CN108583111A - A kind of glass finishing impression robot device and sheet glass processing and treating method - Google Patents
A kind of glass finishing impression robot device and sheet glass processing and treating method Download PDFInfo
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- CN108583111A CN108583111A CN201810429035.5A CN201810429035A CN108583111A CN 108583111 A CN108583111 A CN 108583111A CN 201810429035 A CN201810429035 A CN 201810429035A CN 108583111 A CN108583111 A CN 108583111A
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- sheet glass
- vacuum cup
- kinematic system
- glass
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- 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
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
A kind of glass finishing impression robot device of present invention proposition and sheet glass processing and treating method, described device include supporting big bottom plate, gantry bearing frame, X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system, R axis rotation system, vacuum cup, positioning system, racking system and processing carrier；Gantry bearing frame is set on the big bottom plate of support, X-axis kinematic system is set on the bearing frame of gantry, Z axis kinematic system is connected to X-axis kinematic system, Y-axis kinematic system is connected to Z axis kinematic system, R axis rotation systems are connected to Y-axis kinematic system, and R axis rotation system can provide 360 ° of rotary motions of independent control and 90 ° of overturning rotations, vacuum cup are connected to R axis rotation systems, positioning system is set on the big bottom plate of support, and racking system and processing carrier are respectively arranged at gantry bearing frame both sides.Device of the present invention can provide the control of five axis of X Y Z R simultaneously, and precision higher, five axis are wholely set, integrative control, and operation is easy to assembly and work efficiency is high.
Description
Technical field
The present invention relates to automatic manipulator equipment processing technique fields, and in particular to a kind of glass finishing impression robot device and
Sheet glass processing and treating method based on the glass finishing impression robot device.
Background technology
The raw material and finished product of sheet glass conventional machining techniques are generally picked and placeed by artificial progress feeding and blanking, it is therefore desirable to
The a large amount of work for manually carrying out repeating simply to take, put raw material and finished product, it is time-consuming and laborious, and there are security risks, lead
It causes that intensity of workers is big, longevity of service, fatiguability, influences the production capacity and quality of product.Go out in the prior art
Show the glass carving machine based on manipulator, glass sheet material conveying is carried out by clamping workpiece or material grasping sucker, but it is existing
Glass finishing impression robot device when picking and placeing sheet glass with method of clamping, clamping force control it is more difficult, be easy to make thin sheet glass
It is caught broken, when picking and placeing sheet glass with material grasping sucker, the crawl degree of freedom of sheet glass is very limited, be typically based on three-dimensional
Linear movement adds 90 degree of flip-flop movements, can not arbitrarily be picked and placeed the rotation of angle, 90 degree of overturnings cannot be satisfied difference
Angle position picks and places requirement to sheet glass.Also existing glass finishing impression robot device low space utilization, structure function
Stability is poor, and storage is arranged in portal frame the same side with processing rack, although using tri- axis of X-Y-Z, Z axis majority is all
It lies on finishing impression machine worktable, too close from coolant liquid, waterproof effect is very poor, and is easy to cause the cooled corrosion of mechanism, makes
At the service life is shorter, high failure rate, therefore there is an urgent need for carry out functional structure to existing glass finishing impression robot device and pick and place work
Innovation in mode improves, and the present invention is based on this propositions.
Invention content
The present invention is based on above-mentioned prior art problems, propose a kind of completely new glass finishing impression robot device, the glass
Finishing impression robot device is integrated with X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system and R axis rotation systems simultaneously, can
There is provided simultaneously X Y Z R (360 °) the control of R (90 °) five axis, precision higher, and five axis are wholely set, integrative control, operation
It is easy to assembly and work efficiency is high, while pioneering X Y Z five axis of R are separate of glass finishing impression robot device of the present invention
Processing district is arranged, and the product zone of glass finishing impression robot device is made to be separately positioned on the both sides of entire mechanism with processing district,
It facilitates and initial product, finished product is picked and placeed, while entire carving machine full automatic can realize that the accurate of sheet glass picks and places processing
Process improves production efficiency.
It is as follows that the present invention solves the technical solution that above-mentioned technical problem is taken：
A kind of glass finishing impression robot device, including：Support big bottom plate 1, gantry bearing frame 2, X-axis kinematic system, Y-axis fortune
Dynamic system, Z axis kinematic system, R axis rotation system, vacuum cup 30, positioning system, racking system and processing carrier 41；It is described
Gantry bearing frame 2 is set on the big bottom plate of the support 1, and the X-axis kinematic system is set on gantry bearing frame 2, institute
State Z axis kinematic system and be connected to the X-axis kinematic system, and can under the driving of the X-axis kinematic system along X-direction into
Row straight reciprocating motion, the X-direction are the width direction of gantry bearing frame 2, and the Y-axis kinematic system is connected to the Z
Axis motion system, and under the driving of the Z axis kinematic system straight reciprocating motion, the Z axis side can be carried out along Z-direction
To the short transverse for gantry bearing frame 2, the R axis rotation system is connected to the Y-axis kinematic system, and can be in the Y
Straight reciprocating motion is carried out along Y direction under the driving of axis motion system, the Y direction is the side of penetrating of gantry bearing frame 2
To, and the X-direction, Y direction and Z-direction are mutually perpendicular to, the R axis rotation system can be provided and can independently be controlled simultaneously
360 ° of rotary motions of system and 90 ° of overturning rotations, and 360 ° of rotary motions are circumferentially rotating in horizontal plane, 90 ° of overturning rotations
Vertical switching between horizontal plane and vertical plane, the horizontal plane are the X/Y plane where X-axis and Y-axis, the vacuum cup
30 are connected to the R axis rotation system, and the positioning system is set on the big bottom plate of the support 1, the racking system setting
In the side of gantry bearing frame 2, the processing carrier 41 is set to the other side of gantry bearing frame 2.
