CN207698776U - A kind of fully automatic manipulator equipment - Google Patents
A kind of fully automatic manipulator equipment Download PDFInfo
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- CN207698776U CN207698776U CN201721762900.5U CN201721762900U CN207698776U CN 207698776 U CN207698776 U CN 207698776U CN 201721762900 U CN201721762900 U CN 201721762900U CN 207698776 U CN207698776 U CN 207698776U
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- feeding
- glass
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- 239000011521 glass Substances 0.000 claims abstract description 102
- 238000004140 cleaning Methods 0.000 claims abstract description 53
- 238000012546 transfer Methods 0.000 claims abstract description 30
- 230000000712 assembly Effects 0.000 claims abstract description 25
- 238000000429 assembly Methods 0.000 claims abstract description 25
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000005520 cutting process Methods 0.000 claims abstract description 11
- 239000000758 substrate Substances 0.000 claims description 43
- 238000000034 method Methods 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000013003 hot bending Methods 0.000 abstract description 11
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003462 Bender reaction Methods 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000000476 body water Anatomy 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000010419 fine particle Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
A kind of fully automatic manipulator equipment, including：The glass cutting stock arranging mechanism, carrier cleaning device and the loading and unloading arm moved back and forth between three for being put into finished product frame from blanking microscope carrier to the glass feeding arranging mechanism of feeding microscope carrier, for formed glass are put from material frame for glass to be processed, the carrier cleaning device includes：Cabinet, the front and back upper carrier cleaning station for being disposed side by side on cabinet upper end and lower carrier cleaning station drive lower carrier cleaning station towards the lower carrier overturning component downwardly turned over and are used for the carrier clean gas-circulating system of interior surface up and down；The opposite left and right sides for being divided into cabinet of the glass feeding, discharge arranging mechanism；The loading and unloading arm includes：Arm support and upper carrier clamp assemblies, lower carrier clamp assemblies and glass transfer component mounted in arm support bottom end.The utility model designs and develops a kind of full-automatic loading and unloading manipulator equipment, and blanking is expected from hot-bending machine, is automatically brought into operation using Fully-mechanized, improves working efficiency.
Description
Technical field
The utility model is related to a kind of loading and unloading manipulators that the various mechanical equipments of cooperation use, and relate more specifically to one kind
Full-automatic loading and unloading manipulator equipment for 3D glass heat benders.
Background technology
Hot-bending machine in process, needs to match loading and unloading manipulator, loading and unloading manipulator will be equipped with to be processed
The carrier of glass is sent into hot-bending machine, and after processing is completed, loading and unloading manipulator takes out carrier to hot bending, then opens carrier molding
Good glass cutting stock.The loading and unloading process of hot-bending machine at present is all to utilize various jigs by various auxiliary manipulators+manually mostly
Come what is completed, the problem of this operation：
First, processing efficiency is slow, mechanization degree is low, hinders commercial introduction application；
Second is that artificial be easy error damage glass or destroy carrier, glass may will produce fingerprint, moulding mark, reduce product
Quality；
Third, high labor cost, increases production cost, every equipment is required for the worker of outfit business consummation.
Utility model content
Technical problem to be solved in the utility model is to overcome above-mentioned the deficiencies in the prior art, provides a kind of Full-automatic machine
Tool hand equipment.
The technical scheme in the invention for solving the above technical problem is：A kind of fully automatic manipulator equipment, including：
It puts to the glass feeding arranging mechanism of feeding microscope carrier, for formed glass from material frame for glass to be processed and is put from blanking microscope carrier
Enter the glass cutting stock arranging mechanism, carrier cleaning device and the loading and unloading arm moved back and forth between three of finished product frame, institute
Stating carrier cleaning device includes：Cabinet, the front and back upper carrier cleaning station for being disposed side by side on cabinet upper end and lower carrier cleaner
Position, driving lower carrier cleaning station, interior surface is clean up and down towards the lower carrier overturning component downwardly turned over and for carrier
Gas-circulating system；The opposite left and right sides for being divided into cabinet of the glass feeding, discharge arranging mechanism；The loading and unloading arm
Including：Arm support and upper carrier clamp assemblies, lower carrier clamp assemblies and glass transfer component mounted in arm support bottom end, upper carrier
Clamp assemblies act between upper and lower carrier cleaning station, and lower carrier clamp assemblies are at process equipment loading and unloading end and lower carrier
It is acted between cleaning station, glass transfer component is in feeding microscope carrier and lower carrier cleaning station, lower carrier cleaning station and blanking
It is acted between microscope carrier.
Preferably, the lower carrier cleaning station includes：Lower station substrate and lower locating piece, before and after cabinet upper end
Side is equipped with rectangular boss, and lower station substrate is arranged in boss upper end, the upper face center concave shape of lower station substrate
At there is lower station slot, lower locating piece is plugged on lower station substrate and is distributed on the outside of four sides of lower station slot, in lower locating piece
Top is equipped with fixture block, and fixture block can be connected to four side of top surface of carrier lower cover；
The lower carrier overturns component：Lower cover rotary cylinder, two middle side parts of lower station substrate, which are fixedly connected with, to be turned
The round end of axis, lower cover rotary cylinder is connected to wherein side shaft, and lower station substrate rotation is driven by lower cover rotary cylinder.
Preferably, the upper carrier cleaning station includes：Upper station substrate and upper locating piece, upper station substrate cover
The other side before and after cabinet upper end, is provided with upper station mouth in the plate face of upper station substrate, and upper locating piece is fixedly connected on work
The lower face of position substrate, and horizontal protrusion is distributed on the inside of four sides of station mouth, carrier upper cover can be overlapped in surrounding fixed
On the block of position；
The carrier cleaning device further includes upper carrier closed component, and the upper carrier closed component includes：Mounted on machine
First linear air cylinder of case side, set on upper station substrate both sides closed slide and be slidably mounted on the lid of closed slide upper end
The motion bar of plate, the first linear air cylinder is connected to cover board, drives cover board to be moved along closed slide by the first linear air cylinder, makes lid
Plate can cover in upper carrier cleaning station.
Preferably, the gas-circulating system includes：End and exhaust end are supplied, the gas supply end includes that gas supply fills
It sets and the air gun in cabinet, the exhaust end includes the exhaust apparatus for being connected to cabinet, exhaust apparatus is recycled exhaust gas；
Horizontal actuating cylinder is provided in the cabinet, the movable end of actuating cylinder is fixedly connected with air gun, is taken offence by actuating cylinder band
Rifle moves back and forth below two stations, and air gun is made to blow to form the inner surface that air curtain blows to carrier upper and lower cover upward.
Preferably, the lower carrier clamp assemblies include：The cylinder body level of lower clamping jaw cylinder, lower clamping jaw cylinder is solid
Dingan County is mounted in the bottom of arm support, and the both sides movable end bottom of lower clamping jaw cylinder is fixedly connected with lower cover clamping jaw, by lower clamping jaw cylinder
Lower cover clamping jaw relative motion is driven, lower cover clamping jaw is enable to be clamped in the bottom end of carrier lower cover；
The upper carrier clamp assemblies include：The cylinder body of upper gripper jaw cylinder, upper gripper jaw cylinder is horizontally arranged at carrier top
The bottom of component is risen, the both sides movable end bottom of upper gripper jaw cylinder is fixedly connected with upper cover clamping jaw, is driven by upper gripper jaw cylinder
Lid clamping jaw relative motion, enables upper cover clamping jaw to be clamped in the bottom end of carrier upper cover.
Preferably, the glass transfer component includes：Third linear cylinder and load transfer station, third linear cylinder
Cylinder body erects the bottom side mounted on arm support by connecting plate, and the power end of third linear cylinder is fixedly connected with load transfer station downward,
Load transfer station is located at below the cylinder body of clamping jaw cylinder, drives load transfer station to move up and down by third linear cylinder, the bottom of the load transfer station
End is equipped with transfer sucker.
Preferably, the second detector of CCD systems is provided on the cabinet, the second detector side is provided with
4th rotary cylinder, the round end of the 4th rotary cylinder are connected to the support shaft of the second detector bottom, by the 4th rotary cylinder
It drives the second detector to rotate, enables the second detector towards carrier lower cover.
Preferably, the glass feeding arranging mechanism includes：Be installed on substrate end is to be added for being spaced apart
Material frame, feeding rotary components, the feeding Z axis component for driving feeding rotary components to move up and down and the drive Z axis of work glass
The feeding X-axis component that component is moved along material frame a side, the feeding rotary components include：Feeding rotary cylinder and rotation
Arm, power end, the other end of rotating arm one end connection feeding rotary cylinder are fixedly connected with feeding microscope carrier, by feeding rotary cylinder
The rotation of feeding microscope carrier is driven, so that feeding microscope carrier is at horizontal or vertical state, feeding sucker is housed on feeding microscope carrier.
Preferably, the glass cutting stock arranging mechanism includes：For being spaced apart molding glass on pedestal
The finished product frame of glass, the blanking Z axis component for driving blanking rotary components to move up and down, drives blanking Z axis component at blanking rotary components
The blanking X-axis component of side-to-side movement and the blanking Y-axis component for driving blanking X-axis component to move forward and backward, the blanking rotation group
Part includes：Blanking rotary cylinder and rocking arm, one end of rocking arm is vertically connected at the power end of blanking rotary cylinder, the other end is fixed
Be connected with blanking microscope carrier, drive blanking microscope carrier to swing up and down by blanking rotary cylinder so that blanking microscope carrier be at it is horizontal or
Vertical state is equipped with blanking sucker on blanking microscope carrier.
Preferably, the side of the blanking Z axis component is fixedly connected with the first detector of CCD systems, CCD systems
System is detected and is determined the formed glass placement position on blanking microscope carrier by the first detector.
Compared with prior art, the utility model has the beneficial effects that：
First, the utility model designs and develops a kind of full-automatic loading and unloading manipulator equipment, and blanking is expected from hot-bending machine,
It is automatically brought into operation using Fully-mechanized, improves working efficiency；Manpower is saved, cost of labor is reduced；
Second, glass or carrier will not be caused to damage, ensure processing quality, improve homogeneity of product；
Third, high using CCD system accuracies, structural stability is strong, and maintenance is convenient.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, wherein：
Fig. 1 is the overall structure diagram of the utility model preferred embodiment；
Fig. 2 is the glass feeding arranging mechanism schematic diagram one of the utility model preferred embodiment；
Fig. 3 is the glass feeding arranging mechanism schematic diagram two of the utility model preferred embodiment；
Fig. 4 is the glass cutting stock arranging mechanism schematic diagram one of the utility model preferred embodiment；
Fig. 5 is the glass cutting stock arranging mechanism schematic diagram two of the utility model preferred embodiment；
Fig. 6 is the carrier cleaning device schematic diagram one of the utility model preferred embodiment；
Fig. 7 is the carrier cleaning device schematic diagram two of the utility model preferred embodiment；
Fig. 8 is the loading and unloading arm schematic diagram one of the utility model preferred embodiment；
Fig. 9 is the loading and unloading arm schematic diagram two of the utility model preferred embodiment；
Figure 10 installs and uses schematic diagram for the utility model preferred embodiment.
Specific implementation mode
Below in conjunction with attached drawing and specific implementation mode, the utility model is described further.In preferred embodiment
Cited such as "upper", "lower", "left", "right", " centre " and " one " term, only being illustrated for ease of narration, rather than to
The enforceable range of the utility model is limited, relativeness is altered or modified, in the case where changing technology contents without essence, when also
It is considered as the enforceable scope of the utility model.
Fig. 1 is referred to, a kind of fully automatic manipulator equipment of the utility model preferred embodiment design includes mainly：
Glass feeding arranging mechanism 100, glass cutting stock arranging mechanism 200, carrier cleaning device 300 and loading and unloading arm 400, glass
Feeding, discharge arranging mechanism is symmetrically divided into the left and right sides of carrier cleaning device 300, and loading and unloading arm 400 comes between three
It backhauls dynamic, each component and connection relation is detailed below.
Fig. 2 and Fig. 3 are referred to, glass feeding arranging mechanism 100 includes：Material frame, feeding X-axis component, feeding Z axis component
And feeding rotary components.Material frame is mounted on the upper end of substrate 110, and material frame includes：The feeding support that left and right is opposite and sets
Plate 111 and it is connected to four feeding supporting rods 112 setting up and down between feeding support plate 111, the feeding supporting rod of downside two
Be smaller than upside two feeding supporting rods spacing, be equidistantly provided on every feeding supporting rod 112 wheel side, take turns side
Between form clearance groove, glass 501 to be processed is placed between four feeding supporting rods 112, glass 501 to be processed
Left and right sides be put into the respective slot of two feeding supporting rods of upside, the bottom edge of glass 501 to be processed is put on downside two
In the respective slot for expecting supporting rod, to which glass 501 to be processed setting be put well at equal intervals.
Feeding X-axis component includes：X-axis feeding slide unit 121, X-axis feeding slide unit 121 are fixedly mounted on the lower end of substrate 110,
It is connected with X-axis feeding sliding block 122 in the basal sliding of X-axis feeding slide unit 121, X-axis feeding sliding block 122 can be along X-axis feeding
121 side-to-side movement of slide unit.
Feeding Z axis component includes：The cylinder body setting of Z axis feeding cylinder 131, Z axis feeding cylinder 131 is fixedly mounted on X-axis
The power rail of the side of feeding sliding block 122, Z axis feeding cylinder 131 stretches out upwards, and the first connecting plate is fixed on power rail top
132, drive feeding Z axis component along the side-to-side movement of material frame side by X-axis feeding slide unit 121.
Feeding rotary components include：Feeding rotary cylinder 141 and rotating arm 142, the cylinder body of feeding rotary cylinder 141 are fixed
On the first connecting plate 132, feeding rotary components are driven to move up and down by Z axis feeding cylinder 131；Rotating arm 142 is L-shaped,
The power end of L-shaped one end connection feeding rotary cylinder 141 of rotating arm 142, the L-shaped other end of rotating arm 142 are fixedly connected with
Feeding microscope carrier 143 drives 143 rotary oscillation of feeding microscope carrier by rotating arm 142 by feeding rotary cylinder 141, makes feeding microscope carrier
143 may be at horizontal or vertical state.Feeding sucker 144 is housed, feeding sucker 144 is connected to vacuum on feeding microscope carrier 143
Device, feeding sucker 144 are used to adsorb the fixed glass to be processed 501 put and.
Further, be provided with protective cover 113 above material frame, protective cover 113 cannot cover on feeding Z axis component and
On feeding rotary components, protective cover 113 plays protection, buffer action.
The motion process of mechanism：Z axis feeding cylinder 131 drives feeding rotary components to move upwards；X-axis feeding slide unit
121 drive feeding Z axis component to be moved towards outermost 501 direction of glass to be processed in material frame, reach designated position；Feeding
Rotary cylinder 141 drives feeding microscope carrier 143 to rotate to vertical state；Z axis feeding cylinder 131 drives feeding rotary components to transport downwards
It is dynamic, until feeding microscope carrier 143 is close to outermost glass to be processed 501；Corresponding glass to be processed is fixed in the absorption of feeding sucker 144
Glass 501, Z axis feeding cylinder 131 drive feeding rotary components to move upwards；Feeding rotary cylinder 141 drives feeding microscope carrier 143
It is inverted to horizontality, X-axis feeding slide unit 121 drives feeding Z axis component movement to initial position, and feeding sucker 144 unclamps, etc.
Wait for 400 feeding of loading and unloading arm.After glass to be processed is removed, repeat the above steps, it successively will be to be processed in material frame
Glass feeding.
Fig. 4 and Fig. 5 are referred to, glass cutting stock arranging mechanism 200 includes：Finished product frame, blanking X-axis component, blanking Y-axis group
Part, blanking Z axis component and blanking rotary components.Finished product frame is mounted on pedestal 210, and finished product frame includes：It is front and back to set relatively
Blanking support plate 211 and be connected to it is setting up and down mostly with blanking supporting rod 212 between two blanking support plates 211, downside
Blanking supporting rod is located at immediately below two adjacent blanking supporting rod center lines of upside, on every blanking supporting rod 212 at equal intervals
It is provided with wheel side, clearance groove is formd between wheel side, formed glass 502 is placed on per three adjacent blanking supporting rods
Between 212, the left and right sides of formed glass 502 are put into the respective slot of two blanking supporting rods of upside, and the bottom edge of glass is put
In the respective slot for entering one blanking supporting rod of downside, to which the setting of formed glass 502 be put well at equal intervals.
Blanking Y-axis component includes：Y-axis blanking slide unit 221, the front and back upper end for being mounted on pedestal 210 of Y-axis blanking slide unit 221,
And the left and right side above the finished product frame, the top slide of Y-axis blanking slide unit 221 are connected with Y-axis blanking sliding block 222, under Y-axis
Material sliding block 222 can be moved forward and backward along Y-axis blanking slide unit 221.
Blanking X-axis component includes：X-axis blanking slide unit 231,231 or so one end of X-axis blanking slide unit are fixedly mounted under Y-axis
The upper end for expecting sliding block 222 drives X-axis blanking slide unit 231 to move forward and backward, 231 court of X-axis blanking slide unit by Y-axis blanking slide unit 221
X-axis blanking sliding block (not indicated in figure) is slidably connected to the front and back side of finished product frame, X-axis blanking sliding block can be along under X-axis
Expect 231 side-to-side movement of slide unit.
Blanking Z axis component includes：The cylinder body setting of Z axis blanking cylinder 241, Z axis blanking cylinder 241 is fixedly mounted on X-axis
Blanking sliding block drives 241 side-to-side movement of Z axis blanking cylinder, Z axis blanking gas towards the side of finished product frame, by X-axis blanking slide unit 231
The power rail of cylinder 241 stretches out upwards.
Blanking rotary components include：The cylinder body of blanking rotary cylinder 251 and rocking arm 252, blanking rotary cylinder 251 fixes peace
Mounted in the power rod end of Z axis blanking cylinder 241, blanking rotary components are driven to move up and down by Z axis blanking cylinder 241, rocking arm 252
One end be vertically connected at the power end of blanking rotary cylinder 251, drive rocking arm 252 with X-direction by blanking rotary cylinder 251
Centered on line swing up and down.It is fixedly connected with blanking microscope carrier 253 in the other end of rocking arm 252, blanking microscope carrier 253 is with rocking arm
252 move together so that blanking microscope carrier 253 may be at horizontal or vertical state.Blanking sucker is housed on blanking microscope carrier 253
254, blanking sucker 254 is connected to vacuum plant, and blanking sucker 254 is used to adsorb the fixed formed glass 502 put and.
Further, in order to which that detects and ensure glass puts precision, pass through second in the side of Z axis blanking cylinder 241
Connecting plate 261 is fixedly connected with the first detector 262 of CCD systems, when formed glass 502 puts blanking microscope carrier 253, CCD systems
Uniting can detect that glass is put at once by the first detector 262, and the position of synchronous detection glass, determine and put accurately
Afterwards, then by blanking sucker 254 fixed-type glass is adsorbed.
The motion process of mechanism：Formed glass 502 is placed on by loading and unloading arm 400 on blanking microscope carrier 253, the first detection
First 262 detection glass position, blanking sucker 254, which adsorbs, after determining fixes glass；Z axis blanking cylinder 241 drives blanking microscope carrier
253 move upwards, and blanking rotary cylinder 251 drives blanking microscope carrier 253 to be rocked to vertical state downwards later；X-axis blanking slide unit
After 231 drive blanking Z axis component side-to-side movement, Y-axis blanking slide unit 221 drives X-axis blanking slide unit 231 to move forward and backward, until positioning；
Z axis blanking cylinder 241 drives blanking microscope carrier 253 to move downward, and formed glass 502 is made to be inserted into the corresponding position of finished product frame, blanking
Sucker 254 unclamps, and puts down formed glass 502；Z axis blanking cylinder 241 drives blanking microscope carrier 253 to move upwards, then under Y-axis
Material slide unit 221 and X-axis blanking slide unit 231 return to initial position successively；Blanking rotary cylinder 251 drives blanking microscope carrier 253 reversed
It is rocked to horizontality, Z axis blanking cylinder 241 drives blanking microscope carrier 253 to move up and down to initial position, formed glass is waited for put
Enter.It after formed glass is placed again into blanking microscope carrier, repeats the above steps, formed glass is discharged into finished product frame successively.
Fig. 6 and Fig. 7 are referred to, carrier cleaning device 300 includes：Cabinet 310, lower carrier cleaning station, the cleaning of upper carrier
Station, lower carrier overturning component, upper carrier closed component and gas-circulating system.Cabinet 310 is in the open babinet knot in upper end
Substrate 110 and pedestal 210 is fixedly mounted in the left and right sides of structure, cabinet 310 respectively.
Upper and lower carrier cleaning station is disposed in parallel on cabinet 310, and lower carrier cleaning station includes：Lower station substrate 321
With lower locating piece 322, side is equipped with rectangular boss 311 before and after the upper end of cabinet 310, and lower station substrate 321 is arranged convex
The upper end of platform 311, being recessed to be formed in the upper face center of lower station substrate 321 is useful for auxiliary positioning carrier lower cover 601
Lower station slot, lower locating piece 322 is plugged on lower station substrate 321, and is symmetrically distributed on the outside of four sides of lower station slot, under
The hole of station substrate 321 is in waist hole shape under locating piece 322 is interspersed, and the length direction of waist hole will be perpendicular to four sides of lower station slot.
On the top of lower locating piece 322, the direction protrusion of the station slot under is equipped with fixture block 323, and carrier lower cover 601 is packed into lower station
When slot, fixture block 323 can be connected to four side of top surface of carrier lower cover 601.It is connected with the first driving in the bottom end of lower locating piece 322
Component (does not indicate) in figure, drives lower locating piece 322 to be moved back and forth along waist hole by the first drive component, for fixing or unclamping
Carrier lower cover 601, the first drive component is mounted in the lower face of lower station substrate 321 and sealing covers waist hole position, makes lower station
The whole plate face of substrate 321 cannot have the ventilative position of trepanning.
First drive component used in the utility model is all existing highly developed driving structure design, can be by
Multigroup motor on same plane respectively drives each pair of lower locating piece set relatively by leading screw and realizes in waist hole length range
Interior movement can also be to respectively drive each pair of lower locating piece by auxiliary guide rail by multigroup cylinder to realize movement.
Lower carrier overturns component：Lower cover rotary cylinder 341, lower cover rotary cylinder 341 are mounted on lower carrier cleaner
The side of position, is fixedly connected with shaft in two middle side parts of lower station substrate 321, axis is installed in the both sides of boss 311
342 are held, the shaft correspondence of both sides is plugged in bearing 342, and the round end of lower cover rotary cylinder 341 is connected to wherein side protrusion
In the shaft of bearing, lower station substrate 321 is driven to be rotated centered on shaft by lower cover rotary cylinder 341.
Upper carrier cleaning station includes：Upper station substrate 331 and upper locating piece 332, upper station substrate 331 are covered in cabinet
The other side before and after 310 upper end, and the side bottom edge of boss 311 is docked, it may thus be appreciated that the level height of upper station substrate 331
To be less than lower station substrate 321.Upper station mouth is provided in the plate face of upper station substrate 331, the size of upper station mouth is more than
The size of carrier upper cover 602.Upper locating piece 332 is fixedly connected on the lower face of station substrate 331, and symmetrical point of horizontal protrusion
For cloth on the inside of four sides of upper station mouth, one end horizontal extension of upper locating piece 332 towards upper station mouth is formed with convex edge so that carries
Tool upper cover 602, which can position, to be overlapped in surrounding on the convex edge of locating piece 332.
Upper carrier closed component includes：First linear air cylinder 351, closed slide 352 and cover board 353, two first linear
The cylinder body horizontal symmetrical of cylinder 351 is fixedly mounted on the side of cabinet 310, and closed slide 352 is also horizontally arranged at cabinet 310
Side and positioned at upper station substrate 331 both sides, the lower end both sides of cover board 353 are slidably mounted on closed slide by sliding block
On 352, the motion bar of the first linear air cylinder 351 is connected to cover board 353, drives cover board 353 along flat by the first linear air cylinder 351
Row guide rail 352 move, cover board 353 can sealing cover in upper carrier cleaning station, cover board 353 docks boss 311 on one side at this time
Side.
For cover sheet 353 and its movement, the side that cover board 353 is located on cabinet 310 is equipped with plate cover 354,
When opening cover board 353, plate cover 354 can accommodate monoblock cover board 353.
Gas-circulating system includes：End and exhaust end are supplied, gas supply end is by sequentially connected high-pressure air source, booster pump and gas
Rifle is constituted, and high-pressure air source and booster pump are arranged in device external, and air gun is provided in cabinet 310, and air gun passes through 310 side of cabinet
The crossover sub 312 in face accesses booster pump, and the lower section positioned at plate cover 254 in cabinet 310 is additionally provided with horizontal action gas
The movable end of cylinder 361, actuating cylinder 361 is fixedly connected air gun, drives air gun below two stations by actuating cylinder 361
It moves back and forth, air gun blows form air curtain upwards, blows away the dust of carrier upper and lower cover inner surface.Exhaust end is made of vacuum pump,
Vacuum pump is also disposed at device external, and vacuum pump docks the bleeding point 313 of 310 bottom of cabinet, and vacuum pump will be useless with dust
Gas is recycled.
For the ease of detecting the quality of formed glass, the side of opposing cover plates cover 254 is provided with CCD systems on cabinet 310
Second detector 371 of system, 371 side of the second detector is provided with the 4th rotary cylinder 372, the rotation of the 4th rotary cylinder 372
Turn the support shaft that end is connected to 371 bottom of the second detector, drives the second detector 371 to rotate by the 4th rotary cylinder 372, make
Second detector 371 can be towards carrier lower cover 601.
The motion process of the present apparatus：Entire carrier is placed on lower carrier cleaning station by loading and unloading arm from hot-bending machine discharging end
On；Carrier upper cover 602 is transported in upper carrier cleaning station by loading and unloading arm, and the inner surface of carrier upper cover 602 is put downward,
Simultaneously during this, 322 carrier for clamping lower cover 601 of lower locating piece, the inner surface of carrier lower cover 601 is put upward；Second detection
First 371 are rotated towards the formed glass 502 in carrier lower cover 601, detect glass quality, and loading and unloading arm will be molded glass later
Glass 502 is removed to blanking microscope carrier 253；The lower lower carrier cleaning station of carrier overturning component rotation, makes carrier lower cover 601 under
Side, while upper carrier closed component sealing cover is in upper carrier cleaning station；Start gas-circulating system, it will be in carrier upper and lower cover
The impurity such as dust, the fine particle on surface are removed clean；Lower carrier overturning component and upper carrier closed component restore initial position,
Carrier upper and lower cover waits for loading and unloading arm supplied materials；The waiting carrier upper and lower cover of the present apparatus in cycles brings cleaning, cleaning
After clean feeding is taken away in waiting.
Fig. 8 and Fig. 9 are referred to, loading and unloading arm 400 includes：Arm support 410, lower carrier clamp assemblies, upper carrier clamping group
Part, upper carrier jacking component, glass transfer component and arm Z axis component, lower carrier clamp assemblies and upper carrier clamp assemblies
It is set to the bottom end of arm support 410 side by side.Lower carrier clamp assemblies include：Lower clamping jaw cylinder 421, the cylinder body water of lower clamping jaw cylinder 421
The flat bottom for being fixedly mounted on arm support 410, the both sides movable end bottom of lower clamping jaw cylinder 421 are fixedly connected with lower cover clamping jaw 422,
422 relative motion of lower cover clamping jaw is driven by lower clamping jaw cylinder 421, both sides lower cover clamping jaw 422 is enable to be clamped in carrier lower cover 601
Bottom end.
Upper carrier clamp assemblies include：The cylinder body of upper gripper jaw cylinder 431, upper gripper jaw cylinder 431 is horizontally arranged at carrier
The bottom of component is jacked, the both sides movable end bottom of upper gripper jaw cylinder 431 is fixedly connected with upper cover clamping jaw 432, by upper gripper jaw gas
Cylinder 431 drives 432 relative motion of upper cover clamping jaw, and both sides upper cover clamping jaw 432 is enable to be clamped in the bottom end of carrier upper cover 602,
To make carrier upper and lower cover detach.
Upper carrier jacks component：The cylinder body top of the second linear air cylinder 441 erect, the second linear air cylinder 441 is solid
Dingan County is mounted in the bottom of arm support 410, and the power end of the second linear air cylinder 441 is fixedly connected with the cylinder body of upper gripper jaw cylinder 431 downward,
Upper carrier clamp assemblies a small range is driven to move up and down by the second linear air cylinder 441.
Glass transfer component includes：Third linear cylinder 451 and load transfer station 452, the cylinder body of third linear cylinder 451 pass through
Third connecting plate 453 erects the bottom side mounted on arm support 410, third linear cylinder 451 and the second linear air cylinder 441 with respect to and
If the power end of third linear cylinder 451 is fixedly connected with load transfer station 452 downward, load transfer station 452 is located at upper and lower clamping jaw cylinder
Below cylinder body, 452 a small range of load transfer station is driven to move up and down by third linear cylinder 451.It is installed in the bottom end of load transfer station 452
Have a transfer sucker 454, transfer sucker 454 is connected to vacuum plant, transfer sucker 454 for adsorb glass 501 to be processed or at
Type glass 502.
Arm Z axis component includes：Slide track seat, sliding slot 461 and Z axis motor 462, sliding slot 461 are mounted on the side of arm support 410
The setting of track portion 463 in face, slide track seat is slidably connected in sliding slot 461, and the pedestal part 464 of slide track seat is installed for connecting
XY axis arms slide unit 470 (referring to Figure 10) drives loading and unloading arm to be put in glass feeding, discharge by XY axis arms slide unit 470
Move back and forth between mechanism and carrier cleaning device.Pass through 465 upside-down mounting Z axis motor 462 of mounting base, sliding rail at the top of slide track seat
The lead screw 466 of setting is provided on seat towards the side of sliding slot 461, the top of lead screw 466 is connected to Z axis motor 462, lead screw
Traveling nut on 466 is fixedly connected on sliding slot 461, drives arm support 410 with respect to slide track seat by lead screw 466 by Z axis motor 462
It moves up and down.
The motion process of mechanism：
A. blanking step：After hot-bending machine discharging, loading and unloading arm moves to carrier upper end by XY axis arms slide unit 470,
Lower carrier clamp assemblies grip entire carrier；Loading and unloading arm motion is to lower carrier cleaning station, in the process, upper carrier folder
Component clamping carrier upper cover 602 is held, upper carrier jacking component drives upper carrier clamp assemblies above to carry slightly, makes carrier upper and lower cover
Separation；Lower carrier clamp assemblies put down carrier lower cover 601 to lower carrier cleaning station, but upper carrier clamp assemblies continue to clamp
Carrier upper cover 602, loading and unloading arm drive carrier upper cover 602 to move to carrier cleaning station and put down；Loading and unloading arm is transported
It moves to the top of formed glass 502, glass transfer component declines adsorption forming glass 502 slightly, and then loading and unloading arm motion is extremely
Blanking microscope carrier 253 puts down formed glass 502；
B. feeding step：Carrier upper and lower cover is all cleaned and is finished, and loading and unloading arm adsorbs glass to be processed from feeding microscope carrier 143
Then glass 501 puts down glass to be processed to 601 top of carrier lower cover；The supreme carrier cleaning station of loading and unloading arm motion,
Upper carrier clamp assemblies clamping carrier upper cover 602, moves to 601 top of carrier lower cover, and upper carrier jacking component declines, puts slightly
Lower carrier upper cover 602, carrier upper and lower cover lid close；The lower whole carrier of carrier clamp assemblies clamping, moves to the feeding work of hot-bending machine
Position etc. is to be processed；
Feeding and blanking step repeat alternately, to complete the loading and unloading action of hot-bending machine.
Refer to Figure 10, this equipment in actual use, it is also necessary to it is mating that industrial control host 710, automatically controlled machine are installed
Case 720, industrial PC display 730 and the metal plate rack 740 being welded, this equipment i.e. be mounted on industrial control host 710 and/
Or on the babinet of automatically controlled cabinet 720, is controlled by industrial control host program and receives and send out instruction and control each servo motor and cylinder,
It is captured by CCD and is sent to industrial control host progress data processing with acquisition information, full-automatic loading and unloading and high-precision are carried out to carrier
Glass operation is put in positioning.Board warning lamp 750 is also had additional in metal plate rack 740, if in full-automatic start
Abnormal, board warning lamp 750 will send out warning, while exception information can be shown on display 730.
The utility model is mainly for a new machine made of 3D heat-bending glass carriers automatic loading/unloading specially research and development
Equipment, the utility model are integrated the function of body using automatic loading/unloading, automatic CCD detections, are controlled to adjust by industry control program.
Carrier after hot bending is put into carrier cleaning device by the utility model automatically, and carrier is detached and by formed glass by loading and unloading arm
Detection is drawn, the 3D glass of forming is put into finished product frame by glass cutting stock arranging mechanism, completes blanking；At the same time, up and down
Material arm puts carrier upper and lower cover into respectively to be cleaned in upper and lower carrier cleaning station；Then, loading and unloading arm again will not
Formed glass captures, and glass is simultaneously put into carrier lower cover by CCD correction precise positionings, and loading and unloading arm will be put into heat after carrier closing lid
Bender completes feeding.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, any those skilled in the art are not departing within the scope of technical solutions of the utility model, the skill according to the utility model
Art essence still falls within the utility model technical side to any brief introduction modification, equivalent variations and modification made by above example
In the range of case.
Claims (10)
1. a kind of fully automatic manipulator equipment, which is characterized in that including：It is put from material frame to feeding microscope carrier for glass to be processed
Glass feeding arranging mechanism, be put into for formed glass finished product frame from blanking microscope carrier glass cutting stock arranging mechanism, carrier it is clear
Clean device and the loading and unloading arm moved back and forth between three, the carrier cleaning device include：Cabinet front and back is set side by side
Carrier cleaning station is set under the upper carrier cleaning station of cabinet upper end and lower carrier cleaning station, drive towards under downwardly turning over
Carrier overturns component and for the clean gas-circulating system of interior surface above and below carrier；The glass feeding, discharge ordering machine
The opposite left and right sides for being divided into cabinet of structure；The loading and unloading arm includes：Arm support and mounted in arm support bottom end upper carrier press from both sides
Component, lower carrier clamp assemblies and glass transfer component are held, upper carrier clamp assemblies move between upper and lower carrier cleaning station
Make, lower carrier clamp assemblies act between process equipment loading and unloading end and lower carrier cleaning station, and glass transfer component is upper
It is acted between material microscope carrier and lower carrier cleaning station, lower carrier cleaning station and blanking microscope carrier.
2. fully automatic manipulator equipment according to claim 1, which is characterized in that the lower carrier cleaning station includes：
Lower station substrate and lower locating piece, side is equipped with rectangular boss before and after cabinet upper end, lower station substrate setting in boss upper end,
The upper face center recess of lower station substrate is formed with lower station slot, and lower locating piece is plugged on lower station substrate and is distributed
On the outside of four sides of lower station slot, fixture block is installed on lower locating piece top, fixture block can be connected to the top surface four of carrier lower cover
Side；
The lower carrier overturns component：Two middle side parts of lower cover rotary cylinder, lower station substrate are fixedly connected with shaft, under
The round end of lid rotary cylinder is connected to wherein side shaft, and lower station substrate rotation is driven by lower cover rotary cylinder.
3. fully automatic manipulator equipment according to claim 1, which is characterized in that the upper carrier cleaning station includes：
Upper station substrate and upper locating piece, upper station substrate cover other side before and after cabinet upper end, are opened in the plate face of upper station substrate
There is upper station mouth, upper locating piece is fixedly connected on the lower face of station substrate, and horizontal protrusion is distributed in the four of station mouth
On the inside of side, carrier upper cover can be overlapped in surrounding on locating piece；
The carrier cleaning device further includes upper carrier closed component, and the upper carrier closed component includes：Mounted on cabinet side
First linear air cylinder in face, set on upper station substrate both sides closed slide and be slidably mounted on the cover board of closed slide upper end,
The motion bar of first linear air cylinder is connected to cover board, drives cover board to be moved along closed slide by the first linear air cylinder, makes cover board
It can cover in upper carrier cleaning station.
4. fully automatic manipulator equipment according to claim 1, which is characterized in that the gas-circulating system includes：For
Gas end and exhaust end, the gas supply end include feeder and the air gun in cabinet, and the exhaust end includes being connected to machine
The exhaust apparatus of case, exhaust apparatus are recycled exhaust gas；Horizontal actuating cylinder, the work of actuating cylinder are provided in the cabinet
Moved end is fixedly connected with air gun, drives air gun to be moved back and forth below two stations by actuating cylinder, air gun is made to blow to form air curtain
The inner surface of carrier upper and lower cover is blowed to upward.
5. fully automatic manipulator equipment according to claim 1, which is characterized in that the lower carrier clamp assemblies include：
The cylinder body level of lower clamping jaw cylinder, lower clamping jaw cylinder is fixedly mounted on the bottom of arm support, the both sides movable end bottom of lower clamping jaw cylinder
Portion is fixedly connected with lower cover clamping jaw, drives lower cover clamping jaw relative motion by lower clamping jaw cylinder, lower cover clamping jaw is enable to be clamped in load
Has the bottom end of lower cover；
The upper carrier clamp assemblies include：The cylinder body of upper gripper jaw cylinder, upper gripper jaw cylinder is horizontally arranged at carrier jacking group
The both sides movable end bottom of the bottom of part, upper gripper jaw cylinder is fixedly connected with upper cover clamping jaw, and upper cover folder is driven by upper gripper jaw cylinder
Pawl relative motion enables upper cover clamping jaw to be clamped in the bottom end of carrier upper cover.
6. fully automatic manipulator equipment according to claim 5, which is characterized in that the glass transfer component includes：The
The cylinder body of three linear air cylinders and load transfer station, third linear cylinder erects the bottom side mounted on arm support, third line by connecting plate
Property cylinder power end be fixedly connected with load transfer station downward, load transfer station is located at below the cylinder body of clamping jaw cylinder, by third linear cylinder
Load transfer station is driven to move up and down, the bottom end of the load transfer station is equipped with transfer sucker.
7. fully automatic manipulator equipment according to claim 1, which is characterized in that be provided with CCD systems on the cabinet
The second detector, the second detector side is provided with the 4th rotary cylinder, and the round end of the 4th rotary cylinder is connected to second
The support shaft of detector bottom drives the rotation of the second detector by the 4th rotary cylinder, enables the second detector towards carrier
Lower cover.
8. fully automatic manipulator equipment according to claim 1, which is characterized in that the glass feeding arranging mechanism packet
It includes：Be installed on substrate end is used to be spaced apart the material frame of glass to be processed, feeding rotary components, drives feeding rotary components
The feeding Z axis component of up and down motion and the feeding X-axis component for driving Z axis component to be moved along material frame a side, it is described on
Expect that rotary components include：Feeding rotary cylinder and rotating arm, rotating arm one end connect power end, the other end of feeding rotary cylinder
It is fixedly connected with feeding microscope carrier, the rotation of feeding microscope carrier is driven by feeding rotary cylinder, so that feeding microscope carrier is at horizontal or perpendicular
Straight state is equipped with feeding sucker on feeding microscope carrier.
9. fully automatic manipulator equipment according to claim 1, which is characterized in that the glass cutting stock arranging mechanism packet
It includes：For being spaced apart the finished product frame of formed glass, blanking rotary components, driving blanking rotary components or more on pedestal
Before and after the blanking Z axis component of movement, the blanking X-axis component for driving blanking Z axis component side-to-side movement and drive blanking X-axis component
The blanking Y-axis component of movement, the blanking rotary components include：Blanking rotary cylinder and rocking arm, one end vertical connection of rocking arm
It is fixedly connected with blanking microscope carrier in power end, the other end of blanking rotary cylinder, is driven on blanking microscope carrier by blanking rotary cylinder
Lower swing so that blanking microscope carrier is at horizontal or vertical state, and blanking sucker is housed on blanking microscope carrier.
10. fully automatic manipulator equipment according to claim 9, which is characterized in that the side of the blanking Z axis component is solid
Surely it is connected with the first detector of CCD systems, CCD systems are detected and determined the molding glass on blanking microscope carrier by the first detector
Glass placement position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721762900.5U CN207698776U (en) | 2017-12-15 | 2017-12-15 | A kind of fully automatic manipulator equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721762900.5U CN207698776U (en) | 2017-12-15 | 2017-12-15 | A kind of fully automatic manipulator equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207698776U true CN207698776U (en) | 2018-08-07 |
Family
ID=63026848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721762900.5U Withdrawn - After Issue CN207698776U (en) | 2017-12-15 | 2017-12-15 | A kind of fully automatic manipulator equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207698776U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107986026A (en) * | 2017-12-15 | 2018-05-04 | 深圳市银浩自动化设备有限公司 | A kind of full-automatic mechanical hand equipment |
| CN109607198A (en) * | 2019-01-04 | 2019-04-12 | 福耀集团长春有限公司 | A kind of vehicle glass de-stacking device |
| CN109693177A (en) * | 2019-02-01 | 2019-04-30 | 宇晶机器（长沙）有限公司 | A kind of overturning polishing machine automatic clamping and placing material device |
-
2017
- 2017-12-15 CN CN201721762900.5U patent/CN207698776U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107986026A (en) * | 2017-12-15 | 2018-05-04 | 深圳市银浩自动化设备有限公司 | A kind of full-automatic mechanical hand equipment |
| CN107986026B (en) * | 2017-12-15 | 2023-11-10 | 深圳市银浩自动化设备有限公司 | Full-automatic manipulator equipment |
| CN109607198A (en) * | 2019-01-04 | 2019-04-12 | 福耀集团长春有限公司 | A kind of vehicle glass de-stacking device |
| CN109607198B (en) * | 2019-01-04 | 2023-08-29 | 福耀集团长春有限公司 | Automobile glass unstacking device |
| CN109693177A (en) * | 2019-02-01 | 2019-04-30 | 宇晶机器（长沙）有限公司 | A kind of overturning polishing machine automatic clamping and placing material device |
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