CN203863503U - Automatic crystal blank grinding and polishing system and left and right transfer mechanism thereof as well as transfer manipulator - Google Patents
Automatic crystal blank grinding and polishing system and left and right transfer mechanism thereof as well as transfer manipulator Download PDFInfo
- Publication number
- CN203863503U CN203863503U CN201420251107.9U CN201420251107U CN203863503U CN 203863503 U CN203863503 U CN 203863503U CN 201420251107 U CN201420251107 U CN 201420251107U CN 203863503 U CN203863503 U CN 203863503U
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- travelling carriage
- transfer robot
- robot arm
- manipulator
- sliding support
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model discloses an automatic crystal blank grinding and polishing system and a left and right transfer mechanism thereof as well as a transfer manipulator. The transfer manipulator comprises a manipulator base, a first sliding support and a second sliding support, wherein the first sliding support is glidingly connected with the manipulator base and driven by a driving device to slide up and down; the second sliding support is glidingly connected with the first sliding support and driven by a cylinder to slide up and down; a horizontal shaft is arranged at the lower part of the first sliding support, and a mechanical clamp hand is arranged at each of the left end and the right end of the horizontal shaft; each mechanical clamp hand comprises two symmetrically arranged clamping jaws and two symmetrically arranged connecting arms, the horizontal shaft is sleeved with middle parts of the two clamping jaws to achieve hinge joint, the lower ends of the two clamping jaws are clamping ends, the upper ends of the two clamping jaws are hinged with the lower ends of the corresponding connecting arms, and the upper ends of the two connecting arms are hinged with the second sliding support; and hinge shafts of the connecting arms and the clamping jaws as well as hinge shafts of the connecting arms and the second sliding support are parallel to the horizontal shaft. With adoption of the technical scheme, the transfer manipulator is simple and reasonable in structure, stable and reliable in clamping and lower in manufacturing and using costs.
Description
Technical field
The utility model belongs to crystal product polishing processing field, relates to a kind of crystal blank automatic grinding and polishing system of crystal blank being carried out to automation polishing processing, relates in particular to the transfer robot arm in left/right rotation moving mechanism and left/right rotation moving mechanism wherein.
Background technology
In prior art, the automatic grinding and polishing system (polished machine) of crystal blank, comprising: feeding station, is provided with and crystal blank can be fixed on to the feed mechanism on fixture; At least one carries out the episphere grinding station of grinding and at least one episphere of crystal blank is carried out the episphere polishing station of polishing to the episphere of crystal blank; Docking station, is provided with the docking mechanism that crystal blank can be fixed to another fixture and two fixtures can be carried out to position exchange from a fixture switching; At least one carries out the lower semisphere grinding station of grinding and at least one lower semisphere of crystal blank is carried out the lower semisphere polishing station of polishing to the lower semisphere of crystal blank; Blanking station, is provided with the cutting agency that crystal blank can be disassembled from fixture; Wherein, on described episphere grinding station and lower semisphere grinding station, be equipped with grinding mechanism, on described episphere polishing station and lower semisphere polishing station, be equipped with polishing mechanism.The transfer device that crystal blank is circulated between each station, has head swivel mount form, manipulator swivel mount form and manipulator track form.
The polishing processing flow process of crystal blank (espespecially standard water drilling series products) is as follows:
Material loading, (comprise the fixture pin preheating → bread of sky fixture → upper pearl → bonding) → episphere grinding → episphere polishing → docking, (the fixture pin preheating → bread → fixture that comprises sky fixture to supporting → the fixture pin of empty fixture is added to the bonding upper crystal blank of PUR → remove photoresist → Cooling fixture of the fixture pin heating pin of another fixture is made to be adhesively fixed) → lower semisphere grinding → lower semisphere polishing → blanking, (comprising fixture remove photoresist → lower pearl of heating and cleaning clamp pin).
Publication number is to disclose the manipulator for crystal blank polishing system in the patent documentation of CN202378056U, 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.This scheme adopts magnechuck to adsorb stationary fixture, and manufacturing cost and use cost is higher.
