JP2020146754A - Industrial robot based on opto-mechatronics - Google Patents
Industrial robot based on opto-mechatronics Download PDFInfo
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Abstract
Description
本発明はロボットの技術分野に関し、具体的には、オプトメカトロニクスに基づく産業用ロボットである。 The present invention relates to the technical field of robots, and specifically, is an industrial robot based on optomechatronics.
オプトメカトロニクス一体化技術は機械技術とレーザ−マイクロエレクトロニクス等の技術を組み合わせて融合した新たな技術であり、技術の発展につれて、オプトメカトロニクス技術は各分野で応用され、従来、短冊形基板の加工過程において、基板を所定サイズに切断する必要があり、そして、次の工程で加工を行うために切断過程において基板を別のコンベヤベルトに移す必要があり、しかし、切断速度が速い場合に、早い手動操作速度が要求され、且つ安全上のリスクが存在し、分割基板が積み重なりやすく、次の工程での加工にとっては不便である。この問題に鑑みて、現在、２本のコンベヤベルトに同時に操作する作業方式が出現して、異なる作業員は２本のコンベヤベルトにおいて別々で作業し、切断された基板を元のコンベヤベルトから迅速に取り出して、次に加工する。一般的な基板切断加工後、基板の搬送履帯からの落下又は取り出すときのアンバランスにより、加工漏れ又は加工ミスの発生をもたらしやすく、ある程度で作業効率に影響を与え、従って、オプトメカトロニクスに基づく産業用ロボットが期待される。 Optomechatronics integrated technology is a new technology that combines mechanical technology and technologies such as laser-microelectronics, and with the development of technology, optomechatronics technology has been applied in various fields, and conventionally, the processing process of strip-shaped substrates In, it is necessary to cut the substrate to a predetermined size, and in the cutting process it is necessary to transfer the substrate to another conveyor belt for processing in the next step, but if the cutting speed is fast, fast manual The operation speed is required, there is a safety risk, and the divided substrates are easily stacked, which is inconvenient for processing in the next process. In view of this problem, a working method has now emerged in which two conveyor belts are operated simultaneously, allowing different workers to work separately on the two conveyor belts and quickly remove the cut substrate from the original conveyor belt. Take it out and process it next. After general substrate cutting, imbalance when dropping or removing the substrate from the transport track is likely to cause processing omissions or processing errors, which affects work efficiency to some extent, and is therefore an industry based on optomechatronics. Robots are expected.
従来技術の欠点に対して、本発明は、一般的な基板切断加工後、基板の搬送履帯からの落下又は取り出すときのアンバランスにより、加工漏れ又は加工ミスの発生をもたらしやすく、ある程度で作業効率に影響を与えるという問題を解決し、オプトメカトロニクスに基づく産業用ロボットを提供する。 In contrast to the drawbacks of the prior art, the present invention is liable to cause processing omissions or processing errors due to imbalance when the substrate is dropped or taken out from the transport track after general substrate cutting processing, and work efficiency is to some extent. We will solve the problem of affecting optomechatronics and provide industrial robots based on optomechatronics.
以上の目的を実現するために、本発明は以下の技術案を採用する。一種のオプトメカトロニクスに基づく産業用ロボットであって、支持底板と基板材料を備え、前記支持底板の表面に凹形板が固定して接続され、前記支持底板の表面に逆方向支持板が固定して接続され、前記凹形板の表面が凹形であり、前記凹形板の内壁に正方向搬送回転軸が設置され、前記正方向搬送回転軸の表面に正方向搬送ローラ軸が嵌着され、前記正方向搬送ローラ軸の表面に垂直搬送履帯が嵌着され、前記基板材料が垂直搬送履帯に垂直に配置され、前記逆方向支持板の表面と凹形板の表面にいずれも軸受けが設置され、前記軸受けの内輪に逆方向搬送回転軸が固定して接続され、前記逆方向搬送回転軸の表面に逆方向搬送ローラ軸が嵌着され、前記逆方向搬送ローラ軸の表面に逆方向搬送履帯が嵌着され、前記凹形板の表面に搬送ガイドロッドが固定して接続され、前記搬送ガイドロッドの凹形板から離れた一端に回転ボールが嵌め込まれ、前記凹形板の表面に２つの支障の無い排出溝が開設され、２つの前記支障の無い排出溝が凹形板の表面の中心線を対称線として対称的に配設されており、前記凹形板の表面に２つの円弧状導風板が固定して接続され、２つの前記円弧状導風板が凹形板の表面の中心線を対称線として対称的に配設されており、前記円弧状導風板の内壁が傾斜している。 In order to realize the above object, the present invention adopts the following technical proposal. An industrial robot based on a kind of optomechatronics, which is provided with a support bottom plate and a substrate material, a concave plate is fixedly connected to the surface of the support bottom plate, and a reverse support plate is fixed to the surface of the support bottom plate. The surface of the concave plate is concave, a forward transport rotation shaft is installed on the inner wall of the concave plate, and a forward transport roller shaft is fitted on the surface of the forward transport rotation shaft. , The vertical transport crest is fitted on the surface of the forward transport roller shaft, the substrate material is arranged perpendicular to the vertical transport cuff, and bearings are installed on both the surface of the reverse support plate and the surface of the concave plate. The reverse transport rotary shaft is fixedly connected to the inner ring of the bearing, the reverse transport roller shaft is fitted on the surface of the reverse transport rotary shaft, and the reverse transport roller shaft is mounted on the surface of the reverse transport roller shaft. A bearing band is fitted, a transfer guide rod is fixedly connected to the surface of the concave plate, a rotating ball is fitted to one end of the transfer guide rod away from the concave plate, and 2 is applied to the surface of the concave plate. Two non-obstructive discharge grooves are opened, and the two non-obstructive discharge grooves are symmetrically arranged with the center line of the surface of the concave plate as a symmetric line, and two circles are arranged on the surface of the concave plate. The arc-shaped baffle plates are fixedly connected, and the two arc-shaped baffle plates are symmetrically arranged with the center line of the surface of the concave plate as a symmetric line, and the inner wall of the arc-shaped baffle plate is arranged. It is tilted.
