High-precision basket inserting machine

Abstract

The utility model discloses a high accuracy basket inserting machine, including frame, the frame both sides are equipped with jacking positioning mechanism, two jacking positioning mechanism between being equipped with gyro wheel conveying mechanism, be equipped with the basket inserting basket for storing glass board on gyro wheel conveying mechanism, the frame rear side is equipped with robot base, be equipped with six -axis robot on the robot base, six -axis robot output is equipped with taking material adsorption mechanism, the utility model discloses a gyro wheel conveying mechanism conveying basket inserting basket, sets up jacking positioning mechanism in gyro wheel conveying mechanism both sides, through jacking positioning mechanism will basket inserting basket promote and position, then through six -axis robot and taking material adsorption mechanism adsorption glass, will taking material adsorption mechanism adsorption's glass board basket insert into the card slot position in basket inserting basket, has completed the manual to mechanization automation's change, has realized the automation production, has improved production efficiency, has guaranteed the basket precision effectively in time, has inserted glass board into etching basket inserting basket in turn.

Description

Technical Field

[0001] This utility model relates to the field of glass plate basket insertion technology, specifically a high-precision basket insertion machine. Background Technology

[0002] Before etching glass, the glass, after being coated and cured by the upstream equipment, needs to be inserted into a basket for subsequent etching. Currently, manual basket insertion is used, where each piece of glass is manually picked up and inserted into the basket. This single-piece insertion method is inefficient, not conducive to high-capacity production, and involves high manual labor intensity. Therefore, this application proposes a high-precision basket insertion machine. Utility Model Content

[0003] The purpose of this invention is to provide a high-precision basket insertion machine to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a high-precision basket insertion machine, including a frame, lifting and positioning mechanisms on both sides of the frame, a roller conveying mechanism between the two lifting and positioning mechanisms, a basket for storing glass plates on the roller conveying mechanism, a robot base on the rear side of the frame, a six-axis robot on the robot base, and a material picking and adsorption mechanism at the output end of the six-axis robot.

[0005] The roller conveying mechanism includes two roller support seats mounted on the frame. Each roller support seat has a strip-shaped groove, and multiple conveying rollers are rotatably mounted in the strip-shaped groove.

[0006] The three adjacent conveyor rollers form a group of conveyor rollers. Each conveyor roller in the same group has a first sprocket on its central shaft and a second sprocket on its central shaft at the other end. The first sprocket and the second sprocket in the same group are connected by a chain drive.

[0007] A right-angle motor is provided on one side of the frame between the two roller support seats. The output end of the right-angle motor is provided with a rotating shaft. The two ends of the rotating shaft are respectively fixedly connected to the central shaft of the outermost transmission roller on the two roller support seats.

[0008] The conveyor roller has a limiting groove at the center of its surface, and the bottom of the basket has a strip-shaped limiting plate that cooperates with the limiting groove.

[0009] The lifting and positioning mechanism includes a support frame fixedly installed on the frame, a horizontal plate is provided on the top of the inner side of the support frame, and a lifting plate is slidably installed on the surface of the horizontal plate;

[0010] A threaded screw is rotatably installed at the center of the surface of the horizontal plate, a servo motor is provided on one side of the bottom of the horizontal plate, the output end of the servo motor is fixedly connected to one end of the threaded screw, and a nut sleeve that cooperates with the threaded screw is provided at the center of the back of the lifting plate.

[0011] The top of the lifting plate has U-shaped positioning grooves on both sides, and the basket has two positioning posts on both sides that cooperate with the U-shaped positioning grooves.

[0012] The horizontal plate has vertical slide rails on both sides, and the lifting plate has a slider on the back that cooperates with the vertical slide rails. The lifting plate is slidably mounted on the horizontal plate through the slider and the vertical slide rails.

[0013] The material picking and adsorption mechanism includes a support plate fixedly installed at the output end of the six-axis robot. Multiple adsorption plates are evenly spaced on the surface of the support plate, and vacuum suction cups are uniformly installed on the surface of the adsorption plates.