Further glass finishing impression robot device according to the present invention, wherein the X-axis kinematic system includes X-axis
Lead screw 4, X-axis screw rod fixing plate 5, X-axis servo protective cover 6, X-axis servo motor and X-axis system frame 7, the X-axis system frame
7 are installed on the top of gantry bearing frame 2, and the X-axis screw rod fixing plate 5 is fixedly connected on the one of the X-axis system frame 7
End, the X-axis servo protective cover 6 are fixedly connected on the other end of the X-axis system frame 7, and the X-axis servo motor is set to
In the X-axis servo protective cover 6, the X-axis lead screw 4 is set in the X-axis system frame 7, one end of the X-axis lead screw 4
It is connected to the output shaft of the X-axis servo motor, the other end of the X-axis lead screw 4 is connected to the X-axis screw rod fixing plate 5, institute
X-axis lead screw 4 is stated to be rotated under the driving of the X-axis servo motor；The Z axis kinematic system include Z axis system frame 21,
Z axis servo motor 22, Z axis servo protective cover 23, Z axis screw rod fixing plate 24 and Z axis lead screw, the Z axis system frame 21 connect
In the X-axis lead screw 4, and can the X-axis lead screw 4 rotation driving under X-axis system frame 7 outer surface along X-axis
Direction carries out straight reciprocating motion, and the Z axis servo protective cover 23 is fixedly connected on the top of the Z axis system frame 21, institute
It states Z axis servo motor 22 to be set in the Z axis servo protective cover 23, the Z axis screw rod fixing plate 24 is fixedly connected on the Z
The bottom end of axle system holder 21, the Z axis lead screw are set in the Z axis system frame 21, one end connection of the Z axis lead screw
It is connected to the Z axis screw rod fixing plate 24 in the other end of the output shaft of the Z axis servo motor 22, the Z axis lead screw, it is described
Z axis lead screw is rotated under the driving of the Z axis servo motor 22；The Y-axis kinematic system includes Y-axis system first support
12, Y-axis screw rod fixing plate 14, Y-axis lead screw 15, Y-axis servo motor 16, Y-axis servo protective cover 17 and Y-axis system second support
20,20 one vertical connection of the Y-axis system first support 12 and Y-axis system second support, and the Y-axis system first support
12 pass through gantry bearing frame 2 and are arranged along Y direction, Z axis system frame described in 20 face of Y-axis system second support
21 and it is arranged along Z-direction, the Y-axis system second support 20 is connected to the Z axis lead screw, and can be in the Z axis lead screw
Rotation driving under in the outer surface of Z axis system frame 21 carry out straight reciprocating motion along Z-direction, the Y-axis lead screw is solid
Fixed board 14 is fixedly connected on one end of the Y-axis system first support 12, and the Y-axis servo protective cover 17 is fixedly connected on described
The other end of Y-axis system first support 12, the Y-axis servo motor 16 are set in the Y-axis servo protective cover 17, the Y
Axial filament bar 15 is set in the Y-axis system first support 12, and one end of the Y-axis lead screw 15 is connected to the Y-axis servo horse
Up to 16 output shaft, the other end of the Y-axis lead screw 15 is connected to the Y-axis screw rod fixing plate 14, and the Y-axis lead screw 15 is in institute
It states and is rotated under the driving of Y-axis servo motor 16；The R axis rotation system includes 360 ° of R axis driving mechanism 27, R axis rotations
90 ° of switching mechanisms 29 of mechanism 28 and R axis, the R axis driving mechanism 27 are connected to the Y-axis lead screw 15, and can be in the Y-axis
Under the rotation driving of lead screw 15 straight reciprocating motion, the R axis are carried out along Y direction in the bottom surface of Y-axis system first support 12
360 ° of rotating mechanisms are connected to the R axis driving mechanism 27, and 360 ° can be carried out under the driving of the R axis driving mechanism 27
Rotary motion, 90 ° of switching mechanisms 29 of the R axis are installed on 360 ° of rotating mechanisms 28 of the R axis, and are connected to the R axis and are driven
Motivation structure 27, and under the driving of the R axis driving mechanism 27 90 ° can be carried out relative to 360 ° of rotating mechanisms 28 of the R axis
Overturning rotation, the vacuum cup 30 are installed on 90 ° of switching mechanisms 29 of the R axis.
Further glass finishing impression robot device according to the present invention, wherein gantry bearing frame 2 includes two
Root curb girder and a crossbeam, two curb girders are arranged in parallel, and the crossbeam is connected between the top of two curb girders, every curb girder
Top is each formed with mounting table, and the rear side of the crossbeam is surrounded by portal frame protective cover 11, one end of the X-axis system frame 7
It is installed on the mounting table of a curb girder of gantry bearing frame 2, the other end of the X-axis system frame 7 is installed on described
On the mounting table of another curb girder of gantry bearing frame 2, and the X-axis system frame 7 is close to the crossbeam of gantry bearing frame 2
Setting.
Further glass finishing impression robot device according to the present invention, wherein the X-axis kinematic system further includes X
Axis support chain fixed seat 8, X-axis support chain 9 and X-axis support chain guard 10, the X-axis support chain fixed seat 8 are set to gantry load-bearing
On the crossbeam of frame 2, the X-axis support chain guard 10 is fixed on gantry bearing frame 2 by the X-axis support chain fixed seat 8
On crossbeam, the X-axis support chain 9 is set in the X-axis support chain guard 10, and the X-axis support chain 9 is connected to the Z axis movement
System.
Further glass finishing impression robot device according to the present invention, wherein the Y-axis kinematic system further includes
Line protection fixes cover 18, circuit bellows 19 and Y-axis support chain, and one end that the line protection fixes cover 18 is connected to the Y
The top of axis servo protective cover 17, the other end that the line protection fixes cover 18 are connected to the one of the circuit bellows 19
End, the U-shaped bending in middle part of the circuit bellows 19 and the crossbeam for crossing over gantry bearing frame 2, the circuit bellows
19 other end is connected to the Z axis servo protective cover 23, and the Y-axis support chain is set in the Y-axis system first support 12,
And it is connected to the R axis rotation system.
Further glass finishing impression robot device according to the present invention, wherein 30 surface of the vacuum cup opens up
There are several vacuum absorption holes, and vacuum cup is connected to pressure control unit, vacuum cup 30 is controlled by pressure control unit
Absorption vacuum open and release, when vacuum cup absorption vacuum open when sheet glass can be adsorbed in by suction function
Vacuum cup surface, when the release of the absorption vacuum of vacuum cup, sheet glass is detached from vacuum cup surface.
Further glass finishing impression robot device according to the present invention, wherein the positioning system includes that positioning is flat
Platform 31, positioning correcting block 32 and detent mechanism fixing piece 33, the locating platform 31 are fixed on by detent mechanism fixing piece 33
Described to support on big bottom plate 1, the positioning correcting block 32 is arranged along the surrounding of the locating platform 31, and can pass through and drive gas
Cylinder synchronizes running fix driving, and vacuum suction structure is provided on the locating platform.
Further glass finishing impression robot device according to the present invention, wherein the locating platform is flat with rectangle
Harden structure is symmetrically arranged with four positioning correcting blocks 32 along four sides of the locating platform 31, and two of which positions school
Positive block 32 is oppositely arranged along the long side of the locating platform and synchronizes driving by the first driving cylinder so that this two fixed
Bit correction block 32 can synchronize simultaneously to locating platform long side direction or synchronize simultaneously to the side of remotely located platform long side
To being moved, wherein another two positioning correcting block is oppositely arranged along the short side of the locating platform and by the second driving cylinder
Synchronize driving so that the another two positioning correcting block 32 can synchronize the short side direction or simultaneously to locating platform simultaneously
Synchronization is moved to the direction of remotely located platform short side；When sheet glass is positioned on locating platform, the first driving cylinder
Two positioning correcting blocks that drives edge locating platform long side is oppositely arranged are moved, and two long sides of sheet glass are located in
Between two positioning correcting blocks 32, to carry out positioning correcting to the long side direction of sheet glass, simultaneously/or the second driving cylinder drive
It is dynamic to be moved along the another two positioning correcting block that locating platform short side is oppositely arranged, and two short sides of sheet glass are located in
Between another two positioning correcting block 32, to carry out positioning correcting to the short side direction of sheet glass.
Further glass finishing impression robot device according to the present invention, wherein the racking system includes rack machine
Structure fixed block 34, charging tray holder 35, rack fixed plate 36 and material frame 37, the charging tray holder 35 are solid by the rack mechanism
Determine block 34 to be fixedly connected on the big bottom plate of the support 1, the material frame 37 is fixedly installed on described by rack fixed plate 36
On charging tray holder 35, the material frame 37 includes the blowing slot 38 being arranged side by side and material slot 39 to be processed, wherein blowing
Slot 38 is used to place the sheet glass of working process completion, wherein material slot 39 to be processed is not yet processed place for placing
The sheet glass of reason.
