Fine carving manipulator

Abstract

The invention discloses a fine carving manipulator, and relates to the technical field of artwork carving. The fine carving manipulator comprises a feeding manipulator body arranged on a fine carving machine body, and is characterized in that a clamping mechanism used for clamping a carving base material is arranged on the feeding manipulator body and comprises a mounting plate fixed to the feeding manipulator body; the bottom of the mounting plate is connected with a plurality of first moving blocks arranged in an array through a telescopic mechanism, and the top of each first moving block is provided with a through mounting hole. According to the fine carving mechanical arm, when a carving base material is not laid, it can be guaranteed that the pneumatic suction cup is attached to the top of the carving base material all the time, the adsorption effect is guaranteed, and meanwhile after adsorption, automatic leveling operation can be conducted on the carving base material; when the base material is fixed on the positioning clamp, the distance between the engraved base material and the workbench can be conveniently controlled, meanwhile, the stability of the base material in the fixing process can be detected, and the efficiency and quality of fine engraving are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of art carving technology, specifically to a precision carving robotic arm. Background Technology

[0002] CNC engraving machines are processing equipment for art products. They can finely engrave materials such as acrylic and glass to create exquisite handicrafts. Their high-precision processing capabilities can perfectly present complex patterns and details, enhancing the artistry and quality of the handicrafts. CNC engraving machines play an important role in art model making, meeting the needs of high-end artistic creation. In the current production process of CNC engraving machines, many steps still require manual handling. Many CNC engraving machines have positioning fixtures on the worktable, and then a robotic arm drives a vacuum suction cup to pick up the engraving substrate. The vacuum suction cup then moves to the positioning fixture for positioning before subsequent processes. The CNC engraving robotic arm is an automated device used for loading and unloading materials on CNC engraving machines. The CNC engraving robotic arm can move in three dimensions, achieving precise loading and unloading of materials in three dimensions, significantly improving production efficiency.

[0003] However, existing engraving robots, when the substrate is not placed flat, may experience incomplete contact between the suction cups and the substrate surface during adsorption. This allows air to seep in, disrupting the vacuum environment and reducing adsorption force. Uneven force distribution on the suction cups, with insufficient adsorption in some areas, can cause the substrate to detach during movement, affecting the efficiency and quality of subsequent engraving. Furthermore, when the robot places the substrate onto the positioning fixture for fixation, it's difficult to control the distance between the substrate and the worktable. This can lead to collisions between the engraving head assembly and the worktable, impacting efficiency and quality. Additionally, the positioning fixture easily accumulates debris from engraving, affecting the clamping effect and hindering stability testing. The substrate may loosen during engraving, further impacting efficiency and quality. Summary of the Invention

[0004] The purpose of this invention is to provide a precision carving robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a precision carving robot, comprising a loading robot body mounted on a precision carving machine body, wherein the loading robot body is provided with a clamping mechanism for clamping the carving substrate, the clamping mechanism comprising a mounting plate fixed to the loading robot body, and a plurality of arrayed first moving blocks connected to the bottom of the mounting plate via a telescopic mechanism, each first moving block having a through mounting hole at its top, and a universal ball being disposed within the mounting hole, the universal ball having a through hole on its side wall, and a pneumatic suction cup being fixedly inserted into the through hole, the top of the mounting plate... Multiple fixed tubes are fixedly inserted, and the fixed tubes are connected to the pneumatic suction cup through telescopic tubes. Two connected fixed tubes are connected through a connecting tube, and an air extraction tube is fixedly connected to the top of the connecting tube. Multiple second moving blocks are connected to the side wall of the mounting plate through a moving module, and a pushing block is connected to the bottom of each second moving block through a telescopic component. The side wall of the pushing block is provided with an inclined surface, and the side wall of the mounting plate is provided with multiple alignment mechanisms for aligning the universal ball. The side wall of the pushing block is provided with a detection mechanism, which is used to detect the stability of the engraved substrate after it is clamped and fixed by the positioning fixture.

[0006] Preferably, each of the alignment mechanisms includes a fixed rod fixedly connected to the side wall of the universal ball, and the side wall of the mounting plate is connected to two symmetrically arranged third moving blocks through a reset mechanism. The bottom of the third moving blocks is fixedly connected to two symmetrically arranged V-shaped plates, and the movement of the third moving blocks is driven by a first pushing mechanism.

[0007] Preferably, the detection mechanism includes a rotating plate, which is rotatably connected to the side wall of the push block via a rotating mechanism. Two symmetrically arranged first sleeve rods are fixedly connected to the top of the rotating plate, and a first sleeve is sleeved on the side wall of each first sleeve rod. An installation block is fixedly connected to the upper end of the first sleeve, and multiple ball bearings are disposed on the top of the installation block. Two symmetrically arranged first inclined plates are fixedly connected to the side wall of the installation block. A vision sensor is fixedly inserted into the top of the installation plate, and the movement of the installation block is driven by a second pushing mechanism.

[0008] Preferably, the telescopic mechanism includes two symmetrically arranged second sleeve rods fixedly connected to the top of each first movable block, and a second sleeve is sleeved on the side wall of each second sleeve rod. The upper end of the second sleeve is fixed to the bottom of the mounting plate, and a second spring is sleeved on the side wall of each second sleeve.

[0009] Preferably, the reset mechanism includes two symmetrically arranged T-shaped guide rods fixedly connected to the side walls of each third moving block, and a connecting plate is sleeved on the side wall of the T-shaped guide rod. The connecting plate is fixed to the side wall of the mounting plate, and a third spring is sleeved on the side wall of each T-shaped guide rod.

[0010] Preferably, the first pushing mechanism includes a U-shaped plate, and the U-shaped plate is connected to the top of the mounting plate through a lifting module. The bottom of the U-shaped plate is fixedly connected to two symmetrically arranged movable plates, and the bottom of each movable plate is provided with multiple sets of pushing components. Each set of pushing components includes two symmetrically arranged connecting blocks fixedly connected to the bottom of the movable plate, and the bottom of the connecting blocks is fixedly connected to two symmetrically arranged second inclined plates.

[0011] Preferably, the second pushing mechanism includes a guide tube fixedly inserted into the top of the rotating plate, and a moving rod inserted into the guide tube. The upper end of the moving rod is fixed to the bottom of the mounting block, and an oil storage cylinder is fixedly connected to the side wall of the pushing block. A hose is fixedly connected between the bottom of the oil storage cylinder and the bottom of the guide tube, and a gravity plate is connected to the oil storage cylinder through a lifting mechanism.

[0012] Preferably, the lifting mechanism includes a fixed block fixedly connected to the inner wall of the oil storage tank, and two symmetrically arranged third sleeves are fixedly connected to the bottom of the fixed block. A third sleeve rod is inserted into each of the third sleeves, and the lower end of the third sleeve rod is fixed to the top of the gravity plate. An iron block is fixedly connected to the top of the gravity plate, and an electromagnet is fixedly connected to the bottom of the fixed block.

[0013] Preferably, the rotating mechanism includes an arc-shaped guide rail fixedly connected to the side wall of the push block, and a sliding block slidably connected to the arc-shaped guide rail. A connecting rod is fixedly connected between the sliding block and the rotating plate, and an arc-shaped rack is fixedly connected to the side wall of the push block. A support plate is fixedly connected to the bottom of the sliding block, and a motor is fixedly connected to the side wall of the support plate. A gear is fixedly connected to the output end of the motor, and the gear meshes with the rack.