前記支持底板の表面に支持斜柱が固定して接続され、前記支持斜柱の表面に支持ロッドが固定して接続され、前記支持ロッドの表面に支持リングが固定して接続され、前記支持リングの内壁にモーターが固定して装着され、前記モーターの出力軸にシャフトカップリングを介して主動回転軸が固定して接続され、前記支持ロッドの表面に支持ブロックが固定して接続され、前記支持ブロックの表面に旋回流動リングが固定して接続され、前記旋回流動リングの表面に側面封板が固定して接続され、前記主動回転軸の一端が旋回流動リングの内部に挿通され、前記旋回流動リングの底部に排風槽が開設され、前記排風槽の内壁に回転ロッドが固定して接続され、前記回転ロッドの表面に揺動ロッドが回転接続され、前記揺動ロッドの一端にレーザ切断ヘッドが固定して接続され、前記揺動ロッドの表面に円弧状風通過槽が開設され、前記揺動ロッドの表面には、円弧状風通過槽の数と同じであり且つ円弧状風通過槽と一対一に対応する双方向導風板が固定して接続され、前記双方向導風板の下面が凹形円弧状であり、前記双方向導風板の上面に傾斜円弧状槽が開設され、前記旋回流動リングの表面に送風管が嵌着され、前記主動回転軸の表面に反対方向の２つの雄ネジが設置され、前記揺動ロッドの旋回流動リングの内部に位置する一端に円弧状ネジブロックが固定して接続され、前記円弧状ネジブロックの内壁に雌ネジが設置される。 A support oblique column is fixedly connected to the surface of the support bottom plate, a support rod is fixedly connected to the surface of the support oblique column, and a support ring is fixedly connected to the surface of the support rod. The motor is fixedly mounted on the inner wall of the motor, the main rotation shaft is fixedly connected to the output shaft of the motor via a shaft coupling, and the support block is fixedly connected to the surface of the support rod to support the support. A swirling flow ring is fixedly connected to the surface of the block, a side seal plate is fixedly connected to the surface of the swirl flow ring, one end of the driving rotation shaft is inserted into the swirl flow ring, and the swirl flow An exhaust tank is opened at the bottom of the ring, a rotary rod is fixedly connected to the inner wall of the exhaust tank, a swing rod is rotationally connected to the surface of the rotary rod, and laser cutting is performed at one end of the swing rod. The head is fixedly connected, and an arc-shaped wind passage tank is opened on the surface of the swing rod, and the number of arc-shaped wind passage tanks is the same as the number of arc-shaped wind passage tanks on the surface of the swing rod. The bidirectional baffle plate corresponding to one-to-one with is fixedly connected, the lower surface of the bidirectional baffle plate has a concave arc shape, and an inclined arc-shaped tank is opened on the upper surface of the bidirectional baffle plate, and the rotation A blower pipe is fitted on the surface of the flow ring, two male screws in opposite directions are installed on the surface of the driving rotation shaft, and an arcuate screw block is provided at one end located inside the swivel flow ring of the swing rod. It is fixed and connected, and a female screw is installed on the inner wall of the arc-shaped screw block.
好ましくは、前記正方向搬送回転軸と逆方向搬送回転軸との回転方向が反対で、前記正方向搬送履帯と逆方向搬送履帯の搬送動力がモーターにより提供される。 Preferably, the rotation directions of the forward transport rotation shaft and the reverse transport rotation shaft are opposite to each other, and the transport power of the forward transport track and the reverse transport track is provided by the motor.
好ましくは、前記逆方向支持板、及び逆方向搬送履帯の数がいずれも２つであり、２つの前記逆方向支持板と２つの前記逆方向搬送履帯はいずれも凹形板の表面の中心線を対称線として対称的に分布している。 Preferably, the number of the reverse support plate and the reverse transport track is two, and the two reverse support plates and the two reverse transport tracks are both the center lines of the surface of the concave plate. Is symmetrically distributed as a line of symmetry.