A kind of sheet glass processing and treating method carried out based on glass finishing impression robot device of the present invention, including：
The first step, feeding process, specifically include following steps：
(1) control X-axis kinematic system drive vacuum cup is moved to the upper position of the material slot to be processed of racking system
It sets, control Y-axis kinematic system drives vacuum cup to be moved to the surface of sheet glass to be processed in material slot to be processed, controls
Z axis kinematic system drives vacuum cup to drop to the height that can capture sheet glass, controls R axis rotation system by vacuum cup
Surface is adjusted to parallel with glass sheet surface；
(2) vacuum cup is moved to close to glass sheet surface by fine tuning X-axis kinematic system, starts vacuum cup by sheet glass
It is adsorbed on vacuum cup；
(3) sheet glass is promoted to safe altitude by control Z axis kinematic system；
(4) sheet glass is moved to above the locating platform of positioning system by control Y-axis kinematic system；
(5) 90 ° of switching mechanisms of R axis in R axis rotation systems are controlled and drive sheet glass 90 ° of overturning rapidly, sheet glass is turned over
It goes to parallel with locating platform；
(6) control X-axis kinematic system drives sheet glass is parallel to move to right over locating platform, controls Z axis kinematic system band
Dynamic sheet glass drops to locating platform plane, closes the absorption vacuum of vacuum cup, and sheet glass is detached from vacuum cup and falls on positioning
Platform surface, control Z axis kinematic system by vacuum cup promoted to wait for crawl highly；
(7) the positioning correcting block for starting positioning system, is corrected the surrounding of sheet glass, and positioning is opened after the completion of correction
The absorption vacuum of platform, sheet glass is positioned on locating platform；
(8) control Z axis kinematic system drives vacuum cup to drop to the glass sheet surface on locating platform, and it is flat to close positioning
The absorption vacuum of platform, and the absorption vacuum of vacuum cup is opened, the sheet glass having good positioning is adsorbed on vacuum cup, Z is controlled
Axis motion system drives sheet glass to rise to safe altitude；
(9) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to processing carrier
Side；
(10) control X-axis kinematic system drives sheet glass to be moved near the position of processing carrier, controls Y-axis kinematic system
Sheet glass is driven to be moved to the surface of processing carrier, control Z axis kinematic system drives rapidly sheet glass to drop to processing carrier
Plane closes the absorption vacuum of vacuum cup, and sheet glass is put to processing carrier；
(11) sheet glass is firmly adsorbed on processing carrier, is processed by the absorption vacuum for opening processing carrier,
Control Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum cup to return to and picks and places
Origin is completed to process the feeding of sheet glass；
Second step, blanking operating process, specifically include following steps：
(1) for sheet glass after the completion of working process on processing carrier, control Y-axis kinematic system drives vacuum cup to be moved to
Sheet glass processes the surface of carrier corresponding position, and control Z axis kinematic system drives vacuum cup to drop to glass sheet surface, beats
The absorption vacuum of vacuum cup is opened, the absorption vacuum of processing carrier is closed, sheet glass is adsorbed on vacuum cup；
(2) control Z axis kinematic system drives sheet glass to rise to safe altitude；
(3) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to material frame one
Side；
(4) 90 ° of switching mechanisms of R axis in R axis rotation systems are controlled, by 90 ° of sheet glass flip vertical；
(5) controlling X-axis kinematic system and Y-axis kinematic system drives sheet glass being moved in racking system blowing slot just
Top；
(6) control Z axis kinematic system drives sheet glass to decline, and sheet glass is moved to blowing slot position；
(7) the absorption vacuum of control vacuum cup is closed, and sheet glass is inserted in blowing slot；
(8) control Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum
Sucker, which returns to, picks and places origin, completes the blanking to sheet glass and operates.
Glass finishing impression robot device of the present invention has the advantages that following technological innovation characteristic and technique effect：
(1) glass finishing impression robot device of the present invention passes through X Y Z R (360 ° of five axis controls of) R (90 °) (rotation)
System, precision higher, and five axis are wholely set, integrative control, and it is efficient, safe, easy to operate, easy to assembly.
(2) glass finishing impression robot device of the present invention is set as hanging mode, by five axis of X Y Z R far from processing
Area extends equipment life effectively far from cutting fluid.
(3) the pioneering product zone (to be processed material slot, blowing slot) by glass finishing impression robot device of the present invention
The both sides of entire mechanism are separately positioned on processing district (processing carrier position), it is convenient that manually initial product, finished product are picked and placeed, it carries
The high efficiency of production, while product zone effectively avoids machinery from damaging people far from processing district, it is safe.
(4) present invention, which is initiated, is provided separately positioning system and processing carrier in glass finishing impression robot device, in this way
The benefit done includes：The replacement of 4.1 pairs of processing carriers is more convenient, adapts to the wider array of range of work.4.2 positioning systems can be independent
Setting, while can realize that glass four sides positions automatically, positioning accuracy higher positions the degree of automation higher.4.3 present invention will
Positioning system is arranged outside processing district, effectively prevent the destruction of cutting fluid, and avoids glass processing residue to be stuck in positioning flat
On platform carrier, carrier is caused not position normally.4.4 present invention only need a positioning system that can coordinate multiple processing carriers
Product orientation, positioning correcting block therein can be based on Locating driver cylinder carry out automatically positioning movement, can be to multiple
The sheet glass of size carries out precise positioning, saves the cost of production.
(5) present invention is by adding R axis rotation systems, while realizing the whole (present invention in the horizontal plane of vacuum cup
In the X/Y plane of definition) rotating freely within the scope of 360 ° and between horizontal plane and vertical plane 90 ° overturning switching, to
It can be good at meeting product zone (to be processed logistics slot, blowing slot) to be arranged at intervals on processing district (processing carrier position)
The operation of mechanism both sides needs, and facilitates user to pick and place material and improves processing safety, belongs to and pick and place material carving machine to existing unilateral side
Significant improvement, have wide popularizing application prospect.
Description of the drawings
Attached drawing 1 is dimensional structure diagram of the glass finishing impression robot device of the present invention in the first view position；
Attached drawing 2 is dimensional structure diagram of the glass finishing impression robot device of the present invention in the second view position；
The meaning of each reference numeral is as follows in figure：
1, support big bottom plate, 2, gantry bearing frame, 3, X-axis fix bottom plate, 4, X-axis lead screw, 5, X-axis screw rod fixing plate, 6, X
Axis servo protective cover, 7, X-axis system frame, 8, X-axis support chain fixed seat, 9, X-axis support chain, 10, X-axis support chain guard, 11, gantry
Frame protective cover, 12, Y-axis system first support, 13, fixing nut, 14, Y-axis screw rod fixing plate, 15, Y-axis lead screw, 16, Y-axis watches
Take motor, 17, Y-axis servo protective cover, 18, line protection fix cover, 19, circuit bellows, 20, Y-axis system second support,
21, Z axis system frame, 22, Z axis servo motor, 23, Z axis servo protective cover, 24, Z axis screw rod fixing plate, 25, first support top
Face, 26, Z axis protective cover, 27, R axis driving mechanisms, 28,360 ° of rotating mechanisms of R axis, 29,90 ° of switching mechanisms of R axis, 30, vacuum inhales
Disk, 31, locating platform, 32, positioning correcting block, 33, detent mechanism fixing piece, 34, rack mechanism fixed block, 35, charging tray holder,
36, rack fixed plate, 37, material frame, 38, blowing slot, 39, material slot to be processed, 40, sheet glass, 41, processing carrier.
