CN205254989U - Glass cnc engraving and milling machine's manipulator - Google Patents
Glass cnc engraving and milling machine's manipulator Download PDFInfo
- Publication number
- CN205254989U CN205254989U CN201620028304.3U CN201620028304U CN205254989U CN 205254989 U CN205254989 U CN 205254989U CN 201620028304 U CN201620028304 U CN 201620028304U CN 205254989 U CN205254989 U CN 205254989U
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- China
- Prior art keywords
- axis
- manipulator
- fixed
- line slideway
- slideway auxiliary
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- Expired - Fee Related
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Abstract
The utility model discloses a glass cnc engraving and milling machine's manipulator, including X axle moving system, Y axle moving system, Z axle moving system and manipulator front end, Z axle moving system installs on X axle moving system, Y axle moving system includes the feed cylinder who follows Y axle direction and arrange, feed cylinder installs on Z axle moving system, the manipulator front end is the sucking disc, and the front end at the feed cylinder piston rod is installed to the sucking disc. The utility model discloses glass cnc engraving and milling machine's manipulator is small, can regard as the pedestal mounting on cnc engraving and milling machine's mesa with X axle moving system's guide rail, and the operation and maintenance is convenient.
Description
[technical field]
The utility model relates to carving machine, relates in particular to a kind of manipulator of glass carving machine.
[background technology]
The machine of a kind of retrofit, the abnormity cutting etc. that are mainly used in various ultra-thin glass of glass carving machineTool equipment, the utility model that the patent No. is CN201420355716.9 discloses one and has been applied to glass carving machineManipulator, comprise portal frame, described portal frame comprises crossbeam and is connected to crossbeam two ends and is positioned atThe column of crossbeam below; The top of crossbeam is provided with the first Mobile base, and crossbeam is provided with and drives the first Mobile baseThe X-axis transmission mechanism moving horizontally along X-axis, the first Mobile base is provided with mobile arm, the side of mobile armSide is provided with the second Mobile base, and mobile arm is provided with the Y-axis that drives the second Mobile base to move horizontally along Y-axisTransmission mechanism, the second Mobile base is provided with Z-axis transmission mechanism, and Z-axis transmission mechanism is connected with clamping device, ZShaft transmission drives this clamping device vertically to move up and down along Z axis. The beneficial effects of the utility model: logicalCross XYZ tri-shaft transmission control clamping devices slim glass sheet is carried out to material loading, location, blanking, shouldThe manipulator volume of utility model is large, can not be arranged on the table top of carving machine, and operation and maintenance is convenient not.
[summary of the invention]
It is little that the technical problems to be solved in the utility model is to provide a kind of volume, can be arranged on the platform of carving machineOn face, operation and maintenance is glass carving machine manipulator easily.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is, a kind of glass carving machineManipulator, comprise X-axis kinematic system, Y-axis kinematic system, Z axis kinematic system and manipulator front end, ZAxis motion system is arranged in X-axis kinematic system; Y-axis kinematic system comprises the feeding gas of arranging along Y directionCylinder, feeding cylinder is arranged in Z axis kinematic system; Manipulator front end is sucker, and sucker is arranged on feeding gasThe front end of cylinder piston rod.
The manipulator of above-described glass carving machine, Y-axis kinematic system comprises arrange along Y direction micro-Actuation mechanism, micromotion mechanism comprises servomotor, feed screw nut pair, nut fixed head, line slideway auxiliary, connectionAxial organ, rail support plate and cylinder mounting plate; Servomotor is arranged on the top of rail support plate, screw mandrel spiral shellFemale secondary screw mandrel is connected with the main shaft of servomotor by shaft coupling, and the nut of feed screw nut pair is fixed on nutOn fixed head; The lower end of nut fixed head is connected with one end of cylinder mounting plate, the guide rail peace of line slideway auxiliaryBe contained in the bottom surface of rail support plate, the slide block of line slideway auxiliary is fixed on the end face of cylinder mounting plate, feeding gasThe cylinder body of cylinder is fixed on the bottom surface of cylinder mounting plate; The piston rod of described screw mandrel, guide rail and feeding cylinder is flatOK.
The manipulator of above-described glass carving machine, sucker comprises suction nozzle, rotary cylinder and blowing nozzle, blowsValve is arranged in the top of suction nozzle, and the gas outlet of blowing nozzle is towards front lower place; Suction nozzle is driven and is done by rotary cylinder90 ° of rotations.