好ましくは、前記搬送ガイドロッドの数が二列であり、二列の前記搬送ガイドロッドは凹形板の表面の中心線を対称線として対称的に分布している。 Preferably, the number of the transport guide rods is two rows, and the two rows of the transport guide rods are symmetrically distributed with the center line of the surface of the concave plate as a symmetrical line.
好ましくは、前記搬送ガイドロッドの表面が傾斜して、前記搬送ガイドロッドにおける回転ボールが基板材料と接触せずに接近する。 Preferably, the surface of the transport guide rod is inclined so that the rotating balls in the transport guide rod approach without contacting the substrate material.
好ましくは、２つごとの前記搬送ガイドロッドの間に搬送ガイドロープが固定して接続され、前記搬送ガイドロープの材料はゴムを含む。 Preferably, a transport guide rope is fixedly connected between the two transport guide rods, and the material of the transport guide rope includes rubber.
好ましくは、前記旋回流動リングが凹形板の真上に位置し、前記揺動ロッドが２つの円弧状導風板の間に位置する。 Preferably, the swirling flow ring is located directly above the concave plate and the swing rod is located between the two arcuate baffle plates.
好ましくは、前記円弧状風通過槽の数が２つであり、２つの前記円弧状風通過槽は揺動ロッドの表面の中心線を対称線として対称的に分布している。 Preferably, the number of the arcuate wind passage tanks is two, and the two arcuate wind passage tanks are symmetrically distributed with the center line of the surface of the rocking rod as a symmetrical line.
好ましくは、前記送風管の旋回流動リングから離れた一端が一般的な送風機である送風機の出力端と嵌着される。 Preferably, one end of the blower pipe away from the swirling flow ring is fitted to the output end of a blower, which is a general blower.
以下の有益な効果を有する。 It has the following beneficial effects.
（１）本発明を使用する際に、基板材料を垂直搬送履帯に搬送し、モーターを起動して、モーターが主動回転軸を駆動し、主動回転軸は雄ネジと雌ネジを介して円弧状ネジブロックを左へ揺動させ、雄ネジが切れると、別の逆方向の雄ネジが雌ネジと協働して円弧状ネジブロックを右へ揺動させ，円弧状ネジブロックは一定速度で左右へスウィングすることにより揺動ロッドを左右へ揺動させ、揺動ロッドはレーザ切断ヘッドを左右へ揺動させて、レーザ切断ヘッドは基板材料を切断して同じサイズの分割基板にすると同時に、風が送風管を通って旋回流動リングの内部に入り、揺動ロッドが揺動するとき、２つの傾斜円弧状槽も揺動してそれぞれ排風槽を通って旋回流動リングの内部に入り、旋回流動リングの内部における風は環状キャビティの内部に「回」字状で流動して旋回流動リング内部に入った傾斜円弧状槽の下部の円弧状面によるガイド作用で対応する円弧状風通過槽の内部に導入され、円弧状風通過槽によりガイドされて対応する回転ロッドに吹き、次に回転ロッドは切断された分割基板に吹くように風向を改変することで、分割基板は風力の作用で傍の逆方向搬送履帯に落下し、このような左右揺動により、分割基板を均一に落下させて分布させることで、次の工程での加工を容易にし、配置作業に係る時間を節約して、作業効率を向上させる一方、毎回の揺動が風の吹きと同調して行われるため、分割基板を漏れなく落下させて、加工漏れの発生を回避する。 (1) When using the present invention, the substrate material is transported to the vertical transport band, the motor is started, the motor drives the driving rotation shaft, and the driving rotation shaft has an arc shape via a male screw and a female screw. When the screw block is swung to the left and the male screw breaks, another male screw in the opposite direction cooperates with the female screw to swing the arcuate screw block to the right, and the arcuate screw block moves left and right at a constant speed. The swing rod swings left and right by swinging to the left and right, the swing rod swings the laser cutting head left and right, and the laser cutting head cuts the substrate material into split substrates of the same size, and at the same time, wind. Enters the inside of the swirling flow ring through the blower pipe, and when the swing rod swings, the two inclined arc-shaped tanks also swing and enter the inside of the swirling flow ring through the exhaust tank, respectively, and swivel. The wind inside the flow ring flows in a "circular" shape inside the annular cavity and enters the inside of the swirling flow ring. The corresponding arc-shaped wind passage tank is guided by the arc-shaped surface at the bottom of the inclined arc-shaped tank. Introduced inside, guided by an arcuate wind passage tank and blown to the corresponding rotating rod, then the rotating rod is modified to blow to the cut split board, so that the split board is sideways by the action of wind force. By falling on the reverse transport track and distributing the split substrate evenly by such a left-right swing, processing in the next process is facilitated and the time required for the placement work is saved. While improving work efficiency, each swing is performed in synchronization with the wind blowing, so that the divided substrate is dropped without omission to avoid the occurrence of processing omission.