[0014] Preferably, the telescopic mechanism includes two symmetrically arranged fourth sleeve rods fixedly connected to the bottom of the second moving block, and a fourth sleeve tube is sleeved on the side wall of each fourth sleeve rod. The lower end of the fourth sleeve tube is fixed to the top of the pushing block, and a fourth spring is sleeved on the side wall of each fourth sleeve tube.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] (1) This type of precision carving robot, by setting a leveling mechanism, when it is necessary to clamp the carving substrate, the loading robot body drives the mounting plate to move and move it above the carving substrate to be processed. Then, it drives the mounting plate to move downward so that the pneumatic suction cup is in contact with the top of the carving substrate. If the carving substrate is not level, the universal ball can automatically rotate and adjust. At the same time, the second spring can be compressed to ensure that the pneumatic suction cup is always in contact with the top of the carving substrate. Then, the pneumatic suction cup is vacuumed through the air extraction pipe to ensure the adsorption effect on the carving substrate. After adsorption is completed, the loading robot body drives the mounting plate to move upward. At the same time, the lifting module drives the U-shaped plate and the moving plate to move downward. When the moving plate moves downward, the connecting block drives the second inclined plate to move synchronously, and the two third moving blocks of the same group move closer to each other along the second inclined plate. At the same time, the third spring is compressed, thereby driving the same group of Two V-shaped plates move closer together and abut against the side wall of the fixed rod. At this point, the omnidirectional ball can be aligned, thereby aligning the pneumatic suction cup and the engraving substrate, ensuring that the engraving substrate is in a horizontal state. This allows for automatic leveling of unevenly placed engraving substrates, ensuring the efficiency and quality of subsequent fine carving. After leveling, the moving module drives the second moving block to move closer to the mounting plate. Simultaneously, the telescopic mechanism drives the pushing block to move synchronously. When the inclined surface abuts against the bottom of the engraving substrate, the pushing block can move downwards, causing its top to abut against the bottom of the engraving substrate. At the same time, the fourth spring is stretched. Then, the loading robot body places the mounting plate and the engraving substrate onto the positioning fixture on the worktable, causing the bottom of the pushing block to contact the top of the worktable. Next, the pneumatic suction cup releases the engraving substrate, and the positioning fixture clamps and fixes the engraving substrate. This facilitates control of the distance between the engraving substrate and the worktable, ensuring the efficiency and quality of fine carving.

[0017] (2) This type of precision carving robot, by setting up a detection mechanism, after the positioning fixture clamps and fixes the carving substrate, can de-energize the electromagnet and stop attracting the iron block. At this time, the gravity plate can move downward along the oil storage cylinder under the action of gravity. At this time, it can squeeze the hydraulic oil in the oil storage cylinder, so that the hydraulic oil enters the guide tube through the hose. Under the action of hydraulic pressure, it can push the moving rod upward and drive the mounting block to move upward synchronously, so that the ball abuts against the bottom of the carving substrate. Then, the motor is started. The rotation of the motor drives the rotation of the gear, so that the gear can roll on the side wall of the rack, thereby driving the sliding block to slide along the arc guide rail. When the sliding block slides, it can move the sliding block and the connecting rod to move the sliding block to move the iron ... The connecting rod drives the rotating plate to move synchronously, allowing the mounting block to rotate to the side wall of the carving substrate. This causes the ball bearings to abut against the side wall of the carving substrate. The gravity of the gravity plate pushes the ball bearings against the carving substrate. The carving substrate is then detected by multiple detection mechanisms. When the vision sensor detects movement of the carving substrate, it indicates that the positioning fixture's clamping and fixing of the carving substrate is not stable or reliable enough. This prompts the operator to perform maintenance and re-clamping to ensure the efficiency and quality of subsequent fine carving. Next, the moving module drives the pushing block to move away from the mounting plate to reset. Then, the loading robot moves the mounting plate to reset, allowing the fine carving head assembly to perform fine carving operations on the carving substrate. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating the usage state of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the overall structure of the push block in this invention;

[0021] Figure 4 for Figure 1 Enlarged structural diagram at point A;

[0022] Figure 5 for Figure 2 Enlarged structural diagram at point B;

[0023] Figure 6 for Figure 3 Enlarged structural diagram at point C;

[0024] Figure 7 for Figure 3 Enlarged structural diagram at point D;

[0025] Figure 8 for Figure 4 Enlarged structural diagram at point E;

[0026] Figure 9 for Figure 4 Enlarged structural diagram at point F;

[0027] Figure 10 for Figure 5 Enlarged structural diagram at point G;

[0028] Figure 11 for Figure 5 Enlarged structural diagram at point H;

[0029] Figure 12 for Figure 8 A magnified structural diagram of point I in the middle.