The manipulator of above-described glass carving machine, Z axis kinematic system comprises base, the vertical Z axis of arrangingLine slideway auxiliary, Z axis feed screw nut pair and Z axis motor; The lower end of Z axis line slideway auxiliary guide rail is fixed on the endOn seat, slide block is connected with the nut of Z axis feed screw nut pair; The screw mandrel of Z axis feed screw nut pair is driven by Z axis motorMoving, Z axis motor is fixed on the top of Z axis line slideway auxiliary guide rail; The micromotion mechanism of Y-axis kinematic system comprisesZ axis connecting plate, the side of rail support plate is connected with Z axis connecting plate T font, and Z axis connecting plate is fixed on ZOn the slide block of axle line slideway auxiliary.
The manipulator of above-described glass carving machine, X-axis kinematic system comprises that horizontally disposed X-axis straight line leadsRail pair, X-axis feed screw nut pair and X-axis motor; The slide block of X-axis line slideway auxiliary and X-axis feed screw nut pairNut connects; The screw mandrel of X-axis feed screw nut pair is driven by X-axis motor, and X-axis motor is fixed on X-axis straight line and leadsOne end of the secondary guide rail of rail; The base of Z axis kinematic system is fixed on the slide block of X-axis line slideway auxiliary.
The manipulator volume of the utility model glass carving machine is little, can using the guide rail of X-axis kinematic system asFloor installation is on the table top of carving machine, and operation and maintenance is convenient.
[brief description of the drawings]
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the stereogram of the manipulator of the utility model embodiment glass carving machine.
Fig. 2 is the stereogram at another visual angle of manipulator of the utility model embodiment glass carving machine.
Fig. 3 is the front view of the manipulator of the utility model embodiment glass carving machine.
Fig. 4 is the top view of the manipulator of the utility model embodiment glass carving machine.
Fig. 5 is the left view of the manipulator of the utility model embodiment glass carving machine.
Fig. 6 is the left view of the utility model embodiment Y-axis kinematic system.
Fig. 7 is the front view of the utility model embodiment Y-axis kinematic system.
Fig. 8 is the top view of the utility model embodiment Y-axis kinematic system.
[detailed description of the invention]
The structure of the utility model embodiment glass carving machine manipulator as shown in Figures 1 to 8, comprises X-axisKinematic system 100, Y-axis kinematic system 200, Z axis kinematic system 300 and manipulator front end, Z axis kinetic systemSystem 300 is arranged in X-axis kinematic system 100.
X-axis kinematic system 100 comprises horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axisMotor 21. The slide block 22 of X-axis line slideway auxiliary is connected with the nut 23 of X-axis feed screw nut pair. X-axis screw mandrelThe screw mandrel 24 of pair of nut is driven by X-axis motor 21, and X-axis motor 21 is fixed on X-axis line slideway auxiliary guide railOne end of 25. The line slideway of X-axis kinematic system 100 can be used as base and is directly installed on the platform of carving machineOn face, use, easy to maintenance.
Z axis kinematic system 300 comprises base 36, vertical Z axis line slideway auxiliary, the Z axis feed screw nut who arrangesPair and Z axis motor 31. The lower end of Z axis line slideway auxiliary guide rail 35 is fixed on base 36, slide block 32 withThe nut 33 of Z axis feed screw nut pair connects. The screw mandrel 34 of Z axis feed screw nut pair is driven by Z axis motor 31,Z axis motor 31 is fixed on the top of Z axis line slideway auxiliary guide rail 35.
The base 36 of Z axis kinematic system 300 is fixed on the slide block 22 of X-axis line slideway auxiliary.
The detailed structure of Y-axis kinematic system 200 as shown in Figure 6 to 8, comprise installing rack, feeding cylinder,The micromotion mechanism of sucker and Y direction.
Be arranged on the front end of feeding cylinder piston rod 201 as the sucker of manipulator front end. Feeding cylinder 2 is logicalThe micromotion mechanism of crossing Y direction is connected with installing rack.
Sucker comprises suction nozzle 15, rotary cylinder 17 and blowing nozzle 16, and blowing nozzle 16 is arranged in the top of suction nozzle,Aeration cleaning, towards front lower place, is enough carried out to fixture in the gas outlet of blowing nozzle 16 before clamping glass. Suction nozzle 15Do 90 ° of rotations by rotary cylinder 17 drives, be convenient to from material frame, capture respectively the glass of vertically placing and pressing from both sidesIn tool, capture the glass of horizontal positioned.
Installing rack comprises rail support plate 3 and Z axis connecting plate 4, and Z axis connecting plate 4 vertically arranges, guide rail props upFagging 3 is horizontally disposed, and the side of rail support plate 3 is connected with Z axis connecting plate 4T font.
Micromotion mechanism comprises servomotor 5, feed screw nut pair, nut fixed head 6, line slideway auxiliary, cylinderInstalling plate 7, shaft coupling 8, motor fixing plate 9 and positioner.
Servomotor 5 is arranged on the top of rail support plate 3, and motor fixing plate 9 vertically arranges, lower end withRail support plate 3 connects. Servomotor 5 is fixed on motor fixing plate 9 by the dish that connects of end face. ServoMotor can not lost step, compared with stepper motor, can realize auto-compensation, can prevent output data andThe nonsynchronous error of the actual amount of feeding of stepper motor, improves positioning precision.
The screw mandrel 10 of feed screw nut pair is driven by servomotor 5, and screw mandrel 10 is by shaft coupling 8 and servo electricityThe main shaft 501 of machine 5 connects, and shaft coupling 8 can absorb processing and alignment error, reduces processing and is assembled intoThis.
The nut 11 of feed screw nut pair is fixed on nut fixed head 6, the lower end of nut fixed head 6 and cylinderOne end of installing plate 7 connects.
The guide rail 12 of line slideway auxiliary is arranged on the bottom surface of rail support plate 3, the slide block 13 of line slideway auxiliaryBe fixed on the end face of cylinder mounting plate 7, feeding cylinder 2 is fixed on the bottom surface of cylinder mounting plate 7.
Screw mandrel 10, guide rail 12 are parallel with the piston rod 201 of feeding cylinder.
Positioner comprises photoelectric sensor 13 and L shaped baffle plate 14, and photoelectric sensor 13 is arranged on guide railThe end face of gripper shoe 3, the lower end of the riser 1401 of L shaped baffle plate 14 is fixed on the side of cylinder mounting plate 7,Transverse slat 1402, towards photoelectric sensor 13, is positioned at the top of photoelectric sensor 13.
When Y-axis kinematic system 200 is worked, completed the main stroke of Y direction feeding feeding by feeding cylinder, YThe last stroke of direction feeding feeding is completed by micromotion mechanism, and what be made up of servomotor and feed screw nut pair is micro-Actuation mechanism can realize accurate location, and reduces the impulse force of feeding cylinder high speed feeding, manipulator front end folderThe glass of holding can be not damaged because clashing into fixture.
Claims (5)
1. a manipulator for glass carving machine, comprises X-axis kinematic system, Y-axis kinematic system, Z axis motionSystem and manipulator front end, is characterized in that, Z axis kinematic system is arranged in X-axis kinematic system; Y-axisKinematic system comprises the feeding cylinder of arranging along Y direction, and feeding cylinder is arranged in Z axis kinematic system;Manipulator front end is sucker, and sucker is arranged on the front end of feeding cylinder piston rod.
2. the manipulator of glass carving machine according to claim 1, is characterized in that, Y-axis kinematic systemComprise the micromotion mechanism of arranging along Y direction, micromotion mechanism comprises servomotor, feed screw nut pair, nutFixed head, line slideway auxiliary, shaft coupling, rail support plate and cylinder mounting plate; Servomotor is arranged on leadsThe top of rail gripper shoe, the screw mandrel of feed screw nut pair is connected with the main shaft of servomotor by shaft coupling, screw mandrelThe nut of pair of nut is fixed on nut fixed head; The lower end of nut fixed head and one end of cylinder mounting plate connectConnect, the guide rails assembling of line slideway auxiliary is in the bottom surface of rail support plate, and the slide block of line slideway auxiliary is fixed on gasThe end face of cylinder installing plate, the cylinder body of feeding cylinder is fixed on the bottom surface of cylinder mounting plate; Described screw mandrel, leadRail is parallel with the piston rod of feeding cylinder.
3. the manipulator of glass carving machine according to claim 1, is characterized in that, sucker comprises suctionMouth, rotary cylinder and blowing nozzle, blowing nozzle is arranged in the top of suction nozzle, and the gas outlet of blowing nozzle is towards front lowerSide; Suction nozzle is driven and is done 90 ° of rotations by rotary cylinder.
4. the manipulator of glass carving machine according to claim 2, is characterized in that, Z axis kinematic systemComprise base, vertical Z axis line slideway auxiliary, Z axis feed screw nut pair and the Z axis motor of arranging; Z axis is straightThe lower end of line guideway guide rail is fixed on base, and slide block is connected with the nut of Z axis feed screw nut pair; Z axisThe screw mandrel of feed screw nut pair is driven by Z axis motor, and Z axis motor is fixed on the top of Z axis line slideway auxiliary guide railPortion; The micromotion mechanism of Y-axis kinematic system comprises Z axis connecting plate, and the side of rail support plate is connected with Z axisPlate T font connects, and Z axis connecting plate is fixed on the slide block of Z axis line slideway auxiliary.
5. the manipulator of glass carving machine according to claim 1, is characterized in that, X-axis kinematic systemComprise horizontally disposed X-axis line slideway auxiliary, X-axis feed screw nut pair and X-axis motor; X-axis line slidewaySecondary slide block is connected with the nut of X-axis feed screw nut pair; The screw mandrel of X-axis feed screw nut pair is driven by X-axis motorMoving, X-axis motor is fixed on one end of X-axis line slideway auxiliary guide rail; The base of Z axis kinematic system is fixed on XOn the slide block of axle line slideway auxiliary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620028304.3U CN205254989U (en) | 2016-01-11 | 2016-01-11 | Glass cnc engraving and milling machine's manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620028304.3U CN205254989U (en) | 2016-01-11 | 2016-01-11 | Glass cnc engraving and milling machine's manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205254989U true CN205254989U (en) | 2016-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620028304.3U Expired - Fee Related CN205254989U (en) | 2016-01-11 | 2016-01-11 | Glass cnc engraving and milling machine's manipulator |
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| CN (1) | CN205254989U (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106040534A (en) * | 2016-07-29 | 2016-10-26 | 意力(广州)电子科技有限公司 | Automatic glue sealing device with fully-automatic linear mechanical hand |
| CN106078331A (en) * | 2016-07-06 | 2016-11-09 | 深圳市研创精密设备有限公司 | A kind of glass-film automatic charging & discharging machine with rotational structure |
| CN106274212A (en) * | 2016-09-19 | 2017-01-04 | 深圳大宇精雕科技有限公司 | Glass carving machine and use its method that glass is carried out finishing impression |
| CN106427633A (en) * | 2016-10-26 | 2017-02-22 | 深圳市新沧海机械有限公司 | Automobile charging robot |
| CN106586566A (en) * | 2017-01-22 | 2017-04-26 | 佛山市博斯马克机器人有限公司 | Automatic glass loading manipulator |
| CN106625704A (en) * | 2016-12-16 | 2017-05-10 | 青岛海之源智能技术有限公司 | Automatic straw-tableware-machining pneumatic mechanical arm |
| CN106809650A (en) * | 2017-02-28 | 2017-06-09 | 浙江理工大学 | A kind of glass handling equipment and its control method |
| CN107161696A (en) * | 2017-05-31 | 2017-09-15 | 嘉善宝狐服饰有限公司 | A kind of feed mechanism |
| CN107176460A (en) * | 2017-05-31 | 2017-09-19 | 嘉善宝狐服饰有限公司 | A kind of double feed mechanism |
| CN107265112A (en) * | 2017-05-31 | 2017-10-20 | 嘉善宝狐服饰有限公司 | A kind of straight line grasping mechanism for loading and unloading |
| CN107322578A (en) * | 2017-07-19 | 2017-11-07 | 重庆东茂科技有限公司 | Truss robot |
| CN107512539A (en) * | 2017-09-15 | 2017-12-26 | 苏州欣航微电子有限公司 | A kind of helical blade drive device for Shaftless screw conveyor |
| CN108057771A (en) * | 2017-12-11 | 2018-05-22 | 武汉科技大学 | A kind of continuous oil hydraulic system of vehicle dormer window and oil pressure method |
| CN108067436A (en) * | 2017-12-13 | 2018-05-25 | 惠州金源精密自动化设备有限公司 | Battery core transfer mechanism, battery core transferring system, battery core OCV test equipments |
| CN108357928A (en) * | 2018-04-13 | 2018-08-03 | 惠州沃尔夫自动化设备有限公司 | A kind of robot manipulator structure of numerically-controlled machine tool |
| CN108526539A (en) * | 2018-06-29 | 2018-09-14 | 夏海涛 | For the automatic punch of power equipment strainer |
| CN108673491A (en) * | 2018-07-04 | 2018-10-19 | 王维 | A kind of industrial machinery arm being moved easily |
| CN109702995A (en) * | 2017-10-26 | 2019-05-03 | 广西鑫德利科技股份有限公司 | Hot-bending machine cutting agency |
| CN110217730A (en) * | 2019-05-22 | 2019-09-10 | 南京定时达快运股份有限公司 | A kind of logistics Object Management group equipment |
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2016
- 2016-01-11 CN CN201620028304.3U patent/CN205254989U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078331B (en) * | 2016-07-06 | 2018-12-25 | 深圳市研创精密设备有限公司 | A kind of glass-film automatic charging & discharging machine with rotational structure |
| CN106078331A (en) * | 2016-07-06 | 2016-11-09 | 深圳市研创精密设备有限公司 | A kind of glass-film automatic charging & discharging machine with rotational structure |
| CN106040534A (en) * | 2016-07-29 | 2016-10-26 | 意力(广州)电子科技有限公司 | Automatic glue sealing device with fully-automatic linear mechanical hand |
| CN106040534B (en) * | 2016-07-29 | 2019-02-12 | 意力(广州)电子科技有限公司 | A kind of automatic glue seal device with full-automatic linear manipulator |
| CN106274212A (en) * | 2016-09-19 | 2017-01-04 | 深圳大宇精雕科技有限公司 | Glass carving machine and use its method that glass is carried out finishing impression |
| CN106427633A (en) * | 2016-10-26 | 2017-02-22 | 深圳市新沧海机械有限公司 | Automobile charging robot |
| CN106625704A (en) * | 2016-12-16 | 2017-05-10 | 青岛海之源智能技术有限公司 | Automatic straw-tableware-machining pneumatic mechanical arm |
| CN106586566A (en) * | 2017-01-22 | 2017-04-26 | 佛山市博斯马克机器人有限公司 | Automatic glass loading manipulator |
| CN106809650A (en) * | 2017-02-28 | 2017-06-09 | 浙江理工大学 | A kind of glass handling equipment and its control method |
| CN106809650B (en) * | 2017-02-28 | 2023-07-21 | 浙江理工大学 | Glass loading and unloading device and control method thereof |
| CN107176460A (en) * | 2017-05-31 | 2017-09-19 | 嘉善宝狐服饰有限公司 | A kind of double feed mechanism |
| CN107265112A (en) * | 2017-05-31 | 2017-10-20 | 嘉善宝狐服饰有限公司 | A kind of straight line grasping mechanism for loading and unloading |
| CN107161696A (en) * | 2017-05-31 | 2017-09-15 | 嘉善宝狐服饰有限公司 | A kind of feed mechanism |
| CN107322578A (en) * | 2017-07-19 | 2017-11-07 | 重庆东茂科技有限公司 | Truss robot |
| CN107512539A (en) * | 2017-09-15 | 2017-12-26 | 苏州欣航微电子有限公司 | A kind of helical blade drive device for Shaftless screw conveyor |
| CN109702995A (en) * | 2017-10-26 | 2019-05-03 | 广西鑫德利科技股份有限公司 | Hot-bending machine cutting agency |
| CN108057771A (en) * | 2017-12-11 | 2018-05-22 | 武汉科技大学 | A kind of continuous oil hydraulic system of vehicle dormer window and oil pressure method |
| CN108067436B (en) * | 2017-12-13 | 2021-03-26 | 惠州金源精密自动化设备有限公司 | Electricity core OCV test equipment |
| CN108067436A (en) * | 2017-12-13 | 2018-05-25 | 惠州金源精密自动化设备有限公司 | Battery core transfer mechanism, battery core transferring system, battery core OCV test equipments |
| CN108357928A (en) * | 2018-04-13 | 2018-08-03 | 惠州沃尔夫自动化设备有限公司 | A kind of robot manipulator structure of numerically-controlled machine tool |
| CN108526539A (en) * | 2018-06-29 | 2018-09-14 | 夏海涛 | For the automatic punch of power equipment strainer |
| CN108673491A (en) * | 2018-07-04 | 2018-10-19 | 王维 | A kind of industrial machinery arm being moved easily |
| CN110217730A (en) * | 2019-05-22 | 2019-09-10 | 南京定时达快运股份有限公司 | A kind of logistics Object Management group equipment |
| CN110217730B (en) * | 2019-05-22 | 2020-11-27 | 南京定时达快运股份有限公司 | Logistics object management equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20190111 |
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| CF01 | Termination of patent right due to non-payment of annual fee |