[0014] The adsorption plate has a hollow cavity that communicates with the vacuum suction cup. A vacuum pipe that communicates with the hollow cavity is provided on one side of the adsorption plate, and the other end of the vacuum pipe is connected to an external vacuum pump.

[0015] The support plate is equipped with CCD positioning cameras at both ends.

[0016] The frame is equipped with a controller on one side, which is electrically connected to the six-axis robot, the right-angle motor, the external vacuum pump, the servo motor and the CCD positioning camera.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This invention uses a roller conveyor mechanism to transport the insertion baskets. Lifting and positioning mechanisms are set on both sides of the roller conveyor mechanism to lift and position the insertion baskets. Then, a six-axis robot and a material picking and adsorption mechanism adsorb the glass. The glass plates adsorbed by the material picking and adsorption mechanism are inserted into the slots in the insertion baskets, completing the transformation from manual to mechanized and automated production, realizing automated production, improving production efficiency, and effectively ensuring the accuracy of the baskets. The glass plates are inserted into the etched insertion baskets one by one. Attached Figure Description

[0019] Figure 1 This is an isometric structural diagram of the assembled basket of this utility model;

[0020] Figure 2 This is an isometric structural diagram of the present invention in the separated state of the basket.

[0021] Figure 3 This is an isometric structural diagram of the basket insert of this utility model;

[0022] Figure 4 This is an isometric structural diagram of the lifting and positioning mechanism of this utility model;

[0023] Figure 5 This is an isometric structural diagram of the material picking and adsorption mechanism of this utility model;

[0024] Figure 6 This is an isometric structural diagram of the roller conveying mechanism of this utility model;

[0025] Figure 7 This is a partial structural diagram of the roller conveying mechanism of this utility model.

[0026] In the diagram: 10. Frame; 11. Robot base; 20. Controller; 30. Roller conveyor mechanism; 31. Roller support; 32. Conveyor roller; 33. First sprocket; 34. Second sprocket; 35. Chain; 36. Right-angle motor; 37. Rotary shaft; 40. Lifting and positioning mechanism; 41. Support frame; 42. Horizontal plate; 43. Vertical slide rail; 44. Lifting plate; 45. Threaded screw; 46. Servo motor; 47. U-shaped positioning groove; 50. Basket; 51. Glass plate; 52. Positioning column; 60. Material picking and adsorption mechanism; 61. Support plate; 62. Adsorption plate; 63. Vacuum suction cup; 64. CCD positioning camera; 70. Six-axis robot. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] Please see Figure 1-7This utility model provides a technical solution: a high-precision basket insertion machine, including a frame 10, lifting and positioning mechanisms 40 on both sides of the frame 10, a roller conveying mechanism 30 between the two lifting and positioning mechanisms 40, a basket 50 for storing glass plates 51 on the roller conveying mechanism 30, a robot base 11 at the rear of the frame 10, a six-axis robot 70 on the robot base 11, a material picking and adsorption mechanism 60 at the output end of the six-axis robot 70, and a controller 20 on one side of the frame 10, which controls the operation of the entire basket insertion machine; The roller conveyor mechanism 30 transports the insertion basket 50. Lifting and positioning mechanisms 40 are set on both sides of the roller conveyor mechanism 30 to lift and position the insertion basket 50. Then, the six-axis robot 70 and the material picking and adsorption mechanism 60 adsorb the square glass plate 51. The glass plate 51 adsorbed by the material picking and adsorption mechanism 60 is inserted into the slot position in the insertion basket 50. This completes the transformation from manual to mechanized and automated production, realizes automated production, improves production efficiency, and effectively ensures the accuracy of the basket. The glass plates are inserted into the etched insertion basket 50 in sequence.

[0029] The roller conveying mechanism 30 includes two roller support seats 31 mounted on the frame 10. A proximity sensor is provided at the tail end of each roller support seat 31, and the controller 20 is electrically connected to the proximity sensor. A strip-shaped groove is formed on each roller support seat 31, and multiple conveying rollers 32 are rotatably mounted within the groove. Three adjacent conveying rollers 32 form a group of conveying rollers. A first sprocket 33 is provided on the central shaft of each conveying roller 32 at one end of the group, and a second sprocket 34 is provided on the central shaft of each conveying roller 32 at the other end of the group. The first sprocket 33 and the second sprocket 34 in the same group of conveying rollers... The components are connected by a chain 35. When the glass plate to be etched needs to be placed in the insertion basket 50, the insertion basket 50 is first placed on the roller conveyor mechanism 30, and then the conveyor roller 32 is driven to rotate. The rotating conveyor roller 32 drives the insertion basket 50 to move on the roller conveyor mechanism 30, thereby conveying the insertion basket 50. When the insertion basket 50 moves to the tail of the roller support 31, the proximity sensor detects the insertion basket 50 and simultaneously uploads the detected signal to the controller 20. Then, the controller 20 controls the roller conveyor mechanism 30 to stop working, so that the insertion basket 50 is conveyed to the designated position.

[0030] A right-angle motor 36 is located on one side of the frame 10 between two roller support seats 31. The output end of the right-angle motor 36 is equipped with a rotating shaft 37. The two ends of the rotating shaft 37 are fixedly connected to the central shaft of the outermost transmission roller 32 on the two roller support seats 31. The controller 20 is electrically connected to the right-angle motor 36. When the roller transmission mechanism 30 needs to work, the controller 20 controls the right-angle motor 36 to work. After being accommodated, the right-angle motor 36 drives the rotating shaft 37 to rotate, thereby driving the transmission rollers 32 at both ends of the rotating shaft 37 to rotate. Then, driven by the chain 35, different groups of transmission rollers 32 are driven to rotate, thereby driving the basket 50 to move along the roller transmission mechanism 30. When the basket 50 moves to the tail of the roller support seat 31, the proximity sensor detects the basket 50 and uploads the detected signal to the controller 20. Then, the controller 20 controls the right-angle motor 36 to stop working and transmits the basket 50 to the designated position.

[0031] The conveyor roller 32 has a limiting groove at the center of its surface, and the bottom of the basket 50 has a strip-shaped limiting plate that cooperates with the limiting groove. When the basket 50 is conveyed, the strip-shaped fiber plate at the bottom of the basket 50 is aligned with the limiting groove on the surface of the conveyor roller 32, which plays a limiting role and prevents the basket 50 from detaching from the roller conveyor mechanism 30.

[0032] The lifting and positioning mechanism 40 includes a support frame 41 fixedly installed on the frame 10. A horizontal plate 42 is provided on the top of the inner side of the support frame 41, and a lifting plate 44 is slidably installed on the surface of the horizontal plate 42. A threaded screw 45 is rotatably installed at the center of the surface of the horizontal plate 42. A servo motor 46 is provided on one side of the bottom of the horizontal plate 42. The controller 20 is electrically connected to the servo motor 46. The output end of the servo motor 46 is fixedly connected to one end of the threaded screw 45. A nut sleeve that cooperates with the threaded screw 45 is provided at the center of the back of the lifting plate 44. U-shaped positioning grooves 47 are opened on both sides of the top of the lifting plate 44. Two positioning posts 52 that cooperate with the U-shaped positioning grooves 47 are provided on both sides of the basket 50.

[0033] Specifically, after the roller conveyor mechanism 30 conveys the basket 50 to the designated position, the positioning post 52 is positioned directly above the U-shaped positioning groove 47. Then, the controller 20 controls the servo motor 46 to work, and the servo motor 46 drives the threaded screw 45 to rotate clockwise. During the rotation of the threaded screw 45, the lifting plate 44 moves upward along the threaded screw 45. After the U-shaped positioning groove 47 at the top of the lifting plate 44 contacts the positioning post 52, the lifting plate 44 continues to move upward, thereby lifting and positioning the basket 50 to prevent the position of the basket 50 from shifting when inserting the basket.

[0034] The horizontal plate 42 has vertical slide rails 43 on both sides of its surface, and the lifting plate 44 has a slider on its back that cooperates with the vertical slide rails 43. The lifting plate 44 is slidably mounted on the horizontal plate 42 by the slider cooperating with the vertical slide rails 43. The lifting plate 44 is slidably mounted on the surface of the horizontal plate 42 by the slider cooperating with the vertical slide rails 43, ensuring that the lifting plate 44 can slide along the vertical slide rails 43.

[0035] The material handling and adsorption mechanism 60 includes a support plate 61 fixedly installed at the output end of a six-axis robot 70. Multiple adsorption plates 62 are evenly spaced on the surface of the support plate 61, and vacuum suction cups 63 are uniformly mounted on the surface of each adsorption plate 62. Each adsorption plate 62 has a hollow cavity communicating with the vacuum suction cups 63. A vacuum pipe communicating with the hollow cavity is located on one side of the adsorption plate 62, and the other end of the vacuum pipe is connected to an external vacuum pump. The controller 20 is electrically connected to both the six-axis robot 70 and the external vacuum pump. The glass plates 51 to be inserted into the basket are horizontally stacked. When it is necessary to insert the glass plates 51 into the basket, the controller 20 controls the six-axis robot... Robot 70 starts working, and then the six-axis robot 70 drives the material picking and adsorption mechanism 60 to the stacked glass plates 51. Then, the material picking and adsorption mechanism 60 is made to be horizontally attached to the stacked glass plates 50, and the controller 20 controls the external vacuum pump to work. Then, the vacuum pump extracts the air in the adsorption plate 62 through the vacuum pipe and forms a negative pressure suction at the vacuum suction cup 63. Then, the glass plate 51 is adsorbed by the vacuum suction cup 63. Then, the six-axis robot 70 drives the material picking and adsorption mechanism 60 with the glass plate 51 adsorbed to move to the top of the insertion basket 50 and inserts the glass plate 51 vertically downward into the slot position inside the insertion basket 50.

[0036] The support plate 61 is equipped with CCD positioning cameras 64 at both ends. The controller 20 is electrically connected to the CCD positioning camera 64. The position of the glass plate 51 in the basket is obtained through the CCD positioning camera 64, thereby effectively ensuring the accuracy of the basket insertion. The glass plate 51 is then inserted into the etched basket 50 in sequence.

[0037] Working principle: When the glass plate to be etched needs to be placed in the insertion basket 50, the insertion basket 50 is first placed on the roller conveyor mechanism 30, and then the conveyor roller 32 is driven to rotate. The rotating conveyor roller 32 drives the insertion basket 50 to move on the roller conveyor mechanism 30, thereby conveying the insertion basket 50. When the insertion basket 50 moves to the tail of the roller support seat 31, the proximity sensor detects the insertion basket 50 and simultaneously transmits the detected signal to the controller 20. Then, the controller 20 controls the roller conveyor mechanism 30 to stop working, so that the insertion basket 50 is conveyed to the designated position. Then, the controller 20 controls the servo motor 46 to work. The servo motor 46 drives the threaded screw 45 to rotate clockwise. During the rotation of the threaded screw 45, the lifting plate 44 moves upward along the threaded screw 45. After the U-shaped positioning groove 47 at the top of the lifting plate 44 contacts the positioning post 52, the lifting plate 44 continues to move upward, thereby lifting and positioning the insertion basket 50.

[0038] Next, the controller 20 controls the six-axis robot 70 to work. Then, the six-axis robot 70 drives the material picking and adsorption mechanism 60 to the stacked glass plates 51, and then makes the material picking and adsorption mechanism 60 horizontally fit against the stacked glass plates 50. The controller 20 controls the external vacuum pump to work. Then, the vacuum pump extracts the air in the adsorption plate 62 through the vacuum pipe and forms a negative pressure suction at the vacuum suction cup 63. Then, the vacuum suction cup 63 adsorbs the glass plate 51. Then, the six-axis robot 70 drives the material picking and adsorption mechanism 60 with the adsorbed glass plate 51 to move above the insertion basket 50 and inserts the glass plate 51 vertically downward into the slot position inside the insertion basket 50. At the same time, the CCD positioning camera 64 obtains the position of the glass plate 51 inserted into the basket, thereby effectively ensuring the insertion accuracy. The glass plates 51 are inserted into the etching insertion basket 50 in sequence.

[0039] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

Claims

1. A high-precision basket insertion machine, comprising a frame (10), characterized in that: The frame (10) is provided with lifting and positioning mechanisms (40) on both sides, and a roller conveying mechanism (30) is provided between the two lifting and positioning mechanisms (40). The roller conveying mechanism (30) is provided with a basket (50) for storing glass plates (51). The frame (10) is provided with a robot base (11) at the rear. The robot base (11) is provided with a six-axis robot (70). The output end of the six-axis robot (70) is provided with a material picking and adsorption mechanism (60).

2. The high-precision basket insertion machine according to claim 1, characterized in that: The roller conveying mechanism (30) includes two roller support seats (31) mounted on the frame (10). The roller support seats (31) have a strip-shaped groove, and multiple conveying rollers (32) are rotatably installed in the strip-shaped groove. The three adjacent conveyor rollers (32) form a group of conveyor rollers. The central shaft of the conveyor roller (32) at one end of the same group of conveyor rollers is provided with a first sprocket (33), and the central shaft of the conveyor roller (32) at the other end of the same group of conveyor rollers is provided with a second sprocket (34). The first sprocket (33) and the second sprocket (34) in the same group of conveyor rollers are connected by a chain (35).

3. A high-precision basket insertion machine according to claim 2, characterized in that: A right-angle motor (36) is provided on one side of the frame (10) between the two roller support seats (31). The output end of the right-angle motor (36) is provided with a rotating shaft (37). The two ends of the rotating shaft (37) are fixedly connected to the central axis of the outermost transmission roller (32) on the two roller support seats (31).

4. A high-precision basket insertion machine according to claim 3, characterized in that: A limiting groove is provided at the center of the surface of the conveying roller (32), and a strip-shaped limiting plate that cooperates with the limiting groove is provided at the bottom of the basket (50).

5. A high-precision basket insertion machine according to claim 4, characterized in that: The lifting and positioning mechanism (40) includes a support frame (41) fixedly installed on the frame (10), and a horizontal plate (42) is provided on the top of the inner side of the support frame (41). A lifting plate (44) is slidably installed on the surface of the horizontal plate (42). A threaded screw (45) is rotatably installed at the center of the surface of the horizontal plate (42). A servo motor (46) is provided on one side of the bottom of the horizontal plate (42). The output end of the servo motor (46) is fixedly connected to one end of the threaded screw (45). A nut sleeve that cooperates with the threaded screw (45) is provided at the center of the back of the lifting plate (44). The top of the lifting plate (44) has U-shaped positioning grooves (47) on both sides, and the basket (50) has two positioning posts (52) on both sides that cooperate with the U-shaped positioning grooves (47).

6. A high-precision basket insertion machine according to claim 5, characterized in that: Vertical slide rails (43) are provided on both sides of the surface of the horizontal plate (42), and a slider that cooperates with the vertical slide rails (43) is provided on the back of the lifting plate (44). The lifting plate (44) is slidably installed on the horizontal plate (42) through the slider cooperating with the vertical slide rails (43).

7. A high-precision basket insertion machine according to claim 6, characterized in that: The material picking and adsorption mechanism (60) includes a support plate (61) fixedly installed at the output end of the six-axis robot (70). Multiple adsorption plates (62) are evenly spaced on the surface of the support plate (61), and vacuum suction cups (63) are uniformly installed on the surface of the adsorption plates (62). The adsorption plate (62) has a hollow cavity that communicates with the vacuum suction cup (63) inside. A vacuum pipe that communicates with the hollow cavity is provided on one side of the adsorption plate (62), and the other end of the vacuum pipe is connected to an external vacuum pump.

8. A high-precision basket insertion machine according to claim 7, characterized in that: Both ends of the support plate (61) are equipped with CCD positioning cameras (64).

9. A high-precision basket insertion machine according to claim 8, characterized in that: A controller (20) is provided on one side of the frame (10). The controller (20) is electrically connected to the six-axis robot (70), the right-angle motor (36), the external vacuum pump, the servo motor (46), and the CCD positioning camera (64).

Images