Publication number is that CN202412000U discloses a kind of manipulator for crystal blank polishing system, comprise mount pad, mount pad is provided with sliding seat, sliding seat is driven and is slided by sliding cylinder, sliding seat front end is hinged with a swing arm, two grafting cylinders that are oppositely arranged are installed on swing arm, and the piston rod front end of grafting cylinder is connected with fixture by latch, socket, and swing arm is driven and swung by oscillating cylinder.This scheme adopts the form of latch, socket to realize fixture and captures, and has used multiple cylinders to have equally the problem that manufacturing cost and use cost is higher.
Publication number is that CN203331025U discloses a kind of crystal blank automatic grinding and polishing system and left/right rotation moving mechanism thereof, transfer robot arm, comprise manipulator seat, one side of manipulator seat is installed multiple guide wheels, manipulator seat is by the slip of leading in orbit of these guide wheels, the opposite side of manipulator seat arranges a travelling carriage sliding up and down, a tooth bar is fixed on the top of travelling carriage, tooth bar be arranged on the manipulator meshed transmission gear on manipulator seat, manipulator gear and manipulator lifting drive are in transmission connection, a fixture shift fork is fixed in the bottom of travelling carriage, fixture shift fork coordinates clamping with the handle at fixture back.This scheme adopts shift fork to promote fixture slippage, although manipulator is simple in structure, but push to slide mobile stable not, grinding and polishing face indexing device need to move dodges to ensure to push to slide, simultaneously because push to slide the monolateral benchmark of employing, so also cause fixture worm shaft to increase with the difficulty that coordinates of shaft coupling in grinding and polishing face indexing device.
Summary of the invention
In order to solve above-mentioned technical problem, one of the purpose of this utility model be to provide a kind of simple and reasonable, clamp the transfer robot arm reliable and stable, manufacturing cost and use cost is lower.
Two of the purpose of this utility model is to provide a kind of left/right rotation moving mechanism that adopts above-mentioned transfer robot arm.
Three of the purpose of this utility model is to provide a kind of crystal blank automatic grinding and polishing system that adopts above-mentioned left/right rotation moving mechanism.
To achieve the above object, the utility model has adopted following technical scheme:
A kind of transfer robot arm, comprise manipulator seat, on manipulator seat, be provided with the first travelling carriage and the second travelling carriage, the first travelling carriage and manipulator seat are slidably connected and are driven and slided up and down by drive unit, the second travelling carriage and the first travelling carriage are slidably connected and are slided up and down by air cylinder driven, the first travelling carriage bottom arranges a trunnion axis, and the two ends, left and right of trunnion axis respectively arrange a mechanical tong; Machinery tong comprises symmetrically arranged two jaws and two linking arms, thereby the middle part of two jaws be all set on trunnion axis, realize hinged, the lower end of two jaws is bare terminal end, the upper end of two jaws is hinged with the lower end of linking arm separately respectively, the upper end of two linking arms is all hinged with the second travelling carriage, and described linking arm is all parallel with trunnion axis with the jointed shaft of the second travelling carriage with jointed shaft, the linking arm of jaw.
As preferably, the upper end of described two linking arms and the second travelling carriage are hinged by same jointed shaft.
As preferably, described the first travelling carriage comprises upper and lower, and two guide pillars that upper and lower is fixedly connected with, and on guide pillar, slip cap is provided with the first guide pin bushing and the second guide pin bushing, the first guide pin bushing is fixedly connected with manipulator seat, and the second guide pin bushing is fixedly connected with the second travelling carriage.Rational in infrastructure like this, drive simple, reliable, efficiency is high, cost is low.
As preferably, on described the first travelling carriage, be fixedly installed the tooth bar of downward-extension, this tooth bar engages with the horizontal teeth wheel shaft on manipulator seat.
A kind of left/right rotation moving mechanism for crystal blank automatic grinding and polishing system, comprise frame and be fixed on the linearly extended track in left and right in frame, also comprise multiple transfer robot arm as above, manipulator seat in transfer robot arm horizontally slips and is connected with track, the manipulator seat of adjacent two transfer robot arm in left and right is flexibly connected by connecting rod and drives synchronizing moving by the motor being arranged on frame or track, and the horizontal teeth wheel shaft of adjacent two transfer robot arm in left and right is flexibly connected and synchronous rotation by turning joint and drive link.
A kind of crystal blank automatic grinding and polishing system, comprises left/right rotation moving mechanism as above.
The utility model is owing to having adopted above technical scheme, adopt Eight characters machinery tong to realize the reliable and stable clamping of fixture, adopt relative the sliding up and down of the first travelling carriage and the second travelling carriage to realize opening and clamping of mechanical tong, only need to use a less cylinder can realize fixture holding action, simple and reasonable, reduce manufacturing cost and use cost.
Brief description of the drawings
Fig. 1 is the stereogram of the utility model transfer robot arm;
Fig. 2 is the left side view of the utility model transfer robot arm;
Fig. 3 is the structural representation of the utility model left/right rotation moving mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is made a detailed explanation.
Embodiment 1:
A kind of transfer robot arm as shown in Figure 1 and Figure 2, comprise manipulator seat 1, on manipulator seat 1, be provided with the first travelling carriage and the second travelling carriage 13, the first travelling carriage and manipulator seat 1 are slidably connected and are driven and slided up and down by drive unit, the second travelling carriage 13 and the first travelling carriage are slidably connected and are driven and slided up and down by cylinder 12, the first travelling carriage bottom arranges a trunnion axis 9, and the two ends, left and right of trunnion axis 9 respectively arrange a mechanical tong; Machinery tong comprises symmetrically arranged two jaws 10,11 and two linking arms 19,17, thereby the middle part of two jaws 10,11 be all set on trunnion axis 9, realize hinged, the lower end of two jaws 10,11 is bare terminal end, the upper end of two jaws 10,11 is hinged with the lower end of linking arm 19,17 separately respectively, the upper end of two linking arms 19,17 is all hinged with the second travelling carriage 13, and the jointed shaft of described linking arm 19,17 and jaw 10,11 20,18, linking arm 19,17 are all parallel with trunnion axis 9 with the jointed shaft 16 of the second travelling carriage 13.
In the present embodiment, the upper end of described two linking arms 19,17 and the second travelling carriage 13 are hinged by same jointed shaft 16.Described the first travelling carriage comprises top 3 and bottom 7, and two of the left and right guide pillar 5 that top 3 is fixedly connected with bottom 7, on guide pillar 5, slip cap is provided with the first guide pin bushing 4 and the second guide pin bushing 6, the first guide pin bushings 4 are fixedly connected with manipulator seat 1, and the second guide pin bushing 6 is fixedly connected with the second travelling carriage 13.Between the top 3 of described the first travelling carriage and bottom 7, be fixedly installed the tooth bar 14 of downward-extension, this tooth bar 14 engages with the horizontal teeth wheel shaft 2 on manipulator seat 1, and the two ends of horizontal teeth wheel shaft 2 connect turning joint 15.
As shown in Figure 1, the fixture 8 corresponding with above-mentioned transfer robot arm, has two handles 81 corresponding with above-mentioned mechanical tong.
A kind of left/right rotation moving mechanism for crystal blank automatic grinding and polishing system as shown in Figure 3, comprise frame and be fixed on the linearly extended track in left and right in frame, also comprise multiple transfer robot arm as above 100, manipulator seat 1 in transfer robot arm 100 horizontally slips and is connected with track, the manipulator seat 1 of adjacent two transfer robot arm in left and right is flexibly connected by connecting rod 700 and drives synchronizing moving by the motor 400 being arranged on frame or track, the horizontal teeth wheel shaft 2 of adjacent two transfer robot arm in left and right is flexibly connected and synchronous rotation by turning joint 15 and drive link 300, the lifting action of multiple like this transfer robot arm can be driven by a drive unit, for example a cylinder 600 is installed on the top of the first travelling carriage of a transfer robot arm therein, the piston rod of cylinder 600 is connected with its manipulator seat 1, the first travelling carriage of this transfer robot arm moves up and down under the driving of cylinder 600, other transfer robot arm are via tooth bar 14, horizontal teeth wheel shaft 2, turning joint 15 is connected with drive link 300 and synchronous rotation.Two groups of left/right rotation moving mechanisms before and after can arranging on rack rail, these two groups of left/right rotation moving mechanisms can move in the same way, also can oppositely move, after drive motors 400 slows down via deceleration device 500, again by gear be fixed on two tooth bar 200 engaged transmission in transfer robot arm, thereby two transfer robot arm before and after driving move left and right, and other transfer robot arm connect synchronizing moving via connecting rod 700.
A kind of crystal blank automatic grinding and polishing system, comprises left/right rotation moving mechanism as above.
Claims (6)
1. a transfer robot arm, it is characterized in that, comprise manipulator seat (1), on manipulator seat (1), be provided with the first travelling carriage and the second travelling carriage (13), the first travelling carriage and manipulator seat (1) are slidably connected and are driven and slided up and down by drive unit, the second travelling carriage (13) is slidably connected with the first travelling carriage and is driven and slided up and down by cylinder (12), the first travelling carriage bottom arranges a trunnion axis (9), and the two ends, left and right of trunnion axis (9) respectively arrange a mechanical tong, machinery tong comprises symmetrically arranged two jaws (10, 11) and two linking arms (19, 17), two jaws (10, 11) middle part is all set in trunnion axis (9) thereby above realizes hinged, two jaws (10, 11) lower end is bare terminal end, two jaws (10, 11) upper end respectively with linking arm (19 separately, 17) lower end is hinged, two linking arms (19, 17) upper end is all hinged with the second travelling carriage (13), described linking arm (19, 17) with jaw (10, 11) jointed shaft, linking arm (19, 17) all parallel with trunnion axis (9) with the jointed shaft of the second travelling carriage (13).
2. a kind of transfer robot arm according to claim 1, is characterized in that, the upper end of described two linking arms (19,17) and the second travelling carriage (13) are hinged by same jointed shaft.
3. a kind of transfer robot arm according to claim 1, it is characterized in that, described the first travelling carriage comprises top (3) and bottom (7), and two guide pillars (5) that top (3) are fixedly connected with bottom (7), the upper slip cap of guide pillar (5) is provided with the first guide pin bushing (4) and the second guide pin bushing (6), the first guide pin bushing (4) is fixedly connected with manipulator seat (1), and the second guide pin bushing (6) is fixedly connected with the second travelling carriage (13).
4. according to a kind of transfer robot arm described in claim 1 or 2 or 3, it is characterized in that, on described the first travelling carriage, be fixedly installed the tooth bar (14) of downward-extension, this tooth bar (14) engages with the horizontal teeth wheel shaft (2) on manipulator seat (1).
5. the left/right rotation moving mechanism for crystal blank automatic grinding and polishing system, comprise frame and be fixed on the linearly extended track in left and right in frame, it is characterized in that, also comprise multiple transfer robot arm as claimed in claim 4, manipulator seat (1) in transfer robot arm horizontally slips and is connected with track, the manipulator seat (1) of adjacent two transfer robot arm in left and right is flexibly connected by connecting rod (700) and drives synchronizing moving by the motor (400) being arranged on frame or track, the horizontal teeth wheel shaft (2) of adjacent two transfer robot arm in left and right is flexibly connected and synchronous rotation by turning joint (15) and drive link (300).
6. a crystal blank automatic grinding and polishing system, comprises left/right rotation moving mechanism as claimed in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420251107.9U CN203863503U (en) | 2014-05-15 | 2014-05-15 | Automatic crystal blank grinding and polishing system and left and right transfer mechanism thereof as well as transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420251107.9U CN203863503U (en) | 2014-05-15 | 2014-05-15 | Automatic crystal blank grinding and polishing system and left and right transfer mechanism thereof as well as transfer manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203863503U true CN203863503U (en) | 2014-10-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420251107.9U Withdrawn - After Issue CN203863503U (en) | 2014-05-15 | 2014-05-15 | Automatic crystal blank grinding and polishing system and left and right transfer mechanism thereof as well as transfer manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203863503U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949971A (en) * | 2014-05-15 | 2014-07-30 | 浙江名媛工艺饰品有限公司 | Crystal blank automatic grinding and polishing system as well as left and right transfer mechanism and transfer mechanical hand of crystal blank automatic grinding and polishing system |
-
2014
- 2014-05-15 CN CN201420251107.9U patent/CN203863503U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949971A (en) * | 2014-05-15 | 2014-07-30 | 浙江名媛工艺饰品有限公司 | Crystal blank automatic grinding and polishing system as well as left and right transfer mechanism and transfer mechanical hand of crystal blank automatic grinding and polishing system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141008 Effective date of abandoning: 20160824 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |