Glass carrying manipulator and engraving and milling machine

Abstract

The utility model discloses a glass carrying manipulator and engraving and milling machine, the glass carrying manipulator comprises a gantry support, an X-axis module, a mechanical arm and a suction cup assembly, the mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the first arm is connected to the movable end of the X-axis module, the second arm is connected to the movable end of the X-axis module, and the third arm is connected to the movable end of the X-axis module; the second arm is connected to the movable end of the first arm, the first arm is used for driving the second arm to rotate on the horizontal plane, the third arm is connected to the movable end of the second arm and rotates on the horizontal plane based on the second arm, a Z-axis module is arranged at the tail end of the third arm, and a Z-axis module is arranged at the tail end of the Z-axis module. An R-axis rotating module is arranged at the movable end of the Z-axis module, the fourth arm is connected to the floating end of the R-axis rotating module, and the suction cup assembly is installed on the fourth arm. The engraving and milling machine comprises a glass carrying manipulator. The glass carrying manipulator is high in carrying efficiency, and the machining efficiency of the engraving and milling machine is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to glass engraving technology field, concretely relates to a glass carrying manipulator and engraving machine. BACKGROUND

[0002] At present, the demand for numerical control engraving machine with manipulator in the market is continuously rising, and most of the engraving machines for processing tablet computer, mobile phone cover plate etc. adopt gantry type manipulator design, are fixed in front of Y axis, have few action pairs, low processing efficiency, high cost, large land occupation and complex structure. UTILITY MODEL CONTENTS

[0003] In order to overcome the deficiency of prior art, the utility model provides a glass carrying manipulator and engraving machine, which increases the movement direction on the original manipulator to improve the carrying efficiency.

[0004] On the one hand, the utility model adopts the technical scheme that:

[0005] A glass carrying manipulator, comprising a gantry support, an X-axis module arranged on the gantry support, a mechanical arm connected to the movable end of the X-axis module, and a suction cup assembly connected to the movable end of the mechanical arm, wherein the mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the first arm is connected to the movable end of the X-axis module, the second arm is connected to the movable end of the first arm, the first arm is used for driving the second arm to rotate on a horizontal plane, the third arm is connected to the movable end of the second arm, and the third arm rotates on the horizontal plane based on the second arm, the end of the third arm is provided with a Z-axis module, the movable end of the Z-axis module is provided with an R-axis rotating module, the fourth arm is connected to the floating end of the R-axis rotating module, and the suction cup assembly is installed on the fourth arm.

[0006] As a further improvement of the above technical scheme, the X-axis module comprises a linear motor mounted on the cross beam of the gantry support, and the moving direction of the mover of the linear motor is parallel to the length direction of the cross beam.

[0007] As a further improvement of the above technical scheme, the first arm comprises a fixed base plate and a Z1-axis rotating module connected to the bottom of the fixed base plate, and one end of the second arm is connected to the output shaft of the Z1-axis rotating module.

[0008] As a further improvement of the above technical scheme, the third arm comprises a fixed box and a Z2-axis rotating module connected to the inside of the fixed box, and the other end of the second arm is connected to the output shaft of the Z2-axis rotating module.

[0009] As a further improvement of the above technical scheme, the Z1-axis rotating module and the Z2-axis rotating module each comprise a motor and a speed reducer.

[0010] As a further improvement of the above technical solution, the Z-axis module comprises a spline screw rod, a screw nut and a driving member, the screw nut is rotationally connected in the fixed box, and the driving member is used for driving the screw nut to rotate, so as to drive the spline screw rod installed in the screw nut to lift and lower.

[0011] As a further improvement of the above technical solution, the R-axis rotating module comprises a double-shaft extension motor connected to the bottom end of the spline screw rod, and the fourth arm comprises two mounting rods, and the two mounting rods are respectively connected to two output shafts of the double-shaft extension motor.

[0012] As a further improvement of the above technical solution, the suction cup assembly comprises a suction cup fixing frame mounted on the two mounting rods and a plurality of vacuum suction cups mounted on the suction cup fixing frame.

[0013] In another aspect, the utility model also provides a technical scheme, which is a precision carving machine, comprising a rack, a glass placing conveying belt, a glass separating conveying belt, a glass supporting mechanism, a Y-axis single-channel module, a main shaft module, a main shaft transverse moving module, and a glass carrying manipulator.

[0014] In another aspect, the utility model also provides a technical scheme, which is a precision carving machine, comprising a rack, a glass placing conveying belt, a glass separating conveying belt, a glass supporting mechanism, a Y-axis single-channel module, a main shaft module, a main shaft transverse moving module, and a glass carrying manipulator.

[0015] The glass carrying manipulator can move left and right along the X-axis direction, move up and down along the Z-axis direction, rotate 180° along the R-axis direction, and rotate along the horizontal plane, so as to improve the activity space and flexibility of the suction cup assembly, quickly and accurately realize the transfer of the glass workpiece to be processed, improve the carrying efficiency, and further improve the processing efficiency of the precision carving machine. BRIEF DESCRIPTION OF DRAWINGS

[0016] The utility model will be further described below in combination with the drawings and examples.

[0017] Figure 1 is a side view of the glass carrying manipulator in the embodiment 1 of the utility model;

[0018] Figure 2 is a structure schematic view of the glass carrying manipulator in the embodiment 1 of the utility model;

[0019] Figure 3Is the structure schematic diagram of the fine carving machine in the embodiment 2 of the utility model;

[0020] Figure 4 Is the structure schematic diagram of the fine carving machine in the embodiment 3 of the utility model.

[0021] Reference signs: 100, glass carrying manipulator;101, rack;102, main shaft module;103, main shaft transverse movement module;104, Y axis single channel module;105, glass placing conveying belt;106, split glass conveying belt;107, first glass containing structure;108, second glass containing structure;109, glass transposition module;

[0022] 200, rack;201, main shaft module;202, main shaft double channel transverse movement module;203, Y axis double channel feeding module;204, feeding transmission mechanism;205, automatic feeding mechanism;

[0023] 1, gantry support;2, linear motor;21, mover;31, fixed base plate;32, speed reducer box;4, second arm;5, fixed box;6, wire harness pipe;7, spline screw;8, double shaft extension motor;9, mounting rod;10, suction cup fixing frame;11, vacuum suction cup. DETAILED DESCRIPTION

[0024] The concept, specific structure and generated technical effects of the utility model will be described clearly and completely in combination with embodiments and drawings, so as to fully understand the purpose, features and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments, based on the embodiments of the utility model, other embodiments obtained by the skilled in the art without creative labor are within the protection scope of the utility model. In addition, all the connection / connection relations involved in the patent are not single component direct connection, but can form a better connection structure by adding or reducing connection auxiliary parts according to the specific implementation situation, such as fixed connection / fixed installation, which can be selected according to the needs screw connection, bolt connection, pin connection, key connection, bonding, mortise and tenon connection, welding, riveting and the like, such as detachable connection, which can be selected according to the needs screw connection, bolt connection, threaded connection, buckle connection, mortise and tenon connection, magic tape connection and the like. The various technical features in the utility model creation can be interactively combined under the premise of no mutual contradiction and conflict.

[0025] Reference Figure 1 , Figure 2The embodiment 1 of the utility model provides a kind of glass carrying manipulator, including gantry support 1, X axis module being set to gantry support 1, mechanical arm being connected to the movable end of X axis module, suction cup assembly being connected to the movable end of mechanical arm, the displacement of suction cup assembly in loading space is driven by the X axis module and mechanical arm, and the loading and unloading work of glass workpiece is realized.

[0026] The X axis module includes linear motor 2 being mounted to the crossbeam of the gantry support 1, the moving direction of the mover 21 of the linear motor 2 is parallel to the length direction of the crossbeam, to drive the mechanical arm and suction cup assembly move along X axis direction.

[0027] The suction cup assembly includes suction cup fixing frame 10 and multiple vacuum suction cups 11 being mounted to the suction cup fixing frame 10, and the taking and placing of glass workpiece are realized by vacuum suction cup 11.

[0028] In specific embodiment, the mechanical arm includes first arm, second arm 4, third arm and fourth arm, the first arm is fixedly connected with the mover 21 of the linear motor 2, the second arm 4 is connected to the movable end of the first arm, and the first arm can drive the second arm 4 rotate on horizontal plane, the third arm is connected to the movable end of the second arm 4, and the third arm can rotate on horizontal plane based on the second arm 4, the end of the third arm is provided with Z axis module, the movable end of the Z axis module is provided with R axis rotation module, the fourth arm is connected to the floating end of the R axis rotation module, and the suction cup assembly is mounted on the fourth arm. Through the above setting, the mechanical arm of the embodiment can drive the suction cup assembly move up and down along Z axis direction, rotate 180 ° along R axis direction and rotate on horizontal plane, to improve the activity space and flexibility of the suction cup assembly, to improve the carrying efficiency of glass workpiece transfer work.

[0029] Further, the first arm includes fixed base plate 31 and Z1 axis rotation module, the fixed base plate 31 is fixedly connected with the mover 21 of the linear motor 2, the Z1 axis rotation module includes reduction gearbox 32, motor and speed reducer, the motor and speed reducer are installed in the reduction gearbox 32, the reduction gearbox 32 is fixedly connected with fixed base plate 31, the output shaft of the speed reducer is vertically downward, the second arm 4 is horizontally arranged and one end thereof is connected with the output shaft of the speed reducer, to control the rotation of the second arm 4 by motor, to drive the third arm, fourth arm and suction cup assembly rotate synchronously on horizontal plane.

[0030] The third arm comprises a fixed box 5 and a Z2-axis rotating module connected inside the fixed box 5, the Z2-axis rotating module also comprises a motor and a reducer, the output shaft of the reducer is vertically downward, the other end of the second arm 4 is fixedly connected with the output shaft of the reducer in the Z2-axis rotating module, the second arm 4 rotates on the horizontal plane by the motor of the Z2-axis rotating module, oppositely, in the case that the second arm 4 remains stationary, the fixed box 5 rotates relative to the second arm 4, thereby driving the fourth arm and the suction cup assembly to rotate synchronously on the horizontal plane.

[0031] It can be understood that the reference axes of the Z1-axis rotating module and the Z2-axis rotating module driving the suction cup assembly to rotate on the horizontal plane are different in the embodiment, and the radii of rotation are also different, thereby improving the flexibility of the mechanical arm.

[0032] Further, the Z-axis module comprises a spline screw rod 7, a screw nut and a driving member, the screw nut is rotationally connected in the fixed box 5, the driving member is installed in the fixed box 5 and is used to drive the screw nut to rotate, the driving member can adopt a motor combined with a belt transmission structure to drive the screw nut to rotate, so that the spline screw rod 7 installed in the screw nut is lifted when the screw nut rotates.

[0033] In addition, the R-axis rotating module comprises a double-shaft extension motor 8, two output shafts of the double-shaft extension motor 8 are located on the same axis, the fourth arm comprises two mounting rods 9, the two mounting rods 9 are coaxially connected to the two output shafts of the double-shaft extension motor 8 respectively, so that the double-shaft extension motor 8 drives the two mounting rods 9 to rotate synchronously when the double-shaft extension motor 8 operates.

[0034] The suction cup fixing frame 10 is provided in multiple and is respectively installed on the two mounting rods 9, the suction cup fixing frame 10 rotates around the R-axis when the mounting rods 9 rotate, so that the glass workpiece vertically placed can be sucked and then horizontally placed down.

[0035] The double-shaft extension motor 8 is connected to the bottom end of the spline screw rod 7, so that the double-shaft extension motor 8 synchronously rises and falls with the spline screw rod 7, thereby driving the suction cup fixing frame 10 to rise and fall.

[0036] Further, a wire harness tube 6 is connected between the reducer box 32 and the fixed box 5, so as to accommodate the electric wire.

[0037] Reference Figure 3The utility model discloses an embodiment 2 provides a kind of fine carving machine, including rack 101, sheet glass conveying belt 105, piece glass conveying belt 106, glass loading mechanism, Y axis single channel module 104, main shaft module 102, main shaft transverse module 103, and glass handling manipulator 100, the glass loading mechanism includes first glass loading structure 107, second glass loading structure 108 and glass transposition module 109, first glass loading structure 107, second glass loading structure 108 respectively corresponding sheet glass conveying belt 105 and piece glass conveying belt 106, the glass transposition module 109 is used to drive first glass loading structure 107 and second glass loading structure 108 move.

[0038] In the embodiment, the glass handling manipulator 100 can carry the glass workpiece of the sheet glass conveying belt 105 to the Y axis single channel module 104, the Y axis single channel module 104 feeds the glass workpiece to the lower side of the main shaft module 102, the main shaft module 102 carries out fine carving processing to the glass workpiece, and after processing is completed, the glass handling manipulator 100 carries the glass workpiece of the Y axis single channel module 104 to the piece glass conveying belt 106, and then carries out the unloading of the glass workpiece.

[0039] Referring to Figure 4 The utility model discloses an embodiment 3 provides a kind of fine carving machine, including rack 200, feeding transmission mechanism 204, automatic feeding mechanism 205, Y axis double channel feeding module, main shaft module 201, main shaft double channel transverse module 202, and glass handling manipulator 100.

[0040] In the embodiment, the glass handling manipulator 100 can carry the glass workpiece on the feeding transmission mechanism 204 to the Y axis double channel feeding module 203, the Y axis double channel feeding module 203 feeds the glass workpiece to the lower side of the main shaft module 201, the main shaft module 201 carries out fine carving processing to the glass workpiece, and after processing is completed, the glass handling manipulator 100 carries the glass workpiece of the Y axis double channel feeding module 203 to the feeding transmission mechanism 204, and then carries out the unloading of the glass workpiece.

[0041] In the embodiment, the difference between embodiment 2 and embodiment 3 is that:

[0042] The fine carving machine of embodiment 2 has only one Y axis feeding (Y axis single channel module 104), and the two main shafts of the main shaft module 102 can only process two glass workpieces each time, and after processing is completed, the glass handling manipulator 100 is taken away glass workpiece, and glass workpiece is re-fed to be processed.

[0043] The fine carving machine of embodiment 3 has two Y-axis feeding (Y-axis double-channel feeding module 203), two main shafts of main shaft module 201 process two glass workpieces, when the first Y-axis feeding glass workpiece is processed, the main shaft double-channel transverse movement module 202 drives the main shaft module 201 to move and can process the second Y-axis feeding glass workpiece within two seconds, during the processing time of the second Y-axis feeding glass workpiece, the glass carrying manipulator 100 takes and places the first Y-axis feeding glass workpiece, so that the main shaft module 201 does not have waiting time, and non-stop processing is realized.

[0044] The above is a specific description of the preferred embodiment of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. These equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A glass handling robot, comprising a gantry, an X-axis module arranged on the gantry, a mechanical arm connected to a movable end of the X-axis module, and a suction cup assembly connected to a movable end of the mechanical arm, characterized in that: The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the first arm is connected to the movable end of the X-axis module, the second arm is connected to the movable end of the first arm, the first arm is used to drive the second arm to rotate on the horizontal plane, the third arm is connected to the movable end of the second arm, and the third arm rotates based on the second arm on the horizontal plane, the end of the third arm is provided with a Z-axis module, the movable end of the Z-axis module is provided with an R-axis rotation module, the fourth arm is connected to the floating end of the R-axis rotation module, and the suction disc assembly is installed on the fourth arm.

2. A glass handling robot as claimed in claim 1, characterized in that: The X-axis module comprises a linear motor installed on the cross beam of the gantry support, and the moving direction of the mover of the linear motor is parallel to the length direction of the cross beam.

3. A glass handling robot as claimed in claim 2, characterised in that: The first arm comprises a fixed base plate and a Z1-axis rotation module connected to the bottom of the fixed base plate, and one end of the second arm is connected to the output shaft of the Z1-axis rotation module.

4. A glass handling robot as claimed in claim 3, characterised in that: The third arm comprises a fixed box and a Z2-axis rotation module connected to the inside of the fixed box, and the other end of the second arm is connected to the output shaft of the Z2-axis rotation module.

5. A glass handling robot as claimed in claim 4, characterised in that: The Z1-axis rotation module and the Z2-axis rotation module each comprise a motor and a speed reducer.

6. A glass handling robot as claimed in claim 4, characterized in that: The Z-axis module comprises a spline screw rod, a screw nut and a driving piece, the screw nut is rotationally connected in the fixed box, and the driving piece is used to drive the screw nut to rotate, so as to drive the spline screw rod installed in the screw nut to rise and fall.

7. A glass handling robot as claimed in claim 6, characterised in that: The R-axis rotation module comprises a double-shaft extension motor connected to the bottom end of the spline screw rod, and the fourth arm comprises two mounting rods, and the two mounting rods are respectively connected to the two output shafts of the double-shaft extension motor.

8. A glass handling robot as claimed in claim 7, characterised in that: The suction disc assembly comprises a suction disc fixing frame installed on the two mounting rods and a plurality of vacuum suction discs installed on the suction disc fixing frame.

9. A fine carving machine, characterized in that: The glass conveying mechanical hand is used for conveying glass between the film placing glass conveying belt, the film separating glass conveying belt and the Y-axis single-channel module.

10. A fine carving machine, characterized in that: The glass conveying mechanical hand is used for conveying glass between the feeding transmission mechanism and the Y-axis double-channel feeding module.

Images