（２）本発明では、双方向導風板が設置されることにより、双方向導風板が分割基板を吹き落とすように、旋回流動リングの内部に入って風力を導出することができる一方、双方向導風板の上面における傾斜円弧状槽がモーターへ傾斜しているので、常にモーターを放熱させる効果を奏する。 (2) In the present invention, by installing the bidirectional baffle plate, the bidirectional baffle plate can enter the inside of the swirling flow ring and derive the wind power as if the bidirectional baffle plate blows off the divided substrate, while the bidirectional guide plate can be derived. Since the inclined arc-shaped tank on the upper surface of the wind plate is inclined to the motor, it always has the effect of dissipating heat from the motor.
（３）本発明では、円弧状導風板が設置されることにより、円弧状導風板が風を斜めにガイドして、分割基板を前方の支障の無い排出溝に沿って両側の逆方向搬送履帯に吹き落とす一方、後方に吹かないように風を遮断して、それにより風が基板材料の未切断部分に吹いて左右に揺動させることを回避する。 (3) In the present invention, by installing the arc-shaped baffle plate, the arc-shaped baffle plate guides the wind diagonally, and the divided substrate is moved in the opposite direction on both sides along the front discharge groove without hindrance. While blowing down to the transport track, it blocks the wind so that it does not blow backwards, thereby avoiding the wind blowing to the uncut portion of the substrate material and swinging left and right.
（４）本発明では、旋回流動リングを設置することにより、旋回流動リングが風を集めて内部につむじ風を形成するので、いずれの双方向導風板が旋回流動リングの内部に入っても風を導出することができる一方、揺動ロッドを支持する役割も果たす。 (4) In the present invention, by installing the swirling flow ring, the swirling flow ring collects the wind and forms a whirlwind inside, so that the wind is blown regardless of which bidirectional baffle plate enters the inside of the swirl flow ring. While it can be derived, it also serves to support the swing rod.
（５）本発明では、レーザ切断ヘッドを制御して一定速度で左右に揺動させることにより基板材料を分割し、且つ切断すると同時に風を導出して切断された分割基板を均等で漏れなく配置するため、手動で配置する必要がなく、それにより、一般的な基板切断加工後、基板の搬送履帯からの落下又は取り出すときの不均一さにより、加工漏れ又は加工ミスの発生をもたらしやすく、ある程度で作業効率に影響を与えるという問題を効果的に解決する。 (5) In the present invention, the substrate material is divided by controlling the laser cutting head and swinging left and right at a constant speed, and at the same time as cutting, the wind is drawn out and the cut divided substrate is arranged evenly and without leakage. Therefore, it is not necessary to arrange the board manually, and as a result, after general board cutting processing, unevenness when the board is dropped or taken out from the transport band is likely to cause processing omission or processing error to some extent. Effectively solves the problem of affecting work efficiency.
１支持底板、２基板材料、３凹形板、４逆方向支持板、５正方向搬送回転軸、６正方向搬送ローラ軸、７垂直搬送履帯、８逆方向搬送回転軸、９逆方向搬送ローラ軸、１０逆方向搬送履帯、１１搬送ガイドロッド、１２回転ボール、１３支障の無い排出溝、１４円弧状導風板、１５支持斜柱、１６支持ロッド、１７支持リング、１８モーター、１９主動回転軸、２０支持ブロック、２１旋回流動リング、２２側面封板、２３排風槽、２４回転ロッド、２５揺動ロッド、２６レーザ切断ヘッド、２７円弧状風通過槽、２８双方向導風板、２９傾斜円弧状槽、３０送風管、３１雄ネジ、３２円弧状ネジブロック、３３雌ネジ、３４搬送ガイドロープ。 1 Support bottom plate, 2 Substrate material, 3 Concave plate, 4 Reverse support plate, 5 Forward transport rotation shaft, 6 Forward transport roller shaft, 7 Vertical transport belt, 8 Reverse transport rotary shaft, 9 Reverse transport roller Shaft, 10 reverse transport tracks, 11 transport guide rods, 12 rotating balls, 13 non-obstructive discharge grooves, 14 arc-shaped baffle plates, 15 support slanted columns, 16 support rods, 17 support rings, 18 motors, 19 driven rotation Shaft, 20 support block, 21 swivel flow ring, 22 side seal plate, 23 exhaust tank, 24 rotation rod, 25 swing rod, 26 laser cutting head, 27 arc-shaped wind passage tank, 28 bidirectional air guide plate, 29 inclination Arc-shaped tank, 30 blower pipe, 31 male screw, 32 arc-shaped screw block, 33 female screw, 34 transport guide rope.
以下では、本発明の図面を参照しながら、本発明の実施例における技術案を明瞭で、完全に説明し、もちろん、説明する実施例は本発明の一部の実施例に過ぎず、全ての実施例ではない。本発明中の実施例に基づいて、当業者が創造的な労働をしないで得られたすべての他の実施例は、全部本発明の保護範囲に属する。 In the following, the technical proposals in the embodiments of the present invention will be clearly and completely described with reference to the drawings of the present invention, and of course, the illustrated examples are only a part of the embodiments of the present invention and all of them. It is not an embodiment. Based on the examples in the present invention, all other examples obtained by those skilled in the art without creative labor belong to the scope of protection of the present invention.
図１−５に示すように、本発明の実施例はオプトメカトロニクスに基づく産業用ロボットを提供し、支持底板１と基板材料２を備え、支持底板１の表面に凹形板３が固定して接続され、支持底板１の表面に逆方向支持板４が固定して接続され、凹形板３の表面が凹形であり、凹形板３の内壁に正方向搬送回転軸５が設置され、正方向搬送回転軸５の表面に正方向搬送ローラ軸６が嵌着され、正方向搬送ローラ軸６の表面に垂直搬送履帯７が嵌着され、基板材料２が垂直搬送履帯７に垂直に配置され、逆方向支持板４の表面と凹形板３の表面にいずれも軸受けが設置され、軸受けの内輪に逆方向搬送回転軸８が固定して接続され、逆方向搬送回転軸８の表面に逆方向搬送ローラ軸９が嵌着され、逆方向搬送ローラ軸９の表面に逆方向搬送履帯１０が嵌着され、正方向搬送回転軸５と逆方向搬送回転軸８との回転方向が反対して、正方向搬送履帯と逆方向搬送履帯１０の搬送動力がモーターにより提供され、逆方向支持板４、及び逆方向搬送履帯１０の数がいずれも２つであり、２つの逆方向支持板４と２つの逆方向搬送履帯１０はいずれも凹形板３の表面の中心線を対称線として対称的に配設されており、凹形板３の表面に搬送ガイドロッド１１が固定して接続され、搬送ガイドロッド１１の数が二列であり、二列の搬送ガイドロッド１１は凹形板３の表面の中心線を対称線として対称的に配設されており、搬送ガイドロッド１１の表面が傾斜しており、搬送ガイドロッド１１における回転ボール１２が基板材料２と接触せずに接近しており、２つごとの搬送ガイドロッド１１の間に搬送ガイドロープ３４が固定して接続され、搬送ガイドロープ３４の材料がゴムを含み、搬送ガイドロッド１１の凹形板３から離れた一端に回転ボール１２が嵌め込まれ、凹形板３の表面に２つの支障の無い排出溝１３が開設され、２つの支障の無い排出溝１３が凹形板３の表面の中心線を対称線として対称的に配設されており、凹形板３の表面に２つの円弧状導風板１４が固定して接続され、２つの円弧状導風板１４が凹形板３の表面の中心線を対称線として対称的に配設されており、円弧状導風板１４の内壁が傾斜している。 As shown in FIGS. 1-5, an embodiment of the present invention provides an industrial robot based on optomechatronics, comprising a support bottom plate 1 and a substrate material 2, with a concave plate 3 fixed to the surface of the support bottom plate 1. The reverse support plate 4 is fixedly connected to the surface of the support bottom plate 1, the surface of the concave plate 3 is concave, and the forward transfer rotation shaft 5 is installed on the inner wall of the concave plate 3. The forward transport roller shaft 6 is fitted on the surface of the forward transport rotary shaft 5, the vertical transport cuff 7 is fitted on the surface of the forward transport roller shaft 6, and the substrate material 2 is arranged vertically on the vertical transport cuff 7. A bearing is installed on both the surface of the reverse support plate 4 and the surface of the concave plate 3, and the reverse transfer rotary shaft 8 is fixedly connected to the inner ring of the bearing, and is connected to the surface of the reverse transport rotary shaft 8. The reverse transport roller shaft 9 is fitted, the reverse transport clap 10 is fitted on the surface of the reverse transport roller shaft 9, and the rotation directions of the forward transport rotary shaft 5 and the reverse transport rotary shaft 8 are opposite to each other. The transport power of the forward transport band and the reverse transport band 10 is provided by the motor, and the number of the reverse support plate 4 and the reverse transfer track 10 is two, and the two reverse support plates 4 And the two reverse transport strips 10 are symmetrically arranged with the center line of the surface of the concave plate 3 as a symmetric line, and the transport guide rod 11 is fixedly connected to the surface of the concave plate 3. , The number of transport guide rods 11 is two rows, and the two rows of transport guide rods 11 are arranged symmetrically with the center line of the surface of the concave plate 3 as a symmetric line, and the surface of the transport guide rods 11 is arranged symmetrically. The rotating balls 12 in the transport guide rods 11 are inclined and approach each other without contacting the substrate material 2, and the transport guide ropes 34 are fixedly connected and connected between the two transport guide rods 11 for transport. The material of the guide rope 34 contains rubber, a rotating ball 12 is fitted at one end of the transport guide rod 11 away from the concave plate 3, and two non-obstructive discharge grooves 13 are opened on the surface of the concave plate 3. Two non-obstructive discharge grooves 13 are symmetrically arranged with the center line of the surface of the concave plate 3 as a symmetric line, and two arc-shaped baffle plates 14 are fixed to the surface of the concave plate 3. Two arc-shaped baffle plates 14 are connected and symmetrically arranged with the center line of the surface of the concave plate 3 as a symmetric line, and the inner wall of the arc-shaped baffle plate 14 is inclined.
