A mechanical hand for fine carving

Abstract

The application discloses a fine carving mechanical hand and relates to the technical field of artwork carving. The fine carving mechanical hand comprises a feeding mechanical hand body arranged on a fine carving machine body, and is characterized in that a clamping mechanism for clamping a carving base material is arranged on the feeding mechanical hand body, the clamping mechanism comprises a mounting plate fixed on the feeding mechanical hand body, a plurality of arrayed first moving blocks are connected to the bottom of the mounting plate through an expansion mechanism, and a mounting hole penetratingly arranged is formed in the top of each first moving block. The fine carving mechanical hand can ensure that the pneumatic suction cup is always attached to the top of the carving base material when the carving base material is not placed flat, guaranteeing the adsorption effect. Meanwhile, the fine carving mechanical hand can automatically level the carving base material after adsorption. When the base material is fixed on the positioning clamp, the distance between the carving base material and the workbench can be controlled, the stability of the base material during fixing can be detected, and the efficiency and quality of fine carving are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of artistic sculpture, in particular to a precision carving mechanical hand. BACKGROUND

[0002] The precision carving machine is a processing equipment for artistic products. The precision carving machine can finely carve materials such as acrylic and glass to produce exquisite handicrafts. Its high-precision processing capability can perfectly present complex patterns and details, and improve the artistry and quality of handicrafts. The precision carving machine plays an important role in artistic model production and meets the needs of high-end artistic creation. In the production process of the existing precision carving machine, many steps need to be completed by manual transportation. Many precision carving machines are provided with positioning clamps on the workbench, and then a mechanical hand drives a vacuum suction cup to suck the carving substrate. Then the vacuum suction cup moves to the positioning clamp for positioning to facilitate the subsequent process. The precision carving mechanical hand is an automatic equipment for loading and unloading operation of the precision carving machine. The precision carving mechanical hand can seat three-dimensional movement to realize accurate taking and placing of materials in three dimensions, and significantly improve production efficiency.

[0003] However, when the existing precision carving mechanical hand is used, when the carving substrate is placed in an unflat state, the suction cup will not completely contact the surface of the substrate when it is adsorbed, air will easily penetrate, the vacuum environment will be destroyed, the adsorption force will be reduced, the suction cup will be unevenly stressed, the adsorption force in some areas will be insufficient, the substrate may fall off during movement, and the efficiency and quality of subsequent precision carving will be affected. At the same time, when the mechanical hand places the substrate on the positioning clamp for positioning and fixing, it is not convenient to control the distance between the substrate and the workbench, which may cause the precision carving head assembly to collide with the workbench, affecting the efficiency and quality of precision carving. In addition, since the positioning clamp is easy to adhere to the debris generated by precision carving, the effect of clamping and fixing is affected, it is not convenient to detect the stability of the fixing, the substrate may loosen during precision carving, and the efficiency and quality of precision carving will also be affected. SUMMARY

[0004] The purpose of the present application is to provide a precision carving mechanical hand to solve the problems raised in the background art.

[0005] In order to achieve the above object, the present application provides the following technical scheme: A fine carving mechanical hand, including the loading mechanical hand body arranged on the fine carving machine body, the loading mechanical hand body is provided with the clamping mechanism for clamping the carving base material, the clamping mechanism includes the mounting plate fixed on the loading mechanical hand body, and the bottom of the mounting plate is connected with a plurality of arrayed first moving blocks through the telescopic mechanism, the top of each first moving block is provided with the mounting hole arranged through, and the mounting hole is provided with the universal ball, the side wall of the universal ball is provided with the through hole, and the pneumatic suction cup is fixedly inserted in the through hole, the top of the mounting plate is fixedly inserted with a plurality of fixed pipes, and the fixed pipe is communicated with the pneumatic suction cup through the telescopic pipe, the two fixed pipes are communicated through the connecting pipe, and the top of the connecting pipe is fixedly connected with the air suction pipe, the side wall of the mounting plate is connected with a plurality of second moving blocks through the moving module, and the bottom of each second moving block is connected with the push block through the telescopic component, the side wall of the push block is provided with the inclined surface, and the side wall of the mounting plate is provided with a plurality of righting mechanisms for righting the universal ball, the side wall of the push block is provided with the detection mechanism, and the detection mechanism is used for detecting the stability of the carving base material after being clamped and fixed by the positioning clamp.