[0030] In the diagram: 1. Engraving machine body; 101. Engraving head assembly; 102. Worktable; 103. Positioning fixture; 201. Rotating plate; 202. First sleeve rod; 203. First sleeve tube; 204. Mounting block; 205. First inclined plate; 206. Ball bearing; 207. Vision sensor; 301. Guide tube; 302. Moving rod; 303. Oil reservoir; 304. Gravity plate; 305. Hose; 401. Arc-shaped guide rail; 402. Sliding block; 403. Connecting rod; 404. Rack; 405. Support plate; 406. Gear; 407. Motor; 501. Second sleeve tube; 502. Second sleeve rod; 503. Second spring; 601. Fixed rod; 602. Third moving block; 603. V-shaped plate; 701. T-shaped guide rod; 702. Connecting plate; 70 3. Third spring; 801. Moving plate; 802. Connecting block; 803. U-shaped plate; 804. Lifting module; 805. Second inclined plate; 901. Fourth sleeve; 902. Fourth rod; 903. Fourth spring; 1001. Fixing block; 1002. Third sleeve; 1003. Third rod; 1004. Iron block; 1005. Electromagnet; 11. Loading robot body; 1201. Mounting plate; 1202. Moving module; 1203. Second moving block; 1204. Pushing block; 1205. Inclined surface; 1206. First moving block; 1207. Mounting hole; 1208. Universal ball; 1209. Through hole; 1210. Pneumatic suction cup; 1211. Fixing tube; 1212. Connecting tube; 1213. Air extraction tube; 1214. Telescopic tube. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-12 This invention provides a technical solution: a precision carving robot, including a loading robot body 11 mounted on a precision carving machine body 1. The precision carving machine body 1 includes a precision carving head assembly 101, a worktable 102, and a positioning fixture 103, all of which are well-known technologies in this field and will not be elaborated upon here. Furthermore, the positioning fixture 103 is designed to prevent interference from the push block 1204. The loading robot body 11 is provided with a clamping mechanism for holding the carving substrate. The clamping mechanism includes a mounting plate 1201 fixed to the loading robot body 11, and the mounting plate 1201 is mounted on the substrate. The bottom of the mounting plate 1201 is connected to a plurality of arrayed first movable blocks 1206 via a telescopic mechanism. Each first movable block 1206 has a through mounting hole 1207 at its top, and a universal ball 1208 is installed within the mounting hole 1207. A through hole 1209 is provided on the side wall of the universal ball 1208, and a pneumatic suction cup 1210 is fixedly inserted into the through hole 1209. A plurality of fixing tubes 1211 are fixedly inserted into the top of the mounting plate 1201, and the fixing tubes 1211 are connected to the pneumatic suction cups 1210 via telescopic tubes 1214. Two fixing tubes 1211 are connected... The components 211 are connected by a connecting pipe 1212, and an air extraction pipe 1213 is fixedly connected to the top of the connecting pipe 1212. Multiple second moving blocks 1203 are connected to the side wall of the mounting plate 1201 via a moving module 1202. The moving module 1202 is a well-known technology in this field and will not be described in detail here. Each second moving block 1203 has a pushing block 1204 connected to its bottom via a telescopic assembly. The side wall of the pushing block 1204 is provided with an inclined surface 1205. Multiple leveling machines for leveling the universal ball 1208 are provided on the side wall of the mounting plate 1201. The structure includes a detection mechanism on the side wall of the push block 1204, which is used to detect the stability of the engraving substrate after it is clamped and fixed by the positioning fixture 103. Even when the engraving substrate is not level, it can ensure that the pneumatic suction cup 1210 is always in contact with the top of the engraving substrate to ensure the adsorption effect. At the same time, it can automatically level the substrate after adsorption. When the substrate is fixed on the positioning fixture 103, it is easy to control the distance between the engraving substrate and the worktable 102. At the same time, it can detect the stability of the substrate when it is fixed to ensure the efficiency and quality of fine engraving.

[0033] Each alignment mechanism includes a fixed rod 601 fixedly connected to the side wall of the universal ball 1208, and two symmetrically arranged third moving blocks 602 connected to the side wall of the mounting plate 1201 through a reset mechanism. Two symmetrically arranged V-shaped plates 603 are fixedly connected to the bottom of the third moving blocks 602, and the movement of the third moving blocks 602 is driven by a first pushing mechanism. After adsorption is completed, the mounting plate 1201 is moved upward by the loading robot body 11. At the same time, the first pushing mechanism pushes the two third moving blocks 602 in the same group to move closer to each other, and can also drive the two V-shaped plates 603 in the same group to move closer to each other and abut against the side wall of the fixed rod 601. At this time, the universal ball 1208 can be aligned, thereby aligning the pneumatic suction cup 1210 and the engraving substrate, ensuring that the engraving substrate is in a horizontal state.