Specific implementation mode
Technical scheme of the present invention is described in detail below in conjunction with attached drawing, so that those skilled in the art can be more
The protection domain for adding and being clearly understood from the present invention, but be not intended to limit the present invention.
It is that glass finishing impression robot device of the present invention sees vertical with different view in combination with attached drawing 1 and attached drawing 2
Body structural schematic diagram, as shown, glass finishing impression robot device of the present invention includes：Support big bottom plate 1, gantry load-bearing
Frame 2, X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system, R axis rotation system, vacuum cup 30, positioning system, rack
System and processing carrier 41.
Gantry bearing frame 2 is set on the big bottom plate of the support 1, and the X-axis kinematic system is set to the dragon
The top of door bearing frame 2, the Z axis kinematic system are connected to the X-axis kinematic system, and can be in the X-axis kinematic system
Driving under along the span direction (that is, width direction) of gantry bearing frame 2 carry out straight reciprocating motion, the direction is defined as X-axis
Direction.The Y-axis kinematic system is connected to the Z axis kinematic system, and can be in the driving lower edge dragon of the Z axis kinematic system
The short transverse of door bearing frame 2 carries out straight reciprocating motion, and the direction is defined as Z-direction, and the R axis rotation system is connected to
The Y-axis kinematic system, and can be carried out directly along the penetration direction of gantry bearing frame 2 under the driving of the Y-axis kinematic system
Line moves back and forth, and the direction is defined as Y direction, and the X-direction, Y direction and Z-direction are mutually perpendicular to.And the R
Axis rotation system can provide simultaneously can independent control 360 ° of rotary motions and 90 ° of flip-flop movements, and 360 ° rotation movement
Rotor shaft direction is parallel with the Z-direction, and 90 ° of flip-flop movements are the rotation switching between horizontal plane and perpendicular
Movement.The vacuum cup 30 is connected to the R axis rotation system, and the positioning system is set on the big bottom plate of the support 1,
The racking system is set to the side of gantry bearing frame 2, and the processing carrier 41 is set to gantry bearing frame 2
The other side.The X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system, R axis rotation systems provide X, Y, Z-direction and
Under the movement driving of five dimensions of 360 ° of rotations and 90 ° of overturnings, the vacuum cup 30 is drawn to be processed from the racking system
It after sheet glass, is transferred to the positioning system and carries out being accurately positioned for sheet glass position, then the vacuum cup 30 will position
Sheet glass afterwards is transferred to the surface cleaning that sheet glass is carried out on the processing carrier 41 after being removed from the positioning system, add
Sheet glass is again transferred to from processing carrier 41 on the racking system by the vacuum cup 30 after the completion of work, completes glass
Piece is processed.
Further, gantry bearing frame 2 includes two curb girders and a crossbeam, and two curb girders are arranged in parallel, described
Crossbeam is connected between the top of two curb girders, and mounting table, the X-axis kinematic system installation are each formed at the top of two curb girders
In on the mounting table, and it is close to the crossbeam setting, the rear side of the crossbeam is surrounded by portal frame protective cover 11.
Further, the X-axis kinematic system includes that X-axis fixes bottom plate 3, X-axis lead screw 4, X-axis screw rod fixing plate 5, X-axis
Servo protective cover 6, X-axis system frame 7, X-axis support chain fixed seat 8, X-axis support chain 9 and X-axis support chain guard 10, the X-axis system
One end of holder 7 is installed on the mounting table at the top of the first curb girder of gantry bearing frame 2, the X-axis system frame 7 it is another
One end is installed on the mounting table in the second side back portion of gantry bearing frame 2, and one end of the X-axis system frame 7 passes through X
Axis is fixed bottom plate 3 and is fixedly connected on the mounting table, and the X-axis screw rod fixing plate 5 is fixedly connected on the X-axis system frame
7 one end, the other end of the X-axis system frame 7 are fixedly connected with X-axis servo protective cover 6, in the X-axis servo protective cover 6
It is provided with X-axis servo motor, the X-axis lead screw 4, one end connection of the X-axis lead screw 4 are provided in the X-axis system frame 7
It is connected to the X-axis screw rod fixing plate 5, the X in the other end of the output shaft of the X-axis servo motor, the X-axis lead screw 4
Axial filament bar 4 is rotated under the driving of the X-axis servo motor.The X-axis support chain fixed seat 8 is set to gantry load-bearing
On the crossbeam of frame 2, the X-axis support chain guard 10 is fixed on gantry bearing frame 2 by the X-axis support chain fixed seat 8
On crossbeam, the X-axis support chain 9 is set in the X-axis support chain guard 10, and the X-axis support chain 9 is connected to the Z axis fortune
Dynamic system (to clearly show that other structures, not connected both in schematic diagram), for protecting X-axis kinematic system and Z axis kinetic system
Necessary electric circuit of system etc..The X-axis lead screw 4 is connected to the Z axis kinematic system, under the driving of the X-axis servo motor,
The X-axis lead screw 4 is rotated, and drives the Z axis kinematic system in 7 outer surface of X-axis system frame by lead screw rotation
Straight reciprocating motion is carried out along X-direction.
Further, Z axis kinematic system includes Z axis system frame 21, Z axis servo motor 22, Z axis servo protective cover 23, Z
Axis screw rod fixing plate 24 and Z axis protective cover 26, the Z axis system frame 21 are connected to the X-axis lead screw 4 of the X-axis kinematic system,
And can in X direction move linearly under the drive of the X-axis lead screw 4, the top of the Z axis system frame 21 is connected with
The Z axis servo protective cover 23 is provided with Z axis servo motor 22, the Z axis system frame in the Z axis servo protective cover 23
21 bottom end is connected with the Z axis screw rod fixing plate 24, and Z axis lead screw, the Z axis silk are provided in the Z axis system frame 21
One end of bar is connected to the output shaft of the Z axis servo motor 22, and the other end of the Z axis lead screw is connected to the Z axis lead screw
Fixed plate 24, the Z axis lead screw are rotated under the driving of the Z axis servo motor 22.Further preferred is (inessential
) the Z axis kinematic system can pass through that Z axis protective cover 26 is whole to be surrounded.The Z axis lead screw is connected to the Y-axis kinematic system,
Under the driving of the Z axis servo motor 22, the Z axis lead screw is rotated, and drives the Y-axis to move by lead screw rotation
System carries out straight line elevating movement in the outer surface of Z axis system frame 21 along Z-direction.