[0006] Preferably, each of the righting 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 with two symmetrically arranged third moving blocks through a reset mechanism, the bottom of the third moving block is fixedly connected with two symmetrically arranged V-shaped plates, and the movement of the third moving block is pushed by the first pushing mechanism.

[0007] Preferably, the detection mechanism includes a rotating plate, and the rotating plate is rotatably connected to the side wall of the push block through a rotating mechanism, the top of the rotating plate is fixedly connected with two symmetrically arranged first sleeve rods, the side wall of each first sleeve rod is sleeved with a first sleeve pipe, the upper end of the first sleeve pipe is fixedly connected with a mounting block, and the top of the mounting block is provided with a plurality of rolling balls, the side wall of the mounting block is fixedly connected with two symmetrically arranged first inclined plates, the top of the mounting plate is fixedly inserted with a visual sensor, and the movement of the mounting block is pushed by the second pushing mechanism.

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

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

[0010] Preferably, the first pushing mechanism comprises a U-shaped plate, the U-shaped plate is connected with the top of the mounting plate through the lifting module, the bottom of the U-shaped plate is fixedly connected with two symmetrically arranged moving plates, the bottom of each moving plate is provided with a plurality of groups of pushing assemblies, each group of the pushing assemblies comprises two symmetrically arranged connecting blocks fixedly connected with the bottom of the moving plate, and the bottom of the connecting block is fixedly connected with two symmetrically arranged second inclined plates.

[0011] Preferably, the second pushing mechanism comprises a guide pipe fixedly inserted into the top of the rotating plate, and a moving rod is inserted into the guide pipe, the upper end of the moving rod is fixed with the bottom of the mounting block, the side wall of the pushing block is fixedly connected with an oil storage cylinder, the bottom of the oil storage cylinder and the bottom of the guide pipe are fixedly connected with a hose, and the oil storage cylinder is connected with a gravity disc through a lifting mechanism.

[0012] Preferably, the lifting mechanism comprises a fixed block fixedly connected with the inner side wall of the oil storage cylinder, the bottom of the fixed block is fixedly connected with two symmetrically arranged third sleeve pipes, each third sleeve pipe is inserted with a third sleeve rod, and the lower end of the third sleeve rod is fixed with the top of the gravity disc, the top of the gravity disc is fixedly connected with an iron block, and the bottom of the fixed block is fixedly connected with an electromagnet.

[0013] Preferably, the rotating mechanism comprises an arc-shaped guide rail fixedly connected with the side wall of the pushing block, and a sliding block is slidingly connected with the arc-shaped guide rail, the sliding block and the rotating plate are fixedly connected with a connecting rod, the side wall of the pushing block is fixedly connected with an arc-shaped gear rack, the bottom of the sliding block is fixedly connected with a supporting plate, and the side wall of the supporting plate is fixedly connected with a motor, the output end of the motor is fixedly connected with a gear, and the gear is meshed with the gear rack.

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

[0015] Compared with the prior art, the present application has the following advantages:

[0016] (1) The precision carving mechanical hand, by setting through the setting right mechanism, when need to clamp the carving substrate, through the feeding mechanical hand body drives the mounting plate to move and moves to the top of the carving substrate to be processed, then, drive the mounting plate to move downward, so that the pneumatic suction cup and the top of the carving substrate are attached, and if the carving substrate is not flat, at this time, the universal ball can be automatically adjusted, at the same time, the second spring can be compressed, to ensure that the pneumatic suction cup can always be attached to the top of the carving substrate, then, through the suction tube to the pneumatic suction cup vacuum operation, can guarantee the adsorption effect of the carving substrate, and after the adsorption is completed, the feeding mechanical hand body drives the mounting plate to move upward, at the same time, through the lifting module drives the U-shaped plate and the moving plate to move downward, when the moving plate moves downward, the connecting block can drive the second inclined plate to move synchronously, and make the two third moving blocks of the same group move close to each other along the second inclined plate, at the same time, the third spring is compressed, so as to drive the two V-shaped plates of the same group to move close to each other and abut against the side wall of the fixed rod, at this time, the universal ball can be adjusted, so as to adjust the pneumatic suction cup and the carving substrate, ensure that the carving substrate is in a horizontal state, can automatically adjust the uneven carving substrate, ensure the efficiency and quality of subsequent precision carving, after the leveling is completed, the moving module drives the second moving block to move to the direction close to the mounting plate, at the same time, the telescopic mechanism drives the push block to move synchronously, when the inclined surface abuts against the bottom of the carving substrate, the push block can move downward and the top of the push block abuts against the bottom of the carving substrate, at the same time, the fourth spring is stretched, then, the feeding mechanical hand body places the mounting plate and the carving substrate on the positioning clamp on the workbench, at the same time, the bottom of the push block contacts with the top of the workbench, then, the pneumatic suction cup releases the carving substrate, and the positioning clamp clamps and fixes the carving substrate, at this time, it is convenient to control the distance between the carving substrate and the workbench, ensure the efficiency and quality of precision carving.

[0017] (2) The fine carving mechanical hand, through the setting detection mechanism and the like, after the positioning clamp clamps and fixes the carving base material, the electromagnet can be powered off, and the iron block is no longer attracted, at this time, the gravity disc can move downward along the oil storage cylinder under the action of gravity, at this time, the hydraulic oil in the oil storage cylinder can be extruded, so that the hydraulic oil enters the guide pipe through the hose, and under the action of hydraulic pressure, the moving rod can be pushed upward, and the mounting block is synchronously moved upward, so that the ball abuts against the bottom of the carving base material, 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-shaped guide rail, when the sliding block slides, the sliding block and the connecting rod drive the rotating plate to synchronously move, so that the mounting block can be rotated to the side wall of the carving base material, and the ball abuts against the side wall of the carving base material, and the ball pushes the carving base material through the gravity of the gravity disc, and the carving base material is detected by the plurality of detection mechanisms in turn, when the visual sensor detects that the carving base material moves, it indicates that the clamping and fixing of the positioning clamp on the carving base material is not stable and reliable enough, reminding the operator to overhaul and maintain and re-clamp, so as to ensure the efficiency and quality of subsequent fine carving, then the moving module drives the pushing block to move to the direction away from the mounting plate and reset, then the mounting plate is moved to reset by the feeding mechanical hand body, and the fine carving head assembly can be used for fine carving operation on the carving base material. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a use state schematic diagram of the application;

[0019] Figure 2 It is a whole structure schematic diagram of the application;

[0020] Figure 3 It is a whole structure schematic diagram of the pushing block in the application;

[0021] Figure 4 It is Figure 1 It is an enlarged structure schematic diagram of position A in the application;

[0022] Figure 5 It is Figure 2 It is an enlarged structure schematic diagram of position B in the application;

[0023] Figure 6 It is Figure 3 It is an enlarged structure schematic diagram of position C in the application;

[0024] Figure 7 It is Figure 3 It is an enlarged structure schematic diagram of position D in the application;

[0025] Figure 8 It is Figure 4 It is an enlarged structure schematic diagram of position E in the application;

[0026] Figure 9 As Figure 4 An enlarged structural schematic view at F in the middle;

[0027] Figure 10 As Figure 5 An enlarged structural schematic view at G in the middle;

[0028] Figure 11 As Figure 5 An enlarged structural schematic view at H in the middle;

[0029] Figure 12 As Figure 8 An enlarged structural schematic view at I in the middle.

[0030] In the figure: 1, precision carving machine body; 101, precision carving head assembly; 102, workbench; 103, positioning clamp; 201, rotating plate; 202, first sleeve rod; 203, first sleeve; 204, mounting block; 205, first inclined plate; 206, ball; 207, visual sensor; 301, guide pipe; 302, moving rod; 303, oil storage cylinder; 304, gravity disc; 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; 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; 703, third spring; 801, moving plate; 802, connecting block; 803, U-shaped plate; 804, lifting module; 805, second inclined plate; 901, fourth sleeve; 902, fourth sleeve rod; 903, fourth spring; 1001, fixed block; 1002, third sleeve; 1003, third sleeve rod; 1004, iron block; 1005, electromagnet; 11, feeding mechanical arm 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, fixed tube; 1212, connecting tube; 1213, air suction pipe; 1214, telescopic tube. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] Please refer toFigures 1-12 The application provides a technical scheme: a fine carving mechanical arm, which comprises a feeding mechanical arm body 11 arranged on a fine carving machine body 1, the fine carving machine body 1 comprises a fine carving head assembly 101, a workbench 102 and a positioning clamp 103, which are all known technologies in the technical field and will not be repeated here, and the positioning clamp 103 is designed to avoid interference of a pushing block 1204. The feeding mechanical arm body 11 is provided with a clamping mechanism for clamping a carving base material. The clamping mechanism comprises a mounting plate 1201 fixed on the feeding mechanical arm body 11, the bottom of the mounting plate 1201 is connected with a plurality of arrayed first moving blocks 1206 through an expansion mechanism, the top of each first moving block 1206 is provided with a penetratingly arranged mounting hole 1207, 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 inserted in the through hole 1209. A plurality of fixed pipes 1211 are fixedly inserted in the top of the mounting plate 1201, the fixed pipes 1211 are communicated with the pneumatic suction cup 1210 through expansion pipes 1214, the two fixed pipes 1211 are communicated through a connecting pipe 1212, the top of the connecting pipe 1212 is fixedly connected with an air suction pipe 1213, the side wall of the mounting plate 1201 is connected with a plurality of second moving blocks 1203 through a moving module 1202, the moving module 1202 is a known technology in the technical field and will not be repeated here, the bottom of each second moving block 1203 is connected with a pushing block 1204 through an expansion assembly, the side wall of the pushing block 1204 is provided with an inclined surface 1205, 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 pushing block 1204 is provided with a detection mechanism, and the detection mechanism is used for detecting the stability of the carving base material fixed by the positioning clamp 103. When the carving base material is not flat, the pneumatic suction cup 1210 can always be attached to the top of the carving base material to ensure the adsorption effect, and the automatic leveling operation can be performed after adsorption. When the base material is fixed on the positioning clamp 103, the distance between the carving base material and the workbench 102 can be controlled, the stability of the base material during fixing can be detected, and the efficiency and quality of fine carving can be ensured.

[0033] Each alignment mechanism 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; after the adsorption is completed, the mounting plate 1201 is driven by the feeding mechanical arm body 11 to move upwards, at the same time, the first pushing mechanism pushes the two third moving blocks 602 of the same group to move close to each other, and can drive the two V-shaped plates 603 of the same group to move close to each other and abut against the side wall of the fixed rod 601, at this time, the universal ball 1208 can be aligned to align the pneumatic chuck 1210 and the carving substrate, and ensure that the carving substrate is in a horizontal state.

[0034] The detection mechanism comprises a rotating plate 201, and the rotating plate 201 is rotatably connected with the side wall of the pushing 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 inserted on the top of the mounting plate 1201, the movement of the mounting block 204 is pushed by a second pushing mechanism, after the positioning clamp 103 clamps and fixes the carving substrate, the second pushing mechanism pushes the mounting block 204 to move upwards, so that the rolling balls 206 abut against the bottom of the carving substrate, then the rotating plate 201 is driven to rotate through the rotating mechanism, so that the mounting block 204 can be rotated to the side wall of the carving substrate, and the rolling balls 206 abut against the side wall of the carving substrate, and the rolling balls 206 push the carving substrate through the gravity of the gravity disc 304.

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

[0036] The reset mechanism comprises two symmetrically arranged T-shaped guide rods 701 fixedly connected to the side wall of each third moving block 602, 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, which guides and resets the movement of the third moving block 602.

[0037] The first pushing mechanism comprises a U-shaped plate 803, the U-shaped plate 803 is connected with 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 groups of pushing assemblies, each group of pushing assemblies 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, the moving plate 801 is driven to move downward by the lifting module 804, when the moving plate 801 moves downward, the second inclined plate 805 is synchronously moved by the connecting block 802, and the two third moving blocks 602 in the same group move close to each other along the second inclined plate 805, at the same time, the third spring 703 is compressed.

[0038] 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, the gravity disc 304 is driven to move downward along the oil storage cylinder 303 by the lifting mechanism, at this time, the hydraulic oil in the oil storage cylinder 303 is extruded, the hydraulic oil enters the guide pipe 301 through the hose 305, under the action of the hydraulic pressure, the moving rod 302 is driven to move upward, and the mounting block 204 is synchronously driven to move upward, so that the ball 206 abuts against the bottom of the engraved base material.

[0039] The lifting mechanism comprises a fixed block 1001 fixedly connected to the inner side wall of the oil storage cylinder 303, the bottom of the fixed block 1001 is fixedly connected with two symmetrically arranged third sleeve pipes 1002, a third sleeve rod 1003 is inserted into each third sleeve pipe 1002, the lower end of the third sleeve rod 1003 is fixed to the top of the gravity disc 304, an iron block 1004 is fixedly connected to the top of the gravity disc 304, the bottom of the fixed block 1001 is fixedly connected with an electromagnet 1005, the electromagnet 1005 is de-energized to no longer attract the iron block 1004, at this time, the gravity disc 304 is driven to move downward along the oil storage cylinder 303 under the action of gravity, when the electromagnet 1005 is energized, the iron block 1004 is attracted, thereby driving the gravity disc 304 to move upward and reset.

[0040] 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 support plate 405 fixedly connected to the bottom of the sliding block 402, a motor 407 fixedly connected to the side wall of the support plate 405, a gear 406 fixedly connected to the output end of the motor 407, and the gear 406 is in meshing arrangement with the rack 404. When the motor 407 is started, the rotation of the motor 407 drives the rotation of the gear 406, so that the gear 406 can roll on the side wall of the rack 404, thereby driving the sliding block 402 to slide along the arc-shaped guide rail 401. When the sliding block 402 slides, the rotating plate 201 can be driven to move synchronously by the sliding block 402 and the connecting rod 403, so that the mounting block 204 can be rotated to the side wall of the engraved base material, and the ball 206 can abut against the side wall of the engraved base material.

[0041] The telescopic mechanism comprises two fourth sleeves 901 symmetrically arranged and fixedly connected to the bottom of the second moving block 1203, the side wall of each fourth sleeve 901 is sleeved with a fourth sleeve rod 902, the lower end of the fourth sleeve 901 is fixed to the top of the pushing block 1204, the side wall of each fourth sleeve 901 is sleeved with a fourth spring 903. When the second moving block 1203 is driven by the moving module 1202 to move towards the mounting plate 1201, the pushing block 1204 is simultaneously driven to move synchronously by the telescopic mechanism. When the inclined surface 1205 abuts against the bottom of the engraved base material, the pushing block 1204 can move downward and abut against the bottom of the engraved base material, and at the same time, the fourth spring 903 is stretched.

[0042] Working principle: in use, when the engraving base needs to be clamped, the installation plate 1201 is driven by the feeding mechanical arm body 11 to move to the upper side of the engraving base to be processed, then the installation plate 1201 is driven to move downward, so that the pneumatic sucker 1210 is attached to the top of the engraving base, and if the engraving base is not flat, at this time, the universal ball 1208 can be automatically adjusted, and the second spring 503 can be compressed to ensure that the pneumatic sucker 1210 can always be attached to the top of the engraving base, then the pneumatic sucker 1210 is vacuumized through the suction pipe 1213, which can ensure the adsorption effect of the engraving base, and after the adsorption is completed, the installation plate 1201 is driven upward by the feeding mechanical arm body 11, and the U-shaped plate 803 and the moving plate 801 are driven downward by the lifting module 804, when the moving plate 801 moves downward, the second inclined plate 805 can be driven to move synchronously by the connecting block 802, and the two third moving blocks 602 in the same group move closer to each other along the second inclined plate 805, and the third spring 703 is compressed, so that the two V-shaped plates 603 in the same group 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 adjusted to the right position, so that the pneumatic sucker 1210 and the engraving base are adjusted to the right position, and the efficiency and quality of the subsequent fine carving are ensured.

[0043] After the leveling is completed, the second moving block 1203 is driven by the moving module 1202 to move toward the installation plate 1201, and the pushing block 1204 is driven to move synchronously by the telescopic mechanism, when the inclined surface 1205 abuts against the bottom of the engraving base, the pushing block 1204 can move downward and the top of the pushing block 1204 abuts against the bottom of the engraving base, and the fourth spring 903 is stretched, then the installation plate 1201 and the engraving base are placed on the positioning clamp 103 on the workbench 102 by the feeding mechanical arm body 11, and the bottom of the pushing block 1204 contacts the top of the workbench 102, then the pneumatic sucker 1210 releases the engraving base, at this time, the engraving base falls on the top of the pushing block 1204 and is clamped and fixed by the positioning clamp 103, at this time, the distance between the engraving base and the workbench 102 is easy to control, and the efficiency and quality of the fine carving are ensured.

[0044] After the clamping and fixing of the carving base material by the positioning clamp 103 is completed, the electromagnet 1005 can be powered off, and the iron block 1004 is no longer attracted, at this time, the gravity disc 304 can move downward along the oil storage cylinder 303 under the action of gravity, at this time, the hydraulic oil in the oil storage cylinder 303 can be extruded, so that the hydraulic oil enters the guide pipe 301 through the hose 305, and under the action of the hydraulic pressure, the moving rod 302 can be pushed to move upward, and the mounting block 204 is synchronously moved upward, so that the ball 206 abuts against the bottom of the carving base material, and the ball 206 can push the carving base material upward for detection through the gravity of the gravity disc 304.

[0045] Then, the motor 407 is started, the rotation of the motor 407 drives the rotation of the gear 406, so that the gear 406 can roll on the side wall of the rack 404, thereby driving the sliding block 402 to slide along the arc-shaped guide rail 401, when the sliding block 402 slides, the rotating plate 201 can be synchronously moved through the sliding block 402 and the connecting rod 403, so that the mounting block 204 can be rotated to the side wall of the carving base material, and the ball 206 abuts against the side wall of the carving base material, and the ball 206 can push the carving base material from the side for detection through the gravity of the gravity disc 304, and the carving base material is sequentially detected through a plurality of detection mechanisms, when the visual sensor 207 detects that the carving base material moves, it indicates that the clamping and fixing of the positioning clamp 103 on the carving base material is not stable and reliable, and the operator is reminded to maintain and re-clamp, so as to ensure the efficiency and quality of subsequent fine carving, then, the pushing block 1204 is driven by the moving module 1202 to move away from the mounting plate 1201 and reset, then, the mounting plate 1201 is driven by the feeding manipulator body 11 to move and reset, and the fine carving head assembly 101 can be used for fine carving operation on the carving base material.

[0046] The standard parts used in the application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, and the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here. The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0047] The application and its embodiments have been described above, which is not restrictive, and the embodiments shown in the drawings are only one of the embodiments of the application, and the actual structure is not limited thereto. In summary, if a person skilled in the art is inspired thereby, without departing from the purpose of the application, without creative design, similar structure and embodiments of the technical solution can be designed, which should belong to the protection scope of the application.

Claims

1. A precision carving robot, comprising a loading robot body (11) mounted on the body of a precision carving machine (1), characterized in that: The loading robot body (11) is provided with a clamping mechanism for clamping the engraving substrate. The clamping mechanism includes a mounting plate (1201) fixed on the loading robot body (11). The bottom of the mounting plate (1201) is connected to a plurality of arrayed first moving blocks (1206) through a telescopic mechanism. Each first moving block (1206) has a through mounting hole (1207) at its top. A universal ball (1208) is provided in the mounting hole (1207). A through hole (1209) is provided on the side wall of the universal ball (1208). A pneumatic suction cup (1210) is fixedly inserted in the through hole (1209). A plurality of fixing tubes (1211) are fixedly inserted in the top of the mounting plate (1201). The fixing tubes (1211) are connected to the pneumatic suction cup through a telescopic tube (1214). The moving suction cup (1210) is connected, and the two fixed tubes (1211) are connected by a connecting tube (1212). The top of the connecting tube (1212) is fixedly connected to an air extraction tube (1213). The side wall of the mounting plate (1201) is connected to a plurality of second moving blocks (1203) through a moving module (1202). The bottom of each second moving block (1203) is connected to a pushing block (1204) through a telescopic component. The side wall of the pushing block (1204) is provided with an inclined surface (1205). The side wall of the mounting plate (1201) is provided with a plurality of aligning mechanisms for aligning the universal ball (1208). The side wall of the pushing block (1204) 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 (103).

2. The precision carving robot according to claim 1, characterized in that: Each of the aforementioned alignment mechanisms includes 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 to two symmetrically arranged third moving blocks (602) through a reset mechanism. The bottom of the third moving block (602) is fixedly connected to two symmetrically arranged V-shaped plates (603), and the movement of the third moving block (602) is driven by a first pushing mechanism.

3. The precision carving robot according to claim 1, characterized in that: The detection mechanism includes a rotating plate (201), and the rotating plate (201) is rotatably connected to the side wall of the push block (1204) through a rotating mechanism. The top of the rotating plate (201) is fixedly connected to two symmetrically arranged first sleeve rods (202), and the side wall of each first sleeve rod (202) is fitted with a first sleeve (203). The upper end of the first sleeve (203) is fixedly connected to an installation block (204), and the top of the installation block (204) is provided with multiple balls (206). The side wall of the installation block (204) is fixedly connected to two symmetrically arranged first inclined plates (205). The top of the installation plate (1201) is fixedly inserted with a vision sensor (207), and the movement of the installation block (204) is pushed by a second push mechanism.

4. The precision carving robot according to claim 1, characterized in that: 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).

5. The precision carving robot according to claim 2, characterized in that: 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).

6. The precision carving robot according to claim 2, characterized in that: The first pushing mechanism includes 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 to two symmetrically arranged movable plates (801), and the bottom of each movable plate (801) is provided with multiple sets of pushing components. Each set of pushing components includes two symmetrically arranged connecting blocks (802) fixedly connected to the bottom of the movable plate (801), and the bottom of the connecting blocks (802) is fixedly connected to two symmetrically arranged second inclined plates (805).

7. The precision carving robot according to claim 3, characterized in that: The second pushing mechanism includes a guide tube (301) fixedly inserted into the top of the rotating plate (201), and a moving rod (302) is 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 storage cylinder (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 storage cylinder (303) and the bottom of the guide tube (301), and a gravity plate (304) is connected to the oil storage cylinder (303) through a lifting mechanism.

8. The precision carving robot according to claim 7, characterized in that: The lifting mechanism includes a fixed block (1001) fixedly connected to the inner wall of the oil storage tank (303), and two symmetrically arranged third sleeves (1002) are fixedly connected to the bottom of the fixed block (1001). A third sleeve rod (1003) is inserted into each of the third sleeves (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).

9. A precision carving robot according to claim 3, characterized in that: 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), and the gear (406) meshes with the rack (404).

10. A precision carving robot according to claim 1, characterized in that: The telescopic mechanism includes two symmetrically arranged fourth sleeve rods (902) fixedly connected to the bottom of the second moving block (1203), and a fourth sleeve tube (901) is sleeved on the side wall of each fourth sleeve rod (902). The lower end of the fourth sleeve tube (901) is fixed to the top of the push block (1204), and a fourth spring (903) is sleeved on the side wall of each fourth sleeve tube (901).

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