支持底板１の表面に支持斜柱１５が固定して接続され、支持斜柱１５の表面に支持ロッド１６が固定して接続され、支持ロッド１６の表面に支持リング１７が固定して接続され、支持リング１７の内壁にモーター１８が固定して装着され、モーター１８の出力軸にシャフトカップリングを介して主動回転軸１９が固定して接続され、支持ロッド１６の表面に支持ブロック２０が固定して接続され、支持ブロック２０の表面に旋回流動リング２１が固定して接続され、旋回流動リング２１の表面に側面封板２２が固定して接続され、主動回転軸１９の一端が旋回流動リング２１の内部に挿通され、旋回流動リング２１の底部に排風槽２３が開設され、排風槽２３の内壁に回転ロッド２４が固定して接続され、回転ロッド２４の表面に揺動ロッド２５が回転接続され、旋回流動リング２１が凹形板３の真上に位置し、揺動ロッド２５が２つの円弧状導風板１４の間に位置し、揺動ロッド２５の一端にレーザ切断ヘッド２６が固定して接続され、揺動ロッド２５の表面に円弧状風通過槽２７が開設され、円弧状風通過槽２７の数が２つであり、２つの円弧状風通過槽２７は揺動ロッド２５の表面の中心線を対称線として対称的に配設されており、揺動ロッド２５の表面には、円弧状風通過槽２７の数と同じであり且つ円弧状風通過槽２７と一対一に対応する双方向導風板２８が固定して接続され、双方向導風板２８の下面が凹形円弧状であり、双方向導風板２８の上面に傾斜円弧状槽２９が開設され、旋回流動リング２１の表面に送風管３０が嵌着され、送風管３０の旋回流動リング２１から離れた一端が一般的な送風機である送風機の出力端と嵌着され、主動回転軸１９の表面に反対方向の２つの雄ネジ３１が設置され、揺動ロッド２５の旋回流動リング２１の内部に位置する一端に円弧状ネジブロック３２が固定して接続され、円弧状ネジブロック３２の内壁に雌ネジ３３が設置される。 The support oblique column 15 is fixedly connected to the surface of the support bottom plate 1, the support rod 16 is fixedly connected to the surface of the support oblique column 15, and the support ring 17 is fixedly connected to the surface of the support rod 16. The motor 18 is fixedly mounted on the inner wall of the support ring 17, the main rotary shaft 19 is fixedly connected to the output shaft of the motor 18 via a shaft coupling, and the support block 20 is fixed to the surface of the support rod 16. The swirling flow ring 21 is fixedly connected to the surface of the support block 20, the side sealing plate 22 is fixedly connected to the surface of the swirl flow ring 21, and one end of the main rotating shaft 19 is fixedly connected to the swirling flow ring 21. The exhaust tank 23 is opened at the bottom of the swirling flow ring 21, the rotary rod 24 is fixedly connected to the inner wall of the exhaust tank 23, and the swing rod 25 rotates on the surface of the rotary rod 24. Connected, the swirling flow ring 21 is located directly above the concave plate 3, the swing rod 25 is located between the two arcuate baffle plates 14, and the laser cutting head 26 is located at one end of the swing rod 25. It is fixedly connected, and an arc-shaped wind passage tank 27 is opened on the surface of the swing rod 25, the number of arc-shaped wind passage tanks 27 is two, and the two arc-shaped wind passage tanks 27 are the swing rod 25. The center line of the surface is symmetrically arranged as a line of symmetry, and the surface of the swing rod 25 has the same number of arc-shaped wind passage tanks 27 and one-to-one with the arc-shaped wind passage tank 27. The corresponding bidirectional baffle plate 28 is fixedly connected, the lower surface of the bidirectional baffle plate 28 has a concave arc shape, the inclined arcuate tank 29 is opened on the upper surface of the bidirectional baffle plate 28, and the swirling flow ring 21 The blower pipe 30 is fitted to the surface of the blower pipe 30, and one end of the blower pipe 30 away from the swirling flow ring 21 is fitted to the output end of a blower which is a general blower, and 2 in the opposite direction to the surface of the main rotating shaft 19. Two male screws 31 are installed, an arcuate screw block 32 is fixedly connected to one end located inside the swirling flow ring 21 of the swing rod 25, and a female screw 33 is installed on the inner wall of the arcuate screw block 32. To.
