CN203509830U - Mechanical arm of crystal polishing and grinding system - Google Patents
Mechanical arm of crystal polishing and grinding system Download PDFInfo
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- CN203509830U CN203509830U CN201320538176.3U CN201320538176U CN203509830U CN 203509830 U CN203509830 U CN 203509830U CN 201320538176 U CN201320538176 U CN 201320538176U CN 203509830 U CN203509830 U CN 203509830U
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Abstract
The utility model discloses a mechanical arm of a crystal polishing and grinding system, and aims to provide a mechanical arm of a crystal polishing and grinding system which can be matched with an existing crystal polishing and grinding device to form a crystal automatic polishing and grinding system, realizes automatic polishing and grinding of crystal workblanks, effectively shortens a work cycle, lowers manufacturing cost of the crystal automatic polishing and grinding system, and improves production efficiency. The mechanical arm comprises a rack, a rotary flat plate and a first rotating device, wherein the rotary flat plate is arranged on the top of the rack in a rotatable mode through a rotating shaft, the first rotating device is used for driving the rotary flat plate to rotate, four mechanical arm devices which are evenly distributed in the circumferential direction of the rotating shaft are arranged on the rotary flat plate, two adjacent mechanical arm devices of the four mechanical arm devices are respectively provided with a horizontal-movement pick-and-place component; one of the other two mechanical arm devices is provided with a rotary pick-and-place component, and the other of the other two mechanical arm devices is provided with a rotary butt joint component; besides, the rotary butt joint component, the rotary pick-and-place component and the horizontal-movement pick-and-place components are sequentially distributed clockwise.
Description
Technical field
The utility model relates to crystal polishing field, is specifically related to a kind of manipulator of crystal polishing system.
Background technology
Crystal polishing machine is a kind of equipment that crystal blank is carried out to polishing processing.Traditional crystal polishing machine adopts artificial loading and blanking conventionally, and its course of work is as follows: first crystal blank is manually bonded on aluminium row's aluminium row needle tubing; Then aluminium row is fixedly installed to crystal polishing machine aluminium row mount pad on crystal blank is carried out to grinding and polishing; After half Surface Machining of crystal blank completes by taking out manually, and by aluminium row the crystal blank on half surface of grinding and polishing be docked on another aluminium row's aluminium row needle tubing (being about to the crystal blank surface binded of grinding and polishing on another aluminium row's aluminium row needle tubing), relay back crystal polishing machine and carry out second half surperficial polishing processing of crystal blank; After the grinding and polishing of crystal blank, aluminium row is taken off, then grinding and polishing crystal is carried out to blanking.Traditional crystal polishing machine adopts artificial loading and blanking conventionally, and not only cost of labor is high for it, labour intensity is large, and production efficiency low, there is handling safety hidden danger.
Further, the deficiency existing in order to solve traditional crystal polishing machine, some utility model people have carried out improvement, on crystal polishing machine, manipulator have been set to this, and replace a part manually to operate and realize aluminium row (crystal blank is fixed on aluminium row) material loading and blanking of crystal polishing machine by manipulator; But the crystal blank grinding and polishing process of crystal blank polishing system comprises material process on blank, crystal blank episphere grinding and polishing operation, docking operation (the episphere crystal of having polished is docked on another aluminium row), crystal lower semisphere grinding and polishing operation and blanking procedure; Although being simply set on crystal polishing machine, manipulator can realize aluminium row's material loading and blanking, but the docking of the connection between each operation and docking operation still needs human assistance to complete, thereby cannot realize the crystal blank of crystal polishing system is carried out to automatic Polishing processing.
For example, China Patent Publication No. CN202378056U, open day on August 15th, 2012, the name that utility model is created is called manipulator and the fixture for crystal blank polishing system, manipulator, comprise magnechuck, magnechuck is fixed on the first mount pad, and the first mount pad and the second mount pad exist horizontal slip, vertically slide and rotate three kinds of connected modes.The manipulator of this crystal blank polishing system is simple material loading and the blanking of carrying out aluminium row equally just, and its same existence cannot realize the problem of the crystal blank of crystal polishing system being carried out to automatic Polishing processing.
Utility model content
The purpose of this utility model is cannot coordinate existing crystal polishing equipment realization to carry out automatic Polishing processing to crystal blank in order to overcome manipulator of the prior art, the problem that needs human assistance to complete between each operation of crystal blank rubbing down processing, a kind of manipulator of crystal polishing system is provided, it can coordinate existing crystal polishing equipment to form crystal automatic Polishing system, realization is carried out automatic Polishing processing to crystal blank, and effectively reduce fabrication cycle, the cost of manufacture of crystal automatic Polishing system, enhance productivity.
The technical solution of the utility model is:
A kind of manipulator of crystal polishing system, comprise frame, by rotating Rotating Plates and the first whirligig for driving Rotating Plates to rotate that is arranged on frame top of rotating shaft, described Rotating Plates is provided with quadruplet circumferential uniform robot device around the shaft, each robot device comprises respectively and is arranged on the first translation guide rail radially extending along rotating shaft in Rotating Plates, the translation seat stand that can move along the first translation guide rail, be arranged in Rotating Plates for promoting the first push unit of translation seat stand, be arranged on the lifting seat stand of translation seat stand below and be arranged on translation seat stand for driving the first lowering or hoisting gear of lifting seat stand lifting, on the lifting seat stand of the adjacent two cover robot devices in described quadruplet robot device, be respectively equipped with translation and pick and place parts, the lifting seat stand of a set of robot device in other two cover robot devices is provided with rotation and picks and places parts, and the lifting seat stand of another set of robot device is provided with rotation joint unit, and rotation joint unit, rotation picks and places parts and translation picks and places parts distribution successively clockwise, described translation picks and places parts and comprises and be arranged on lifting seat stand the second translation guide rail perpendicular with the first translation guide rail of its place robot device, can and be arranged on lifting seat stand the second push unit for translation electromagnet mount pad along the electromagnet mount pad of the second translation guide rail translation, described rotation joint unit comprises and is arranged on lifting seat stand the three translation guide rail perpendicular with the first translation guide rail of its place robot device, can be along the first sliding seat of the 3rd translation guide rail translation, be arranged on lifting seat stand for passing the 3rd push unit of the first sliding seat, be arranged on the rotation seat board of sliding seat below and be arranged on the second whirligig for driving rotation seat board to rotate around vertical-rotation-axis on the first sliding seat, the relative both sides of described rotation seat board are respectively equipped with electromagnet mount pad, and wherein an electromagnet mount pad is fixedly installed on rotation seat board, between another electromagnet mount pad and rotation seat board, be provided with the 3rd whirligig for driving this electromagnet mount pad to rotate around horizontal axis of rotation, the 3rd whirligig is fixedly installed on rotation seat board, described rotation picks and places parts and comprises that being arranged on lifting seat stand Siping City perpendicular with the first translation guide rail of its place robot device moves guide rail, can move the second sliding seat of guide rail translation in Yan Siping City, be arranged on lifting seat stand for passing the 4th push unit of the second sliding seat, be arranged on the electromagnet mount pad of the second sliding seat one side and be arranged on the second sliding seat for DM mount pad, around horizontal axis of rotation, rotate the 4th whirligig, and the horizontal axis of rotation of this electromagnet mount pad parallels with the first translation guide rail of its place robot device, on each described electromagnet mount pad lateral surface, be respectively equipped with the electromagnet apparatus for Al adsorption row.
The manipulator of the crystal polishing system of this programme can coordinate existing charging & discharging machine, episphere crystal polishing machine, and docking machine and lower semisphere crystal polishing machine form crystal automatic Polishing system; Charging & discharging machine, episphere crystal polishing machine, docking machine and lower semisphere crystal polishing machine are circumferentially uniform successively around the rotating shaft of Rotating Plates, the quadruplet robot device of the manipulator of the crystal polishing system of cooperation this programme is realized the automatic charging operation of crystal blank, crystal blank episphere grinding and polishing operation, docking operation, crystal lower semisphere grinding and polishing operation and blanking procedure; Thereby realize automated production, enhance productivity, reduce labour intensity and cost of labor.
On the other hand, because the manipulator of the crystal polishing system of this programme can coordinate existing charging & discharging machine, episphere crystal polishing machine, docking machine and lower semisphere crystal polishing machine form crystal automatic Polishing system, it does not need existing charging & discharging machine, episphere crystal polishing machine, docking machine and lower semisphere crystal polishing machine improve design, thereby can effectively reduce the cycle of doing and the cost of manufacture of crystal automatic Polishing system.
As preferably, the first translation guide rail consists of two horizontal guide that are parallel to each other, and translation seat stand is provided with the horizontally-guided hole with horizontal guide adaptation; The first push unit comprises the first motor and the first leading screw and nut mechanism, and the screw mandrel of the first leading screw and nut mechanism is parallel with horizontal guide, and it is connected with the rotor of the first motor, and the nut of the first leading screw and nut mechanism is fixed on translation seat stand; Described the first lowering or hoisting gear comprises the second leading screw and nut mechanism, be arranged on two vertical guide holes on translation seat stand, be arranged on the vertical guide rod in two vertical guide holes, be arranged on two vertical guide rod upper ends, dull and stereotyped and be arranged on the second motor connecting on flat board for connecting the connection of two vertical guide rods; Described lifting seat stand is fixed on two vertical lower end of the guide rod, and the screw mandrel of the second leading screw and nut mechanism vertically arranges and is connected with the rotor of the second motor, and the nut of the second leading screw and nut mechanism is fixed on translation seat stand.This programme structure guarantees that translation seat stand and lifting seat stand can move stably.
As preferably, Rotating Plates upper surface is provided with four circumferential uniform dividing plates around the shaft, and is respectively equipped with the installing rack radially extending along rotating shaft in the Rotating Plates between adjacent two dividing plates, and installing rack cross section takes the shape of the letter U, and it consists of base plate and left and right side plate; Described quadruplet robot device is arranged on four installing racks one to one.
As preferably, in frame, be positioned at Rotating Plates below and be provided with at least one piston rod vertical limiting cylinder upward, on the left plate of described each installing rack or right plate, be respectively equipped with the limited block corresponding with vertical limiting cylinder, and limited block bottom surface is provided with the vertical spacing hole corresponding with the piston rod of vertical limiting cylinder.After quadruplet robot device in Rotating Plates is rotated in place, can coordinate by the piston rod of vertical limiting cylinder vertical spacing hole to position robot device; Guarantee the processing of crystal blank steadily, reliably.
As preferably, the first push unit also comprises the bracing frame on the base plate that is arranged on installing rack, and this bracing frame is by support plate and be arranged on the support riser being parallel to each other at support plate two ends; The horizontal guide of the first translation guide rail is arranged between two support risers, and the screw mandrel of the first leading screw and nut mechanism is arranged between two support risers by bearing is rotating, and the first motor is arranged on a support riser.This programme structure is convenient to actual installation and operation.
As preferably, translation seat stand consists of the interior translation seat stand between left and right side plate and the outer translation seat stand that is positioned at installing rack outside, and the nut of described vertical guide hole and the second leading screw and nut mechanism is arranged on outer translation seat stand.
As preferably, the first whirligig comprises the 3rd motor and worm-and-wheel gear, the worm screw of worm-and-wheel gear is arranged in frame by bearing is rotating, and the worm gear of worm-and-wheel gear is arranged in the rotating shaft of Rotating Plates, and the rotor of the 3rd motor is connected with worm screw.This programme structure assurance Rotating Plates can be rotated stably.
As preferably, by two covers, the electromagnet in sustained height forms electromagnet apparatus.
As preferably, the second whirligig and the 3rd whirligig are rotary cylinder.
The beneficial effects of the utility model are: can coordinate existing crystal polishing equipment (charging & discharging machine, episphere crystal polishing machine, docking machine and lower semisphere crystal polishing machine) realize crystal blank is carried out to automatic Polishing processing, labour intensity, cost of labor enhanced productivity, reduced, and the cycle of doing, the cost of manufacture of crystal automatic Polishing system effectively reduced.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the manipulator of a kind of crystal polishing system of the present utility model.
Fig. 2 is that the manipulator of a kind of crystal polishing system of the present utility model is removed the front view after robot device.
Fig. 3 is that the manipulator of a kind of crystal polishing system of the present utility model is removed the axonometric drawing after robot device.
Fig. 4 is a kind of partial structurtes schematic diagram of robot device of the present utility model.
Fig. 5 is the partial enlarged drawing at A place in Fig. 1.
Fig. 6 is the partial enlarged drawing at B place in Fig. 1.
Fig. 7 is the partial enlarged drawing at C place in Fig. 1.
Fig. 8 is a kind of structural representation in actual applications of manipulator of a kind of crystal polishing system of the present utility model.
In figure: frame 1; Deck plate 2; Rotating Plates 3, dividing plate 31, installing rack 32; Robot device 4a, 4b, 4c, 4d, the first motor 41, the first leading screw and nut mechanisms 42, translation seat stand 43, interior translation seat stand 43a, outer translation seat stand 43b, the first translation guide rail 44, support riser 45, support plate 46, the second motors 47, connect dull and stereotyped 48, the second leading screw and nut mechanism 49, vertical guide rod 410, lifting seat stand 411; Translation picks and places parts 5, the second translation guide rails 51; Rotation joint unit 6, the three translation guide rails 61, sliding seat 62, the second whirligigs 63, rotation seat board 64, the three whirligigs 65; Rotation picks and places parts 7, the Siping City and moves guide rail 71, the second sliding seat 72, the four whirligig 73, the four push units 74; The 3rd motor 8; Rotating shaft 9; Limiting cylinder 10; Limited block 11; Electromagnet mount pad 12; Electromagnet apparatus 13; Aluminium row 14, aluminium row needle tubing 14a, dovetails 14b; Worm-and-wheel gear 15; Blanking machine 16, episphere crystal polishing machine 17, docking machine 18 and lower semisphere crystal polishing machine 19.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the utility model is described in further detail:
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of manipulator of crystal polishing system, comprises frame 1, by rotating Rotating Plates 3 and the first whirligig for driving Rotating Plates to rotate that is arranged on frame top of rotating shaft 9.Frame 1 comprises the underframe of frame structure and is arranged on the deck plate 2 at underframe top.Rotating Plates 3 is by the rotating deck plate top that is arranged on of rotating shaft 9.The first whirligig is positioned at deck plate below.The first whirligig comprises the 3rd motor 8 and worm-and-wheel gear 15.The worm screw of worm-and-wheel gear is arranged in frame by bearing is rotating.The worm gear of worm-and-wheel gear is arranged in the rotating shaft 9 of Rotating Plates.The rotor of the 3rd motor is connected with worm screw.Rotating Plates 3 upper surfaces are provided with four circumferential uniform dividing plates 31 around the shaft.Four dividing plates are crossing distribution, and are respectively equipped with the installing rack 32 radially extending along rotating shaft 9 in the Rotating Plates 3 between adjacent two dividing plates 31.Installing rack 32 cross sections take the shape of the letter U, and it consists of base plate and left and right side plate.On the deck plate 2 of frame 1, be positioned at Rotating Plates 3 belows and be provided with two piston rods vertical limiting cylinder 10 upward, and two vertical limiting cylinders are circumferentially uniform around the shaft.On the left plate of each installing rack 32 or right plate lateral surface, be respectively equipped with the limited block corresponding with vertical limiting cylinder 11.Limited block bottom surface is provided with the vertical spacing hole corresponding with the piston rod of vertical limiting cylinder.
As Figure 1 and Figure 4, Rotating Plates 3 is provided with quadruplet 9 circumferential uniform robot devices around the shaft, and specifically, quadruplet robot device 4a, 4b, 4c, 4d are arranged on four installing racks 32 one to one.Each robot device comprises respectively and is arranged on the first translation guide rail 44 radially extending along rotating shaft 9 on installing rack 32, the translation seat stand 43 that can move along the first translation guide rail, be arranged in Rotating Plates for promoting the first push unit of translation seat stand 43, be arranged on the lifting seat stand 411 of translation seat stand 43 belows and be arranged on translation seat stand for driving the first lowering or hoisting gear of lifting seat stand lifting.Translation seat stand 43 consists of the interior translation seat stand 43a between left and right side plate and the outer translation seat stand 43b that is positioned at installing rack 32 outsides.
The first translation guide rail 44 consists of two horizontal guide that are parallel to each other.Translation seat stand 43 is provided with the horizontally-guided hole with horizontal guide adaptation, and horizontal guide is arranged on pilot hole; Specifically, interior translation seat stand 43a is provided with the horizontally-guided hole with horizontal guide adaptation, and horizontal guide is arranged on pilot hole.The first push unit comprises the first motor 41, the first leading screw and nut mechanisms 42 and is arranged on the bracing frame on the base plate of installing rack 32.Bracing frame is between the left and right side plate of installing rack.Bracing frame is by support plate 46 and be arranged on the support riser 45 being parallel to each other at support plate two ends.The horizontal guide of the first translation guide rail 44 is arranged between two support risers 45.The screw mandrel of the first leading screw and nut mechanism 42 is parallel with horizontal guide, and the screw mandrel of the first leading screw and nut mechanism is arranged between two support risers by bearing is rotating.The first motor 41 is arranged on a support riser 45, and is connected with the screw mandrel of the first leading screw and nut mechanism.The nut of the first leading screw and nut mechanism 42 is fixed on interior translation seat stand 43a.
The first lowering or hoisting gear comprises the second leading screw and nut mechanism 49, be arranged on two vertical guide holes on outer translation seat stand 43b, be arranged on the vertical guide rod 410 in two vertical guide holes, be arranged on two vertical guide rod 410 upper ends, for connecting the connection dull and stereotyped 48 of two vertical guide rods and being arranged on the second motor 47 connecting on flat board.Lifting seat stand 411 is fixed on two vertical guide rod 410 lower ends.The screw mandrel of the second leading screw and nut mechanism 49 vertically arranges and is rotatably arranged on and is connected between flat board 48 and lifting seat stand 411 by bearing.The screw mandrel of the second leading screw and nut mechanism 49 is connected with the rotor of the second motor.The nut of the second leading screw and nut mechanism is fixed on outer translation seat stand 43b.
As shown in Figure 1, Figure 4, Figure 5, on the lifting seat stand 411 of adjacent two cover robot device 4a, the 4d in quadruplet robot device 4a, 4b, 4c, 4d, be respectively equipped with translation and pick and place parts 5; The lifting seat stand of a set of robot device 4c in other two cover robot device 4b, 4c is provided with rotation and picks and places parts 7, and the lifting seat stand of another set of robot device 4b is provided with rotation joint unit 6; And rotation joint unit 6, rotation picks and places parts 7 and translation picks and places parts 5 distribution successively clockwise.
Translation picks and places parts 5 and comprises and be arranged on lifting seat stand 411 the second translation guide rail 51 perpendicular with the first translation guide rail 44, can and be arranged on lifting seat stand 411 the second push unit for translation electromagnet mount pad along the electromagnet mount pad 12 of the second translation guide rail translation.The second translation guide rail 51 is provided with T-shaped guide groove, and T-shaped guide groove is horizontally disposed with, and T-shaped guide groove opening is towards a left side or towards right setting.The electromagnet mount pad 12 that translation picks and places in parts is tabular and perpendicular with the first translation guide rail, and on these electromagnet mount pad 12 1 sides, is also provided with the slide block with the second translation guide rail adaptation.The second push unit is for passing cylinder.On each electromagnet mount pad 12 lateral surfaces, be respectively equipped with the electromagnet apparatus 13 for Al adsorption row.By two covers, the electromagnet in sustained height forms electromagnet apparatus.
As Fig. 1, shown in Fig. 6, rotation joint unit 6 comprises and is arranged on lifting seat stand 411 the three translation guide rail 61 perpendicular with the first translation guide rail 44, can be along the first sliding seat 62 of the 3rd translation guide rail translation, be arranged on lifting seat stand 411 for passing the 3rd push unit of the first sliding seat 62, be arranged on the rotation seat board 64 of the first sliding seat 62 belows and be arranged on sliding seat 62 and be arranged on the second whirligig 63 for driving rotation seat board 64 to rotate on sliding seat 62 for the second whirligig 63(that drives rotation seat board 64 to rotate around vertical-rotation-axis, and rotation seat board 64 rotating shafts vertically arrange).The 3rd translation guide rail 61 is provided with T-shaped guide groove, and T-shaped guide groove is horizontally disposed with, and the opening down setting of T-shaped guide groove.T-shaped of sliding seat 62.The relative both sides of rotation seat board 64 are respectively equipped with electromagnet mount pad, and wherein an electromagnet mount pad is fixedly installed on rotation seat board 64, the 3rd whirligig 65(being provided with between another electromagnet mount pad and rotation seat board 64 for driving this electromagnet mount pad to rotate around horizontal axis of rotation is provided with the 3rd whirligig 65 for driving this electromagnet mount pad to rotate between electromagnet mount pad and rotation seat board 64, and the rotating shaft of electromagnet mount pad is horizontally disposed with).Two electromagnet mount pads in rotation joint unit 6 are tabular and are symmetrically distributed in the both sides of the vertical-rotation-axis of the second whirligig 63.The second whirligig 63 is rotary cylinder.The 3rd whirligig 65 is also rotary cylinder, and is fixedly installed on rotation seat board 64.On each electromagnet mount pad lateral surface, be respectively equipped with the electromagnet apparatus 13 for Al adsorption row.By two covers, the electromagnet in sustained height forms electromagnet apparatus.
As Fig. 1, shown in Fig. 7, rotation picks and places parts 7 and comprises that being arranged on lifting seat stand 411 Siping City perpendicular with the first translation guide rail 44 of its place robot device moves guide rail 71, can move the second sliding seat 72 of guide rail translation in Yan Siping City, be arranged on lifting seat stand for passing the 4th push unit 74 of the second sliding seat, being arranged on the electromagnet mount pad of the second sliding seat 72 1 sides and being arranged on the 4th whirligig 73(rotating around horizontal axis of rotation for DM mount pad on the second sliding seat 72 is the 4th whirligig 73 rotating for DM mount pad on the second sliding seat 72, and the rotating shaft of electromagnet mount pad is horizontally disposed with).The horizontal axis of rotation of this electromagnet mount pad parallels with the first translation guide rail 44 of its place robot device.Siping City moves guide rail 71 and is provided with T-shaped guide groove, and T-shaped guide groove is horizontally disposed with, and T-shaped guide groove opening is towards a left side or towards right setting.T-shaped of the second sliding seat.The electromagnet mount pad that rotation picks and places in parts 7 is tabular and perpendicular with the first translation guide rail of its place robot device.The 4th whirligig 73 is rotary cylinder.The 4th push unit is for passing cylinder.Electromagnet mount pad lateral surface is provided with the electromagnet apparatus 13 for Al adsorption row.By two covers, the electromagnet in sustained height forms electromagnet apparatus.
As shown in Figure 8, the manipulator of crystal polishing system of the present utility model coordinates existing charging & discharging machine 16, episphere crystal polishing machine 17, and the practical application of docking machine 18 and lower semisphere crystal polishing machine 19 is as follows:
Wherein: charging & discharging machine 16 is carried out the aluminium row of the good crystal of the rubbing down on its station is carried out to blanking (being about to the good crystal of rubbing down is arranged and taken off by aluminium); And the aluminium row after blanking is re-started to material loading (adhering to crystal blank on aluminium row).Aluminium row consists of body and aluminium row needle tubing conventionally, and aluminium row needle tubing is used for fixedly crystal blank.On aluminium row, iron plate or iron block are set, and coordinate with electromagnet apparatus 13 aluminium row is adsorbed on electromagnet apparatus 13 by iron plate or iron block.
Episphere crystal polishing machine 17 is carried out the crystal blank of the aluminium row on its station is carried out to episphere rubbing down.
The docking station of docking machine 18 consists of upper station and lower station, and the aluminium row needle tubing of the upper aluminium row in upper station down, and the aluminium row needle tubing of the lower aluminium row in lower station upward.When the upper station of docking machine 18 is placed after the aluminium row of the episphere of having polished, the upper aluminium row of upper station is docked with the vacant lower aluminium row of lower station, (crystal ball of soon having polished is bonded in the lower aluminium row's of lower station aluminium and arranges on needle tubing in facing, make the crystal ball of not polishing face outer).
Lower semisphere crystal polishing machine 19 is carried out the crystal blank of the aluminium row on its station is carried out to lower semisphere rubbing down.
Charging & discharging machine 16, episphere crystal polishing machine 17, docking machine 18 and lower semisphere crystal polishing machine 19 are circumferentially uniform successively clockwise around the rotating shaft 9 of Rotating Plates 3.The robot device 4b that rotation joint unit 6 is installed in quadruplet robot device is corresponding with episphere crystal polishing machine 17; Rotation is installed, and to pick and place the robot device 4c of parts 7 corresponding with docking machine 18, and translation is installed, and to pick and place the robot device 4d of parts corresponding with lower semisphere crystal polishing machine 19, and translation is installed, and to pick and place the robot device 4a of parts corresponding with charging & discharging machine 16.
As shown in Figure 5, aluminium row 14 is conventionally by body, and the dovetails 14b on aluminium row needle tubing 14a and body one side forms.Aluminium row needle tubing is used for fixedly crystal blank.Dovetails 14b and charging & discharging machine 16, episphere crystal polishing machine 17, the installation station of docking machine 18 and lower semisphere crystal polishing machine 19 coordinates aluminium row 14 fixing.On aluminium row, iron plate or iron block are set, and coordinate with electromagnet apparatus 13 aluminium row is adsorbed on electromagnet apparatus 13 by iron plate or iron block.
The actual rubbing down of crystal blank is as follows:
The first step:
After the aluminium row material loading of the feeding station of charging & discharging machine 16, aluminium row is upper adheres to after crystal blank; Robot device 4a moves to the electromagnet apparatus on it 13 on charging & discharging machine 14 the aluminium row after material loading is taken off, and makes feeding station vacant;
After episphere crystal polishing machine 17 has been polished the episphere of crystal blank; Robot device 4b moves to the electromagnet mount pad that is fixed on rotation seat board 64 on rotation joint unit 6 on episphere crystal polishing machine 17, and by the electromagnet apparatus 13 on it, aluminium row of the episphere of having polished is taken off;
When the upper station of docking station of docking machine 18 with the aluminium of lower station is drained becomes after docking; The electromagnet apparatus 13 that robot device 4c picks and places parts 7 by the rotation on it moves on docking machine 18 and will in lower station, the lower aluminium row who completes crystal docking be taken out to (now rotating the lower aluminium row's who picks and places on parts 7 aluminium row needle tubing upward);
Then, by the 4th whirligig 73 DM mount pads, around horizontal axis of rotation, rotate 180 degree, aluminium row's needle tubing and the blank of the aluminium row on it are arranged down;
After lower semisphere crystal polishing machine 19 has been polished the lower semisphere of crystal blank; Robot device 4d moves to the electromagnet apparatus on it 13 on lower semisphere crystal polishing machine 19, and the aluminium row of the crystal of having polished is taken off;
Second step:
The first whirligig driven rotary flat board 39 dextrorotations around the shaft turn 90 degrees;
Now, robot device 4a is corresponding with episphere crystal polishing machine 17; Robot device 4b is corresponding with docking machine 18; Robot device 4c is corresponding with lower semisphere crystal polishing machine 19; Robot device 4d is corresponding with charging & discharging machine 16;
Then carry out following operation simultaneously:
A1, robot device 4a moves to the aluminium row of material loading on episphere crystal polishing machine 17; The episphere of 17 pairs of crystal blanks of episphere crystal polishing machine carries out rubbing down.
A2, the rotation joint unit 6 of robot device 4b rotates 180 degree by the second whirligig 63 on it around vertical-rotation-axis rotating drive rotation seat board 64, makes rotating electromagnet mount pad outwardly;
Then, robot device 4b moves to docking machine 18 places by electromagnet mount pad, and the vacant upper aluminium row who completes crystal docking in upper station is taken out to (now rotating the aluminium row needle tubing of the upper aluminium row on the electromagnet mount pad of joint unit 6 down) by electromagnet apparatus 13;
Follow again, by the 3rd whirligig 65, around horizontal axis of rotation DM mount pad, rotate 180 degree, make the aluminium row needle tubing of the upper aluminium row on electromagnet mount pad upward; Then, then by robot device 4b by electromagnet mount pad to docking machine 18 places, and aluminium arranged to needle tubing upper aluminium row be upward placed on the lower station of docking machine 18;
Finally, again by the second whirligig 63, around vertical-rotation-axis rotating drive rotation seat board 64, rotate 180 degree, make to be fixed on electromagnet mount pad on rotation seat board 64 outwardly; And by robot device 4b by electromagnet mount pad to docking machine 18 places, the aluminium row of the good episphere crystal of the polishing on electromagnet mount pad is placed on the upper station of docking machine 18.Docking machine 18 docks the aluminium row of its upper and lower station.
A3, the aluminium row who completes crystal docking that robot device 4c picks and places rotation on parts 7 moves on lower semisphere crystal polishing machine 19; The lower semisphere of 19 pairs of crystal blanks of lower semisphere crystal polishing machine carries out rubbing down.
A4, the aluminium row that robot device 4d picks and places the good crystal of polishing on parts 5 by translation moves in charging & discharging machine 16; Charging & discharging machine 16 is arranged the crystal of having polished and is taken off (being blanking) by aluminium, and the vacant aluminium row after blanking is carried out to material loading.
The 3rd step: the first whirligig driven rotary flat board 39 is rotated counterclockwise 90 degree around the shaft; Manipulator resets, and robot device 4a is corresponding with charging & discharging machine 16; Robot device 4b is corresponding with episphere crystal polishing machine 17; Robot device 4c is corresponding with docking machine 18, and robot device 4d is corresponding with lower semisphere crystal polishing machine 19;
Then continue to carry out the operation of the first step, thereby so iterative cycles is realized automated production.
Claims (9)
1. the manipulator of a crystal polishing system, it is characterized in that, comprise frame (1), by rotating Rotating Plates (3) and the first whirligig for driving Rotating Plates to rotate that is arranged on frame top of rotating shaft (9), described Rotating Plates is provided with quadruplet circumferential uniform robot device (4a around the shaft, 4b, 4c, 4d), each robot device comprises respectively and is arranged on the first translation guide rail (44) radially extending along rotating shaft in Rotating Plates, the translation seat stand (43) that can move along the first translation guide rail, be arranged in Rotating Plates for promoting the first push unit of translation seat stand, be arranged on the lifting seat stand (411) of translation seat stand below and be arranged on translation seat stand for driving the first lowering or hoisting gear of lifting seat stand lifting,
On the lifting seat stand of the adjacent two cover robot devices in described quadruplet robot device, be respectively equipped with translation and pick and place parts (5); The lifting seat stand of a set of robot device in other two cover robot devices is provided with rotation and picks and places parts (7), and the lifting seat stand of another set of robot device is provided with rotation joint unit (6); And rotation joint unit, rotation picks and places parts and translation picks and places parts distribution successively clockwise;
Described translation picks and places parts (5) and comprises and be arranged on the second perpendicular translation guide rail (51) of lifting seat stand (411) the first translation guide rail upper and its place robot device, can and be arranged on lifting seat stand the second push unit for translation electromagnet mount pad along the electromagnet mount pad (12) of the second translation guide rail translation;
Described rotation joint unit (6) comprises and is arranged on lifting seat stand the three translation guide rail (61) perpendicular with the first translation guide rail of its place robot device, can be along first sliding seat (62) of the 3rd translation guide rail translation, be arranged on lifting seat stand for passing the 3rd push unit of the first sliding seat, be arranged on the rotation seat board (64) of the first sliding seat below and be arranged on the second whirligig (63) for driving rotation seat board to rotate around vertical-rotation-axis on the first sliding seat, the relative both sides of described rotation seat board are respectively equipped with electromagnet mount pad, and wherein an electromagnet mount pad is fixedly installed on rotation seat board, between another electromagnet mount pad and rotation seat board, be provided with the 3rd whirligig (65) for driving this electromagnet mount pad to rotate around horizontal axis of rotation, the 3rd whirligig is fixedly installed on rotation seat board,
Described rotation picks and places parts (7) and comprises that being arranged on lifting seat stand Siping City perpendicular with the first translation guide rail of its place robot device moves guide rail (71), can move second sliding seat (72) of guide rail translation in Yan Siping City, be arranged on lifting seat stand for passing the 4th push unit (74) of the second sliding seat, be arranged on the electromagnet mount pad of the second sliding seat one side and be arranged on the 4th whirligig (73) rotating around horizontal axis of rotation for DM mount pad on the second sliding seat, and the horizontal axis of rotation of this electromagnet mount pad parallels with the first translation guide rail of its place robot device,
On each described electromagnet mount pad lateral surface, be respectively equipped with the electromagnet apparatus (13) for Al adsorption row.
2. the manipulator of a kind of crystal polishing system according to claim 1, is characterized in that, described the first translation guide rail consists of two horizontal guide that are parallel to each other, and translation seat stand is provided with the horizontally-guided hole with horizontal guide adaptation; The first push unit comprises the first motor and the first leading screw and nut mechanism, and the screw mandrel of the first leading screw and nut mechanism is parallel with horizontal guide, and it is connected with the rotor of the first motor, and the nut of the first leading screw and nut mechanism is fixed on translation seat stand;
Described the first lowering or hoisting gear comprises the second leading screw and nut mechanism, be arranged on two vertical guide holes on translation seat stand, be arranged on the vertical guide rod in two vertical guide holes, be arranged on two vertical guide rod upper ends, dull and stereotyped and be arranged on the second motor connecting on flat board for connecting the connection of two vertical guide rods; Described lifting seat stand is fixed on two vertical lower end of the guide rod, and the screw mandrel of the second leading screw and nut mechanism vertically arranges and is connected with the rotor of the second motor, and the nut of the second leading screw and nut mechanism is fixed on translation seat stand.
3. the manipulator of a kind of crystal polishing system according to claim 1 and 2, it is characterized in that, described Rotating Plates (3) upper surface is provided with four circumferential uniform dividing plates (31) around the shaft, and in the Rotating Plates between adjacent two dividing plates, be respectively equipped with the installing rack (32) radially extending along rotating shaft, installing rack cross section takes the shape of the letter U, and it consists of base plate and left and right side plate; Described quadruplet robot device is arranged on four installing racks one to one.
4. the manipulator of a kind of crystal polishing system according to claim 3, it is characterized in that, in described frame, be positioned at Rotating Plates below and be provided with at least one piston rod vertical limiting cylinder (10) upward, on the left plate of described each installing rack or right plate, be respectively equipped with the limited block corresponding with vertical limiting cylinder (11), and limited block bottom surface is provided with the vertical spacing hole corresponding with the piston rod of vertical limiting cylinder.
5. the manipulator of a kind of crystal polishing system according to claim 3, it is characterized in that, the first push unit also comprises the bracing frame on the base plate that is arranged on installing rack, and this bracing frame is by support plate (46) and be arranged on the support riser (45) being parallel to each other at support plate two ends; The horizontal guide of the first translation guide rail is arranged between two support risers, and the screw mandrel of the first leading screw and nut mechanism is arranged between two support risers by bearing is rotating, and the first motor is arranged on a support riser.
6. the manipulator of a kind of crystal polishing system according to claim 2, it is characterized in that, described translation seat stand consists of the interior translation seat stand between left and right side plate and the outer translation seat stand that is positioned at installing rack outside, and the nut of described vertical guide hole and the second leading screw and nut mechanism is arranged on outer translation seat stand.
7. the manipulator of a kind of crystal polishing system according to claim 1 and 2, it is characterized in that, described the first whirligig comprises the 3rd motor (8) and worm-and-wheel gear (15), the worm screw of worm-and-wheel gear is arranged in frame by bearing is rotating, the worm gear of worm-and-wheel gear is arranged in the rotating shaft of Rotating Plates, and the rotor of the 3rd motor is connected with worm screw.
8. the manipulator of a kind of crystal polishing system according to claim 1 and 2, is characterized in that, by two covers, the electromagnet in sustained height forms electromagnet apparatus.
9. the manipulator of a kind of crystal polishing system according to claim 1 and 2, is characterized in that, described the second whirligig and the 3rd whirligig are rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320538176.3U CN203509830U (en) | 2013-08-30 | 2013-08-30 | Mechanical arm of crystal polishing and grinding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320538176.3U CN203509830U (en) | 2013-08-30 | 2013-08-30 | Mechanical arm of crystal polishing and grinding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203509830U true CN203509830U (en) | 2014-04-02 |
Family
ID=50368812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320538176.3U Expired - Lifetime CN203509830U (en) | 2013-08-30 | 2013-08-30 | Mechanical arm of crystal polishing and grinding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203509830U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465129A (en) * | 2013-08-30 | 2013-12-25 | 杨贵庭 | Manipulator of crystal polishing system |
| CN105729271A (en) * | 2016-04-13 | 2016-07-06 | 浙江浦江环通机械科技有限公司 | Profiling, grinding and polishing integrated machine |
-
2013
- 2013-08-30 CN CN201320538176.3U patent/CN203509830U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465129A (en) * | 2013-08-30 | 2013-12-25 | 杨贵庭 | Manipulator of crystal polishing system |
| CN103465129B (en) * | 2013-08-30 | 2015-12-02 | 杨贵庭 | A kind of manipulator of crystal polishing system |
| CN105729271A (en) * | 2016-04-13 | 2016-07-06 | 浙江浦江环通机械科技有限公司 | Profiling, grinding and polishing integrated machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhejiang Huantong Mechanical Technology Co., Ltd. Assignor: Yang Guiting Contract record no.: 2014330000242 Denomination of utility model: Manipulator of crystal polishing system Granted publication date: 20140402 License type: Exclusive License Record date: 20140620 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140402 Effective date of abandoning: 20151202 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |