior recessed on the outer wall of 2202 upper end of column
It sets there are one the notch for installing oscillating cylinder 2210, oscillating cylinder 2210 is arranged vertically by notch in column 2202 upward
On, pass through to 2210 piston rod rotation of oscillating cylinder 2202 upper surface of column to connect swing arm 2203, swing arm 2203 is horizontally disposed,
2203 free end indent of swing arm is provided with the groove for installing horizontal extension cylinder 2204, and horizontal extension cylinder 2204 is by recessed
Slot is horizontally set on 2203 free end of swing arm, passes through 2203 free end end face of swing arm to 2204 piston rod rotation of horizontal extension cylinder
It is connected with the mounting base 2211 of vertical telescopic cylinder 2205, vertical telescopic cylinder 2205 is arranged downwards in mounting base 2211
On, vacuum cup 2206 is mounted on 2205 piston rod of vertical telescopic cylinder；5th motor 2209 is electrically connected with the controller.
As shown in fig. 7, the walking mechanism of one-dimensional includes the 6th motor 2301, driving gear 2302, driven gear 2305, side
Shape pedestal 2304 and two toothed racks 2303；6th motor 2301 is mounted on the bottom surface of manipulator Installation cabinet 2100, the 6th motor
2301 motor shafts stretch out the bottom surface of manipulator Installation cabinet 2100, and driving gear 2302 is arranged on 2301 motor shaft of the 6th motor,
Driven gear 2305 is rotatably arranged on by axis on the bottom surface of manipulator Installation cabinet 2100, driven gear 2305 and driving gear
2302 is coplanar, and two racks 2303 are separately positioned on the inner wall of plinth 2304, two racks 2303 respectively with driving tooth
Wheel 2302 and driven gear 2305 engage；6th motor 2301 is electrically connected with the controller.
The walking mechanism of one-dimensional and the column type manipulator of four-degree-of-freedom are used in combination, the column type for adjusting four-degree-of-freedom
The position of manipulator, convenient for classifying to dish prize disk.
As shown in figure 8, dish prize disk blank placing box, dish prize disk engraving finished product placing box and dish prize disk carve waste product
Placing box includes babinet 2401, upper isolating frame 2402, lower isolating frame 2403, the 7th motor 2404, third lead screw 2405 and support
Plate 2406, upper isolating frame 2402 and lower isolating frame 2403 are respectively and fixedly installed to 2401 central through hole upper/lower terminal of babinet；7th
Motor 2404 is fixed on the lower face middle position of lower isolating frame 2403,2404 motor shaft of the 7th motor and third lead screw 2405
One end is connected；Third lead screw 2405 is rotatably mounted on isolating frame 2402 and lower isolating frame 2403, third lead screw 2405 with
Upper isolating frame 2402 and lower isolating frame 2403 are rotatedly connected, and supporting plate 2406 is arranged in upper isolating frame 2402 and lower isolating frame 2403
Between and it is parallel with upper isolating frame 2402 and lower isolating frame 2403, supporting plate 2406 passes through screwed hole of centre and 2405 spiral shell of third lead screw
Line connects；7th motor 2404 is electrically connected with the controller.
The operation principle of full-automatic dish prize disk engraving machine of the present embodiment based on tow-armed robot structure is as follows：
Before dish prize disk engraving, controller drives feed mechanism, and disk base is encouraged from dish using four free column type manipulators
Expect that placing box takes out dish prize disk, puts to the dish prize disk clamping mechanism 1400 of dish prize disk engraving machine ontology 1000；
When dish prize disk engraving, first, controller drives Jiang Pan testing agencies 1300, and detecting dish prize disk blank surface is
It is no defective：If dish prize disk blank surface is defective, controller drives cutting agency, directly puts dish prize disk blank to dish
Shape encourages disk and carves waste product placing box；If dish prize disk blank surface zero defect, according to pattern design system 1500 design pattern,
The engraving of dish prize disk pattern is carried out by pattern Egraver 1200；
After dish prize disk engraving, controller drives Jiang Pan testing agencies 1300, carries out dish prize disk pattern engraving quality inspection
It surveys：If dish prize disk pattern carves matter zero defect, controller drives cutting agency to send dish prize disk to dish prize disk and is engraved as
Product placing box；Otherwise it send to dish prize disk and carves waste product placing box.
So far the Carving Machining of a dish prize panel surface pattern is completed.
What is be not specifically noted in all description of the invention is the prior art or can be realized by existing technology,
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, and it is all this
A little modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure, it is characterised in that：Including dish prize disk carving
Quarter machine ontology (1000), the feed mechanism being installed on the left of dish prize disk engraving machine ontology (1000) are installed on dish prize disk carving
Cutting agency and controller on the right side of quarter machine ontology (1000),
Dish prize disk engraving machine ontology (1000) includes engraving platform (1100), pattern Egraver (1200), Jiang Pan testing agencies
(1300), dish prize disk clamping mechanism (1400) and personalized pattern design system (1500), engraving platform (1100) includes table top
Plate (1101) and four support columns (1102) for being loaded on deck plate (1101) quadrangle, pattern Egraver (1200), prize disk detection
Mechanism (1300), dish prize disk clamping mechanism (1400) and personalized pattern design system (1500) are installed in engraving platform
(1100) on, on pattern Egraver (1200) and Jiang Pan testing agencies (1300) erecting bed panel (1101) posterior edges, dish
Shape encourages the middle that disk clamping mechanism (1400) is mounted on deck plate (1101) plate face, personalized pattern design system (1500) peace
In deck plate (1101) forward edge,
Feed mechanism and cutting agency include the walking mechanism of the column type manipulator and an one-dimensional of a four-degree-of-freedom, wherein
Feed mechanism further includes a dish prize disk blank placing box, and cutting agency further includes a dish prize disk engraving finished product placing box
Waste product placing box is carved with a dish prize disk；The walking mechanism of one-dimensional is mounted on the pedestal of the column type manipulator of four-degree-of-freedom
On, dish prize disk blank placing box is placed in the column type manipulator rear of the four-degree-of-freedom of feed mechanism, and dish prize disk is engraved as
Product placing box and dish prize disk engraving waste product placing box be placed in respectively cutting agency four free column type manipulator right ends and
Rear.
2. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as described in claim 1, which is characterized in that figure
Case Egraver (1200) includes section in the column (1201) of U-typed, first motor (1202), the first lead screw (1203), the
One sliding rail (1204), cantilever (1205), laser (1206) and laser engraving machine switch board (1207),
Column (1201) is fixed on the left end of deck plate (1101) back edge vertically, defines column (1201) towards deck plate
(1101) face of side is medial surface, and the face far from deck plate (1101) side is lateral surface；
The upper and lower ends of first lead screw (1203) are vertically arranged in by bearing block on column (1201) respectively, the first lead screw
(1203) it is located on the medial surface of column (1201), the first lead screw (1203) power intake connects first motor (1202), hangs
Arm (1205) is horizontally disposed, and cantilever (1205) one end passes through the first lead screw (1203), the first sliding rail (1204) and column
(1201) it is connected, the first sliding rail (1204) is vertically arranged on the medial surface of column (1201), and cantilever (1205) passes through first
Bar (1203) and by screw thread pair connect the first lead screw (1203), cantilever (1205) one end end point is provided with and the first sliding rail
(1204) sliding block of sliding is matched；Laser (1206) is arranged on cantilever (1205) other end and is arranged downward；Laser is carved
Quarter machine switch board (1207) is placed in below deck plate (1101), laser engraving machine switch board (1207) and laser (1206) it
Between be equipped with signal connecting line, laser engraving machine switch board (1207) is electrically connected with the controller, first motor (1202) and controller
Electrical connection.
3. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as described in claim 1, which is characterized in that prize
Disk testing agency (1300) includes the first industrial camera (1301) and camera support (1302)；First industrial camera (1301) passes through
Camera support (1302) is mounted in deck plate (1101) back edge, and camera support (1302) is L-shaped, the first industrial camera
(1301) it is electrically connected controller, the end head in the cross bar of " L " type camera support (1302) is arranged in the first industrial camera (1301),
First industrial camera (1301) is electrically connected with the controller.
4. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as described in claim 1, which is characterized in that dish
Shape prize disk clamping mechanism (1400) includes the second motor (1401) and puts the fixing bracket (1402) of two dish prize disks,
Second motor (1401) is fixed on deck plate (1101) lower face upward vertically, the rotation of the second motor (1401) output shaft
Ground is connected across deck plate (1101) with fixing bracket (1402)；The plate face of the embedded deck plate (1101) of fixing bracket (1402)
Interior, two dish prize disks on fixing bracket (1402) put location hole and are located at laser (1206) and the first industrial camera
(1301) underface, the second motor (1401) are electrically connected with the controller.
5. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as described in claim 1, which is characterized in that figure
Case design system (1500) includes computer (1510) and pattern collection in worksite subsystem (1520), and computer (1510) is mounted on
On deck plate (1101) leading edge, pattern collection in worksite system (1520) includes circular abutment (1521), the second industrial camera
(1524), the third motor that cylindrical motor holder (1523), the second industrial camera of driving (1524) are rotated along vertical axes
(1525) it is erected with driving the second industrial camera (1524) the 4th motor (1522) for rotate along trunnion axis, circular abutment (1521)
Straight placement of foot before being fixed on deck plate (1101) right side, cylindrical motor holder (1523) are vertically arranged in circular abutment (1521)
Bottom is provided with the notch being transferred to for third motor (1525), third motor on the side of cylindrical motor holder (1523)
(1525) it is arranged upward vertically by notch on cylindrical motor holder (1523) and third motor (1525) motor shaft is stretched upwards
Go out cylindrical motor holder (1523), the second industrial camera that section is in U-typed is provided on third motor (1525) motor shaft
Holder (1526), vertically upward, the second industrial camera (1524) passes through the opening of the second industrial camera holder (1526) of U-typed
Camera case is horizontal and is rotatably arranged on the second industrial camera holder (1526), and the setting of the 4th motor (1522) is in the second industry
Camera support (1526), the camera case of the 4th motor (1522) the second industrial camera of motor axis connection (1524)；Computer
(1510) it is electrically connected with the controller, the second industrial camera (1524) is electrically connected with the controller, third motor (1525) and the 4th electricity
Machine (1522) is electrically connected with the controller.
6. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as described in claim 1, which is characterized in that four
The column type manipulator of degree of freedom includes manipulator Installation cabinet (2100) and four freedom in manipulator Installation cabinet (2100)
Manipulator ontology (2200),
Four free manipulator ontologies (2200) include planker (2201), column (2202), swing arm (2203), horizontal extension cylinder
(2204), vertical telescopic cylinder (2205), vacuum cup (2206) and oscillating cylinder (2210), planker (2201) pass through two article
Two sliding rails (2207) and second lead screw (2208) are slidably arranged in manipulator Installation cabinet (2100) upper surface, two second cunnings
Rail (2207) and second lead screw (2208) are arranged at manipulator Installation cabinet (2100) upper surface, the second lead screw (2208) position
Between two the second sliding rails (2207), planker (2201) is connected with the second lead screw (2208) by screw thread pair, planker (2201)
Sliding is matched by sliding slot between two the second sliding rails (2207), the second lead screw (2208) power intake equipped with the
Five motors (2209)；Column (2202) is vertically installed at the centre position of planker (2201) upper surface, in column (2202)
Indent setting is there are one the notch for installing oscillating cylinder (2210) on the outer wall of upper end, and oscillating cylinder (2210) is by notch
It is arranged upward on column (2202) vertically, oscillating cylinder (2210) piston rod rotation column (2202) upper surface is passed through to connect
Swing arm (2203), swing arm (2203) is horizontally disposed, and in swing arm (2203), free end indent is provided with for installing horizontal extension
The groove of cylinder (2204), horizontal extension cylinder (2204) are horizontally set on swing arm (2203) free end, horizontal extension by groove
Pass through to cylinder (2204) piston rod rotation the mounting base of swing arm (2203) free end end face and vertical telescopic cylinder (2205)
(2211) it is connected, vertical telescopic cylinder (2205) is arranged downwards in mounting base (2211), vacuum cup (2206) installation
On vertical telescopic cylinder (2205) piston rod；5th motor (2209) is electrically connected with the controller.
7. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as claimed in claim 6, which is characterized in that single
The walking mechanism of dimension include the 6th motor (2301), driving gear (2302), driven gear (2305), plinth (2304) and
Two toothed racks (2303)；6th motor (2301) is mounted on the bottom surface of manipulator Installation cabinet (2100), the 6th motor (2301)
Motor shaft stretches out the bottom surface of manipulator Installation cabinet (2100), and driving gear (2302) is arranged in the 6th motor (2301) motor shaft
On, driven gear (2305) is rotatably arranged on by axis on the bottom surface of manipulator Installation cabinet (2100), driven gear (2305) with
Driving gear (2302) is coplanar, and two racks (2303) are separately positioned on the inner wall of plinth (2304), two racks
(2303) it is engaged respectively with driving gear (2302) and driven gear (2305)；6th motor (2301) is electrically connected with the controller.
8. the full-automatic dish prize disk engraving machine based on tow-armed robot structure as claimed in claim 6, which is characterized in that dish
It includes babinet that shape, which encourages disk blank placing box, dish prize disk engraving finished product placing box and dish prize disk engraving waste product placing box,
(2401), upper isolating frame (2402), lower isolating frame (2403), the 7th motor (2404), third lead screw (2405) and supporting plate
(2406),
Upper isolating frame (2402) and lower isolating frame (2403) are respectively and fixedly installed to babinet (2401) central through hole upper/lower terminal；
7th motor (2404) is fixed on the lower face middle position of lower isolating frame (2403), the 7th motor (2404) motor shaft and
Three lead screws (2405) one end is connected；Third lead screw (2405) is rotatably mounted at isolating frame (2402) and lower isolating frame (2403)
On, third lead screw (2405) is rotatedly connected with upper isolating frame (2402) and lower isolating frame (2403), and supporting plate (2406) setting exists
It is between upper isolating frame (2402) and lower isolating frame (2403) and parallel with upper isolating frame (2402) and lower isolating frame (2403), supporting plate
(2406) it is threadedly coupled with third lead screw (2405) by screwed hole of centre；7th motor (2404) is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810521798.2A CN108500473A (en) | 2018-05-28 | 2018-05-28 | A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810521798.2A CN108500473A (en) | 2018-05-28 | 2018-05-28 | A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure |
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| Publication Number | Publication Date |
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| CN108500473A true CN108500473A (en) | 2018-09-07 |
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ID=63401459
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810521798.2A Pending CN108500473A (en) | 2018-05-28 | 2018-05-28 | A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890065A (en) * | 2020-09-01 | 2020-11-06 | 马鞍山市中亚机床制造有限公司 | Flexible device and system for laser cutting and plate shearing |
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| CN207241260U (en) * | 2017-08-11 | 2018-04-17 | 安徽轻工业技师学院 | A kind of workpiece surface engraving machine |
| CN208575385U (en) * | 2018-05-28 | 2019-03-05 | 南京信息职业技术学院 | A kind of full-automatic dish prize disk engraving machine based on tow-armed robot structure |
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| CN2239358Y (en) * | 1995-11-23 | 1996-11-06 | 邓中亮 | 3-D free trace intelligent digital controlled carving machine |
| CN104842074A (en) * | 2015-05-11 | 2015-08-19 | 上海工程技术大学 | Laser engraving system with area-array camera |
| CN204913064U (en) * | 2015-09-16 | 2015-12-30 | 陈旭东 | Mould laser engraving machine |
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| CN111890065A (en) * | 2020-09-01 | 2020-11-06 | 马鞍山市中亚机床制造有限公司 | Flexible device and system for laser cutting and plate shearing |
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