CN114012270B - Carving robot with self-overturning function - Google Patents
Carving robot with self-overturning function Download PDFInfo
- Publication number
- CN114012270B CN114012270B CN202111153040.6A CN202111153040A CN114012270B CN 114012270 B CN114012270 B CN 114012270B CN 202111153040 A CN202111153040 A CN 202111153040A CN 114012270 B CN114012270 B CN 114012270B
- Authority
- CN
- China
- Prior art keywords
- turning
- carving
- area
- cavity
- sheet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The invention belongs to the technical field of intelligent carving, and particularly relates to a carving robot with a self-overturning function. The carving machine comprises a base and a working table arranged on the base, wherein a carving area for carving and a turning area for turning over a carving sheet are divided on the working table; a turnover material port is arranged at the turnover area, and a bin-shaped turnover cavity with an upward opening extends downwards from the turnover material port; the middle part of the turning material port is provided with a vertical material turning plate, a feeding area for feeding and unidirectional turning of the carving sheet is formed in an area between the front cavity wall of the material turning cavity and the vertical material turning plate, and a material taking area for taking out the turned carving sheet is formed in an area between the vertical material turning plate and the rear cavity wall of the material turning cavity. The invention can realize the intelligent and automatic turning requirement based on the engraving robot, thereby effectively improving the engraving efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent carving, and particularly relates to a carving robot with a self-overturning function.
Background
The carving is a process of gradually excavating and showing the body from outside to inside step by subtracting waste materials. With the increasing demand of human beings, the problems of slow speed and low efficiency of traditional manual carving are increasingly highlighted, the requirements of modern people cannot be met, and the speed and the quality of carving are urgently needed to be improved, so that the carving robot is born. Most of the existing carving robots are still in the research and development stage, and are mostly suitable for small-batch teaching carving. Taking plate-type engraving as an example, each engraving sheet serving as an engraving base body is small in size, the engraving sheet needs to be manually taken out and then placed on an engraving platform during each engraving, and then an engraving robot is used for completing the engraving work; after each carving, manually turning over and then laser carving the other side to finally form a carved finished product. Obviously, the engraving process is complicated and tedious, the datum needs to be repositioned every time turning is performed, and the semi-automatic engraving mode also brings that the engraving efficiency cannot be optimized all the time, so that a solution is needed urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an engraving robot with a self-overturning function, which can meet the intelligent and automatic turning requirements based on the engraving robot, thereby effectively improving the engraving efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a possesses carving machine people from upset function which characterized in that: the carving machine comprises a base and a working table surface arranged on the base, wherein a carving area for carving and a turning area for turning over a carving sheet are divided on the working table surface; a turnover material port is arranged at the turnover area, and a bin-shaped turnover cavity with an upward opening extends downwards from the turnover material port; a vertical material turning plate is arranged in the middle of the turning material port, a feeding area for feeding and unidirectional turning of the carving sheets is formed in an area between the front cavity wall of the material turning cavity and the vertical material turning plate, and a material taking area for taking out the turned carving sheets is formed in an area between the vertical material turning plate and the rear cavity wall of the material turning cavity;
the front cavity wall of the material turning cavity is provided with a material turning curved surface; on the vertical section, a rectangular coordinate system is established by taking the intersection point formed by the vertical extension line of the vertical material turning plate and the horizontal bottom surface of the material turning cavity as the original point, and the sliding turning curve formed by the material turning curved surface is a parabola and simultaneously satisfies the following formula:
y=0.07x2-0.81x+2.29。
preferably, a material guide inclined plate is arranged at the top end of the vertical material turning plate, so that the vertical material turning plate and the material turning port are matched to form a bell-mouth-shaped material guide structure of the feeding area.
Preferably, the shape of the material turning cavity is a square cavity, the width of the material turning cavity is equal to the length of the carving piece, and the distance between the material turning curved surface and the vertical material turning plate is smaller than the width of the carving piece.
Preferably, the engraving robot further comprises a feeding assembly; the feeding assembly comprises a guide groove fixed on the rack, and the rack is fixed on one side of the base; the guide groove is internally and detachably provided with material boxes which are mutually equidirectional in the groove length direction, and box cavities of the material boxes form a placing cavity for the layered overlapping placement of the carving sheets; the plate surface of the carving sheet is vertical to the length direction of the material box groove, a material outlet for discharging the carving sheet is formed by a notch at the top of the material box, and the material outlet penetrates through the working table surface to form a material supply area; the discharging component also comprises a jacking arm which can generate lifting action along the length direction of the guide groove, and the jacking end of the jacking arm horizontally enters the notch of the material box and then vertically extends upwards to support the lowermost carving sheet in the placing cavity from bottom to top.
Preferably, the guide groove and the magazine are opposite to each other in notch; a strip-shaped passing hole or a passing groove penetrates through the groove bottom of the guide groove, and the length direction of the hole pattern of the passing hole or the length direction of the passing groove is parallel to the groove length direction of the guide groove; the power part is arranged on the rack so as to drive the jacking arm to generate lifting action, and the passing hole or the passing groove forms an avoiding structure for avoiding the action path of the jacking arm.
Preferably, the power part comprises a power motor and a screw rod sliding block mechanism driven by the power motor; the power screw rod of the power part is arranged on a power seat in a rotating fit manner, and the power seat is fixed at the position of the rack; the power slider is in threaded fit with the power screw rod, and the jacking arm is fixed on the power slider, so that the jacking arm can generate reciprocating lifting action in the vertical direction.
Preferably, the jacking arm is in an L-shaped rod shape, and the top end of the vertical section of the jacking arm is provided with a supporting plate for supporting the lowermost carving sheet; a closing-in port which can be penetrated by the supporting plate from bottom to top is arranged at the bottom end of the groove of the material box, and the closing-in port simultaneously forms a seam allowance structure which limits the lowest layer of the carving sheet to descend; the notch of the material box is provided with an inward flange, thereby forming a closing-in groove structure.
Preferably, a spigot plate is convexly arranged at the groove wall of the guide groove, a matching plate used for forming a spigot fit in a lead vertical direction between the spigot plate and the groove wall at the outer side of the material box is arranged on the groove wall of the outer side of the material box, and the matching plate extends to the inward flanging position along the outer wall of the material box; the notch department of guide way arranges the clamp plate that is used for avoiding the material casket to deviate from after the material casket card is gone into, the one end level of clamp plate articulates in one of them notch department of guide way, and the other end card of clamp plate is located the bayonet socket department of another notch department of guide way after producing the articulated action.
Preferably, the discharging assembly comprises a detection sensor for monitoring the position of the uppermost engraving sheet; the discharging assembly further comprises a switching button for manually adjusting the height of the jacking arm.
Preferably, the carving robot further comprises a finished product output area for placing the carved sheet after the carving is performed, and the feeding area, the overturning area, the carving area and the finished product output area are uniformly distributed in sequence along the action path of the working end of the carving mechanical arm; and a finished product display area for displaying the engraving sheets is arranged beside the finished product output area.
The invention has the beneficial effects that:
1) through the scheme, the invention provides an improved scheme based on the existing engraving robot, namely, the purpose of online autonomous overturning of the double-sided engraved plate is realized by arranging the overturning structure. In actual operation, the overturning area is separately opened on the working table surface, and the purposes of front feeding and back discharging of the carving sheet are realized by designing the overturning material port, so that the carving efficiency can be obviously improved, and the reliability and the stability of overturning action can be effectively ensured.
2) Furthermore, the invention also provides a feeding component based on the structure; on the one hand, through the liftout operation from bottom to top of the relative material casket of jacking arm, can make the carving piece of successive layer coincide can ejecting material casket or top to appointed height department as required of a slice to satisfy the quick material demand of grabbing of sculpture arm. On the other hand, the magazine has a function similar to that of a magazine through a detachable structure of the magazine and the guide groove; the material box can be replaced due to the detachability of the material box and the guide groove, a plurality of material boxes filled with the carving sheets can be prepared for standby at the same time, and the carving sheets in the material boxes in the guide groove can be replaced quickly after being used up.
3) As a further preferred embodiment of the present invention, the magazine may be guided and fitted in the guide groove by a guide rail structure or a sleeve structure, or may be inserted and fitted into the guide groove by a slot opening facing each other as described in the present invention. According to the invention, the matching mode of the guide grooves with opposite notches and the material box enables the jacking arm to be arranged on the inner side of the whole assembly, namely the rack, so that the outer area is left to be convenient for dismounting the material box; during operation, the jacking arm stretches into from the current hole and places the chamber, can realize the jacking purpose of sculpture piece to promote its convenience of use.
4) The power part can be a power cylinder, a crank power slide block, a gear rack structure and the like. The screw rod sliding block mechanism is preferably adopted, so that on one hand, the screw rod sliding block mechanism is matched with a corresponding power motor to ensure the compactness and compactness of the whole volume; on the other hand, the screw rod sliding block mechanism has excellent self-locking performance, and the rising stability of the carving sheet is also ensured, so that multiple purposes are achieved.
