Ceramic substrate feeding manipulator

Abstract

The utility model discloses a ceramic substrate feeding manipulator, which relates to the technical field of ceramic substrate feeding mechanisms and comprises a frame, a servo motor with a speed reducer is arranged on the frame, an output shaft of the servo motor is connected with a synchronizing shaft through a coupler, and a right manipulator and a left manipulator which are identical in structure and symmetrically arranged are mounted on the synchronizing shaft. And a vacuum gripper is arranged between the right manipulator and the left manipulator. The device is convenient to control, and dust influence can be avoided through an arranged mechanical structure.

Description

TECHNICAL FIELD

[0001] The utility model relates to ceramic substrate feeding mechanism technical field, specifically is a kind of ceramic substrate feeding manipulator. BACKGROUND

[0002] The existing ceramic substrate sand blasting machine adopts two sets of air cylinders to drive vacuum gripper to translate and lift when feeding ceramic substrate, to realize the grabbing of ceramic substrate from the magazine and the placing of ceramic substrate on the conveying chain, and the structure has the following defects: 1, when adjusting the height of ceramic substrate on the conveying chain, the height of vacuum gripper and conveying belt needs to be adjusted, and after adjusting the feeding position, the grabbing position also needs to be adjusted accordingly, which is very troublesome to adjust; 2, because ceramic substrate is covered with a lot of dust, dust enters between the guide rod and the cylinder body, and the high hardness of ceramic powder causes wear on the guide rod and the cylinder body, resulting in air leakage and failure of the cylinder; 3, when the cylinder is stretched and contracted at high speed, although a buffer is added, a lot of vibration is still generated, so the grabbing speed of the cylinder is limited, and only the running speed of the sand blasting machine can be adjusted to match the feeding speed of the vacuum gripper, and the efficiency is low. SUMMARY

[0003] The utility model provides a kind of ceramic substrate feeding manipulator, to at least solve one technical defect existing in the structure of the background technology ceramic substrate feeding.

[0004] The utility model provides the following technical scheme to realize the above-mentioned purpose:

[0005] A kind of ceramic substrate feeding manipulator, including rack, rack is provided with servo motor with speed reducer, the output shaft of servo motor is connected synchronous shaft by shaft coupling, synchronous shaft is installed with the right side manipulator and left side manipulator which are symmetrically arranged and same structure, vacuum gripper is arranged between right side manipulator and left side manipulator.

[0006] In the foregoing ceramic substrate feeding manipulator, the right side manipulator and the left side manipulator each include a manipulator upper swing arm, a swing arm link, a manipulator lower swing arm, a manipulator body, a lower synchronous pulley, an upper synchronous pulley shaft, and an upper synchronous pulley.

[0007] In the foregoing ceramic substrate feeding manipulator, the manipulator body is arranged on the rack; the synchronous shaft is rotatably arranged in the manipulator body; in the manipulator body, a lower synchronous pulley is arranged on the synchronous shaft, the lower synchronous pulley is connected to an upper synchronous pulley through a synchronous belt, and the upper synchronous pulley is rotatably installed in the manipulator body through an upper synchronous pulley shaft; the upper synchronous pulley shaft is connected to a manipulator upper swing arm on the inner side, the manipulator upper swing arm is connected to a swing arm link, the swing arm link is connected to a manipulator lower swing arm, and the manipulator lower swing arm is connected to the synchronous shaft.

[0008] The mechanical arm lower swing arm is arranged outside the swing arm connecting rod, a vacuum gripper mounting rack is mounted between the two swing arm connecting rods, and a plurality of vacuum grippers are arranged on the vacuum gripper mounting rack.

[0009] The mechanical arm body is a frame structure, and is connected with the synchronous shaft and the upper synchronous wheel shaft through bearings.

[0010] Advantages

[0011] Compared with the prior art of using two sets of air cylinders to drive the vacuum gripper to translate and lift to realize the grabbing of the ceramic substrate from the box and the placing of the ceramic substrate on the conveying chain, the utility model adopts a servo motor to synchronize the left and right mechanical arms and realizes the feeding (grabbing and discharging) of the ceramic substrate through the parallel quadrilateral swing rod mechanism, and at least has the following advantages:

[0012] 1. The utility model realizes the feeding of the ceramic substrate through the servo motor, adjusts the position of the vacuum gripper for grabbing from the box and placing the ceramic substrate on the conveying chain, and controls the servo motor, realizes digital control, and in the specific operation, only needs to change and select the grabbing point and discharging point position parameters in the control system to realize, and does not need to adjust the hardware of the whole equipment.

[0013] 2. The feeding mechanical arm of the utility model adopts a mechanical structure, and dust has no influence on it, avoids the problem of "cylinder failure" caused by dust.

[0014] 3. The vacuum gripper of the utility model adopts servo motor control, and the grabbing and discharging utilize the position and speed control function of the servo motor, realizes the acceleration and deceleration of the vacuum gripper in grabbing and discharging, makes the gripper run stably without impact phenomenon, and adjusts the speed according to the speed of the ceramic substrate sand blasting machine, that is, when the ceramic sand blasting machine meets the production quality requirement, the production speed is faster, and the feeding mechanical arm can be faster, and the practical value is great. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a (front view) structure schematic view of the utility model;

[0016] Fig. 2 It is a side view of the right side mechanical arm of the utility model.

[0017] Fig. 3 It is a front view structure schematic view of the right side mechanical arm of the utility model.

[0018] 1, servo motor, 2, right side manipulator, 3, synchronous shaft, 4, left side manipulator, 5, rack, 6, vacuum gripper, 7, manipulator upper swing arm, 8, swing arm connecting rod, 9, manipulator lower swing arm, 10, manipulator body, 11, coupling, 12, lower synchronous wheel, 13, upper synchronous wheel shaft, 14, upper synchronous wheel. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model.

[0020] Embodiment. A ceramic substrate feeding manipulator, the structure is referred to Figs. 1-3 As shown in the figure, it comprises a rack 5, a servo motor 1 with a speed reducer is arranged on the rack 5, the output shaft of the servo motor 1 is connected with a synchronous shaft 3 through a coupling 11, the synchronous shaft 3 is installed with a right side manipulator 2 and a left side manipulator 4 which are symmetrically arranged and have the same structure, and a vacuum gripper 6 is arranged between the right side manipulator 2 and the left side manipulator 4.

[0021] The right side manipulator 2 and the left side manipulator 4 both comprise a manipulator upper swing arm 7, a swing arm connecting rod 8, a manipulator lower swing arm 9, a manipulator body 10, a lower synchronous wheel 12, an upper synchronous wheel shaft 13 and an upper synchronous wheel 14.

[0022] The manipulator body 10 is arranged on the rack 5; the synchronous shaft 3 is rotatably arranged in the manipulator body 10; in the manipulator body 10, the lower synchronous wheel 12 is arranged on the synchronous shaft 3, the lower synchronous wheel 12 is connected with the upper synchronous wheel 14 through a synchronous belt, the upper synchronous wheel 14 is rotatably installed in the manipulator body 10 through the upper synchronous wheel shaft 13; the upper synchronous wheel shaft 13 is connected with the manipulator upper swing arm 7 on the inner side, the manipulator upper swing arm 7 is connected with the swing arm connecting rod 8, the swing arm connecting rod 8 is connected with the manipulator lower swing arm 9, and the manipulator lower swing arm 9 is connected with the synchronous shaft 3.

[0023] The manipulator lower swing arm 9 is arranged on the outer side of the swing arm connecting rod 8, a vacuum gripper mounting rack is installed between the two swing arm connecting rods 8, and a plurality of vacuum grippers 6 are arranged on the vacuum gripper mounting rack.

[0024] The manipulator body 10 is a frame structure and is connected with the synchronous shaft 3 and the upper synchronous wheel shaft 13 through bearings.

[0025] The manipulator is a ceramic substrate feeding manipulator, and the main function is to complete the feeding by grabbing the ceramic substrate from the box to the feeding conveying chain of the sand blasting, grinding or powder removing machine. The above structure has the following specific working principle:

[0026] The servo motor 1 is started, power is transmitted to the coupling 11, the coupling 11 drives the synchronous shaft 3 to rotate, the two lower synchronous wheels 12 on the synchronous shaft 3 drive the upper synchronous wheel 14 to rotate through the synchronous belt, the upper synchronous wheel 14 drives the upper synchronous shaft 13 to rotate, the upper synchronous shaft 13 drives the mechanical hand upper swing arm 7 to rotate, the parallel four-side swing lever mechanism composed of the mechanical hand body 10, the mechanical hand upper swing arm 7, the swing arm connecting rod 8 and the mechanical hand lower swing arm 9 realizes the straight forward and backward swing of the vacuum gripper 6, realizes the ceramic substrate is grabbed when the vacuum gripper swings forward, and the ceramic substrate is placed when the vacuum gripper swings backward, the ceramic substrate grabbing point and the placing point are adjusted according to the swing angle parameters of the conventional control system.

[0027] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A ceramic substrate loading robot, comprising a frame (5), characterized in that: The frame (5) is equipped with a servo motor (1) with a reducer. The output shaft of the servo motor (1) is connected to the synchronous shaft (3) through a coupling (11). The synchronous shaft (3) is equipped with a right-side robot (2) and a left-side robot (4) with the same structure and symmetrical arrangement. A vacuum gripper (6) is provided between the right-side robot (2) and the left-side robot (4).

2. The ceramic substrate loading robot according to claim 1, characterized in that: The right-side manipulator (2) and the left-side manipulator (4) both include an upper manipulator arm (7), a manipulator arm link (8), a lower manipulator arm (9), a manipulator body (10), a lower synchronous pulley (12), an upper synchronous pulley shaft (13), and an upper synchronous pulley (14).

3. The ceramic substrate loading robot according to claim 2, characterized in that: The robot body (10) is mounted on the frame (5); the synchronous shaft (3) is rotatably inserted into the robot body (10); inside the robot body (10), a lower synchronous wheel (12) is mounted on the synchronous shaft (3), the lower synchronous wheel (12) is connected to the upper synchronous wheel (14) via a synchronous belt, the upper synchronous wheel (14) is rotatably mounted inside the robot body (10) via the upper synchronous wheel shaft (13); the upper synchronous wheel shaft (13) is connected to the upper swing arm (7) of the robot inward, the upper swing arm (7) of the robot is connected to the swing arm connecting rod (8), the swing arm connecting rod (8) is connected to the lower swing arm (9) of the robot, and the lower swing arm (9) of the robot is connected to the synchronous shaft (3).

4. The ceramic substrate loading robot according to claim 3, characterized in that: The lower swing arm (9) of the robotic arm is located on the outside of the swing arm connecting rod (8), and a vacuum gripper mounting frame is installed between the two swing arm connecting rods (8). Multiple vacuum grippers (6) are installed on the vacuum gripper mounting frame.

5. The ceramic substrate loading robot according to claim 3 or 4, characterized in that: The robotic arm body (10) is a frame structure and is connected to the synchronous shaft (3) and the upper synchronous wheel shaft (13) through bearings.

Images