使用する際に、基板材料２を垂直搬送履帯７に搬送し、モーター１８を起動して、モーター１８を介して主動回転軸１９を回転駆動し、主動回転軸１９は雄ネジ３１と雌ネジ３３を介して円弧状ネジブロック３２を左へ揺動させ、雄ネジ３１が切れると、別の逆方向の雄ネジ３１が雌ネジ３３と協働して円弧状ネジブロック３２を右へ揺動させて、円弧状ネジブロック３２は一定速度で左右へ揺動することにより揺動ロッド２５を左右へ揺動させ、揺動ロッド２５はレーザ切断ヘッド２６を左右へ揺動させて、レーザ切断ヘッド２６は基板材料２を切断して同じサイズの分割基板にすると同時に、風が送風管３０を通って旋回流動リング２１の内部に入り、揺動ロッド２５が揺動するとき、２つの傾斜円弧状槽２９も揺動してそれぞれ排風槽２３を通って旋回流動リング２１の内部に入り、旋回流動リング２１の内部における風は環状キャビティの内部に「回」字状で流動して旋回流動リング２１内部に入った傾斜円弧状槽２９の下部円弧状面によるガイド作用で対応する円弧状風通過槽２７の内部に導入され、円弧状風通過槽２７によりガイドされて対応する回転ロッド１４に吹き、次に回転ロッド１４は切断された分割基板に吹くように風向を改変することで、分割基板は風力の作用で傍の逆方向搬送履帯１０に落下し、逆方向搬送履帯１０は材料を逆方向に搬送し、それにより、オプトメカトロニクスに基づく産業用ロボットの使用過程全体を完了する。
At the time of use, the substrate material 2 is transported to the vertical transport band 7, the motor 18 is started, and the driving rotary shaft 19 is rotationally driven via the motor 18, and the driving rotary shaft 19 has a male screw 31 and a female screw 33. When the male screw 31 is cut, another male screw 31 in the opposite direction cooperates with the female screw 33 to swing the arc-shaped screw block 32 to the right. The arcuate screw block 32 swings left and right at a constant speed to swing the swing rod 25 left and right, and the swing rod 25 swings the laser cutting head 26 left and right to swing the laser cutting head 26 left and right. Cuts the substrate material 2 into divided substrates of the same size, and at the same time, when the wind enters the inside of the swirling flow ring 21 through the blower pipe 30 and the swing rod 25 swings, two inclined arcuate tanks. 29 also swings and enters the inside of the swirling flow ring 21 through the exhaust tank 23, respectively, and the wind inside the swirling flow ring 21 flows inside the annular cavity in a “circular” shape and flows into the swirling flow ring 21. It is introduced into the corresponding arcuate wind passage tank 27 by the guiding action of the lower arcuate surface of the inclined arcuate tank 29 that has entered the inside, and is guided by the arcuate wind passage tank 27 and blown onto the corresponding rotary rod 14. Next, the rotating rod 14 modifies the wind direction so as to blow on the cut split substrate, so that the split substrate falls to the side reverse transport crest 10 due to the action of the wind force, and the reverse transport cuff 10 moves the material in the reverse direction. Transport to, thereby completing the entire process of using an industrial robot based on optomechatronics.
Claims (9)
前記支持底板（１）の表面に支持斜柱（１５）が固定して接続され、前記支持斜柱（１５）の表面に支持ロッド（１６）が固定して接続され、前記支持ロッド（１６）の表面に支持リング（１７）が固定して接続され、前記支持リング（１７）の内壁にモーター（１８）が固定して装着され、前記モーター（１８）の出力軸にシャフトカップリングを介して主動回転軸（１９）が固定して接続され、前記支持ロッド（１６）の表面に支持ブロック（２０）が固定して接続され、前記支持ブロック（２０）の表面に旋回流動リング（２１）が固定して接続され、前記旋回流動リング（２１）の表面に側面封板（２２）が固定して接続され、前記主動回転軸（１９）の一端が旋回流動リング（２１）の内部に挿通され、前記旋回流動リング（２１）の底部に排風槽（２３）が開設され、前記排風槽（２３）の内壁に回転ロッド（２４）が固定して接続され、前記回転ロッド（２４）の表面に揺動ロッド（２５）が回転接続され、前記揺動ロッド（２５）の一端にレーザ切断ヘッド（２６）が固定して接続され、前記揺動ロッド（２５）の表面に円弧状風通過槽（２７）が開設され、前記揺動ロッド（２５）の表面には、円弧状風通過槽（２７）の数と同じであり且つ円弧状風通過槽（２７）と一対一に対応する双方向導風板（２８）が固定して接続され、前記双方向導風板（２８）の下面が凹形円弧状であり、前記双方向導風板（２８）の上面に傾斜円弧状槽（２９）が開設され、前記旋回流動リング（２１）の表面に送風管（３０）が嵌着され、前記主動回転軸（１９）の表面に反対方向の２つの雄ネジ（３１）が設置され、前記揺動ロッド（２５）の旋回流動リング（２１）の内部に位置する一端に円弧状ネジブロック（３２）が固定して接続され、前記円弧状ネジブロック（３２）の内壁に雌ネジ（３３）が設置されることを特徴とするオプトメカトロニクスに基づく産業用ロボット。 An industrial robot based on optmechatronics, which is provided with a support bottom plate (1) and a substrate material (2), and a concave plate (3) is fixedly connected to the surface of the support bottom plate (1), and the support bottom plate is connected. The reverse support plate (4) is fixedly connected to the surface of the concave plate (1), the surface of the concave plate (3) is concave, and the forward transport rotation shaft is attached to the inner wall of the concave plate (3). (5) is installed, the forward transfer roller shaft (6) is fitted on the surface of the forward transfer rotation shaft (5), and the vertical transfer bearing (7) is fitted on the surface of the forward transfer roller shaft (6). Is fitted, the substrate material (2) is arranged vertically on the vertical transport crest (7), and bearings are installed on both the surface of the reverse support plate (4) and the surface of the concave plate (3). The reverse transport rotary shaft (8) is fixedly connected to the inner ring of the bearing, and the reverse transport roller shaft (9) is fitted to the surface of the reverse transport rotary shaft (8) to carry the reverse transport. A reverse transfer bearing band (10) is fitted on the surface of the roller shaft (9), and the transfer guide rod (11) is fixedly connected to the surface of the concave plate (3), and the transfer guide rod (11) is connected. A rotating ball (12) is fitted at one end away from the concave plate (3), and two non-obstructive discharge grooves (13) are opened on the surface of the concave plate (3). None of the discharge grooves (13) are symmetrically arranged with the center line of the surface of the concave plate (3) as a symmetric line, and two arc-shaped baffle plates (14) are arranged on the surface of the concave plate (3). ) Are fixedly connected, and the two arcuate baffles (14) are symmetrically arranged with the center line of the surface of the concave plate (3) as a symmetric line. The inner wall of (14) is inclined,