Further, the Y-axis kinematic system includes that Y-axis system first support 12, fixing nut 13, Y-axis lead screw are fixed
Plate 14, Y-axis lead screw 15, Y-axis servo motor 16, Y-axis servo protective cover 17, line protection fix cover 18, circuit bellows 19, Y
Axis support chain and Y-axis system second support 20, the Y-axis system first support 12 and 20 one of Y-axis system second support vertically connect
It connects, and the Y-axis system first support 12 is horizontally disposed, the Y-axis system second support 20 is vertically arranged, and the Y-axis system
System second support 20 is connected to the Z axis lead screw, and can carry out vertical lines movement, the Y-axis system with the rotation of Z axis lead screw
One end of system first support 12 is connected to Y-axis screw rod fixing plate 14 by fixing nut 13, the Y-axis system first support 12
The other end is connected with the Y-axis servo protective cover 17, and the Y-axis servo motor 16 is provided in the Y-axis servo protective cover 17,
The Y-axis lead screw 15 is set in the Y-axis system first support 12, and one end of the Y-axis lead screw 15 is connected to the Y-axis
Screw rod fixing plate 14, the other end of the Y-axis lead screw 15 are connected to the output shaft of the Y-axis servo motor 16, the Y-axis lead screw
15 are rotated under the driving of the Y-axis servo motor 16.The top of the Y-axis servo protective cover 17 is connected to the circuit
The fixed cover 18 of protection, the line protection fix one end that cover 18 is connected to the circuit bellows 19, the circuit bellows
19 U-shaped bendings, and the crossbeam of the circuit bellows 19 across gantry bearing frame 2 is arranged, the circuit bellows 19
The other end be connected in the Z axis servo protective cover 23, the crossbeam be in the circuit bellows 19 it is U-shaped completely in
Portion.By the circuit bellows 19 and line protection fix cover 18 provide for Y-axis kinematic system and R axis rotation systems it is necessary
Electric circuit protection pipeline, especially the related electric road for Y-axis servo motor 16 and R axis rotation systems are provided similar to drag chain
Protection pipe-line system.The Y-axis support chain is set to first support top surface 25, and is connected to the R axis rotation system and Y-axis fortune
(to clearly show that other structures, not connected both in schematic diagram) between dynamic system, one end connection of the preferred Y-axis support chain
In in Y-axis servo protective cover, the other end is connected to R axis rotation systems, for providing related electric road to R axis rotation systems.Institute
It states R axis rotation systems and is connected to the Y-axis lead screw 15, under the driving of the Y-axis servo motor 16, the Y-axis lead screw carries out
Rotation, and drive the R axis rotation system to be carried out along Y direction in the bottom surface of Y-axis system first support 12 by lead screw rotation
Straight reciprocating.
Further, the R axis rotation system includes that 90 ° of R axis driving mechanism 27,360 ° of rotating mechanisms 28 of R axis and R axis turn over
Rotation mechanism 29, the R axis driving mechanism 27 are connected to the Y-axis lead screw 15 in the bottom surface of Y-axis system first support 12, and can
Straight reciprocating is carried out along Y direction in the case where the transmission of Y-axis lead screw 15 drives, 360 ° of rotating mechanisms of the R axis are connected to institute
It states R axis driving mechanism 27, and 360 ° can be carried out in X/Y plane under the driving of the R axis driving mechanism 27 and freely turned
Dynamic, the rear end of 90 ° of switching mechanisms 29 of R axis is connected to 360 ° of rotating mechanisms 28 of the R axis, and the R axis driving mechanism 27 is logical
It crosses 360 ° of rotating mechanisms 28 of the R axis and is connected to 90 ° of switching mechanisms 29 of the R axis, institute is driven by the R axis driving mechanism 27
It states 90 ° of switching mechanisms 29 of R axis and carries out 90 ° of rotations, 90 ° of switching mechanisms 29 of the R axis relative to 360 ° of rotating mechanisms 28 of the R axis
Front end be connected to the vacuum cup 30, to vacuum cup 30 be realized in water by 90 ° of switching mechanisms 29 of the R axis
90 ° of overturning switchings between plane (in X/Y plane) and its vertical plane.
Further, the vacuum cup 30 is connected to pressure control unit, and controlling vacuum by pressure control unit inhales
The aspiration of disk 30 is opened and release, can be acted on by gas negative pressure when vacuum cup aspiration is opened and be adsorbed in sheet glass very
Suction panel surface, when vacuum cup aspiration discharges, sheet glass is detached from vacuum cup surface.The vacuum cup 30 and air pressure control
Connecting line and circuit between unit processed are guided and are protected by Y-axis support chain.
Further, the positioning system includes locating platform 31, positioning correcting block 32 and detent mechanism fixing piece 33, institute
It states locating platform 31 to be fixed on the big bottom plate of the support 1 by detent mechanism fixing piece 33, the shape of the locating platform 31
It is corresponding with the shape of sheet glass, and area is slightly larger than sheet glass, the preferred locating platform 31 tool corresponding with sheet glass
There is rectangular platform structure, vacuum suction structure is provided on the locating platform, it can be by starting vacuum suction by glass
Piece is adsorbed on locating platform.Four positioning correcting blocks 32 are symmetrically arranged with along four sides of the locating platform 31, it is described fixed
Bit correction block 32 projects slightly from locating platform surface, and can be moved along locating platform surface, wherein along the positioning
Two positioning correcting blocks 32 of the long side setting of platform synchronize driving by same driving cylinder (the first driving cylinder), make
The long side side of long side direction or remotely located platform to locating platform can be synchronized simultaneously by obtaining two positioning correcting blocks 32
To being moved, and along the another two positioning correcting block 32 of the short side of locating platform setting also by another driving cylinder
(the second driving cylinder) synchronizes driving so that the another two positioning correcting block 32 can simultaneously be synchronized to the short of locating platform
The short side direction of edge direction or remotely located platform is moved.In this way when sheet glass is positioned on locating platform, first
Two positioning correcting blocks that driving cylinder drives edge locating platform long side is oppositely arranged are moved, and long by two of sheet glass
While being located between two positioning correcting blocks 32, it is corrected with the long side direction to sheet glass, simultaneously/or the second driving gas
The another two positioning correcting block that cylinder drives edge locating platform short side is oppositely arranged is moved, and two short sides of sheet glass are pressed from both sides
Between two positioning correcting blocks 32, it is corrected with the short side direction to sheet glass.
Further, the racking system is set to the side of gantry bearing frame 2, and the racking system set including
Rack mechanism fixed block 34, charging tray holder 35, rack fixed plate 36 and material frame 37, the charging tray holder 35 pass through the rack
Mechanism fixed block 34 is fixedly connected on the big bottom plate of the support 1, and the material frame 37 passes through rack fixed plate 36 and is fixedly installed
In on the charging tray holder 35, the material frame 37 includes the blowing slot 38 being arranged side by side and material slot 39 to be processed,
Middle blowing slot 38 is used to place the sheet glass of working process completion, and the material slot 39 to be processed is not yet carried out for placing
The sheet glass of working process, sheet glass are inserted into blowing slot 38 and material slot 39 to be processed.
The processing carrier 41 is set to the other side of gantry bearing frame, and the preferred processing carrier 41 is cleaning
Carrier is processed, and there are Incision Machine's, vacuum suction is opened in processing and is firmly adsorbed on sheet glass on processing carrier,
When completing processing, vacuum suction is discharged so that sheet glass is detached from processing carrier.