[0034] The detection mechanism includes a rotating plate 201, which is rotatably connected to the side wall of the push block 1204 via a rotating mechanism. Two symmetrically arranged first sleeve rods 202 are fixedly connected to the top of the rotating plate 201, and a first sleeve 203 is sleeved on the side wall of each first sleeve rod 202. An mounting block 204 is fixedly connected to the upper end of the first sleeve 203, and multiple ball bearings 206 are disposed on the top of the mounting block 204. Two symmetrically arranged first inclined plates 205 are fixedly connected to the side wall of the mounting block 204. A viewing device is fixedly inserted into the top of the mounting plate 1201. The sensor 207 and the moving of the mounting block 204 are driven by the second pushing mechanism. After the positioning fixture 103 clamps and fixes the engraving substrate, the second pushing mechanism pushes the mounting block 204 upward, so that the ball 206 abuts against the bottom of the engraving substrate. Then, the rotating mechanism drives the rotating plate 201 to rotate, so that the mounting block 204 can rotate to the side wall of the engraving substrate, and the ball 206 abuts against the side wall of the engraving substrate. The ball 206 pushes and detects the engraving substrate by the gravity of the gravity plate 304.

[0035] The telescopic mechanism includes two symmetrically arranged second sleeve rods 502 fixedly connected to the top of each first moving block 1206, and a second sleeve 501 is sleeved on the side wall of each second sleeve rod 502. The upper end of the second sleeve 501 is fixed to the bottom of the mounting plate 1201, and a second spring 503 is sleeved on the side wall of each second sleeve 501, which guides and resets the movement of the first moving block 1206.

[0036] The reset mechanism includes two symmetrically arranged T-shaped guide rods 701 fixedly connected to the side walls of each third moving block 602, and a connecting plate 702 is sleeved on the side wall of the T-shaped guide rod 701. The connecting plate 702 is fixed to the side wall of the mounting plate 1201, and a third spring 703 is sleeved on the side wall of each T-shaped guide rod 701, which guides and resets the movement of the third moving block 602.

[0037] The first pushing mechanism includes a U-shaped plate 803, which is connected to the top of the mounting plate 1201 via a lifting module 804. Two symmetrically arranged movable plates 801 are fixedly connected to the bottom of the U-shaped plate 803, and multiple sets of pushing components are provided at the bottom of each movable plate 801. Each set of pushing components includes two symmetrically arranged connecting blocks 802 fixedly connected to the bottom of the movable plate 801, and two symmetrically arranged second inclined plates 805 are fixedly connected to the bottom of the connecting blocks 802. The lifting module 804 drives the movable plate 801 to move downward. When the movable plate 801 moves downward, the connecting blocks 802 can drive the second inclined plates 805 to move synchronously, and cause the two third movable blocks 602 of the same group to move closer to each other along the second inclined plates 805. At the same time, the third spring 703 is compressed.

[0038] The second pushing mechanism includes a guide tube 301 fixedly inserted into the top of the rotating plate 201, and a moving rod 302 inserted into the guide tube 301. The upper end of the moving rod 302 is fixed to the bottom of the mounting block 204, and an oil reservoir 303 is fixedly connected to the side wall of the pushing block 1204. A hose 305 is fixedly connected between the bottom of the oil reservoir 303 and the bottom of the guide tube 301. A gravity plate 304 is connected to the oil reservoir 303 through a lifting mechanism. The gravity plate 304 moves downward along the oil reservoir 303 through the lifting mechanism. At this time, the hydraulic oil in the oil reservoir 303 can be squeezed, so that the hydraulic oil enters the guide tube 301 through the hose 305. Under the action of hydraulic pressure, the moving rod 302 can be pushed upward, and the mounting block 204 can be moved upward synchronously, so that the ball 206 abuts against the bottom of the engraving substrate.

[0039] The lifting mechanism includes a fixed block 1001 fixedly connected to the inner wall of the oil reservoir 303, and two symmetrically arranged third sleeves 1002 fixedly connected to the bottom of the fixed block 1001. A third sleeve rod 1003 is inserted into each third sleeve 1002, and the lower end of the third sleeve rod 1003 is fixed to the top of the gravity disk 304. An iron block 1004 is fixedly connected to the top of the gravity disk 304, and an electromagnet 1005 is fixedly connected to the bottom of the fixed block 1001. When the electromagnet 1005 is de-energized, it no longer attracts the iron block 1004. At this time, the gravity disk 304 can move downward along the oil reservoir 303 under the action of gravity. When the electromagnet 1005 is energized, it can attract the iron block 1004, thereby driving the gravity disk 304 to move upward and reset.

[0040] The rotating mechanism includes an arc-shaped guide rail 401 fixedly connected to the side wall of the push block 1204, and a sliding block 402 slidably connected to the arc-shaped guide rail 401. A connecting rod 403 is fixedly connected between the sliding block 402 and the rotating plate 201. An arc-shaped rack 404 is fixedly connected to the side wall of the push block 1204. A support plate 405 is fixedly connected to the bottom of the sliding block 402, and a motor 407 is fixedly connected to the side wall of the support plate 405. A gear 406 is fixedly connected to the output end of the motor 407. 6 is engaged with rack 404. When motor 407 is started, the rotation of motor 407 drives the rotation of gear 406, so that gear 406 can roll on the side wall of rack 404, thereby driving sliding block 402 to slide along arc guide rail 401. When sliding block 402 slides, it can drive rotating plate 201 to move synchronously through sliding block 402 and connecting rod 403, so that mounting block 204 can rotate to the side wall of engraving substrate, and the ball 206 abuts against the side wall of engraving substrate.

[0041] The telescopic mechanism includes two symmetrically arranged fourth sleeve rods 902 fixedly connected to the bottom of the second moving block 1203. Each fourth sleeve rod 902 has a fourth sleeve tube 901 sleeved on its side wall. The lower end of the fourth sleeve tube 901 is fixed to the top of the push block 1204. Each fourth sleeve tube 901 has a fourth spring 903 sleeved on its side wall. The moving module 1202 drives the second moving block 1203 to move closer to the mounting plate 1201. At the same time, the telescopic mechanism drives the push block 1204 to move synchronously. When the inclined surface 1205 abuts against the bottom of the engraving substrate, the push block 1204 can move downward and the top of the push block 1204 abuts against the bottom of the engraving substrate. At the same time, the fourth spring 903 is stretched.

[0042] Working Principle: During use, when clamping the engraving substrate, the loading robot body 11 moves the mounting plate 1201 above the substrate. Then, it moves the mounting plate 1201 downwards, causing the pneumatic suction cup 1210 to adhere to the top of the substrate. If the substrate is not level, the universal ball 1208 automatically rotates for adjustment, and the second spring 503 is compressed to ensure the pneumatic suction cup 1210 remains in contact with the substrate. Next, a vacuum is created on the pneumatic suction cup 1210 via the extraction pipe 1213 to ensure effective adsorption of the substrate. After adsorption is complete, the loading robot body 11 moves the mounting plate 1201 downwards. 1. Move upwards, and simultaneously, the lifting module 804 drives the U-shaped plate 803 and the moving plate 801 to move downwards. When the moving plate 801 moves downwards, it can drive the second inclined plate 805 to move synchronously through the connecting block 802, and cause the two third moving blocks 602 in the same group to move closer to each other along the second inclined plate 805. At the same time, the third spring 703 is compressed, which can drive the two V-shaped plates 603 in the same group to move closer to each other and abut against the side wall of the fixed rod 601. At this time, the universal ball 1208 can be aligned, thereby aligning the pneumatic suction cup 1210 and the engraving substrate, ensuring that the engraving substrate is in a horizontal state. It can automatically level uneven engraving substrates, ensuring the efficiency and quality of subsequent fine carving.

[0043] After leveling is completed, the second moving block 1203 is moved closer to the mounting plate 1201 by the moving module 1202. At the same time, the pushing block 1204 is moved synchronously by the telescopic mechanism. When the inclined surface 1205 abuts against the bottom of the engraving substrate, the pushing block 1204 can move downward and the top of the pushing block 1204 abuts against the bottom of the engraving substrate. At the same time, the fourth spring 903 is stretched. Then, the mounting plate 1201 and the engraving substrate are placed on the positioning fixture 103 on the worktable 102 by the loading robot body 11. At the same time, the bottom of the pushing block 1204 contacts the top of the worktable 102. Then, the pneumatic suction cup 1210 releases the engraving substrate. At this time, the engraving substrate falls on the top of the pushing block 1204 and is clamped and fixed by the positioning fixture 103. At this time, it is easy to control the distance between the engraving substrate and the worktable 102, ensuring the efficiency and quality of fine engraving.

[0044] After the positioning fixture 103 clamps and fixes the engraving substrate, the electromagnet 1005 can be de-energized and will no longer attract the iron block 1004. At this time, the gravity plate 304 can move downward along the oil reservoir 303 under the action of gravity. At this time, the hydraulic oil in the oil reservoir 303 can be squeezed, so that the hydraulic oil enters the guide tube 301 through the hose 305. Under the action of hydraulic pressure, the moving rod 302 can be pushed upward, and the mounting block 204 can be moved upward synchronously, so that the ball 206 abuts against the bottom of the engraving substrate. Through the gravity of the gravity plate 304, the ball 206 can push the engraving substrate upward for detection.

[0045] Next, the motor 407 is started. The rotation of the motor 407 drives the rotation of the gear 406, causing the gear 406 to roll on the side wall of the rack 404. This causes the sliding block 402 to slide along the arc-shaped guide rail 401. When the sliding block 402 slides, it drives the rotating plate 201 to move synchronously through the sliding block 402 and the connecting rod 403. This allows the mounting block 204 to rotate to the side wall of the engraving substrate, causing the ball bearing 206 to abut against the side wall of the engraving substrate. The gravity of the gravity plate 304 pushes the ball bearing 206 from the side of the engraving substrate. The engraving substrate is inspected by multiple testing institutions in sequence. When the vision sensor 207 detects that the engraving substrate has moved, it indicates that the clamping and fixing of the engraving substrate by the positioning fixture 103 is not stable and reliable enough. The operator is reminded to carry out maintenance and re-clamping to ensure the efficiency and quality of subsequent fine carving. Then, the moving module 1202 drives the push block 1204 to move and reset away from the mounting plate 1201. Then, the loading robot body 11 drives the mounting plate 1201 to move and reset, and the fine carving head assembly 101 can then perform fine carving operations on the engraving substrate.

[0046] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0047] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A fine carving mechanical hand, comprising a feeding mechanical hand body (11) arranged on a fine carving machine body (1), characterized in that: The upper feeding manipulator body (11) is provided with a clamping mechanism for clamping the carving substrate, the clamping mechanism comprises a mounting plate (1201) fixed on the upper feeding manipulator body (11), and the bottom of the mounting plate (1201) is connected with a plurality of arrayed first moving blocks (1206) through a telescopic mechanism, the top of each first moving block (1206) is provided with a through mounting hole (1207), and a universal ball (1208) is arranged in the mounting hole (1207), a through hole (1209) is formed in the side wall of the universal ball (1208), and a pneumatic suction cup (1210) is fixedly arranged in the through hole (1209), a plurality of fixed pipes (1211) are fixedly arranged on the top of the mounting plate (1201), the fixed pipes (1211) are communicated with the pneumatic suction cup (1210) through telescopic pipes (1214), the two fixed pipes (1211) are communicated through a connecting pipe (1212), and the top of the connecting pipe (1212) is fixedly connected with a suction pipe (1213), a plurality of second moving blocks (1203) are connected to the side wall of the mounting plate (1201) through a moving module (1202), the bottom of each second moving block (1203) is connected with a push block (1204) through a telescopic assembly, the side wall of the push block (1204) is provided with an inclined surface (1205), and the side wall of the mounting plate (1201) is provided with a plurality of righting mechanisms for righting the universal ball (1208), the side wall of the push block (1204) is provided with a detection mechanism, and the detection mechanism is used for detecting the stability of the carving substrate after being clamped and fixed by the positioning clamp (103).

2. The precision mechanical hand of claim 1, wherein: Each of the righting mechanisms comprises a fixed rod (601) fixedly connected to the side wall of the universal ball (1208), and the side wall of the mounting plate (1201) is connected with two symmetrically arranged third moving blocks (602) through a reset mechanism, the bottom of the third moving block (602) is fixedly connected with two symmetrically arranged V-shaped plates (603), and the movement of the third moving block (602) is pushed by a first pushing mechanism.

3. The precision mechanical hand of claim 1, wherein: The detection mechanism comprises a rotating plate (201), and the rotating plate (201) is rotatably connected with the side wall of the push block (1204) through a rotating mechanism, the top of the rotating plate (201) is fixedly connected with two symmetrically arranged first sleeve rods (202), the side wall of each first sleeve rod (202) is sleeved with a first sleeve pipe (203), the upper end of the first sleeve pipe (203) is fixedly connected with a mounting block (204), a plurality of rolling balls (206) are arranged on the top of the mounting block (204), the side wall of the mounting block (204) is fixedly connected with two symmetrically arranged first inclined plates (205), a visual sensor (207) is fixedly arranged on the top of the mounting plate (1201), and the movement of the mounting block (204) is pushed by a second pushing mechanism.

4. The precision mechanical hand of claim 1, wherein: The telescopic mechanism comprises two symmetrically arranged second sleeve rods (502) fixedly connected to the top of each first moving block (1206), and the side wall of each second sleeve rod (502) is sleeved with a second sleeve tube (501), the upper end of the second sleeve tube (501) is fixed to the bottom of the mounting plate (1201), and the side wall of each second sleeve tube (501) is sleeved with a second spring (503).

5. The precision mechanical hand of claim 2, wherein: The reset mechanism comprises two symmetrically arranged T-shaped guide rods (701) fixedly connected to the side wall of each third moving block (602), and the side wall of the T-shaped guide rod (701) is sleeved with a connecting plate (702), the connecting plate (702) is fixed to the side wall of the mounting plate (1201), and the side wall of each T-shaped guide rod (701) is sleeved with a third spring (703).

6. The precision mechanical hand of claim 2, wherein: The first pushing mechanism comprises a U-shaped plate (803), and the U-shaped plate (803) is connected to the top of the mounting plate (1201) through a lifting module (804), the bottom of the U-shaped plate (803) is fixedly connected with two symmetrically arranged moving plates (801), and the bottom of each moving plate (801) is provided with a plurality of pushing assemblies, each pushing assembly comprises two symmetrically arranged connecting blocks (802) fixedly connected to the bottom of the moving plate (801), and the bottom of the connecting block (802) is fixedly connected with two symmetrically arranged second inclined plates (805).

7. The precision mechanical hand of claim 3, wherein: The second pushing mechanism comprises a guide pipe (301) fixedly inserted into the top of the rotating plate (201), and a moving rod (302) is inserted into the guide pipe (301), the upper end of the moving rod (302) is fixed to the bottom of the mounting block (204), the side wall of the pushing block (1204) is fixedly connected with an oil storage cylinder (303), the bottom of the oil storage cylinder (303) and the bottom of the guide pipe (301) are fixedly connected with a hose (305), and the oil storage cylinder (303) is connected with a gravity disc (304) through a lifting mechanism.

8. The precision mechanical hand of claim 7, wherein: The lifting mechanism comprises a fixed block (1001) fixedly connected to the inner side wall of the oil storage cylinder (303), and the bottom of the fixed block (1001) is fixedly connected with two symmetrically arranged third sleeve tubes (1002), each third sleeve tube (1002) is inserted with a third sleeve rod (1003), and the lower end of the third sleeve rod (1003) is fixed to the top of the gravity disc (304), the top of the gravity disc (304) is fixedly connected with an iron block (1004), and the bottom of the fixed block (1001) is fixedly connected with an electromagnet (1005).

9. The precision mechanical hand of claim 3, wherein: The rotating mechanism comprises an arc-shaped guide rail (401) fixedly connected to the side wall of the pushing block (1204), a sliding block (402) slidably connected to the arc-shaped guide rail (401), a connecting rod (403) fixedly connected between the sliding block (402) and the rotating plate (201), an arc-shaped rack (404) fixedly connected to the side wall of the pushing block (1204), a supporting plate (405) fixedly connected to the bottom of the sliding block (402), a motor (407) fixedly connected to the side wall of the supporting plate (405), a gear (406) fixedly connected to the output end of the motor (407), and the gear (406) is meshingly arranged with the rack (404).

10. The precision mechanical hand of claim 1, wherein: The telescopic mechanism comprises two fourth sleeve rods (902) fixedly connected to the bottom of the second moving block (1203) and arranged symmetrically, a fourth sleeve pipe (901) sleeved to the side wall of each fourth sleeve rod (902), the lower end of the fourth sleeve pipe (901) is fixed to the top of the pushing block (1204), and the side wall of each fourth sleeve pipe (901) is sleeved with a fourth spring (903).

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