CN108583111A - A kind of glass finishing impression robot device and sheet glass processing and treating method - Google Patents

Abstract

The invention proposes a glass carving manipulator device and a glass sheet processing method. The device includes a supporting large base plate, a gantry load-bearing frame, an X-axis motion system, a Y-axis motion system, a Z-axis motion system, an R-axis rotation system, a vacuum Suction cup, positioning system, material rack system and processing carrier; the gantry load-bearing frame is set on the supporting large base plate, the X-axis motion system is set on the gantry load-bearing frame, the Z-axis motion system is connected to the X-axis motion system, and the Y-axis motion system is connected to the In the Z-axis motion system, the R-axis rotation system is connected to the Y-axis motion system. The R-axis rotation system can provide independently controlled 360° rotation and 90° flip rotation. The vacuum suction cup is connected to the R-axis rotation system, and the positioning system is set on the support On the large base plate, the material rack system and the processing carrier are respectively arranged on both sides of the gantry load-bearing frame. The device of the present invention can provide X\Y\Z\R five-axis control at the same time, with higher precision, five-axis integrated setting and integrated control, convenient operation and assembly, and high work efficiency.

Description

A glass finely carved manipulator device and glass sheet processing method

technical field

The invention relates to the technical field of automatic manipulator equipment processing, in particular to a glass finely carved manipulator device and a glass sheet processing method based on the glass finely carved manipulator device.

Background technique

The raw materials and finished products of the traditional glass sheet processing technology generally rely on manual loading and unloading, so a lot of manual work is required to repeat the simple picking and placing of raw materials and finished products, which is time-consuming and laborious, and there are potential safety hazards, causing staff High labor intensity, long working hours, and easy fatigue affect the production capacity and quality of products. In the prior art, glass engraving machines based on manipulators have appeared, which carry out glass sheet material transportation by clamping workpieces or grabbing suction cups. It is difficult to control the holding force, and it is easy to pinch and break the thin glass. When picking and placing the glass piece with the suction cup, the degree of freedom of grasping the glass piece is very limited. Generally, it is based on three-dimensional linear movement plus a 90-degree flip Movement, cannot be rotated at any pick-and-place angle, and 90-degree flip cannot meet the pick-and-place requirements for glass sheets at different angles. In addition, the existing glass Jingdiao manipulator device has low space utilization rate and poor structural and functional stability. The storage and processing racks are arranged on the same side of the gantry. Although the X-Y-Z three-axis is used, most of the Z-axis is placed flat on Jingdiao. On the working table of the machine, it is too close to the cooling liquid, the waterproof effect is poor, and it is easy to cause the mechanism to be corroded by the cooling liquid, resulting in a short life and high failure rate. The invention is based on the innovation and improvement of the pick-and-place working method.

Contents of the invention

Based on the above-mentioned existing technical problems, the present invention proposes a brand-new glass carving manipulator device, which is simultaneously integrated with an X-axis motion system, a Y-axis motion system, a Z-axis motion system and an R-axis rotation system. It can provide X\Y\Z\R(360°)\R(90°) five-axis control at the same time, with higher precision, and five-axis integrated setting and integrated control, convenient operation and assembly, and high work efficiency. The glass engraving manipulator is the first to set the X\Y\Z\R five axes away from the processing area, and makes the product area and processing area of the glass engraving manipulator respectively set on both sides of the whole mechanism, which facilitates the initial product, The finished product is picked and placed. At the same time, the entire Jingdiao machine can fully automatically realize the precise picking and placing process of glass sheets, which improves production efficiency.

The technical scheme that the present invention solves the problems of the technologies described above is as follows:

A glass finely carved manipulator device, comprising: supporting a large base plate 1, a gantry load-bearing frame 2, an X-axis motion system, a Y-axis motion system, a Z-axis motion system, an R-axis rotation system, a vacuum suction cup 30, a positioning system, and a rack system and a processing carrier 41; the gantry bearing frame 2 is arranged on the support large base plate 1, the X-axis motion system is arranged on the gantry load-bearing frame 2, and the Z-axis motion system is connected to the X-axis motion system, and can perform linear reciprocating motion along the X-axis direction under the drive of the X-axis motion system, the X-axis direction is the width direction of the gantry bearing frame 2, and the Y-axis motion system is connected to the Z-axis motion system, and can perform linear reciprocating motion along the Z-axis direction under the drive of the Z-axis motion system, the Z-axis direction is the height direction of the gantry bearing frame 2, and the R-axis rotation system is connected to the Y-axis motion system, and can perform linear reciprocating motion along the Y-axis direction under the drive of the Y-axis motion system, the Y-axis direction is the penetration direction of the gantry bearing frame 2, and the X-axis direction, the Y-axis direction and The Z-axis directions are perpendicular to each other. The R-axis rotation system can provide independently controllable 360° rotation and 90° flip rotation at the same time, and the 360° rotation is a circumferential rotation in the horizontal plane, and the 90° flip rotation is a horizontal and vertical rotation. Vertical switching between straight planes, the horizontal plane is the XY plane where the X-axis and Y-axis are located, the vacuum chuck 30 is connected to the R-axis rotation system, and the positioning system is set on the supporting large base plate 1 , the material rack system is set on one side of the gantry load-bearing frame 2 , and the processing carrier 41 is set on the other side of the gantry load-bearing frame 2 .

Further according to the glass carving manipulator device of the present invention, wherein the X-axis motion system includes the X-axis screw 4, the X-axis screw fixing plate 5, the X-axis servo shield 6, the X-axis servo motor and the X-axis System bracket 7, the X-axis system bracket 7 is installed on the top of the gantry load-bearing frame 2, the X-axis screw fixing plate 5 is fixedly connected to one end of the X-axis system bracket 7, and the X-axis servo protection The cover 6 is fixedly connected to the other end of the X-axis system bracket 7, the X-axis servo motor is arranged inside the X-axis servo shield 6, and the X-axis screw rod 4 is arranged on the X-axis system bracket 7 Inside, one end of the X-axis screw 4 is connected to the output shaft of the X-axis servo motor, the other end of the X-axis screw 4 is connected to the X-axis screw fixing plate 5, and the X-axis screw The rod 4 rotates under the drive of the X-axis servo motor; the Z-axis motion system includes a Z-axis system support 21, a Z-axis servo motor 22, a Z-axis servo shield 23, a Z-axis screw fixing plate 24 and a Z-axis An axis screw, the Z-axis system support 21 is connected to the X-axis screw 4, and can make a straight line along the X-axis direction on the outer surface of the X-axis system support 7 under the rotation drive of the X-axis screw 4. reciprocating movement, the Z-axis servo shield 23 is fixedly connected to the top of the Z-axis system bracket 21, the Z-axis servo motor 22 is arranged in the Z-axis servo shield 23, and the Z-axis screw rod is fixed The plate 24 is fixedly connected to the bottom end of the Z-axis system bracket 21, the Z-axis screw is arranged in the Z-axis system bracket 21, and one end of the Z-axis screw is connected to the Z-axis servo motor 22 The other end of the Z-axis screw is connected to the Z-axis screw fixing plate 24, and the Z-axis screw rotates under the drive of the Z-axis servo motor 22; the Y-axis moves The system includes the first bracket 12 of the Y-axis system, the Y-axis screw fixing plate 14, the Y-axis screw 15, the Y-axis servo motor 16, the Y-axis servo shield 17 and the second bracket 20 of the Y-axis system. The first support 12 and the second support 20 of the Y-axis system are integrally connected vertically, and the first support 12 of the Y-axis system passes through the gantry load-bearing frame 2 and is arranged along the Y-axis direction, and the second support 20 of the Y-axis system Facing the Z-axis system bracket 21 and arranged along the Z-axis direction, the Y-axis system second bracket 20 is connected to the Z-axis screw, and can be driven by the rotation of the Z-axis screw on the Z-axis. The outer surface of the system support 21 reciprocates linearly along the Z-axis direction, the Y-axis screw fixing plate 14 is fixedly connected to one end of the first support 12 of the Y-axis system, and the Y-axis servo shield 17 is fixedly connected to The other end of the first bracket 12 of the Y-axis system, the Y-axis servo motor 16 is arranged in the Y-axis servo shield 17, and the Y-axis screw 15 is arranged on the first bracket 12 of the Y-axis system Inside, one end of the Y-axis screw 15 is connected to the output shaft of the Y-axis servo motor 16, the other end of the Y-axis screw 15 is connected to the Y-axis screw fixing plate 14, and the Y-axis The screw rod 15 is driven by the Y-axis servo motor 16 Rotate down; the R-axis rotation system includes an R-axis drive mechanism 27, an R-axis 360° rotation mechanism 28 and an R-axis 90° turning mechanism 29, and the R-axis drive mechanism 27 is connected to the Y-axis screw rod 15, And can be driven by the rotation of the Y-axis screw 15 on the bottom surface of the first bracket 12 of the Y-axis system to perform linear reciprocating motion along the Y-axis direction, and the R-axis 360° rotation mechanism is connected to the R-axis driving mechanism 27 , and can rotate 360° under the drive of the R-axis drive mechanism 27, the R-axis 90° turning mechanism 29 is installed on the R-axis 360° rotation mechanism 28, and is connected to the R-axis drive mechanism 27, and under the drive of the R-axis drive mechanism 27, it can perform a 90° flip rotation relative to the R-axis 360° rotation mechanism 28, and the vacuum chuck 30 is installed on the R-axis 90° flip mechanism 29 .

Further, according to the glass carving robot device of the present invention, wherein the gantry load-bearing frame 2 includes two side beams and a cross beam, the two side beams are arranged in parallel, and the cross beam is connected between the top ends of the two side beams In between, a placing table is formed on the top of each side beam, the rear side of the cross beam is surrounded by the gantry protective cover 11, and one end of the X-axis system bracket 7 is installed on a side beam of the gantry bearing frame 2 The other end of the X-axis system bracket 7 is installed on the placement platform of the other side beam of the gantry load-bearing frame 2, and the X-axis system bracket 7 is close to the gantry load-bearing frame 2 beams set.

Further according to the glass carving manipulator device of the present invention, wherein the X-axis motion system also includes an X-axis support chain fixing seat 8, an X-axis support chain 9 and an X-axis support chain protective cover 10, the X-axis support The chain fixing seat 8 is arranged on the beam of the gantry bearing frame 2, and the X-axis chain support shield 10 is fixed on the beam of the gantry bearing frame 2 through the X-axis supporting chain fixing seat 8, and the X The shaft support chain 9 is arranged in the X-axis support chain shield 10, and the X-axis support chain 9 is connected to the Z-axis motion system.

Further according to the glass finely carved manipulator device of the present invention, wherein the Y-axis motion system further includes a line protection fixed cover 18, a line bellows 19 and a Y-axis support chain, one end of the line protection fixed cover 18 is connected to The top of the Y-axis servo protective cover 17, the other end of the line protective fixed cover 18 is connected to one end of the line bellows 19, the middle of the line bellows 19 is U-shaped bent and straddles the gantry load-bearing The beam of the frame 2, the other end of the line bellows 19 is connected to the Z-axis servo shield 23, the Y-axis support chain is arranged on the first bracket 12 of the Y-axis system, and connected to the R Shaft rotation system.

Further according to the glass carving manipulator device of the present invention, wherein the surface of the vacuum chuck 30 is provided with a number of vacuum adsorption holes, and the vacuum chuck is connected to the air pressure control unit, and the suction vacuum opening and closing of the vacuum chuck 30 is controlled by the air pressure control unit. Release, when the adsorption vacuum of the vacuum chuck is turned on, the glass sheet can be adsorbed on the surface of the vacuum chuck by means of negative pressure, and the glass sheet is separated from the surface of the vacuum chuck when the suction vacuum of the vacuum chuck is released.

Further according to the glass carving robot device of the present invention, wherein the positioning system includes a positioning platform 31, a positioning correction block 32 and a positioning mechanism fixing part 33, and the positioning platform 31 is fixed to the said positioning mechanism fixing part 33. Supporting the large base plate 1, the positioning correction block 32 is arranged along the periphery of the positioning platform 31, and can be driven by a driving cylinder for synchronous movement and positioning, and a vacuum adsorption structure is arranged on the positioning platform.

Further according to the glass finely carved manipulator device of the present invention, wherein the positioning platform has a rectangular flat plate structure, four positioning correction blocks 32 are arranged symmetrically along the four sides of the positioning platform 31, and two positioning correction blocks 32 are arranged symmetrically. The blocks 32 are relatively arranged along the long sides of the positioning platform and are synchronously driven by the first drive cylinder, so that the two positioning correction blocks 32 can be synchronously moved to the long side direction of the positioning platform or simultaneously to the direction away from the long side of the positioning platform. direction, wherein the other two positioning correction blocks are arranged oppositely along the short side of the positioning platform and are synchronously driven by the second drive cylinder, so that the other two positioning correction blocks 32 can simultaneously move to the short side direction of the positioning platform Or move synchronously to the direction away from the short side of the positioning platform; when the glass sheet is placed on the positioning platform, the first driving cylinder drives two positioning correction blocks that are relatively arranged along the long side of the positioning platform to move, and the glass sheet The two long sides are interposed between the two positioning correction blocks 32 to perform positioning correction on the long side direction of the glass sheet, and at the same time/or the second drive cylinder drives the other two positioning correction blocks oppositely arranged along the short sides of the positioning platform Move, and sandwich the two short sides of the glass sheet between the other two positioning correction blocks 32, so as to perform positioning correction on the short side direction of the glass sheet.

Further according to the glass fine carving manipulator device of the present invention, wherein the rack system includes a rack mechanism fixing block 34, a tray bracket 35, a rack fixing plate 36 and a material rack 37, and the tray bracket 35 passes through The material rack mechanism fixing block 34 is fixedly connected to the support large base plate 1, the material rack 37 is fixedly arranged on the material tray support 35 through the material rack fixing plate 36, and the material rack 37 includes side by side The discharge slot 38 and the material slot 39 to be processed, wherein the discharge slot 38 is used to place the glass sheet that has been processed, and the material slot 39 to be processed is used to place the glass sheet that has not been processed.

A glass sheet processing method based on the finely carved glass manipulator device of the present invention, comprising:

The first step, the feeding process, specifically includes the following steps:

(1) Control the X-axis motion system to drive the vacuum suction cup to move to the upper position of the material slot to be processed in the rack system, and control the Y-axis motion system to drive the vacuum suction cup to move to the right above the glass sheet to be processed in the material slot to be processed, Control the Z-axis motion system to drive the vacuum suction cup down to the height that can grab the glass sheet, and control the R-axis rotation system to adjust the surface of the vacuum suction cup to be parallel to the surface of the glass sheet;

(2) Fine-tune the X-axis motion system to move the vacuum suction cup close to the surface of the glass sheet, and start the vacuum suction cup to adsorb the glass sheet on the vacuum suction cup;

(3) Control the Z-axis motion system to lift the glass sheet to a safe height;

(4) Control the Y-axis motion system to move the glass sheet above the positioning platform of the positioning system;

(5) Control the R-axis 90° turning mechanism in the R-axis rotation system to drive the glass sheet to turn over 90° quickly, and turn the glass sheet to be parallel to the positioning platform;

(6) Control the X-axis motion system to drive the glass sheet to move parallel to the top of the positioning platform, control the Z-axis motion system to drive the glass sheet down to the plane of the positioning platform, turn off the suction vacuum of the vacuum suction cup, and the glass sheet falls off the vacuum suction cup and falls to the surface of the positioning platform , control the Z-axis motion system to raise the vacuum suction cup to the height to be grasped;

(7) Start the positioning correction block of the positioning system, and correct the surroundings of the glass sheet. After the correction is completed, open the adsorption vacuum of the positioning platform, and position the glass sheet on the positioning platform;

(8) Control the Z-axis motion system to drive the vacuum suction cup down to the surface of the glass sheet on the positioning platform, turn off the suction vacuum of the positioning platform, and open the suction vacuum of the vacuum suction cup, adsorb the positioned glass sheet on the vacuum suction cup, and control Z The axis motion system drives the glass piece to rise to a safe height;

(9) Control the R-axis 360° rotation mechanism in the R-axis rotation system to rotate 180°, and rotate the glass sheet to the side of the processing carrier;

(10) Control the X-axis motion system to drive the glass sheet to move to the vicinity of the processing carrier, control the Y-axis motion system to drive the glass sheet to move directly above the processing carrier, and control the Z-axis motion system to quickly drive the glass sheet down to the processing carrier With a flat surface, turn off the suction vacuum of the vacuum chuck, and place the glass sheet on the processing carrier;

(11) Turn on the adsorption vacuum of the processing carrier, firmly adsorb the glass sheet on the processing carrier, and carry out processing, control the Z-axis motion system to drive the vacuum suction cup to rise to a safe height, and control the Y-axis motion system to drive the vacuum suction cup back to Pick and place the origin to complete the feeding process of the glass sheet;

The second step, the blanking operation process, specifically includes the following steps:

(1) After the glass sheet is processed on the processing carrier, control the Y-axis motion system to drive the vacuum suction cup to move to the position directly above the corresponding position of the glass sheet processing carrier, and control the Z-axis motion system to drive the vacuum suction cup to drop to the surface of the glass sheet. Turn on the adsorption vacuum of the vacuum chuck, close the adsorption vacuum of the processing carrier, and adsorb the glass sheet on the vacuum chuck;

(2) Control the Z-axis motion system to drive the glass sheet up to a safe height;

(3) Control the R-axis 360° rotation mechanism in the R-axis rotation system to rotate 180°, and rotate the glass sheet to the side of the material rack;

(4) Control the R-axis 90° turning mechanism in the R-axis rotation system to turn the glass sheet vertically by 90°;

(5) Control the X-axis motion system and the Y-axis motion system to drive the glass sheet to move directly above the discharge slot in the rack system;

(6) Control the Z-axis motion system to drive the glass sheet down, and move the glass sheet to the position of the discharge slot;

(7) Control the adsorption vacuum of the vacuum suction cup to close, and insert the glass sheet into the discharge slot;

(8) Control the Z-axis motion system to drive the vacuum suction cup to rise to a safe height, and control the Y-axis motion system to drive the vacuum suction cup to return to the origin of pick-and-place to complete the unloading operation of the glass sheet.

The glass carving manipulator device of the present invention has the following technical innovation features and technical effect advantages:

(1) The glass carving manipulator device of the present invention is controlled by five axes of X\Y\Z\R(360°)\R(90°) (rotation), which has higher precision, and the five axes are integrated and controlled, High efficiency, high safety, convenient operation and easy assembly.

(2) The glass engraving manipulator device of the present invention is set in a suspended manner, keeping the five axes of X\Y\Z\R away from the processing area, effectively keeping away from the cutting fluid, and prolonging the life of the equipment.

(3) The product area (slot for material to be processed, discharge slot) and processing area (position of processing carrier) of the glass engraving manipulator device are set on both sides of the whole mechanism, which is convenient for manual initial adjustment. The pick-and-place of products and finished products improves the efficiency of production. At the same time, the product area is far away from the processing area, which can effectively avoid the harm caused by machinery to people, and has high safety.

(4) The present invention is the first to set the positioning system and the processing carrier separately in the glass carving robot device. The benefits of doing so include: 4.1 It is more convenient to replace the processing carrier and adapt to a wider processing range. 4.2 The positioning system can be set separately, and at the same time, it can automatically realize the positioning of the four sides of the glass, with higher positioning accuracy and a higher degree of positioning automation. 4.3 In the present invention, the positioning system is set outside the processing area, which effectively prevents the damage of the cutting fluid and prevents the glass processing residue from being stuck on the positioning platform carrier, resulting in the carrier being unable to be positioned normally. 4.4 The present invention only needs one positioning system to cooperate with the product positioning of multiple processing carriers. The positioning correction block can be automatically positioned and moved based on the positioning drive cylinder, and can accurately position glass sheets of multiple sizes, saving The cost of production.

(5) The present invention simultaneously realizes the free rotation of the vacuum chuck in the horizontal plane (in the XY plane defined by the present invention) in the range of 360° and the 90° flip between the horizontal plane and the vertical plane by adding the R-axis rotation system Switching, so that it can well meet the operation needs of the product area (logistics slot to be processed, discharge slot) and the processing area (processing carrier position) on both sides of the mechanism, which is convenient for users to pick and place materials and improves operational safety. , which belongs to the major improvement of the existing single-side pick-and-place engraving machine, and has broad prospects for popularization and application.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram of the glass carving manipulator device in the first viewing angle according to the present invention;

Accompanying drawing 2 is the three-dimensional structure schematic diagram of the glass carving manipulator device in the second viewing angle according to the present invention;

The meaning of each reference mark in the figure is as follows:

1. Support large base plate, 2. Gantry load-bearing frame, 3. X-axis fixed base plate, 4. X-axis screw rod, 5. X-axis screw rod fixed plate, 6. X-axis servo shield, 7. X-axis system bracket, 8. X-axis supporting chain fixing seat, 9. X-axis supporting chain, 10. X-axis supporting chain protective cover, 11. Gantry protective cover, 12. The first bracket of Y-axis system, 13. Fixed nut, 14. Y-axis Screw rod fixing plate, 15, Y-axis screw rod, 16, Y-axis servo motor, 17, Y-axis servo protective cover, 18, line protective fixed cover, 19, line bellows, 20, second bracket of Y-axis system, 21 , Z-axis system bracket, 22, Z-axis servo motor, 23, Z-axis servo shield, 24, Z-axis screw fixing plate, 25, the top surface of the first bracket, 26, Z-axis shield, 27, R-axis drive Mechanism, 28, R-axis 360 ° rotation mechanism, 29, R-axis 90 ° flip mechanism, 30, vacuum suction cup, 31, positioning platform, 32, positioning correction block, 33, positioning mechanism fixing part, 34, material rack mechanism fixing block , 35, material tray support, 36, material rack fixing plate, 37, material rack, 38, feeding slot, 39, material slot to be processed, 40, glass sheet, 41, processing carrier.

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can understand the present invention more clearly, but the protection scope of the present invention is not limited thereby.

Combined with accompanying drawing 1 and accompanying drawing 2 at the same time, it is the three-dimensional structural diagram of the glass carving manipulator device of the present invention viewed from different angles, as shown in the figure, the glass carving manipulator device of the present invention includes: supporting the large base plate 1. Gantry bearing frame 2, X-axis motion system, Y-axis motion system, Z-axis motion system, R-axis rotation system, vacuum suction cup 30, positioning system, material rack system and processing carrier 41.

The gantry load-bearing frame 2 is arranged on the support large base plate 1, the X-axis motion system is arranged on the top of the gantry load-bearing frame 2, the Z-axis motion system is connected to the X-axis motion system, and Driven by the X-axis motion system, linear reciprocating motion can be performed along the span direction (ie width direction) of the gantry load frame 2, and this direction is defined as the X-axis direction. The Y-axis motion system is connected to the Z-axis motion system, and can perform linear reciprocating motion along the height direction of the gantry load frame 2 under the drive of the Z-axis motion system. This direction is defined as the Z-axis direction, and the The R-axis rotation system is connected to the Y-axis motion system, and can perform linear reciprocating motion along the penetration direction of the gantry bearing frame 2 under the drive of the Y-axis motion system. This direction is defined as the Y-axis direction, and the The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. Moreover, the R-axis rotation system can simultaneously provide independently controllable 360° rotation and 90° overturning motion, and the direction of the rotating axis of the 360° rotating motion is parallel to the direction of the Z-axis, and the 90° overturning motion is in the horizontal plane Rotational switching motion between the vertical and vertical planes. The vacuum chuck 30 is connected to the R-axis rotation system, the positioning system is set on the support base 1, the rack system is set on one side of the gantry bearing frame 2, and the processing carrier 41 is arranged on the other side of the gantry bearing frame 2 . Driven by the X, Y, Z directions, 360° rotation and 90° flip provided by the X-axis motion system, Y-axis motion system, Z-axis motion system, and R-axis rotation system, the vacuum suction cup 30 After sucking the glass sheet to be processed from the rack system, it is transferred to the positioning system for precise positioning of the position of the glass sheet, and then the vacuum chuck 30 removes the positioned glass sheet from the positioning system and transfers it Clean the glass sheet on the processing carrier 41. After the processing is completed, the vacuum chuck 30 transfers the glass sheet from the processing carrier 41 to the rack system again to complete the processing of the glass sheet.

Further, the gantry bearing frame 2 includes two side beams and a cross beam, the two side beams are arranged in parallel, the cross beam is connected between the top ends of the two side beams, and the tops of the two side beams are formed with a platform, the X-axis motion system is installed on the placement platform, and is arranged close to the beam, and the rear side of the beam is surrounded by the gantry protective cover 11 .

Further, the X-axis motion system includes an X-axis fixed base plate 3, an X-axis screw rod 4, an X-axis screw rod fixing plate 5, an X-axis servo shield 6, an X-axis system bracket 7, and an X-axis chain support seat 8 , X-axis support chain 9 and X-axis support chain protective cover 10, one end of the X-axis system support 7 is installed on the placement platform at the top of the first side beam of the gantry bearing frame 2, and the X-axis system support 7 The other end of the gantry load-bearing frame 2 is installed on the placement table at the top of the second side beam, and one end of the X-axis system bracket 7 is fixedly connected to the placement table through the X-axis fixed base plate 3, and the X-axis The screw fixing plate 5 is fixedly connected to one end of the X-axis system bracket 7, and the other end of the X-axis system bracket 7 is fixedly connected to the X-axis servo shield 6, and the X-axis servo shield 6 is provided with an X axis servo motor, the X-axis system bracket 7 is provided with the X-axis screw 4, one end of the X-axis screw 4 is connected to the output shaft of the X-axis servo motor, and the X-axis screw 4 The other end is connected to the X-axis screw fixing plate 5, and the X-axis screw 4 rotates under the drive of the X-axis servo motor. The X-axis support chain fixing seat 8 is arranged on the crossbeam of the gantry load-bearing frame 2, and the X-axis support chain protection cover 10 is fixed on the crossbeam of the gantry load-bearing frame 2 through the X-axis support chain fixation seat 8 Above, the X-axis support chain 9 is arranged in the X-axis support chain shield 10, and the X-axis support chain 9 is connected to the Z-axis motion system (in order to clearly show other structures, the two are not shown in the schematic diagram. Connection), used to protect the necessary electrical circuits of the X-axis motion system and the Z-axis motion system, etc. The X-axis screw 4 is connected to the Z-axis motion system, driven by the X-axis servo motor, the X-axis screw 4 rotates, and the Z-axis motion system is driven by the rotation of the screw. The outer surface of the X-axis system bracket 7 performs linear reciprocating motion along the X-axis direction.

Further, the Z-axis motion system includes a Z-axis system bracket 21, a Z-axis servo motor 22, a Z-axis servo shield 23, a Z-axis screw fixing plate 24 and a Z-axis shield 26, and the Z-axis system bracket 21 is connected to The X-axis screw 4 of the X-axis motion system can move linearly along the X direction under the drive of the X-axis screw 4, and the top of the Z-axis system bracket 21 is connected to the Z-axis servo protection Cover 23, the Z-axis servo shield 23 is provided with a Z-axis servo motor 22, the bottom end of the Z-axis system bracket 21 is connected to the Z-axis screw fixing plate 24, and the Z-axis system bracket 21 A Z-axis screw is provided, one end of the Z-axis screw is connected to the output shaft of the Z-axis servo motor 22, and the other end of the Z-axis screw is connected to the Z-axis screw fixing plate 24, so The Z-axis screw rod is driven by the Z-axis servo motor 22 to rotate. Further preferably (not necessary), the Z-axis motion system can be entirely surrounded by a Z-axis shield 26 . The Z-axis screw is connected to the Y-axis motion system, driven by the Z-axis servo motor 22, the Z-axis screw rotates, and the Y-axis motion system is driven by the screw to rotate in Z The outer surface of the shaft system bracket 21 performs linear lifting motion along the Z-axis direction.

Further, the Y-axis motion system includes a first bracket 12 of the Y-axis system, a fixing nut 13, a Y-axis screw fixing plate 14, a Y-axis screw 15, a Y-axis servo motor 16, a Y-axis servo shield 17, and a circuit The protective fixed cover 18, the line bellows 19, the Y-axis support chain and the second bracket 20 of the Y-axis system, the first bracket 12 of the Y-axis system and the second bracket 20 of the Y-axis system are integrally connected vertically, and the Y-axis system The first support 12 is arranged horizontally, the second support 20 of the Y-axis system is vertically arranged, and the second support 20 of the Y-axis system is connected to the Z-axis screw, and can be vertically adjusted with the rotation of the Z-axis screw. Moving in a straight line, one end of the first bracket 12 of the Y-axis system is connected to the Y-axis screw fixing plate 14 through a fixing nut 13, and the other end of the first bracket 12 of the Y-axis system is connected to the Y-axis servo shield 17. The Y-axis servo motor 16 is set inside the Y-axis servo shield 17, the Y-axis screw 15 is set in the first support 12 of the Y-axis system, and the Y-axis screw 15 One end is connected to the Y-axis screw fixing plate 14, the other end of the Y-axis screw 15 is connected to the output shaft of the Y-axis servo motor 16, and the Y-axis screw 15 is connected to the Y-axis servo motor. Rotate under the drive of 16. The top of the Y-axis servo protection cover 17 is connected to the line protection fixed cover 18, and the line protection fixed cover 18 is connected to one end of the line bellows 19, and the line bellows 19 is U-shaped, and The line bellows 19 is arranged across the beam of the gantry bearing frame 2, the other end of the line bellows 19 is connected to the Z-axis servo shield 23, and the beam is at the U of the line bellows 19. type completely internal. Provide necessary electrical circuit protection pipelines for the Y-axis motion system and the R-axis rotation system through the line bellows 19 and the line protection fixed cover 18, especially for the Y-axis servo motor 16 and the relevant electrical circuits of the R-axis rotation system. A protective piping system similar to drag chains. The Y-axis support chain is arranged on the top surface 25 of the first bracket, and is connected between the R-axis rotation system and the Y-axis motion system (in order to clearly show other structures, the two are not connected in the schematic diagram), preferably the One end of the Y-axis support chain is connected to the Y-axis servo shield, and the other end is connected to the R-axis rotation system to provide relevant electrical circuits for the R-axis rotation system. The R-axis rotation system is connected to the Y-axis screw 15, driven by the Y-axis servo motor 16, the Y-axis screw rotates, and the R-axis rotation system is driven by the rotation of the screw. The bottom surface of the first bracket 12 of the Y-axis system reciprocates linearly along the Y-axis direction.

Further, the R-axis rotation system includes an R-axis driving mechanism 27, an R-axis 360° rotation mechanism 28 and an R-axis 90° turning mechanism 29, and the R-axis driving mechanism 27 is connected to the bottom surface of the first bracket 12 of the Y-axis system Based on the Y-axis screw 15, and can be driven by the Y-axis screw 15 to perform linear reciprocating movement along the Y-axis direction, the R-axis 360° rotation mechanism is connected to the R-axis driving mechanism 27, and can Under the drive of the R-axis driving mechanism 27, 360° free rotation is performed in the XY plane. The rear end of the R-axis 90° turning mechanism 29 is connected to the R-axis 360° rotating mechanism 28, and the R-axis The driving mechanism 27 is connected to the R-axis 90° turning mechanism 29 through the R-axis 360° rotating mechanism 28, and the R-axis 90° turning mechanism 29 is driven by the R-axis driving mechanism 27 relative to the R-axis 360 The rotation mechanism 28 rotates 90°, and the front end of the R-axis 90° turning mechanism 29 is connected to the vacuum chuck 30, so that the vacuum chuck 30 can be positioned in the horizontal plane (in the XY plane) by the R-axis 90° turning mechanism 29. ) and a 90° flip switch between its vertical plane.

Further, the vacuum chuck 30 is connected to the air pressure control unit, and the air suction opening and release of the vacuum chuck 30 is controlled by the air pressure control unit. When the vacuum chuck 30 is sucked open, the glass sheet can be adsorbed on the surface of the vacuum chuck by means of the negative pressure of the gas. , when the vacuum chuck is air-suctioned and released, the glass piece is detached from the surface of the vacuum chuck. The connecting pipes and lines between the vacuum chuck 30 and the air pressure control unit are guided and protected by the Y-axis support chain.

Further, the positioning system includes a positioning platform 31, a positioning correction block 32 and a positioning mechanism fixing piece 33, the positioning platform 31 is fixed on the supporting large base plate 1 through the positioning mechanism fixing piece 33, and the positioning platform 31 The shape corresponds to the shape of the glass sheet, and the area is slightly larger than the glass sheet. Preferably, the positioning platform 31 has a rectangular platform structure corresponding to the glass sheet. Adsorb the glass slide on the positioning platform. Four positioning correction blocks 32 are arranged symmetrically along the four sides of the positioning platform 31, and the positioning correction blocks 32 protrude slightly from the surface of the positioning platform and can move along the surface of the positioning platform, wherein along the long side of the positioning platform The two positioning correction blocks 32 are synchronously driven by the same driving cylinder (the first driving cylinder), so that the two positioning correction blocks 32 can move synchronously to the long side direction of the positioning platform or away from the long side direction of the positioning platform , and the other two positioning correction blocks 32 that are arranged along the short side of the positioning platform are also synchronously driven by another driving cylinder (second driving cylinder), so that the other two positioning correction blocks 32 can simultaneously move toward the positioning platform Move in the direction of the short side of the positioning platform or away from the short side of the positioning platform. In this way, when the glass sheet is placed on the positioning platform, the first driving cylinder drives the two positioning correction blocks arranged oppositely along the long side of the positioning platform to move, and the two long sides of the glass sheet are sandwiched between the two positioning correction blocks 32 In between, to correct the direction of the long side of the glass sheet, at the same time/or the second drive cylinder drives the other two positioning correction blocks set opposite to each other along the short side of the positioning platform to move, and clamp the two short sides of the glass sheet Between the two positioning correction blocks 32, the direction of the short side of the glass sheet is corrected.

Further, the material rack system is arranged on one side of the gantry load-bearing frame 2, and the material rack system includes a material rack mechanism fixing block 34, a material tray bracket 35, a material rack fixing plate 36 and a material rack 37, The material tray support 35 is fixedly connected to the support large base plate 1 through the material shelf mechanism fixing block 34, and the material shelf 37 is fixedly arranged on the material tray support 35 through the material shelf fixing plate 36. The material rack 37 includes a discharge slot 38 arranged side by side and a material slot 39 to be processed, wherein the discharge slot 38 is used to place the glass sheet that has been processed, and the material slot 39 to be processed is used to place the glass sheet that has not yet been processed. The glass sheet of processing, glass sheet is inserted in the discharge slot 38 and the material slot 39 to be processed.

The processing carrier 41 is arranged on the other side of the gantry load-bearing frame, preferably the processing carrier 41 is a cleaning processing carrier, and has a vacuum adsorption function, and the vacuum adsorption is turned on during processing to firmly absorb the glass sheet On the processing carrier, when the processing is completed, the vacuum suction is released, so that the glass sheet is separated from the processing carrier.

Finally, provide the processing method of the glass sheet using the glass finely carved manipulator device of the present invention:

1. The feeding process includes the following steps:

(1) Control the X-axis motion system to drive the vacuum suction cup to move to the position above the material slot to be processed, control the Y-axis motion system to drive the vacuum suction cup to move to the right above the glass sheet to be processed in the material slot to be processed, and control the Z-axis movement The system drives the vacuum chuck down to a height that can grab the glass sheet, and controls the R-axis rotation system to adjust the angle of the vacuum chuck to be parallel to the surface of the glass sheet.

(2) Control and fine-tune the X-axis motion system to move the vacuum suction cup close to the plane of the glass sheet, and start the vacuum suction cup to adsorb the glass sheet on the vacuum suction cup.

(3) Control the Z-axis motion system to lift the glass sheet to a safe height.

(4) Control the Y-axis motion system to move the glass sheet above the positioning platform.

(5) Control the R-axis 90° turning mechanism to drive the glass sheet to rotate 90° rapidly, and turn the glass sheet to be parallel to the positioning platform.

(6) Control the X-axis motion system to drive the glass sheet to move in parallel to the top of the positioning platform, and control the Z-axis motion system to drive the glass sheet to drop to the plane of the positioning platform. The suction vacuum of the vacuum suction cup is closed, and the glass sheet falls away from the vacuum suction cup and falls to the surface of the positioning platform. , to control the Z-axis motion system to rise to the height to be grabbed.

(7) Start the driving cylinder of the positioning correction block to calibrate the surroundings of the glass sheet. After the calibration is completed, open the adsorption vacuum on the positioning platform to suck and position the glass sheet on the positioning platform.

(8) Control the Z-axis motion system to drive the vacuum suction cup down to the surface of the glass sheet on the positioning platform. The vacuum of the suction cup is turned on, and the vacuum of the positioning platform is closed. The positioned glass sheet is adsorbed on the vacuum suction cup, and the Z-axis motion system is controlled to drive the glass. The sheet rises to a safe height.

(9) Control the R-axis 360° rotation mechanism in the R-axis rotation system to rotate 180° to rotate the glass sheet to the side of the processing carrier.

(10) Control the X-axis motion system to drive the glass sheet to move to the position near the corresponding processing carrier, control the Y-axis motion system to drive the glass sheet to move to the position above the corresponding processing carrier, and control the Z-axis motion system to quickly drive the glass sheet down to Corresponding to the plane of the processing carrier, the vacuum of the suction cup is turned off, and the glass sheet is lowered onto the corresponding processing carrier.

(11) Turn on the adsorption vacuum of the processing carrier, firmly adsorb the glass sheet on the processing carrier, and process it. At the same time, control the Z-axis motion system to drive the vacuum suction cup to rise to a safe height, and control the Y-axis motion system to drive the vacuum suction cup back. Pick and place the origin to complete the glass sheet loading process.

Second, the blanking operation, specifically including the following steps:

(1) After the glass sheet is processed on the processing carrier, control the Y-axis motion system to drive the vacuum suction cup to move to the position directly above the corresponding position of the glass sheet processing carrier, and control the Z-axis motion system to drive the vacuum suction cup to drop to the glass plane. The vacuum is turned on, the vacuum of the processing carrier is turned off, and the glass sheet is adsorbed on the vacuum chuck.

(2) Control the Z-axis motion system to drive the glass sheet up to a safe height.

(3) Control the R-axis 360° rotation mechanism in the R-axis rotation system to rotate 180°, and rotate the glass sheet to the side of the material rack.

(4) Control the R-axis 90° overturning mechanism in the R-axis rotation system to overturn the glass sheet connected to the vacuum chuck by 90°.

(5) Control the X-axis motion system and the Y-axis motion system to drive the glass sheet to move directly above the discharge slot.

(6) Control the Z-axis motion system to drive the glass sheet down, and insert the glass sheet into the discharge slot.

(7) Control the vacuum of the vacuum suction cup to close, and release the glass sheet in the discharge slot.

(8) Control the Z-axis motion system to drive the vacuum suction cup to rise to a safe height, and control the Y-axis motion system to drive the vacuum suction cup to return to the origin of pick-and-place to complete the unloading operation of the glass sheet.

The main advantages of the glass carving manipulator device of the present invention include:

(1) The present invention adopts X\Y\Z\R(360°)\R(90°) (rotation) five-axis control, which has higher precision, and five-axis integrated setting and integrated control, high efficiency, high safety, Easy to operate and easy to assemble.

(2) The present invention is set in a suspended manner, and the X\Y\Z\R five axes are kept away from the processing area, effectively away from the cutting fluid, and prolong the life of the equipment.

(3) The product area (slot for material to be processed, discharge slot) and processing area (position of processing carrier) of the glass engraving manipulator device are set on both sides of the whole mechanism, which is convenient for manual initial adjustment. The pick-and-place of products and finished products improves the efficiency of production. At the same time, the product area is far away from the processing area, which can effectively avoid the harm caused by machinery to people, and has high safety.

(4) The present invention is the first to set the positioning system and the processing carrier separately in the glass carving manipulator. The benefits of doing so include: 1. It is more convenient to replace the processing carrier and adapt to a wider processing range. 2. The positioning system can be set separately, and at the same time, it can automatically realize the positioning of the four sides of the glass, with higher positioning accuracy and a higher degree of positioning automation. 3. In the present invention, the positioning system is arranged outside the processing area, which effectively prevents the damage of the cutting fluid, and avoids glass processing residues being stuck on the positioning platform carrier, resulting in the carrier being unable to be positioned normally. 4. The present invention only needs one positioning system to cooperate with the product positioning of multiple processing carriers. The positioning correction block can be automatically positioned and moved based on the positioning drive cylinder, and can accurately position glass sheets of multiple sizes, saving cost of production.

(5) The present invention simultaneously realizes the free rotation of the vacuum chuck in the horizontal plane (in the XY plane defined by the present invention) in the range of 360° and the 90° flip between the horizontal plane and the vertical plane by adding the R-axis rotation system Switching, so that it can well meet the operation needs of the product area (logistics slot to be processed, discharge slot) and the processing area (processing carrier position) on both sides of the mechanism, which is convenient for users to pick and place materials and improves operational safety. , which belongs to the major improvement of the existing single-side pick-and-place engraving machine, and has broad prospects for popularization and application.

The above is only a description of the preferred implementation of the present invention, and does not limit the technical solution of the present invention to this. Any known deformation made by those skilled in the art on the basis of the main technical concept of the present invention belongs to the protection of the present invention. The technical category of the present invention, the specific protection scope of the present invention shall be determined by the description of the 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.