Finally provide the processing and treating method that sheet glass is carried out using glass finishing impression robot device of the present invention：
One, feeding process specifically includes following steps：
(1) control X-axis kinematic system drives vacuum cup to be moved to the top position of material slot to be processed, controls Y-axis
Kinematic system drives vacuum cup to be moved to the surface of sheet glass to be processed in material slot to be processed, controls Z axis kinetic system
Regiment commander moves vacuum cup and drops to the height that can capture sheet glass, and control R axis rotation system adjusts the angle of vacuum cup
It is extremely parallel with glass sheet surface.
(2) vacuum cup is moved to close on glass plate plane by control fine tuning X-axis kinematic system, and starting vacuum cup will
Sheet glass is adsorbed on vacuum cup.
(3) sheet glass is promoted to safe altitude by control Z axis kinematic system.
(4) control Y-axis kinematic system moves to sheet glass above locating platform.
(5) 90 ° of switching mechanisms of control R axis drive sheet glass to be rotated by 90 ° rapidly, and sheet glass is overturn to locating platform and is put down
Row.
(6) control X-axis kinematic system drives sheet glass is parallel to move to right over locating platform, controls Z axis kinematic system band
Dynamic sheet glass drops to locating platform plane, and the absorption vacuum of vacuum cup is closed, and sheet glass is detached from vacuum cup and falls on positioning
Platform surface, control Z axis kinematic system, which rises to, waits for crawl height.
(7) the driving cylinder for starting positioning correcting block, is corrected the surrounding of sheet glass, and positioning is opened after the completion of correction
Absorption vacuum on platform calms down sheet glass suction on locating platform.
(8) control Z axis kinematic system drives vacuum cup to drop in the glass sheet surface on locating platform, sucker vacuum
It opens, locating platform vacuum is closed, and the sheet glass having good positioning is adsorbed on vacuum cup, and control Z axis kinematic system drives glass
Glass piece rises to safe altitude.
(9) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to processing carrier
Side.
(10) control X-axis kinematic system drives sheet glass to move near the position of corresponding processing carrier, controls Y-axis kinetic system
Regiment commander moves sheet glass and moves to above the position of corresponding processing carrier, and control Z axis kinematic system drives rapidly sheet glass to drop to pair
Carrier plane should be processed, sucker vacuum is closed, and is put down on sheet glass to corresponding processing carrier.
(11) sheet glass is firmly adsorbed on processing carrier, is processed, simultaneously by the absorption vacuum for opening processing carrier
Control Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum cup to return to and picks and places
Origin is completed to process sheet glass feeding.
Two, blanking operates, and specifically includes following steps：
(1) sheet glass processing carrier on after processing is completed, control Y-axis kinematic system drive vacuum cup be moved to glass
Piece processes the surface of the corresponding position of carrier, and control Z axis kinematic system drives vacuum cup to drop to glass planar, and sucker is true
Sky is opened, and processing carrier vacuum is closed, and sheet glass is adsorbed on vacuum cup.
(2) control Z axis kinematic system drives sheet glass to rise to safe altitude.
(3) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to material frame one
Side.
(4) the 90 ° of switching mechanisms of R axis controlled in R axis rotation systems overturn the sheet glass being connected on vacuum cup
90°。
(5) surface that X-axis kinematic system and Y-axis kinematic system drive sheet glass to move to blowing slot is controlled.
(6) control Z axis kinematic system drives sheet glass to decline, and sheet glass is inserted in blowing slot.
(7) vacuum of control vacuum cup is closed, and release sheet glass is in blowing slot.
(8) control Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum
Sucker, which returns to, picks and places origin, completes to operate sheet glass blanking.
The major advantage of glass finishing impression robot device of the present invention includes：
(1) present invention by X Y Z R (360 °) five axis of R (90 °) (rotation) control, precision higher, and five axis are integrated
Setting, integrative control, it is efficient, safe, easy to operate, easy to assembly.
(2) present invention is set as hanging mode, by X Y Z five axis of R far from processing district, effectively far from cutting fluid, extend
Equipment life.
(3) the pioneering product zone (to be processed material slot, blowing slot) by glass finishing impression robot device of the present invention
The both sides of entire mechanism are separately positioned on processing district (processing carrier position), it is convenient that manually initial product, finished product are picked and placeed, it carries
The high efficiency of production, while product zone effectively avoids machinery from damaging people far from processing district, it is safe.
(4) present invention, which is initiated, is provided separately positioning system and processing carrier in glass finishing impression robot device, in this way
The benefit done includes：1. the replacement of pair processing carrier is more convenient, the wider array of range of work is adapted to.2. positioning system can individually be set
It sets, while can realize that glass four sides positions automatically, positioning accuracy higher positions the degree of automation higher.3. the present invention will determine
Position system is arranged outside processing district, effectively prevent the destruction of cutting fluid, and avoid glass processing residue and be stuck in locating platform
On carrier, carrier is caused not position normally.4. the present invention only needs a positioning system that can coordinate multiple processing carriers
Product orientation, positioning correcting block therein can be based on Locating driver cylinder and carry out automatically positioning movement, can be to multiple rulers
Very little sheet glass carries out precise positioning, saves the cost of production.
(5) present invention is by adding R axis rotation systems, while realizing the whole (present invention in the horizontal plane of vacuum cup
In the X/Y plane of definition) rotating freely within the scope of 360 ° and between horizontal plane and vertical plane 90 ° overturning switching, to
It can be good at meeting product zone (to be processed logistics slot, blowing slot) to be arranged at intervals on processing district (processing carrier position)
The operation of mechanism both sides needs, and facilitates user to pick and place material and improves processing safety, belongs to and pick and place material carving machine to existing unilateral side
Significant improvement, have wide popularizing application prospect.
It the above is only and the preferred embodiment of the present invention is described, technical scheme of the present invention is not limited to
This, those skilled in the art on the basis of the design of the major technique of the present invention made by any known deformation belong to the present invention
Claimed technology scope, the specific protection domain of the present invention are subject to the record of claims.
Claims (10)
1. a kind of glass finishing impression robot device, which is characterized in that including：Support big bottom plate (1), gantry bearing frame (2), X-axis
Kinematic system, Y-axis kinematic system, Z axis kinematic system, R axis rotation system, vacuum cup (30), positioning system, racking system and
Process carrier (41)；Gantry bearing frame (2) is set on the big bottom plate (1) of support, and the X-axis kinematic system is set to
On gantry bearing frame (2), the Z axis kinematic system is connected to the X-axis kinematic system, and can be moved in the X-axis
Straight reciprocating motion is carried out along X-direction under the driving of system, the X-direction is the width direction of gantry bearing frame (2), institute
State Y-axis kinematic system and be connected to the Z axis kinematic system, and can under the driving of the Z axis kinematic system along Z-direction into
Row straight reciprocating motion, the Z-direction are the short transverse of gantry bearing frame (2), and the R axis rotation system is connected to described
Y-axis kinematic system, and under the driving of the Y-axis kinematic system straight reciprocating motion, the Y-axis can be carried out along Y direction
Direction is the penetration direction of gantry bearing frame (2), and the X-direction, Y direction and Z-direction are mutually perpendicular to, the R axis
Rotation system can provide simultaneously can independent control 360 ° of rotary motions and 90 ° of overturning rotations, and 360 ° of rotary motions are water
Circumferentially rotating in plane, vertical switching of 90 ° of overturning rotations between horizontal plane and vertical plane, the horizontal plane is X-axis and Y
X/Y plane where axis, the vacuum cup (30) are connected to the R axis rotation system, and the positioning system is set to the branch
It supports on big bottom plate (1), the racking system is set to the side of gantry bearing frame (2), processing carrier (41) setting
In the other side of gantry bearing frame (2).
2. glass finishing impression robot device according to claim 1, which is characterized in that the X-axis kinematic system includes X-axis
Lead screw (4), X-axis screw rod fixing plate (5), X-axis servo protective cover (6), X-axis servo motor and X-axis system frame (7), the X-axis
System frame (7) is installed on the top of gantry bearing frame (2), and the X-axis screw rod fixing plate (5) is fixedly connected on the X
One end of axle system holder (7), the X-axis servo protective cover (6) are fixedly connected on the other end of the X-axis system frame (7),
The X-axis servo motor is set in the X-axis servo protective cover (6), and the X-axis lead screw (4) is set to the X-axis system branch
In frame (7), one end of the X-axis lead screw (4) is connected to the output shaft of the X-axis servo motor, the X-axis lead screw (4) it is another
One end is connected to the X-axis screw rod fixing plate (5), and the X-axis lead screw (4) is turned under the driving of the X-axis servo motor
It is dynamic；The Z axis kinematic system includes Z axis system frame (21), Z axis servo motor (22), Z axis servo protective cover (23), Z axis silk
Bar fixed plate (24) and Z axis lead screw, the Z axis system frame (21) are connected to the X-axis lead screw (4), and can be in the X-axis
Outer surface under the rotation driving of lead screw (4) in X-axis system frame (7) carries out straight reciprocating motion, the Z along X-direction
Axis servo protective cover (23) is fixedly connected on the top of the Z axis system frame (21), and the Z axis servo motor (22) is set to
In the Z axis servo protective cover (23), the Z axis screw rod fixing plate (24) is fixedly connected on the Z axis system frame (21)
Bottom end, the Z axis lead screw are set in the Z axis system frame (21), and one end of the Z axis lead screw is connected to the Z axis and watches
The output shaft of motor (22) is taken, the other end of the Z axis lead screw is connected to the Z axis screw rod fixing plate (24), the Z axis lead screw
It is rotated under the driving of the Z axis servo motor (22)；The Y-axis kinematic system include Y-axis system first support (12),
Y-axis screw rod fixing plate (14), Y-axis lead screw (15), Y-axis servo motor (16), Y-axis servo protective cover (17) and Y-axis system second
The integrated vertical connection of holder (20), the Y-axis system first support (12) and Y-axis system second support (20), and the Y-axis system
First support of uniting (12) passes through gantry bearing frame (2) and is arranged along Y direction, and the Y-axis system second support (20) is just
It is arranged to the Z axis system frame (21) and along Z-direction, the Y-axis system second support (20) is connected to the Z axis silk
Bar, and outer surface that can be in Z axis system frame (21) under the rotation of Z axis lead screw driving carries out directly along Z-direction
Line moves back and forth, and the Y-axis screw rod fixing plate (14) is fixedly connected on one end of the Y-axis system first support (12), the Y
Axis servo protective cover (17) is fixedly connected on the other end of the Y-axis system first support (12), the Y-axis servo motor (16)
It being set in the Y-axis servo protective cover (17), the Y-axis lead screw (15) is set in the Y-axis system first support (12),
One end of the Y-axis lead screw (15) is connected to the output shaft of the Y-axis servo motor (16), the Y-axis lead screw (15) it is another
End is connected to the Y-axis screw rod fixing plate (14), the Y-axis lead screw (15) under the driving of the Y-axis servo motor (16) into
Row rotation；The R axis rotation system includes R axis driving mechanism (27), 360 ° of rotating mechanisms (28) of R axis and 90 ° of switching mechanisms of R axis
(29), the R axis driving mechanism (27) is connected to the Y-axis lead screw (15), and can be driven in the rotation of the Y-axis lead screw (15)
Under dynamic straight reciprocating motion, 360 ° of rotating mechanisms of the R axis are carried out along Y direction in the bottom surface of Y-axis system first support (12)
It is connected to the R axis driving mechanism (27), and can rotate 360 ° and turn under the driving of the R axis driving mechanism (27)
Dynamic, 90 ° of switching mechanisms (29) of the R axis are installed on 360 ° of rotating mechanisms (28) of the R axis, and are connected to the R axis driving
Mechanism (27), and can be carried out relative to 360 ° of rotating mechanisms (28) of the R axis under the driving of the R axis driving mechanism (27)
90 ° of overturning rotations, the vacuum cup (30) are installed on 90 ° of switching mechanisms (29) of the R axis.
3. glass finishing impression robot device according to claim 2, which is characterized in that gantry bearing frame (2) includes
Two curb girders and a crossbeam, two curb girders are arranged in parallel, and the crossbeam is connected between the top of two curb girders, every curb girder
Top be each formed with mounting table, the rear side of the crossbeam is surrounded by portal frame protective cover (11), the X-axis system frame (7)
One end curb girder being installed on gantry bearing frame (2) mounting table on, the other end of the X-axis system frame (7)
It is installed on the mounting table of another curb girder of gantry bearing frame (2), and the X-axis system frame (7) is close to the dragon
The crossbeam setting of door bearing frame (2).
4. glass finishing impression robot device according to claim 3, which is characterized in that the X-axis kinematic system further includes X
Axis support chain fixed seat (8), X-axis support chain (9) and X-axis support chain guard (10), the X-axis support chain fixed seat (8) are set to described
On the crossbeam of gantry bearing frame (2), the X-axis support chain guard (10) is fixed on described by the X-axis support chain fixed seat (8)
On the crossbeam of gantry bearing frame (2), the X-axis support chain (9) is set in the X-axis support chain guard (10), the X-axis support chain
(9) it is connected to the Z axis kinematic system.
5. glass finishing impression robot device according to claim 3 or 4, which is characterized in that the Y-axis kinematic system is also wrapped
It includes line protection and fixes cover (18), circuit bellows (19) and Y-axis support chain, the line protection fixes one end connection of cover (18)
In the top of the Y-axis servo protective cover (17), the other end that the line protection fixes cover (18) is connected to the circuit wave
One end of line pipe (19), the U-shaped bending in middle part of the circuit bellows (19) and the cross for crossing over gantry bearing frame (2)
The other end of beam, the circuit bellows (19) is connected to the Z axis servo protective cover (23), and the Y-axis support chain is set to institute
It states in Y-axis system first support (12), and is connected to the R axis rotation system.
6. according to claim 2-5 any one of them glass finishing impression robot devices, which is characterized in that the vacuum cup
(30) surface offers several vacuum absorption holes, and vacuum cup is connected to pressure control unit, passes through pressure control unit control
The absorption vacuum of vacuum cup (30) processed is opened and release, can be by suction function when the absorption vacuum of vacuum cup is opened
Sheet glass is adsorbed in vacuum cup surface, sheet glass is detached from vacuum cup surface when the release of the absorption vacuum of vacuum cup.
7. according to claim 2-6 any one of them glass finishing impression robot devices, which is characterized in that the positioning system packet
Locating platform (31), positioning correcting block (32) and detent mechanism fixing piece (33) are included, the locating platform (31) passes through localization machine
Structure fixing piece (33) is fixed on the big bottom plate (1) of support, and the positioning correcting block (32) is along the locating platform (31)
Surrounding is arranged, and vacuum suction can be provided on the locating platform by driving cylinder to synchronize running fix driving
Attached structure.
8. glass finishing impression robot device according to claim 7, which is characterized in that the locating platform is flat with rectangle
Harden structure is symmetrically arranged with four positioning correcting blocks (32) along four sides of the locating platform (31), and two of which is fixed
Bit correction block (32) is oppositely arranged along the long side of the locating platform and synchronizes driving by the first driving cylinder so that should
Two positioning correcting blocks (32) can synchronize simultaneously to locating platform long side direction or synchronize simultaneously to remotely located platform
The direction of long side is moved, and wherein another two positioning correcting block is oppositely arranged along the short side of the locating platform and by second
Driving cylinder synchronizes driving so that the another two positioning correcting block (32) can simultaneously be synchronized to the short side side of locating platform
To or synchronize moved to the direction of remotely located platform short side simultaneously；When sheet glass is positioned on locating platform, the
Two positioning correcting blocks that one driving cylinder drives edge locating platform long side is oppositely arranged are moved, and by two of sheet glass
Long side is located between two positioning correcting blocks (32), to carry out positioning correcting to the long side direction of sheet glass, simultaneously/or the
The two another two positioning correcting blocks that are oppositely arranged of driving cylinder drives edge locating platform short sides are moved, and by the two of sheet glass
A short side is located between another two positioning correcting block (32), to carry out positioning correcting to the short side direction of sheet glass.
9. according to claim 2-8 any one of them glass finishing impression robot devices, which is characterized in that the racking system packet
Include rack mechanism fixed block (34), charging tray holder (35), rack fixed plate (36) and material frame (37), the charging tray holder (35)
It is fixedly connected on the big bottom plate (1) of support by rack mechanism fixed block (34), the material frame (37) passes through material
Frame fixed plate (36) is fixedly installed on the charging tray holder (35), and the material frame (37) includes the blowing slot being arranged side by side
(38) and material slot to be processed (39), wherein blowing slot (38) is used to place the sheet glass of working process completion, wherein waiting for
Processing materials slot (39) is for placing the sheet glass being not yet processed.
10. a kind of sheet glass working process side carried out based on any one of the claim 1-9 glass finishing impression robot devices
Method, which is characterized in that including：
The first step, feeding process, specifically include following steps：
(1) control X-axis kinematic system drive vacuum cup is moved to the top position of the material slot to be processed of racking system, control
Y-axis kinematic system processed drives vacuum cup to be moved to the surface of sheet glass to be processed in material slot to be processed, controls Z axis fortune
Dynamic system drives vacuum cup to drop to the height that can capture sheet glass, controls R axis rotation system by the surface of vacuum cup
It adjusts to parallel with glass sheet surface；
(2) vacuum cup is moved to close to glass sheet surface by fine tuning X-axis kinematic system, is started vacuum cup and is adsorbed sheet glass
On vacuum cup；
(3) sheet glass is promoted to safe altitude by control Z axis kinematic system；
(4) sheet glass is moved to above the locating platform of positioning system by control Y-axis kinematic system；
(5) 90 ° of switching mechanisms of R axis in R axis rotation systems are controlled and drive sheet glass 90 ° of overturning rapidly, by sheet glass overturn to
It is parallel with locating platform；
(6) control X-axis kinematic system drives sheet glass is parallel to move to right over locating platform, and control Z axis kinematic system drives glass
Glass piece drops to locating platform plane, closes the absorption vacuum of vacuum cup, and sheet glass is detached from vacuum cup and falls on locating platform
Surface, control Z axis kinematic system by vacuum cup promoted to wait for crawl highly；
(7) the positioning correcting block for starting positioning system, is corrected the surrounding of sheet glass, and locating platform is opened after the completion of correction
Absorption vacuum, sheet glass is positioned on locating platform；
(8) control Z axis kinematic system drives vacuum cup to drop to the glass sheet surface on locating platform, closes locating platform
Vacuum is adsorbed, and opens the absorption vacuum of vacuum cup, the sheet glass having good positioning is adsorbed on vacuum cup, control Z axis fortune
Dynamic system drives sheet glass to rise to safe altitude；
(9) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to processing carrier side；
(10) control X-axis kinematic system drives sheet glass to be moved near the position of processing carrier, and control Y-axis kinematic system drives
Sheet glass is moved to the surface of processing carrier, and control Z axis kinematic system drives rapidly sheet glass to drop to processing carrier plane,
The absorption vacuum for closing vacuum cup puts sheet glass to processing carrier；
(11) sheet glass is firmly adsorbed on processing carrier, is processed, controls by the absorption vacuum for opening processing carrier
Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum cup to return to and picks and places original
Point is completed to process the feeding of sheet glass；
Second step, blanking operating process, specifically include following steps：
(1) for sheet glass after the completion of working process on processing carrier, control Y-axis kinematic system drives vacuum cup to be moved to glass
Piece processes the surface of carrier corresponding position, and control Z axis kinematic system drives vacuum cup to drop to glass sheet surface, opens true
The absorption vacuum of suction disk closes the absorption vacuum of processing carrier, sheet glass is adsorbed on vacuum cup；
(2) control Z axis kinematic system drives sheet glass to rise to safe altitude；
(3) the 360 ° of rotating mechanisms of R axis controlled in R axis rotation systems rotate 180 °, and sheet glass is rotated to material frame side；
(4) 90 ° of switching mechanisms of R axis in R axis rotation systems are controlled, by 90 ° of sheet glass flip vertical；
(5) control X-axis kinematic system and Y-axis kinematic system drive sheet glass be moved to blowing slot in racking system just on
Side；
(6) control Z axis kinematic system drives sheet glass to decline, and sheet glass is moved to blowing slot position；
(7) the absorption vacuum of control vacuum cup is closed, and sheet glass is inserted in blowing slot；
(8) control Z axis kinematic system drives vacuum cup to rise to safe altitude, and control Y-axis kinematic system drives vacuum cup
It returns to and picks and places origin, complete the blanking to sheet glass and operate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429035.5A CN108583111B (en) | 2018-05-08 | 2018-05-08 | Glass engraving manipulator device and glass sheet processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429035.5A CN108583111B (en) | 2018-05-08 | 2018-05-08 | Glass engraving manipulator device and glass sheet processing method |
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| CN108583111B CN108583111B (en) | 2020-09-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986574A (en) * | 2019-04-03 | 2019-07-09 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110421272A (en) * | 2019-07-24 | 2019-11-08 | 武汉先河激光技术有限公司 | A kind of semi-automation laser cutting system and method |
| CN110539915A (en) * | 2019-08-19 | 2019-12-06 | 嘉兴佳利电子有限公司 | Ceramic chip boxing machine |
| CN110865620A (en) * | 2019-11-27 | 2020-03-06 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
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| CN112008596A (en) * | 2019-05-31 | 2020-12-01 | 深圳市创世纪机械有限公司 | Feeding and discharging mechanical arm and horizontal grinding machining center |
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| CN112956915A (en) * | 2021-02-01 | 2021-06-15 | 广东工业大学 | Automatic grill system |
| CN113443436A (en) * | 2021-07-17 | 2021-09-28 | 深圳市键嘉电子有限公司 | Efficient full-automatic feeding and discharging equipment |
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