CN208866982U - Loading and unloading manipulator and lathe - Google Patents
Loading and unloading manipulator and lathe Download PDFInfo
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- CN208866982U CN208866982U CN201821610677.7U CN201821610677U CN208866982U CN 208866982 U CN208866982 U CN 208866982U CN 201821610677 U CN201821610677 U CN 201821610677U CN 208866982 U CN208866982 U CN 208866982U
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Abstract
The utility model discloses loading and unloading manipulator and lathe, and loading and unloading manipulator includes: U shaft moving part, and the U axis including extending along U axis moves mould group, and is connected to the U axial brake device of a laterally end position for U axis movement mould group；W shaft moving part, including the U axis slide plate being slidably mounted in U axis movement mould group, the W axial brake device being fixedly connected with U axis slide plate, and the W shaft coupling piece for connecting with W axial brake device and being moved along W axis；A axis rotary oscillation component, including the A axis fixing piece being fixedly connected with W shaft coupling piece, the A axial brake device being connect with A axis fixing piece, and the A shaft coupling piece for connecting with A axial brake device and being swung around the rotation of A axis；Acetabula device is installed on A shaft coupling piece, for passing through the fixed glass of negative-pressure adsorption.The utility model has the effect of improving production efficiency.
Description
Technical field
The utility model relates to glass working arts field, in particular to a kind of loading and unloading manipulator and lathe.
Background technique
3C Product (computer Computer, communication Communication and consumer electronics product
ConsumerElectronics it) updates fast, the market demand increases severely.In 3C Product, demand of the existing market to bend glass
It is larger, in order to obtain bend glass, plasticity can be then carried out using heating to glass；Can also using to glass into
The machinings such as row grinding.
But it in current glass machining tool equipment, generallys use and manually picks and places glass to be processed and completion of processing glass
Glass.Therefore the production efficiency of bend glass is very low.
Utility model content
The main purpose of the utility model is to provide a kind of loading and unloading manipulator and lathe, it is intended to improve production efficiency.
To achieve the above object, the utility model proposes loading and unloading manipulator, the loading and unloading manipulator includes:
U shaft moving part, the U axis including extending along U axis move mould group, and are connected to the U axis movement mould group
The laterally U axial brake device of an end position；
W shaft moving part moves in mould group in the U axis is mounted on along U axis sliding shape, including is slidably mounted on U axis
Move mould group on U axis slide plate, the W axial brake device being fixedly connected with the U axis slide plate, and with the W axial brake device
The W shaft coupling piece for connecting and being moved along W axis；
A axis rotary oscillation component is fixedly mounted on W shaft coupling piece in along W axis sliding shape, including connects with the W axis
The A axis fixing piece that fitting is fixedly connected, the A axial brake device being connect with the A axis fixing piece, and drive and fill with the A axis
The A shaft coupling piece setting connection and being swung around the rotation of A axis；
Acetabula device is installed on the A shaft coupling piece, for passing through the fixed glass of negative-pressure adsorption.
Optionally, the U axial brake device uses servo motor；
The U axis movement mould group includes intracorporal in shell in the rectangular-shape shell and closed protective that extend along W axis
The drive mechanism of linear motion will be converted into；
The drive mechanism connects the U axial brake device and the U axis slide plate, with so that the U axial brake device
The U axis slide plate is driven by the drive mechanism.
Optionally, the W axial brake device is straight line cylinder, and the straight line cylinder includes the push rod extended along W axis, institute
Push rod is stated to connect with the W shaft coupling piece；The W shaft coupling piece under the driving of the W axial brake device along W between centers every
Position is toggled between two stations of distribution.
Optionally, the W shaft coupling piece is plate-like, and upper face is consolidated towards the W axial brake device, and with the push rod
It is fixed；Lower face is towards the A axial brake device；
The A axis fixing piece is fixedly connected on the lower face of the W shaft coupling piece in bulk, the A axis fixing piece；It is described
A axial brake device is fixedly connected with the A axis fixing piece.
Optionally, the A axial brake device is rotary cylinder, and the rotary cylinder includes the shaft extended along A axis, institute
It states shaft and stretches out the part of the rotary cylinder and connect with the A shaft coupling piece；The A shaft coupling piece drives in the A axis and fills
Position is toggled between two stations being spaced apart around A axis under the driving set.
Optionally, the Acetabula device with the A shaft coupling piece when connecting in place, the rotary oscillation of the Acetabula device
Angle is 0 to 90 °, for distinguishing the glass of adsorption levels and vertical display.
Optionally, the A shaft coupling piece is plate-like；
The Acetabula device includes the multiple vacuum chucks and multiple suckers limit that the lower face of the A shaft coupling piece is arranged in
Position column.
Optionally, the loading and unloading manipulator further includes for spraying the jig cleaning device swept, the jig cleaning device
It is fixedly connected with the W shaft coupling piece, and the nozzle of the jig cleaning device is towards along A axis, and backwards to the suction
Disk device and the movement mould group setting of U axis.
Optionally, the jig cleaning device is with the A axis fixing piece by being fixedly connected, to the W axis connection
Part is fixedly connected.
The utility model additionally provides a kind of lathe, and the lathe includes such as above-mentioned loading and unloading manipulator.
Loading and unloading manipulator provided by the utility model, at work, control all parts first are in original state.
Then U shaft moving part is controlled as needed, so that W shaft moving part be driven to be moved to target position along U axis；Subsequently control
W axial brake device work processed, so that A axis rotary oscillation component be driven to be moved to target position along W axis；Subsequently control A axis
Driving device driving A shaft coupling piece is rocked to target position, so that Acetabula device faces the glass erect and placed, Huo Zheshui
The glass of placing flat.Then it carries out the movement about U axis, W axis and A axis again as needed, and reaches and take glass, mobile glass
Glass and the movement for putting glass.To complete pick-and-place and the shift action of glass in a manner of full machinery.Whole process does not need worker
It participates in, therefore improves the automatic words degree of automatic clamping and placing material, improve production efficiency.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the utility model loading and unloading manipulator；
Fig. 2 is the partial enlargement diagram of W shaft moving part part in Fig. 1；
Fig. 3 is partial enlargement diagram of the A axis rotary oscillation component part in a state in Fig. 1；
Fig. 4 is partial enlargement diagram of the A axis rotary oscillation component part in another state in Fig. 1.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot understand
For its relative importance of indication or suggestion or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not in the requires of the utility model
Protection scope within.
Embodiment one
Fig. 1 is please referred to, the present embodiment proposes a kind of loading and unloading manipulator 100.
In the present embodiment, propose robot coordinate concept for ease of description, including orthogonal U axis, W axis and
A axis；Wherein, in the present embodiment, U axis is that left and right extends, and W axis is that longitudinal direction extends, and A axis is front and back extension.
A kind of loading and unloading manipulator 100, the loading and unloading manipulator 100 include:
U shaft moving part 110, the U axis including extending along U axis move mould group 111, and are connected to the U axis movement
The U axial brake device 112 of a laterally end position for mould group 111.Wherein, U axis movement mould group 111 can be linear guide, to
Straight-line guidance is provided；U axial brake device 112 can be pushed using line handspike motor directed along U axis direction, and U axis drives
Dynamic device 112 is also possible to change the transmission mechanism of linear motion, such as screw rod, gear set, cunning using rotating electric machine cooperation rotation
The scheme of wheel group or rack-and-pinion etc. cooperation.
W shaft moving part 120 is moved in mould group 111 in the U axis is mounted on along U axis sliding shape, including is slidably installed
U axis slide plate 121 in U axis movement mould group 111, the W axial brake device 122 being fixedly connected with the U axis slide plate 121, with institute
State the W shaft coupling piece 123 that W axial brake device 122 is connected and moved along W axis.Wherein, W axial brake device 122 is as described above
It can also be using the scheme of line handspike motor or rotating electric machine cooperation transmission mechanism.W shaft coupling piece 123 is for the company of undertaking
It connects, the connection fit structure for connecting with each side is installed thereon, such as screw hole, engaging slot or agree with structure etc..
Incorporated by reference to referring to Fig. 2 to Fig. 4, A axis rotary oscillation component 130 connects in W axis is fixedly mounted on along W axis sliding shape
On fitting 123, including the A axis fixing piece 131 being fixedly connected with the W shaft coupling piece 123, it is connect with the A axis fixing piece 131
A axial brake device 132, and the A shaft coupling piece for connecting with the A axial brake device 132 and being swung around the rotation of A axis
133.Wherein, A axial brake device 132 provides the driving force around A axis rotary oscillation, and the amplitude of swing determines according to the design needs.
In the present embodiment, the amplitude of fluctuation of A axial brake device 132 is 90 degree.The wobble drive power of A axial brake device 132, can adopt
With cylinder drive scheme, it is also possible to using rotating electric machine scheme with angle attributive function etc..
Acetabula device 140 is installed on the A shaft coupling piece 133, for passing through the fixed glass 200 of negative-pressure adsorption.Its
In, Acetabula device 140 is to generate negative pressure when glass 200 contacts, thus fixed glass 200.In the present embodiment, which is come from
In gas source and negative pressure can be cancelled, with so that Acetabula device 140 can lose the adsorption capacity to glass 200 when needed,
So that glass 200 can be fallen with gravity.
Loading and unloading manipulator 100 provided by the present embodiment, at work, control all parts first are in initial shape
State.Then U shaft moving part 110 is controlled as needed, so that W shaft moving part 120 be driven to be moved to target position along U axis
It sets；Subsequently control W axial brake device 122 works, so that A axis rotary oscillation component 130 be driven to be moved to target position along W axis
It sets；Subsequently control A axial brake device 132 drives A shaft coupling piece 133 to be rocked to target position, so that Acetabula device 140
Face the glass 200 erect and placed, or horizontal positioned glass 200.Then as needed carry out again about U axis, W axis, with
And the movement of A axis, and reach and take glass 200, movable glass 200 and the movement for putting glass 200.To in a manner of full machinery
Complete pick-and-place and the shift action of glass 200.Whole process does not need worker's participation, therefore improves the automatic words journey of automatic clamping and placing material
Degree, improves production efficiency.
Further, in the present embodiment, the U axial brake device 112 uses servo motor.Wherein, servo motor connects
1 pulse is received, the corresponding angle of 1 pulse will be rotated, to realize displacement, and servo motor itself has sending arteries and veins
The function of punching, so servo motor one angle of every rotation, can all issue the pulse of corresponding number, to receive with servo motor
Pulse shaping echo, system, which will know that, has sent out how many pulse to servo motor, while having received how many return pulses again, because
This, the rotation of motor can be accurately controlled using servo motor very much, to realize accurate positioning, can achieve
0.001mm.Therefore, U axial brake device uses servo motor using 112, improves the mobile accuracy on U axis so as to reach
Effect.
The U axis movement mould group 111 includes in the rectangular-shape shell and closed protective extended along W axis in shell
It is interior the drive mechanism of linear motion will be converted into.Wherein, the shell of U axis movement mould group 111 uses main structure
Closing is realized by the way of assembly covering in integrally casting shaping, opening portion.In the present embodiment, mould group is moved by U axis
111 use totally-enclosed safeguard structure, can carry out effective protection to module internal drive mechanism, and then can be improved the movement of U axis
The kinematic accuracy and stability of mould group 111.
The drive mechanism connects the U axial brake device 112 and the U axis slide plate 121, with so that the U axis drives
Dynamic device 112 drives the U axis slide plate 121 by the drive mechanism.Wherein, the upper and lower surfaces of shell can be set
Guide groove can also penetrate through the slot bottom of guide groove to be oriented to U axis slide plate 121, so that U axis is sliding
Plate 121 is attached with drive mechanism.
Further, in the present embodiment, the W axial brake device 122 is straight line cylinder, and the straight line cylinder includes edge
The push rod that extends of W axis, the push rod connect with the W shaft coupling piece 123；The W shaft coupling piece 123 drives in the W axis
Position is toggled between two stations being spaced apart along W axis under the driving of device 122.Wherein, W axial brake device
122 include one section of rectilinear path, and two air inlets by being opened in the rectilinear path both ends carry out increase air pressure, when one end gas
When pressing high, push rod is mobile to the other end；On the contrary, if when other end air pressure is high, push rod is to a Duan Yidong.
In the present embodiment, realized in the movement of W axis direction by cylinder, then can only control pressure and obtain gas
The two poles of the earth end position of cylinder stroke；Therefore, can structure simply realize that the measured length in W axis direction moves back and forth.Program tool
There is compact-sized, ingenious in design, effective section space-efficient effect.
Further, in the present embodiment, the W shaft coupling piece 123 is plate-like, and upper face drives towards the W axis and fills
122 are set, and is fixed with the push rod；Lower face is towards the A axial brake device 132.Wherein, W shaft coupling piece 123 is metal
Plate, plate face are equipped with multiple connection apertures, are connected and fixed for the push rod respectively with W axial brake device 122, and drive with A axis
Dynamic device 132 is fixedly connected.
The A axis fixing piece 131 is fixedly connected under the W shaft coupling piece 123 in bulk, the A axis fixing piece 131
Plate face；The A axial brake device 132 is fixedly connected with the A axis fixing piece 131.Wherein, A axis fixing piece 131 is metal block
Shape in being downwardly projected shape, and is formed with towards the leading flank on front side of A axis after being that W shaft coupling piece 123 connects；The leading flank
For A axial brake device 132 to be fixedly mounted.
In the present embodiment, by the W shaft coupling piece 123 of plate, can have bonding strength and structural stability higher
Effect.And it is connected to the lower face of W shaft coupling piece 123 by additional A axis fixing piece 131, then is capable of forming installation
Leading flank.So that the process of installation A axial brake device 132 to W shaft coupling piece 123 is more convenient.
Further, in the present embodiment, the A axial brake device 132 is rotary cylinder, and the rotary cylinder includes edge
A axis extend shaft, the part that the shaft stretches out the rotary cylinder is connect with the A shaft coupling piece 133；The A axis
Connector 133 is toggling between two stations being spaced apart around A axis under the driving of the A axial brake device 132
Position.Wherein, A axial brake device 132 is rotary cylinder, to include two spaced air inlets, is inflated when to one
When mouth increases air pressure, shaft is turning to an extreme angles around A axis；And when increasing air pressure to another inflating port, shaft
Around A axis reverse turn to another extreme angles.A axial brake device 132 uses pneumatic device, then simple, light with structure, peace
Dress maintenance is simple.Medium is air, nonflammable compared with for hydraulic medium, therefore is also had the effect of using safe.
Further, in the present embodiment, the Acetabula device 140 is with the A shaft coupling piece 133 when connecting in place,
The rotary oscillation angle of the Acetabula device 140 is 0 to 90 °, for distinguishing the glass 200 of adsorption levels and vertical display.Cause
This, can be suitable for the pick-and-place of most glass 200.
Further, in the present embodiment, the A shaft coupling piece 133 is plate-like.Specifically, include step-like arm plate,
And the sucker mounting plate being connect with step arm plate.
The Acetabula device 140 includes 141 He of multiple vacuum chucks that the lower face of the A shaft coupling piece 133 is arranged in
Multiple sucker limited posts 142.Wherein, vacuum chuck 141 and sucker limited post 142 can be manufactured using rubber material, so as to
It is enough that there is protection glass 200, from the effect scratched.When adsorbing glass 200, vacuum chuck 141 connects with glass 200 first
Touching, then generates deformation, and then sucker limited post 142 is supported with glass 200, and vacuum chuck 141 and glass 200 closely paste at this time
It closes；Apply negative pressure finally by vacuum chuck 141, it is ensured that vacuum chuck 141 adsorbs fixed glass 200, realizes absorption glass
Glass 200.When putting down glass 200, increase air pressure in vacuum chuck 141, so that glass 200 and vacuum chuck 141 separate,
Glass 200 is put down in realization.
Further, in the present embodiment, the loading and unloading manipulator 100 further includes for spraying the jig cleaning device swept
150, the jig cleaning device 150 is fixedly connected with the W shaft coupling piece 123, and the spray of the jig cleaning device 150
Mouth is arranged towards along A axis, and backwards to the Acetabula device 140 and U axis movement mould group 111.Wherein, it in the present embodiment, controls
Have cleaning device 150 and use jet scheme, by spraying sector shape high pressure gas, so that processing be generated and be retained in glass
Impurity on 200 faces is blown away, buffing glass when drawing unstable glass 200 and absorption glass 200 to avoid vacuum chuck 141
200.Certainly, in other embodiments, jig cleaning device can also use hydrojet scheme, by spraying sector shape liquid, from
And processing is generated and the impurity that is retained on 200 face of glass washes away.
Further, in the present embodiment, the jig cleaning device 150 is connected by fixing with the A axis fixing piece 131
It connects, to be fixedly connected with the W shaft coupling piece 123.
Embodiment two
The utility model also proposes a kind of lathe, which includes loading and unloading manipulator 100, the loading and unloading manipulator 100
Specific structure referring to above-described embodiment, since this lathe uses whole technical solutions of above-mentioned all embodiments, until
All beneficial effects brought by technical solution with above-described embodiment less, this is no longer going to repeat them.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
It is all under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes
It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of loading and unloading manipulator, which is characterized in that the loading and unloading manipulator includes:
U shaft moving part, the U axis including extending along U axis move mould group, and are connected to the transverse direction of the U axis movement mould group
The U axial brake device of one end position；
W shaft moving part moves in mould group in the U axis is mounted on along U axis sliding shape, including is slidably mounted on the movement of U axis
U axis slide plate in mould group, the W axial brake device being fixedly connected with the U axis slide plate, and connect with the W axial brake device
And the W shaft coupling piece moved along W axis；
A axis rotary oscillation component, in along W axis sliding shape be fixedly mounted on W shaft coupling piece, including with the W shaft coupling piece
The A axis fixing piece being fixedly connected, the A axial brake device being connect with the A axis fixing piece, and connect with the A axial brake device
The A shaft coupling piece for connecing and being swung around the rotation of A axis；
Acetabula device is installed on the A shaft coupling piece, for passing through the fixed glass of negative-pressure adsorption.
2. loading and unloading manipulator as described in claim 1, which is characterized in that the U axial brake device uses servo motor；
U axis movement mould group include in the rectangular-shape shell and closed protective extended along W axis in shell it is intracorporal to
The drive mechanism of linear motion will be converted into；
The drive mechanism connects the U axial brake device and the U axis slide plate, with so that the U axial brake device passes through
The drive mechanism drives the U axis slide plate.
3. loading and unloading manipulator as claimed in claim 2, which is characterized in that the W axial brake device is straight line cylinder, described
Straight line cylinder includes the push rod extended along W axis, and the push rod is connect with the W shaft coupling piece；The W shaft coupling piece is described
Position is toggled between two stations being spaced apart along W axis under the driving of W axial brake device.
4. loading and unloading manipulator as claimed in claim 3, which is characterized in that the W shaft coupling piece is plate-like, upper face direction
The W axial brake device, and fixed with the push rod；Lower face is towards the A axial brake device；
The A axis fixing piece is fixedly connected on the lower face of the W shaft coupling piece in bulk, the A axis fixing piece；The A axis
Driving device is fixedly connected with the A axis fixing piece.
5. loading and unloading manipulator as claimed in claim 4, which is characterized in that the A axial brake device is rotary cylinder, described
Rotary cylinder includes the shaft extended along A axis, and the shaft stretches out the part of the rotary cylinder and the A shaft coupling piece connects
It connects；The A shaft coupling piece under the driving of the A axial brake device between two stations being spaced apart around A axis back and forth
Switching position.
6. loading and unloading manipulator as claimed in claim 5, which is characterized in that the Acetabula device with the A shaft coupling piece
When connecting in place, the rotary oscillation angle of the Acetabula device is 0 to 90 °, for distinguishing the glass of adsorption levels and vertical display
Glass.
7. loading and unloading manipulator as claimed in claim 6, which is characterized in that the A shaft coupling piece is plate-like；
The Acetabula device includes multiple vacuum chucks and the limit of multiple suckers that the lower face of the A shaft coupling piece is arranged in
Column.
8. loading and unloading manipulator as claimed in claim 7, which is characterized in that the loading and unloading manipulator further includes sweeping for spraying
Jig cleaning device, the jig cleaning device is fixedly connected with the W shaft coupling piece, and the jig cleaning device
Nozzle is arranged towards along A axis, and backwards to the Acetabula device and U axis movement mould group.
9. loading and unloading manipulator as claimed in claim 8, which is characterized in that the jig cleaning device by with the A axis
Fixing piece is fixedly connected, to be fixedly connected with the W shaft coupling piece.
10. a kind of lathe, which is characterized in that the lathe includes that loading and unloading as described in any one of claim 1 to 9 are mechanical
Hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610677.7U CN208866982U (en) | 2018-09-30 | 2018-09-30 | Loading and unloading manipulator and lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610677.7U CN208866982U (en) | 2018-09-30 | 2018-09-30 | Loading and unloading manipulator and lathe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208866982U true CN208866982U (en) | 2019-05-17 |
Family
ID=66469291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821610677.7U Active CN208866982U (en) | 2018-09-30 | 2018-09-30 | Loading and unloading manipulator and lathe |
Country Status (1)
| Country | Link |
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| CN (1) | CN208866982U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823091A (en) * | 2020-06-01 | 2020-10-27 | 南京冠石科技股份有限公司 | Angle-controllable liquid crystal display grinding system |
| CN112008596A (en) * | 2019-05-31 | 2020-12-01 | 深圳市创世纪机械有限公司 | Feeding and discharging mechanical arm and horizontal grinding machining center |
-
2018
- 2018-09-30 CN CN201821610677.7U patent/CN208866982U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008596A (en) * | 2019-05-31 | 2020-12-01 | 深圳市创世纪机械有限公司 | Feeding and discharging mechanical arm and horizontal grinding machining center |
| CN111823091A (en) * | 2020-06-01 | 2020-10-27 | 南京冠石科技股份有限公司 | Angle-controllable liquid crystal display grinding system |
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