A support oblique column (15) is fixedly connected to the surface of the support bottom plate (1), and a support rod (16) is fixedly connected to the surface of the support oblique column (15), and the support rod (16) is connected. The support ring (17) is fixedly connected to the surface of the support ring (17), the motor (18) is fixedly mounted on the inner wall of the support ring (17), and is attached to the output shaft of the motor (18) via a shaft coupling. The driving rotation shaft (19) is fixedly connected, the support block (20) is fixedly connected to the surface of the support rod (16), and the swirling flow ring (21) is fixed to the surface of the support block (20). The side sealing plate (22) is fixedly connected to the surface of the swirling flow ring (21), and one end of the driven rotary shaft (19) is inserted into the swirl flow ring (21). , An exhaust tank (23) is opened at the bottom of the swirling flow ring (21), and a rotary rod (24) is fixedly connected to the inner wall of the exhaust tank (23) to connect the rotary rod (24). A swing rod (25) is rotationally connected to the surface, a laser cutting head (26) is fixedly connected to one end of the swing rod (25), and an arcuate wind passes through the surface of the swing rod (25). A tank (27) is opened, and the surface of the swing rod (25) has the same number of arc-shaped wind passing tanks (27) and has a one-to-one correspondence with the arc-shaped wind passing tank (27). The baffle plate (28) is fixedly connected, the lower surface of the bidirectional baffle plate (28) has a concave arc shape, and the inclined arcuate tank (29) is formed on the upper surface of the bidirectional baffle plate (28). It is opened, a blower pipe (30) is fitted on the surface of the swirling flow ring (21), two male screws (31) in opposite directions are installed on the surface of the driving rotation shaft (19), and the swinging An arcuate screw block (32) is fixedly connected to one end located inside the swivel flow ring (21) of the rod (25), and a female screw (33) is installed on the inner wall of the arcuate screw block (32). An industrial robot based on optomechatronics that is characterized by being
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| CN110860807B (en) * | 2019-12-03 | 2021-09-03 | 佛山市和劲金属科技有限公司 | But laser cutting machine that multi-angle was adjusted |
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| CN205817079U (en) * | 2016-04-15 | 2016-12-21 | 温州职业技术学院 | Vision guide automatic deviation correction formula leather laser cutting system |
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| JPS5994595A (en) * | 1982-11-19 | 1984-05-31 | Mitsubishi Electric Corp | Sorter for cut member for laser cutting machine |
| JPS63165090A (en) * | 1986-01-30 | 1988-07-08 | Chiyuushiyou Kigyo Jigyodan | Laser beam machine |
| US20100132526A1 (en) * | 2007-06-14 | 2010-06-03 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Apparatus for Holding a Plate-Like Material During a Separation Process |
| JP2017501886A (en) * | 2013-12-20 | 2017-01-19 | トルンプフ ヴェルクツォイクマシーネン ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフトＴｒｕｍｐｆ Ｗｅｒｋｚｅｕｇｍａｓｃｈｉｎｅｎ ＧｍｂＨ ＋ Ｃｏ． ＫＧ | Machine that separates plate workpieces |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114406496A (en) * | 2022-02-21 | 2022-04-29 | 深圳美克激光设备有限公司 | Industrial robot based on laser cutting |
| CN114406496B (en) * | 2022-02-21 | 2024-04-12 | 深圳美克激光设备有限公司 | Industrial robot based on laser cutting |
| CN114769916A (en) * | 2022-05-27 | 2022-07-22 | 扬州屹丰汽车部件有限公司 | Workpiece positioning mechanism of laser cutting machine |
| CN116604198A (en) * | 2023-05-06 | 2023-08-18 | 彬台机械(江苏)有限公司 | Panel laser cutting machine that mechanical equipment production was used |
| CN116604198B (en) * | 2023-05-06 | 2023-11-28 | 彬台机械(江苏)有限公司 | Panel laser cutting machine that mechanical equipment production was used |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109773352A (en) | 2019-05-21 |
| CN109773352B (en) | 2021-02-26 |
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