5) During actual assembly, a gap is inevitably formed between the guide groove and the material box, and at the moment, through the matching of the spigot plate and the matching plate, on one hand, after the material box is placed in the guide groove, the material box is naturally hung at the spigot plate of the guide groove from top to bottom through the matching plate under the action of gravity, and the carving sheet in the cavity of the box is supported by the supporting plate from bottom to top; on the other hand, the closing-in and the inward flanging of the material box also ensure that the carving sheet can only be supported out of the groove body along the groove length direction of the material box once being placed. Meanwhile, the arrangement of the spigot plate can also ensure that the size of the material box can be reduced along with the reduction of the size of the carving sheet on the premise that the size of the guide groove cavity is not changed, and only the size of the spigot plate needs to be correspondingly changed, so that the spigot plate is always tightly abutted against the guide groove cavity, and the design purpose that a plurality of sets of material boxes with different sizes are matched with the guide grooves of the same model can be realized.
6) The detection sensor is used for controlling the position of the uppermost layer engraving sheet; if the uppermost layer engraving piece is required to be always at the same height as the engraving table, the detection sensor can be arranged at the same height as the engraving table. The switching button is used for directly pressing the switching button to reset the jacking arm when the carving sheet in the first material box is used, and the jacking arm withdraws from the material box at the moment, so that the loading of a new material box can be realized; even if necessary, the supporting plate at the jacking arm can extend into the material box from bottom to top again by pressing the switching button until the uppermost layer of the carving sheet rises to the position of the detection sensor, so that the working efficiency and the stability of the subsequent discharging assembly are ensured.
Drawings
FIG. 1 is a schematic perspective view of one embodiment of the present invention;
FIG. 2 is a structural section view of the material turning cavity;
FIG. 3 is a flow chart of the turning action of the carving sheet relative to the material turning cavity;
FIG. 4 is a schematic perspective view of the feed assembly;
FIG. 5 is a cross-sectional view of the feed assembly;
FIGS. 6 and 7 are exploded views of the feed assembly;
fig. 8 is a coordinate system diagram of a curve formula formed by the turning curved surface.
The actual correspondence between each label and the part name of the invention is as follows:
a-engraved sheet b-laser
A-carving area B-turning area C-feeding area D-finished product output area E-finished product display area
10-base 11-carving mechanical arm 20-working table 30-material turning cavity
31-turning material port 32-plumb material turning plate 32 a-guide sloping plate 33-turning curved surface
40-feeding component 41-guide groove 41 a-through hole 41 b-spigot plate
42-magazine 42 a-closing-in 42 b-inward flange 42 c-matching plate
43-jacking arm 43 a-pallet
44 a-power screw rod 44 b-power seat 44 c-power slide block
45 a-pressing plate 45 b-bayonet
46-detection sensor 47-switching button 48-frame
Detailed Description
For ease of understanding, the specific construction and operation of the present invention is further described herein with reference to FIGS. 1-8:
the specific structure of the present invention is shown in fig. 1-7, and its main structure includes a base 10 and a work table 20 located on the base 10. Similar to a traditional engraving robot, the working table surfaces 20 are provided with engraving areas A for engraving; fig. 1 is a schematic diagram of an embodiment of laser engraving, and it is obvious that the engraving area a is a laser engraving table, and therefore, a laser b is arranged below the engraving area a, so that the purpose of engraving the engraved sheet on line is realized by matching with an engraving mechanical arm 11.
On the basis of the structure, the invention adds the turning material port 31, thereby realizing the self-turning function of the carving sheet under the action of gravity by utilizing the unique structure of the turning curved surface 33 in the turning cavity 30, and facilitating the machine to independently finish the double-sided carving of the carving sheet. On the other hand, the automatic carving machine is additionally provided with the feeding assembly, so that the full-automatic working effect of a series of actions from feeding to carving to turning over to discharging is further ensured. Wherein:
first, the material turning cavity 30
The flipping gate 31 is located at the work surface 20 as shown in fig. 1 and is disposed on the flipping zone B so as to cooperate with the feeding zone C, the engraving zone a, the product output zone D and the product display zone E to form respective work areas listed on the work surface 20. In practice, the material turning port 31 is actually a top port of the material turning chamber 30 as shown in fig. 2-3.
It is a key configuration of the present invention for the upender chamber 30. The turning cavity 30 is in a square bin shape as a whole, the distance between the left side wall and the right side wall of the turning cavity 30, namely the width of the bin body is matched with the length of the carving sheet, so that the carving sheet can not rotate in the turning cavity 30 when the carving sheet is put in or taken out; of course, if the engraving pieces are transversely placed, the width of the bin body can also be matched with the width of the engraving pieces, and the detailed description is omitted here.
The front and rear side walls of the upender chamber 30 also define dimensions after the left and right side walls of the upender chamber 30 are defined. In the configuration shown in fig. 2-3, it can be seen that the material reversing cavity 30 has a vertical rear wall for facilitating material taking, and a curved front wall section, i.e., the material reversing curved surface 33, for facilitating material dropping and reversing of the engraved sheet. In order to further improve the turning effect of the turning curved surface 33 on the carving sheet, a vertical material turning plate 32 with a material guiding sloping plate 32a is further arranged at the turning material port 31 of the invention, which is specifically shown in fig. 2. During operation, the vertical material turning plate 32 can be matched with the cavity wall of the material turning cavity 30, the self-turning function under the action of gravity of the carving sheet is realized, and the vertical material turning plate is simple in structure and high in practicability.
The arrangement of the turnover curved surface 33 is exquisite, especially the tail end, so that even if the carving sheet is placed at the tail end in a static manner, the carving sheet a can automatically slide down due to gravity factors, the obvious speed reduction stopping condition caused by the fact that the carving sheet tends to be horizontal is avoided, and the turnover reliability of the carving sheet is improved. The above initial stage of the material turning curved surface 33 is close to the vertical design mode, and also can play an obvious accelerating effect, and the width of the space design of the part is smaller than that of the carving sheet a, so that the carving sheet can be prevented from turning again after turning. After the front half section is accelerated to be vertical, the carving sheet can smoothly enter the tail end through the transition section of the material turning curved surface 33, and then falls into the bottom of the bin.
Preferably, on the vertical section, a rectangular coordinate system is established with an intersection point formed by a vertical extension line of the vertical material turning plate and a horizontal bottom surface of the material turning cavity as an origin, and the sliding and turning curve satisfies the following formula:
y=0.07x2-0.81x+2.29。
as shown in fig. 8, the entire feeding area can be subdivided into a start slope line formed by the inclined material guiding plates 32a, a restraining line formed by the vertical material turning plates 32a, and a sliding and overturning curve formed by the curved material turning surfaces 33, wherein the sliding and overturning curve is a guarantee of the overturning success rate. More specifically:
1) and the angle of the initial slope section determines the initial state and the initial speed of the carving sheet a. The sliding and overturning curve is designed by adopting a parabola, the intersection point of the extension line of the inhibiting line and the horizontal bottom surface of the material overturning cavity 30 is taken as an original point, and a curve equation is designed as follows: y =0.07x2-0.81x +2.29, using the slip-and-roll curve, such that the steep upper half slope is at a high slope, forming an angle of 25 ° with the initial slope and much less than 45 °. On the bottom of the engraving sheet aWhen the carving sheet falls to the sliding and overturning curve, the resultant force direction of gravity and pressure is downward at a certain angle, and the included angle between the resultant force direction and the horizontal direction is not less than 45 degrees, so that the carving sheet tends to slide and change in the vertical direction;
2) the restraining line is designed vertically, so that the carving sheet can be kept in a vertical state, reverse overturning of the carving sheet a can be avoided, the carving sheet a tends to slide to a slope-slowing section of a sliding overturning curve, the carving sheet a is finally overturned, and the carving sheet a horizontally slides to the horizontal bottom surface of the material overturning cavity 30.
3) Practice proves that the turning curved surface 33 formed by the curve equation can completely avoid the clamping phenomenon when the carving sheet a contacts with a steep slope section of a sliding and turning curve, can realize continuous turning of the carving sheet a while contacting, and can slide off in a vertical state, so that a good acceleration stage can be realized; the latter half of this slip upset curve is the gentle slope section, can make vertical sculpture piece tend to the horizontality, and then realizes lasting the upset of sculpture piece. In addition, the kinetic energy gathered by the steep slope section is enough to ensure that the carving sheet a smoothly passes through the gentle slope section to realize the complete overturning and the stable falling of the carving sheet a. That is, the sliding and turning curve realizes the energy conversion of the carving sheet a, and the static carving sheet with high potential energy is converted into a low potential energy and high kinetic energy state, and finally, the state is a low potential energy and low kinetic energy state.
In practice, the following table is a statistical table of the turnover failure times/total feeding times of the engraved sheet:
TABLE 1 statistical table of turnover failure times/total feeding times of engraved sheet
As can be seen from table 1, through the uninterrupted continuous test in the laboratory, the turning curved surface 33 formed by using the curve equation of the present invention is designed by combining the angles of the slope line of the initial section and the inhibition line, so that the turning success rate of the engraved sheet a can be 100%, and the effect is significant.
During actual verification, the working effect of the invention can be obtained: the length, width and height of the conventional engraving sheet a are 51X 28X 1mm, while the main design parameters of the feeding area comprise two parts, namely a vertical distance L from the bottom end of the inhibiting wire to the sliding and overturning curve and a vertical distance H from the bottom end of the inhibiting wire to the sliding and overturning curve, and the two parts are expected to be smaller than the width of the engraving sheet a and larger than half of the width of the engraving sheet a in design, namely b/2 < L < b, b/2 < H < b, and simultaneously H > L is required to be satisfied, and the inhibiting wire x is 0. Obviously, after matching the curve equation of the present invention, it can be found that L, H is satisfied at this time, and the validity of the curve equation should be confirmed.
Feeding component
The feeding assembly 40, the shape of which is shown in fig. 1 and 4-7, comprises a restraining member for restraining the engraving sheet a to be in a stacked arrangement and a pushing member for pushing the engraving sheet a in the restraining member to generate a lifting action. Wherein:
the constraining member comprises a guide groove 41 with an outward notch fixed on the frame 48, a material box 42 with an inward notch is detachably mounted in a groove cavity of the guide groove 41, and the groove cavity of the material box 42 is provided with a corresponding engraving sheet a as shown in figure 3. The profile of the guide groove 41 and the magazine 42 is shown with reference to fig. 4-7, i.e. the grooves are of the same length and the notches are opposite. In order to ensure the fixing effect of the material box 42 relative to the guide groove 41, the outer wall of the material box 42 is provided with a convex matching plate 42c, the cavity of the guide groove 41 is provided with a convex spigot plate 41b, and when the material box 42 is clamped into the guide groove 41, the spigot of the spigot plate 41b from top to bottom is matched with the matching plate 42c, so that the material box 42 is limited to generate continuous downward movement in the axial direction. Meanwhile, the notch of the guide groove 41 is hinged with a pressing plate 45a as shown in fig. 4, and the clamping state as shown in fig. 1 is realized through the matching of the pressing plate 45a and the bayonet 45b, so that the material box 42 is limited from being separated from the guide groove 41 along the radial direction of the notch of the guide groove 41. The back of the trough of the magazine 42 can be provided with a handle to improve the convenience of assembly and disassembly.
Due to the detachability of the magazine 42 and the guide groove 41, the magazine 42 is designed to be replaceable, a plurality of magazines 42 filled with carving sheets can be prepared for standby at the same time, and the carving sheets in the magazine 42 in the guide groove 41 can be replaced quickly after being used up. Meanwhile, the material box 42 can be used as long as the shape is consistent, even the shape is different, the matching plate 42c can be designed to be matched with the groove cavity of the guide groove 41, and the compatibility is strong.
In actual installation, the engraved plates a are stacked in the magazine 42 as shown in fig. 5, so that the magazine 42 assumes a magazine-like assembled state. The bottom slot end of the magazine 42 is provided with a constriction 42a to ensure that the engraving sheet a does not fall out of the magazine 42 there. The notch of the magazine 42 is provided with an inward turned edge 42b, thereby forming a neck groove shape. The closed end 42a at the bottom of the magazine 42 can be passed through by the supporting plate 43a at the thrust member, and the gap reserved between the inward flanges 42b also forms an escape channel for the action of the jacking arm 43 of the thrust assembly.
As shown in fig. 5 to 7, the thrust member includes a screw slider mechanism provided with a power motor; the screw slider mechanism includes a power screw 44a and a power slider 44c mounted on a power base 44 b. The horizontal section of the lift arm 43 is fixedly connected to the power slider 44c, and the vertical section of the lift arm 43 is fixedly connected to the supporting plate 43 a. During operation, as shown in fig. 5-7, the jacking arm 43 horizontally passes through the through hole 41a of the guide slot 41, and then vertically extends into the material box 42 from bottom to top, so that the support and automatic feeding functions of the carving sheet a in the material box 42 from bottom to top are realized through the supporting plate 43 a.
In addition to the above-described structure, it is also conceivable to arrange the detection sensor 46 on the constraining member so as to monitor the position of the uppermost engraved sheet. The switching button 47 is used for directly pressing the switching button 47 to reset the jacking arm 43 when the carving sheets in the first material box set are used, at the moment, the jacking arm 43 retreats from the empty material box, and then the operation of detaching the empty material box and loading a new material box can be executed. Even if necessary, the supporting plate 43a on the lifting arm 43 can be extended into the magazine 42 from bottom to top again by pressing the switch button 47 until the uppermost layer of the engraved sheet rises to the detection sensor 46, so as to ensure the working efficiency and stability of the subsequent discharging assembly.
To facilitate a further understanding of the invention, specific work flows of the invention are set forth herein as follows:
1) when the switching button 47 is pressed down, the power motor starts to work, and the screw rod sliding block mechanism is driven to drive the jacking arm 43 to descend to the lower limit position; then, the pressing plate 45a is opened, the empty magazine 42 is taken out, and the full magazine 42 is put in;
2) closing the upper pressing plate 45a, pressing the switching button 47, driving the jacking arm 43 to ascend by the screw rod slider mechanism, synchronously driving the carving sheets in the full material box 42 to ascend along the groove cavity of the material box 42, and stopping the action of the jacking arm 43 until the carving sheet on the uppermost layer is detected by the detection sensor 46;
3) when the device works, the state that the detection sensor 46 detects the current uppermost layer carving sheet is always kept; when the carving mechanical arm 11 takes out the carving sheet a on the uppermost layer, the power motor drives the screw rod sliding block mechanism to act once, the second layer of carving sheets is jacked until the second layer of carving sheets is detected by the detection sensor 46 again, and then the power motor stops acting. At the moment, the original second layer of carving sheets becomes the current uppermost layer of carving sheets, so that the carving sheets are kept at the uniform height to be taken all the time.
The turning process of the carving sheet comprises the following steps: when the engraving piece a needs to be turned over every time one side of the engraving piece a is engraved, the engraving piece a is sucked to the initial position shown in fig. 3 by the engraving mechanical arm 11 with the suction cup and is naturally released. Subsequently, the posture of the engraving piece a is changed along the set direction through each free descending stage shown in fig. 3; taking fig. 3 as an example, at this time, the carving sheet a gradually changes from the horizontal posture to the left-side downward posture and falls down, then slides down to the right along the material turning curve at a certain speed, and finally falls into the bin bottom of the material turning cavity 30, so that the carving robot 11 can wait to take out to the carving area a again for reverse carving.
It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (7)
1. The utility model provides a possesses carving machine people from upset function which characterized in that: the carving machine comprises a base (10) and a working table top (20) arranged on the base (10), wherein a carving area (A) for carving and a turning area (B) for turning a carving sheet are divided on the working table top (20); a turning material port (31) is arranged at the turning area (B), and a bin-shaped turning cavity (30) with an upward opening extends downwards from the turning material port (31); a vertical material turning plate (32) is arranged in the middle of the turning material port (31), a feeding area for feeding and unidirectional turning of the carving sheets is formed in an area between the front cavity wall of the material turning cavity (30) and the vertical material turning plate (32), and a material taking area for taking out the turned carving sheets is formed in an area between the vertical material turning plate (32) and the rear cavity wall of the material turning cavity (30);
a material turning curved surface (33) is arranged on the front cavity wall of the material turning cavity (30); on the vertical section, a rectangular coordinate system is established by taking the intersection point formed by the vertical extension line of the vertical material turning plate (32) and the horizontal bottom surface of the material turning cavity (30) as the origin, and the sliding turning curve formed by the material turning curved surface (33) is a parabola and simultaneously satisfies the following formula:
a material guide sloping plate (32 a) is arranged at the top end of the vertical material turning plate (32) so as to form a bell-mouth-shaped material guide structure of the feeding area by matching with the material turning port (31);
the shape of the material turning cavity (30) is a square cavity, the width of the material turning cavity (30) is equal to the length of the carving sheet, and the distance between the material turning curved surface (33) and the vertical material turning plate (32) is less than the length of the carving sheet;
the engraving robot further comprises a feeding assembly (40); the feeding assembly (40) comprises a guide groove (41) fixed on a rack (48), and the rack (48) is fixed on one side of the base (10); the guide groove (41) is internally and detachably provided with a material box (42) with the same slot length direction, and a box cavity of the material box (42) forms a placing cavity for the layered superposition of the carving sheets; the surface of the carving sheet is vertical to the groove length direction of the material box (42), a notch at the top of the material box (42) forms a discharge hole for discharging the carving sheet, and the discharge hole penetrates through the working table surface (20) to form a feeding area (C); the feeding assembly also comprises a jacking arm (43) capable of generating lifting action along the groove length direction of the guide groove (41), wherein the jacking end of the jacking arm (43) horizontally enters the notch of the material box (42), then vertically extends upwards and supports the lowermost carving sheet in the placing cavity from bottom to top;
the size of the feeding area needs to meet the following requirements: b/2 < L < b, b/2 < H < b, H > L, where the inhibition line is x = 0;
wherein:
b is the width of the engraving sheet;
l is the vertical distance from the bottom end of the inhibition line to the sliding and overturning curve;
h is the vertical distance from the bottom end of the restraint line to the sliding and overturning curve.
2. The engraving robot with the self-turning function according to claim 1, wherein: the guide groove (41) and the material box (42) are opposite to each other in notch; a long through hole (41 a) or a long through groove is arranged at the groove bottom of the guide groove (41) in a penetrating mode, and the hole type length direction of the through hole (41 a) or the groove length direction of the through groove is parallel to the groove length direction of the guide groove (41); the power part is arranged on the frame so as to drive the jacking arm (43) to generate lifting action, and the passing hole (41 a) or the passing groove forms an avoiding structure for avoiding the action path of the jacking arm (43).
3. The engraving robot with the self-turning function according to claim 2, wherein: the power part comprises a power motor and a screw rod sliding block mechanism driven by the power motor; a power screw rod (44 a) of the power part is arranged on a power seat (44 b) which is matched with the power screw rod in a rotating way, and the power seat (44 b) is fixed at the position of the rack; the power slider (44 c) is in threaded fit with the power screw rod (44 a), and the jacking arm (43) is fixed on the power slider (44 c), so that the jacking arm (43) can generate reciprocating lifting action in the vertical direction of lead.
4. The engraving robot with the self-turning function according to claim 3, wherein: the shape of the jacking arm (43) is in an L-shaped rod shape, and the top end of the vertical section of the jacking arm (43) is provided with a supporting plate (43 a) for supporting the carving sheet at the lowest layer; a closing-in (42 a) which can be used for the supporting plate (43 a) to pass through from bottom to top is arranged at the bottom end of the groove of the material box (42), and the closing-in (42 a) simultaneously forms a seam allowance structure for limiting the lowermost carving sheet to descend; an inward flange (42 b) is arranged at the notch of the material box (42), so that a groove structure with a closed opening (42 a) is formed.
5. The engraving robot with the self-turning function according to claim 4, wherein: a spigot plate (41 b) is convexly arranged at the groove wall of the guide groove (41), a matching plate (42 c) which is used for forming spigot matching in a lead vertical direction with the spigot plate (41 b) is arranged at the outer groove wall of the material box (42), and the matching plate (42 c) extends to the inward flanging (42 b) along the outer wall of the material box (42); the notch of the guide groove (41) is provided with a pressing plate (45 a) for avoiding the material box (42) from falling off after the material box (42) is clamped, one end of the pressing plate (45 a) is horizontally hinged at one notch of the guide groove (41), and the other end of the pressing plate (45 a) is clamped at a bayonet (45 b) positioned at the other notch of the guide groove (41) after the hinge action is generated.
6. The engraving robot with the self-turning function according to claim 1, wherein: the feed assembly includes a detection sensor (46) for monitoring the position of the uppermost engraved sheet; the feeding assembly further comprises a switching button (47) for manually adjusting the height at which the jacking arm (43) is located.
7. The engraving robot with the self-turning function according to claim 1, wherein: the carving robot also comprises a finished product output area (D) for placing the carved piece which is carved at present, and the material supply area (C), the turnover area (B), the carving area (A) and the finished product output area (D) are uniformly distributed in sequence along the action path of the working end of the carving mechanical arm; and a finished product display area (E) for displaying the engraving sheets is arranged beside the finished product output area (D).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153040.6A CN114012270B (en) | 2021-09-29 | 2021-09-29 | Carving robot with self-overturning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153040.6A CN114012270B (en) | 2021-09-29 | 2021-09-29 | Carving robot with self-overturning function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114012270A CN114012270A (en) | 2022-02-08 |
| CN114012270B true CN114012270B (en) | 2022-04-08 |
Family
ID=80055160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111153040.6A Active CN114012270B (en) | 2021-09-29 | 2021-09-29 | Carving robot with self-overturning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114012270B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH18400A (en) * | 1898-11-21 | 1899-12-31 | Ferdinand Neumann | Equipment in stations for automatic securing of entry, exit and passage of trains |
| CA2111380A1 (en) * | 1993-12-08 | 1995-06-09 | Dwight R. Fisk | Folding machine |
| CN102602802A (en) * | 2012-03-09 | 2012-07-25 | 广州市盾建地下工程有限公司 | Automatic overturning soil discharger |
| CN103170131A (en) * | 2013-04-11 | 2013-06-26 | 浙江宣和电器有限公司 | Lifting device and playing card lifting mechanism |
| CN103306651A (en) * | 2013-05-16 | 2013-09-18 | 中国石油天然气股份有限公司 | Multi-angle displacement CT scanning system based on top gas injection |
| CN104907507A (en) * | 2015-05-18 | 2015-09-16 | 安庆旭东工贸有限责任公司 | Moulding machine |
| CN204848176U (en) * | 2015-06-10 | 2015-12-09 | 新乡市豫新起重机械有限公司 | Upset support |
| CN105662131A (en) * | 2016-03-30 | 2016-06-15 | 广州市吉谷电器科技有限公司 | Electric kettle and flip connecting device thereof |
| CN107792634A (en) * | 2017-10-26 | 2018-03-13 | 无锡杰森表面处理设备有限公司 | The metallic plate turnover panel conveying arrangement of movement vertical type polishing machine is installed |
-
2021
- 2021-09-29 CN CN202111153040.6A patent/CN114012270B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH18400A (en) * | 1898-11-21 | 1899-12-31 | Ferdinand Neumann | Equipment in stations for automatic securing of entry, exit and passage of trains |
| CA2111380A1 (en) * | 1993-12-08 | 1995-06-09 | Dwight R. Fisk | Folding machine |
| CN102602802A (en) * | 2012-03-09 | 2012-07-25 | 广州市盾建地下工程有限公司 | Automatic overturning soil discharger |
| CN103170131A (en) * | 2013-04-11 | 2013-06-26 | 浙江宣和电器有限公司 | Lifting device and playing card lifting mechanism |
| CN103306651A (en) * | 2013-05-16 | 2013-09-18 | 中国石油天然气股份有限公司 | Multi-angle displacement CT scanning system based on top gas injection |
| CN104907507A (en) * | 2015-05-18 | 2015-09-16 | 安庆旭东工贸有限责任公司 | Moulding machine |
| CN204848176U (en) * | 2015-06-10 | 2015-12-09 | 新乡市豫新起重机械有限公司 | Upset support |
| CN105662131A (en) * | 2016-03-30 | 2016-06-15 | 广州市吉谷电器科技有限公司 | Electric kettle and flip connecting device thereof |
| CN107792634A (en) * | 2017-10-26 | 2018-03-13 | 无锡杰森表面处理设备有限公司 | The metallic plate turnover panel conveying arrangement of movement vertical type polishing machine is installed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114012270A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110090764B (en) | Irregular panel surface self-adaptation coating device | |
| CN102437344A (en) | Sealing machine of button cell | |
| CN114012270B (en) | Carving robot with self-overturning function | |
| CN207171364U (en) | Connection sheet feed mechanism in miniature circuit breaker contact plate stitch welding machine | |
| CN109203570A (en) | A kind of shaping equipment that papery is portable | |
| CN209010116U (en) | A kind of tin seamer automatic capping system | |
| CN216330173U (en) | Automatic membrane-wrapping hot melting mechanism for aluminum-shell battery | |
| CN216177600U (en) | Feeding assembly for engraving robot | |
| CN209455380U (en) | A kind of urine test paper paper delivery mechanism | |
| CN203862894U (en) | Pipe bending machine load-unload device | |
| CN213225035U (en) | Full-automatic lock silk equipment is used to coincide work piece | |
| CN215431375U (en) | Forging machine capable of reducing stacking deformation | |
| CN209846615U (en) | Book classifying and arranging device | |
| CN213496037U (en) | Stamping die who possesses quick drawing of patterns | |
| CN211466788U (en) | Discharging tank upper cover of refractory material brick press | |
| CN112222812B (en) | Full-automatic lock silk equipment is used to coincide work piece | |
| CN215879606U (en) | Surface straightening device for subway corrosion-resistant aluminum plate | |
| CN220774694U (en) | Material lifting self-locking mechanism and liquid suction and injection integrated machine thereof | |
| CN110508964B (en) | Full-automatic welding equipment of environmental protection integrated side fascia connecting piece robot | |
| CN216270460U (en) | Plastic container with feeding auxiliary device | |
| CN212150840U (en) | Sign indicating number material system of insulating gauge block | |
| CN217780127U (en) | Automatic pile device of corrugated board printing | |
| CN218753528U (en) | Automatic gripping device | |
| CN111185519B (en) | Automatic metal tubular product punching equipment of pay-off | |
| CN212923294U (en) | Meal replacement powder production is with full-automatic reason bottle machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |