CN208483835U - Five axis running vehicle type manipulators - Google Patents
Five axis running vehicle type manipulators Download PDFInfo
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- CN208483835U CN208483835U CN201821078356.7U CN201821078356U CN208483835U CN 208483835 U CN208483835 U CN 208483835U CN 201821078356 U CN201821078356 U CN 201821078356U CN 208483835 U CN208483835 U CN 208483835U
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- 239000011521 glass Substances 0.000 claims abstract description 32
- 238000003801 milling Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 8
- 230000007306 turnover Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
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- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
The utility model discloses a kind of five axis running vehicle type manipulators, is applied to glass carving machine automatic production line, comprising: sliding rail, transverse arm, saddle, vertical arm, cross bar and Double-face sucking disk；Wherein, the sliding rail is fixedly installed between several glass carving machines；The transverse arm is slidably connected with the sliding rail, and is driven by the first driving assembly；The saddle is slidably connected with the transverse arm, and is driven by the second driving assembly；The vertical arm is slidably connected with the saddle, and is driven by third driving assembly；The cross bar and the vertical arm are rotatablely connected, and pass through the 4th driving Component driver；The Double-face sucking disk rotational installation drives in the both ends of the cross bar, and by the 5th driving assembly.Technical solutions of the utility model, the five-axle linkage of manipulator is realized by simple structure, and then realizes the automatic loading/unloading of glass carving machine automatic production line, effectively reduces human cost and production cost.
Description
Technical Field
The utility model relates to the technical field of machine tools, in particular to be applied to five driving formula manipulators of glass cnc engraving and milling machine automation line.
Background
The 3C product is updated very fast, and the demand such as 2D 2.5D glass apron, tempering membrane sharply increases, for better productivity and efficiency that improves, adopts the manipulator to replace traditional manual work to get and put the material, saves the cost of labor greatly, and glass cnc engraving and milling machine automation line realizes intelligent unmanned mill basically. The existing automatic feeding and discharging mechanical arm is generally in three-axis linkage, and the automatic requirement of the automatic production line of the glass engraving and milling machine cannot be effectively met.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a five driving formula manipulators, aim at realizing the automation of last unloading of glass cnc engraving and milling machine automation line, and then effective reduce cost.
In order to achieve the above object, the utility model provides a five-axis traveling manipulator is applied to glass cnc engraving and milling machine automation line, include: the device comprises a slide rail, a cross arm, a saddle, a vertical arm, a cross rod and a double-sided sucker; wherein,
the sliding rails are fixedly arranged among the plurality of glass engraving and milling machines;
the cross arm is connected with the slide rail in a sliding manner and is driven by a first driving assembly;
the sliding saddle is connected with the cross arm in a sliding mode and is driven by a second driving assembly;
the vertical arm is connected with the sliding saddle in a sliding manner and is driven by a third driving component;
the transverse rod is rotatably connected with the vertical arm and is driven by a fourth driving assembly;
the double-sided sucker is rotatably arranged at two ends of the cross rod and is driven by a fifth driving assembly.
Optionally, the first driving assembly includes a first rack fixedly mounted on the slide rail, a first gear engaged with the first rack, and a first driving device for driving the first gear to rotate; the first driving device is fixedly arranged on the cross arm.
Optionally, the first driving device is a servo motor.
Optionally, the second driving assembly includes a second driving device fixedly mounted on the cross arm, a belt pulley in transmission connection with the second driving device, and a conveyor belt in transmission connection with the belt pulley; the sliding saddle is fixedly connected with the conveying belt.
Optionally, the second driving device is a servo motor.
Optionally, the third driving assembly includes a third driving device fixedly mounted on the saddle, a second gear in transmission connection with the third driving device, and a second rack engaged with the second gear; the second rack is fixedly connected with the vertical arm.
Optionally, the third driving device is a servo motor.
Optionally, the fourth driving assembly includes a fourth driving device fixedly mounted to the vertical arm, and a speed reducer.
Optionally, the fourth driving device is a servo motor; the speed reduction device is a speed reduction motor.
Optionally, the fifth driving assembly includes a rotary cylinder fixedly mounted on the cross bar; the double-sided sucker is in transmission connection with the rotary cylinder.
The utility model discloses technical scheme has realized the five-axis linkage of manipulator through simple structure, and then has realized the unloading in the automation of glass cnc engraving and milling machine automation line, has effectively reduced human cost and manufacturing cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of the five-axis traveling manipulator of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a be applied to five driving formula manipulators of glass cnc engraving and milling machine automation line.
As shown in fig. 1, fig. 1 is a schematic perspective view of an embodiment of a five-axis traveling manipulator according to the present invention.
In this embodiment, the five-axis traveling robot includes: a slide rail 101, a cross arm 102, a saddle 103, a vertical arm 104, a cross bar 105, a double-sided suction cup 106, a first driving assembly 107, a second driving assembly 108, a third driving assembly 109, a fourth driving assembly 110, and a fifth driving assembly 111; the sliding rails 101 are fixedly arranged among the plurality of glass engraving and milling machines; the cross arm 102 is connected with the slide rail 101 in a sliding manner; the saddle 103 is connected with the cross arm 102 in a sliding manner; the vertical arm 104 is connected with the saddle 103 in a sliding way; the cross bar 105 is rotatably connected with the vertical arm 104; the double-sided suction cups 106 are rotatably mounted at two ends of the cross bar 105; the first driving component 107 is used for driving the cross arm 102 to slide on the slide rail 101; the second driving assembly 108 is used for driving the sliding saddle 103 to slide on the cross arm 102; the third driving assembly 109 is used for driving the vertical arm 104 to slide on the saddle 103; the fourth driving component 110 is used for driving the cross rod 105 to rotate around the vertical arm 104; the fifth driving assembly 111 is used for driving the double-sided suction cup 106 to turn over.
Specifically, the first driving assembly 107 includes a first rack 172 fixedly mounted on the slide rail 101, a first gear 174 engaged with the first rack 172, and a first driving device 176 for driving the first gear 174 to rotate; the first drive 176 is fixedly mounted to the cross arm 102. The first driving device 176 is preferably a servo motor. The first driving device 176 moves along the longitudinal direction of the first rack 172 (i.e., the longitudinal direction of the slide rail 101) by the first rack 172 while driving the first gear 174 to rotate. Thereby moving the cross arm 102 along the length direction of the first rack 172.
The second driving assembly 108 comprises a second driving device 182 fixedly arranged on the cross arm 102, a belt wheel 184 in transmission connection with the second driving device 182, and a transmission belt 186 in transmission connection with the belt wheel 184; the saddle 103 is fixedly connected to the conveyor belt 186. The second driving device 182 is a servo motor. The second driving device 182 drives the pulley 184 to rotate, and the pulley 184 rotates and drives the conveyor belt 186 to move, so as to drive the saddle 103 to move along the length direction of the cross arm 102.
The third driving assembly 109 comprises a third driving device 192 fixedly mounted on the saddle 103, a second gear (not shown) in transmission connection with the third driving device 192, and a second rack 196 engaged with the second gear; the second rack 196 is fixedly connected to the vertical arm 104. The third driving device 192 is preferably a servo motor. While the third driving assembly 109 drives the second gear to rotate, the second rack 196 engaged with the second gear moves along the length direction of the saddle 103, and further drives the vertical arm 104 to move along the length direction of the saddle 103.
The fourth drive assembly 110 includes a fourth drive assembly 112 fixedly mounted to the vertical arm 104, and a reduction gear assembly 114. Preferably, the fourth driving device 112 is a servo motor; the speed reduction device 114 is a speed reduction motor. The fourth driving device 112 drives the cross bar 105 to rotate, and the speed reducing device 114 is used for limiting the rotating speed of the fourth driving device 112, so as to ensure the stability of the rotation of the cross bar 105.
The fifth driving assembly 111 is a rotary cylinder fixedly mounted on the cross bar 105; the double-sided sucker 106 is in transmission connection with the rotary cylinder. The fifth driving assembly 111 drives the double-sided suction cup 106 to turn over, so as to realize double-sided suction of the double-sided suction cup 106.
In operation, under the combined action of the first driving assembly 107, the second driving assembly 108 and the fourth driving assembly 110, the length direction of the cross bar 105 is parallel to the length direction of the slide rail 101, and the double-sided suction cup 106 is located right above a tray containing glass materials (i.e. the initial position of the five-axis traveling robot). Then, the double-sided suction cup 106 moves downward under the driving of the third driving assembly 109, and rises to a certain height after adsorbing the glass material. The fifth driving component 111 drives the double-sided sucker 106 to turn over so that the other side of the double-sided sucker 106 faces the tray; the third driving assembly 109 drives the double-sided suction cup 106 to move downwards, so that the glass material is also adsorbed on the other side of the double-sided suction cup 106. Then the fourth driving component 110 drives the cross bar 105 to rotate 180 ° so that the other double-sided suction cup 106 is located right above the tray, and in the same way, the glass material is adsorbed on both sides of the other double-sided suction cup 106. After the adsorption is completed, the cross bar 105 is driven by the first driving assembly 107 to move to the position of the corresponding glass engraving and milling machine; the fourth driving assembly 110 drives the cross bar 105 to rotate 90 °, so that the two double-sided suction cups 106 are respectively located right above the processing platforms of the two glass engraving machines. Then, the glass material is placed on the corresponding processing platform under the driving of the third driving assembly 109. Then, the fifth driving assembly 111 drives the double-sided suction cup 106 to turn over, and the first driving assembly 107 drives the double-sided suction cup 106 to move to the next position of the glass engraving and milling machine, so that the loading of each glass engraving and milling machine is realized repeatedly. And after the feeding is finished, returning the five-axis traveling type manipulator to the initial position to wait for the completion of the machining. After the processing is finished, the five-axis traveling manipulator adsorbs a glass material on one side of each double-sided sucker 106 in the above manner, then moves to the position of the glass engraving and milling machine, adsorbs a glass finished product on the other side of the double-sided sucker 106, turns over, places the glass material on a processing platform of the glass engraving and milling machine, rotates the cross rod 105 to a direction parallel to the slide rail 101, and places the glass finished product on a finished product conveying belt under the driving of the third driving assembly 109 and the fifth driving assembly 111. And circulating the steps, so that each glass engraving and milling machine can be automatically fed and discharged.
According to the technical scheme, five-axis linkage of the manipulator is realized through a simple structure, so that automatic feeding and discharging of the automatic production line of the glass engraving and milling machine are realized, and the labor cost and the production cost are effectively reduced.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. The utility model provides a five driving manipulators, is applied to glass cnc engraving and milling machine automation line which characterized in that includes: the device comprises a slide rail, a cross arm, a saddle, a vertical arm, a cross rod and a double-sided sucker; wherein,
the sliding rails are fixedly arranged among the plurality of glass engraving and milling machines;
the cross arm is connected with the slide rail in a sliding manner and is driven by a first driving assembly;
the sliding saddle is connected with the cross arm in a sliding mode and is driven by a second driving assembly;
the vertical arm is connected with the sliding saddle in a sliding manner and is driven by a third driving component;
the transverse rod is rotatably connected with the vertical arm and is driven by a fourth driving assembly;
the double-sided sucker is rotatably arranged at two ends of the cross rod and is driven by a fifth driving assembly.
2. The five-axis traveling type robot arm according to claim 1, wherein the first driving assembly includes a first rack fixedly mounted to the slide rail, a first gear engaged with the first rack, and a first driving device driving the first gear to rotate; the first driving device is fixedly arranged on the cross arm.
3. The five-axis vehicle-mounted robot of claim 2, wherein the first driving means is a servo motor.
4. The five-axis vehicle-mounted robot of claim 1, wherein the second drive assembly comprises a second drive device fixedly mounted to the cross arm, a pulley in driving connection with the second drive device, and a conveyor belt in driving connection with the pulley; the sliding saddle is fixedly connected with the conveying belt.
5. The five-axis vehicle-mounted robot of claim 4, wherein the second driving device is a servo motor.
6. The five-axis vehicle-type robot of claim 1, wherein the third driving assembly comprises a third driving device fixedly mounted on the saddle, a second gear in transmission connection with the third driving device, and a second rack engaged with the second gear; the second rack is fixedly connected with the vertical arm.
7. The five-axis vehicle-mounted robot of claim 6, wherein the third driving device is a servo motor.
8. The five-axis traveling robot of claim 1, wherein the fourth drive assembly includes a fourth drive device fixedly mounted to the vertical arm, and a reduction gear.
9. The five-axis vehicle-mounted robot of claim 8, wherein the fourth driving device is a servo motor; the speed reduction device is a speed reduction motor.
10. The five-axis vehicle-mounted robot of claim 1, wherein the fifth drive assembly comprises a rotary cylinder fixedly mounted to the crossbar; the double-sided sucker is in transmission connection with the rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821078356.7U CN208483835U (en) | 2018-07-09 | 2018-07-09 | Five axis running vehicle type manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821078356.7U CN208483835U (en) | 2018-07-09 | 2018-07-09 | Five axis running vehicle type manipulators |
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| Publication Number | Publication Date |
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| CN208483835U true CN208483835U (en) | 2019-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821078356.7U Active CN208483835U (en) | 2018-07-09 | 2018-07-09 | Five axis running vehicle type manipulators |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
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2018
- 2018-07-09 CN CN201821078356.7U patent/CN208483835U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
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