CN105364621B - Intelligent robotic manipulator - Google Patents
Intelligent robotic manipulator Download PDFInfo
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- CN105364621B CN105364621B CN201510811671.0A CN201510811671A CN105364621B CN 105364621 B CN105364621 B CN 105364621B CN 201510811671 A CN201510811671 A CN 201510811671A CN 105364621 B CN105364621 B CN 105364621B
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- feeding module
- air
- module
- clamping jaw
- coupling piece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The present invention relates to phone housing manufacture fields, more particularly to Intelligent robotic manipulator comprising rotating module, rotating module include coupling piece；Feeding module, feeding module are set on coupling piece；Cover mold group is taken, cover mold group is taken to be set on coupling piece；Feeding module, feeding module are set on coupling piece；At least two air blowing modules, each air blowing module include at least three air jet pipes, and at least three air jet pipes may be contained on coupling piece；And feeding module, take the both sides of cover mold group and feeding module at least provided with two air jet pipes, and the gas outlet of air jet pipe respectively towards feeding module, take cover mold group and feeding module.Above-mentioned Intelligent robotic manipulator, replaced in the way of machinery it is artificial in the way of phone housing is processed, improve production efficiency, and farthest reduce production cost.
Description
Technical field
The present invention relates to phone housing manufacture fields, more particularly to Intelligent robotic manipulator.
Background technology
In traditional phone housing processing industry, artificial mode is relied primarily on to the processing technology of phone housing and is carried out,
The technique by fixture cover board including the use of manually taking away, taking out product, blowing clean fixture, being put into new product, being put into cover board, so
That completes entire new old product takes dress.
However, completing above-mentioned phone housing processing, high labor cost by the way of artificial, and because use people's formula
Mode produces, and there are many factors for influencing production efficiency, cause production efficiency low.
Invention content
Based on this, it is necessary to the problem of for how to improve production efficiency, provide a kind of Intelligent robotic manipulator.
A kind of Intelligent robotic manipulator, including rotating module, the rotating module include coupling piece；Feeding module, the feeding
Module is set on the coupling piece, under rotating module drive, processed product to be captured from assembly line；Take lid
Module, it is described that cover mold group is taken to be set on the coupling piece, under rotating module drive, capturing the lid on high ray machine
Plate；Feeding module, the feeding module are set on the coupling piece, under rotating module drive, removing bloom
Machined product on machine；At least two air blowing modules, each air blowing module include at least three air jet pipes, it is described at least
Three air jet pipes may be contained on the coupling piece；And the feeding module, described take the two of cover mold group and the feeding module
Side at least provided with two air jet pipes, and the gas outlet of the air jet pipe respectively towards the feeding module, described take
Cover mold group and the feeding module.
The rotating module further includes index dial in one of the embodiments, and the index dial is sheathed on the shaft coupling
On part, the index dial is arranged at intervals with the first installation position, the second installation position and third installation position, and the feeding module is set to
Described that cover mold group is taken to be set on second installation position on first installation position, the feeding module is set to described
On three installation positions.
The index dial includes 120 degree of index dials, first installation position, described second in one of the embodiments,
Installation position and the third installation position are uniformly distributed in 120 degree of index dials.
The air blowing module further includes air distribution disk in one of the embodiments, and at least three air jet pipe is set to
On the air distribution disk, the air distribution disk offers the air guide channel being connected to at least three air jet pipe.
In one of the embodiments, the feeding module include the first noumenon and be set on the first noumenon
One fixture, the first noumenon are connect with first installation position, and first fixture is to be processed for being captured from assembly line
Product.
First fixture includes the first pneumatic device, the first clamping jaw, the first guide pin in one of the embodiments,
And first controller, and first clamping jaw has open configuration and merging phase,
First guide pin is connect with first clamping jaw, and first clamping jaw connects with first pneumatic device
It connects, first pneumatic device is connect with first controller, described in control under the action of first controller
First clamping jaw is in the open configuration or the merging phase.
Take cover mold group to include the second ontology and be set on second ontology the in one of the embodiments,
Two fixtures, second ontology are connect with second installation position, and second fixture is used to capture the cover board on high ray machine.
Second fixture includes the second pneumatic device, the second clamping jaw, the second guide pin in one of the embodiments,
And second controller, and second clamping jaw has open configuration and merging phase,
Second guide pin is connect with second clamping jaw, and second clamping jaw connects with second pneumatic device
It connects, second pneumatic device is connect with the second controller, described in the control under the action of second controller
Second clamping jaw is in the open configuration or the merging phase.
In one of the embodiments, the feeding module include third ontology and be set on the third ontology
Three fixtures, the third ontology are connect with the third installation position, and the third fixture is machined on high ray machine for removing
Product.
The third fixture includes third pneumatic device, third clamping jaw, third guide pin in one of the embodiments,
And third controller, and the third clamping jaw has open configuration and merging phase,
The third guide pin is connect with the third clamping jaw, and the third clamping jaw connects with the third pneumatic device
It connects, the third pneumatic device is connect with the third controller, described in the control under the action of third controller
Third clamping jaw is in the open configuration or the merging phase.
Above-mentioned Intelligent robotic manipulator, by rotating module installation settings feeding module, take cover mold group and feeding module, with
Respectively under rotating module drive, processed product, the cover board on the high ray machine of crawl are captured from assembly line and is removed
Converted products on high ray machine, meanwhile, air blowing module towards processed products, cover board and converted products blow it is clear
Reason, also, after Air blowing cleaning, processed product is put on high ray machine, and depress cover board, finally machined product is put back to
On assembly line, to replaced in the way of machinery it is artificial in the way of phone housing is processed, improve production efficiency, and
Farthest reduce production cost.Meanwhile, this Shen unstable and cause damaged products compared to manual work product of taking
Intelligent robotic manipulator please can guarantee product of taking on stringent horizontal line, and that reduces product touches scratch, greatly reduces product
Fraction defective.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the invention Intelligent robotic manipulator；
Fig. 2 is the structural blast schematic diagram of embodiment illustrated in fig. 1；
Fig. 3 is the schematic cross-sectional view of one embodiment of the invention coupling piece；
Fig. 4 is the structural schematic diagram of one embodiment of the invention rotating module；
Fig. 5 is the structural schematic diagram of one embodiment of the invention index dial；
Fig. 6 is the structural schematic diagram of one embodiment of the invention air blowing module；
Fig. 7 is the structural schematic diagram of one embodiment of the invention air distribution disk；
Fig. 8 is the structural schematic diagram at another visual angle of embodiment illustrated in fig. 7；
Fig. 9 is the structural schematic diagram of one embodiment of the invention feeding module.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited by following public specific embodiment.
It should be noted that when element is referred to as " being fixed on ", " being set to " another element, it can be directly another
On a element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be
It is directly connected to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " level
", "left", "right" and similar statement for illustrative purposes only, be not offered as being unique embodiment.
It is that structural schematic diagram and the structure of one embodiment of the invention Intelligent robotic manipulator 10 are quick-fried also referring to Fig. 1 and Fig. 2
Fried schematic diagram, Intelligent robotic manipulator 10 includes rotating module 100, feeding module 110, take cover mold group 120, feeding module 130 and
At least two air blowing modules 140.
Referring to Fig. 2, for example, rotating module 100 includes coupling piece 101.For example, coupling piece 101 has been used to rotationally support
Effect, in order to install feeding module 110, take cover mold group 120, feeding module 130 and at least two air blowing modules 140.
For example, feeding module 110 is set on coupling piece 101, under being driven in rotating module 100, from assembly line
Capture processed product.For example, feeding module 110 is provided with the first fixture, waited for being captured from assembly line using the first fixture
Converted products.
For example, taking cover mold group 120 to be set on coupling piece 101, under the drive of rotating module 100, capturing high ray machine
On cover board.For example, taking cover mold group 120 to be provided with the second fixture, to capture the cover board on high ray machine using the second fixture.
For example, feeding module 130 is set on coupling piece 101, under the drive of rotating module 100, removing high ray machine
On machined product.For example, feeding module 130 is provided with third fixture, to be removed on high ray machine using third fixture
Converted products.
Referring to Fig. 2, for example, each air blowing module 140 includes at least three air jet pipes 141, at least three air jet pipes 141
It may be contained on the coupling piece 101.It should be noted that each air jet pipe 141 is all connected with external snorkel, with to air jet pipe
141 supply gas.
For example, feeding module 110, taking the both sides of cover mold group 120 and feeding module 130 at least provided with two air jet pipes
141, and the gas outlet of air jet pipe 141 respectively towards feeding module 110, take cover mold group 120 and feeding module 130.
In this way, by rotating module 100 installation settings feeding module 110, take cover mold group 120 and feeding module 130,
Respectively under the drive of the rotating module 100, to capture processed product from assembly line, the cover board on the high ray machine of crawl with
And remove converted products on high ray machine, meanwhile, air blowing module 140 towards processed products, cover board and converted products into
Row Air blowing cleaning.
Also, after Air blowing cleaning, processed product is put on high ray machine, and depress cover board, finally by machined production
Product are put back on assembly line, to replaced in the way of machinery it is artificial in the way of phone housing is processed, improve production
Efficiency, and farthest reduce production cost.
It should be noted that the function of Intelligent robotic manipulator of the present invention for ease of understanding, is tied shown in Fig. 1 and Fig. 2
In structure, feeding module 110 is state when having captured processed product 51, and it is the cover board on the high ray machine of crawl to take cover mold group 120
State when 52, feeding module 130 are state when removing the machined product 53 on high ray machine.
To make coupling piece have the function of externally blowing, referring to Fig. 3, for example, coupling piece 101 offers air inlet 102
And outlet passageway 103.For example, air inlet 102 is connected to outlet passageway 103.In conjunction with Fig. 4, for example, coupling piece 101 is provided with nozzle
1031, nozzle 1031 is sheathed on outlet passageway 103, so that air inlet 102, outlet passageway 103 and nozzle 1031 communicate with each other.
In this way, after air inlet 102 connects external snorkel, snorkel supplies gas to air inlet 102, then nozzle 1031
Opening can externally supply gas, to realize the function of Air blowing cleaning.Particularly, when the air outlet of control nozzle 1031 is towards bloom
When fixture base on machine, Air blowing cleaning can be carried out to fixture base, further increase production efficiency.
Referring to Fig. 4, its structural schematic diagram for the rotating module 100 of one embodiment of the invention, rotating module 100 wrap
Index dial 104 is included, index dial 104 is sheathed on coupling piece 101.For example, index dial 104 for be separately connected feeding module 110,
Take cover mold group 120 and feeding module 130.
For ease of installing fixed indexing plate 104, for example, coupling piece 101 offers guide groove 105, index dial 104 corresponds to
It is provided with confinement block 106.For example, confinement block 106 is embedded in guide groove 105, when so that index dial 104 being connect with coupling piece 101,
Under the cooperation of guide groove 105 and confinement block 106, index dial 104 is more easily inserted in coupling piece 101.Also, it limits
The rotation of index dial 104 improves stability when index dial 104 is connect with coupling piece 101.
For the stability for further increasing when index dial 104 is connect with coupling piece 101, for example, coupling piece 101 offers
Three guide grooves 105, index dial 104 are correspondingly arranged there are three confinement block 106.Preferably, between three intervals of guide groove 105 120
Setting.In this way, by three guide grooves 105 and three confinement blocks 106, index dial 104 can be effectively improved and connected with coupling piece 101
Stability when connecing.
Also referring to Fig. 1 and Fig. 4, for example, index dial 104 is arranged at intervals with the first installation position 107, the second installation position
108 and third installation position 109.In the present embodiment, the first installation position 107, the second installation position 108 and third installation position 109 knot
Structure is identical, such as in Y-shaped.
By taking the first installation position 107 as an example, to illustrate index dial 104 and feeding module 110, take cover mold group 120, feeding module
130 connection relation.
As shown in figure 5, for example, index dial 104 include 120 degree of index dials, the first installation position 107, the second installation position 108 and
Third installation position 109 is uniformly distributed in 120 degree of index dials.That is, the first installation position 107, the second installation position 108 and
Three installation positions 109 occupy the 1/3 of index dial 104 respectively.
For example, the first installation position 107 is in Y-shaped, the female screw hole of two tools is symmetrically offered.As shown in Fig. 2, sending
Material module 110, which is correspondingly arranged on two, has externally threaded bolt, by feeding module 110 and is spirally connected and is fixed on index dial 104
On first installation position 107.
In other embodiments, feeding module 110 and the connection of index dial 104 can also use other manner, such as weld
It connects；For another example it is clamped.By the connection type for being spirally connected, welding or be clamped, to improve index dial 104 and feeding module 110, take
The stability that cover mold group 120, feeding module 130 connect.
For example, feeding module 110 is set on the first installation position 107, cover mold group 120 is taken to be set to the second installation position 108
On, feeding module 130 is set on third installation position 109.
As shown in Figure 1, for example, feeding module 110 is set on the first installation position 107, for being driven in rotating module 100
Under, processed product is captured from assembly line；For another example, cover mold group 120 is taken to be set on the second installation position 108, for rotating
Under module 100 drives, the cover board on high ray machine is captured；For another example, feeding module 130 is set on third installation position 109, is used for
Under rotating module 100 drives, the machined product on high ray machine is removed.
Referring to Fig. 4, for example, rotating module 100 further includes tying up tracheae disk 150.Tracheae disk 150 is tied up for that will connect
The snorkel for the outside being connected on the air inlet 102 of air jet pipe 141 and coupling piece 101 unifies bundled fixed, avoids more
Snorkel influences feeding module 110, takes cover mold group 120, the normal work of feeding module 130 and at least two air blowing modules 140
Make.
It is sheathed on coupling piece 101 for example, tying up tracheae disk 150.For example, tying up tracheae disk 150 close to the coupling piece 101
Air inlet 102, in order to bundle the snorkel for being connected to air inlet 102.
Referring to Fig. 6, air blowing module 140 further includes air distribution disk 142.For example, at least three air jet pipes 141 are set to point
On gas disk 142.In the present embodiment, there are three air jet pipes 141 for setting on each air distribution disk 142.
To make air distribution disk 142 be connected to air jet pipe, also referring to Fig. 7 and Fig. 8, for example, air distribution disk 142 offer respectively with
At least three air jet pipe 141 be connected to as few three air guide channels 143.In the present embodiment, air distribution disk 142 offers three
A air guide channel 143.For example, air guide channel 143 has air guide entrance 144 and air guide outlet 145.
To improve Air blowing cleaning efficiency, for example, each air guide outlet 145 is correspondingly arranged an air jet pipe 141.Each air guide
Entrance 144 is correspondingly connected with an external snorkel.It supplies gas in this way, corresponding to an air jet pipe 141 by a snorkel, effectively
Ground improves the air flow pressure of 141 gas outlet of air jet pipe, to improve the efficiency of Air blowing cleaning, while improving the effect of cleaning.
Referring to Fig. 6, to further increase cleaning efficiency, in the present embodiment, there are two is in charge of the tool of air jet pipe 141
1411.Two be in charge of 1411 gas outlet respectively towards feeding module 110, take cover mold group 120 and feeding module 130.It is preferred that
, air jet pipe 141 uses gimbaled nozzle, to improve cleaning effect.
In the present embodiment, the quantity for being in charge of 1411 is 12.Wherein, it is provided on the two sides of feeding module 110 point
Pipe 1411, and a side is provided with two and is in charge of 1411, i.e., there are four be in charge of 1411 to the setting of feeding module 110.For example, taking lid
It is provided on the two sides of module 120 and is in charge of 1411, and a side is provided with two and is in charge of 1411, that is, cover mold group 120 is taken to set
It is in charge of 1411 there are four setting.For example, the quantity for being in charge of 1411 is 12.It is provided with and is in charge of on the two sides of feeding module 130
1411, and a side is provided with two and is in charge of 1411, i.e., there are four be in charge of 1411 to the setting of feeding module 130.
In conjunction with Fig. 1, more specifically, the both sides of processed product 51 are respectively set there are two being in charge of 1411, cover board 52
Both sides be respectively set there are two being in charge of 1411, the both sides of machined product 53 are respectively set that there are two be in charge of 1411.
In this way, for clearing up processed product 51, it is in charge of by being respectively set two in the both sides of processed product 51
1411, and the gas outlet for being in charge of 1411 is controlled towards processed product 51, when outer processed product 51 is blown, air-flow is comprehensive
Ground covers processed product 51, effectively clears up dust, the fragment etc. on processed product 51 surface, improves cleaning efficiency and clear
Manage effect.
Referring to Fig. 9, it is the structural schematic diagram of one embodiment of the invention feeding module 110, for example, feeding module 110
Including the first noumenon 111 and the first fixture 112 being set on the first noumenon 111.In conjunction with Fig. 1, the first noumenon 111 and first is pacified
Position 107 is filled to connect.For example, the first fixture 112 is for capturing processed product.
The structural principle of feeding module crawl processed product for ease of understanding, for example, the first fixture 112 includes the first gas
Dynamic device 1121, the first clamping jaw 1122, the first guide pin (not shown) and the first controller (not shown).For example, the first folder
Pawl 1122 has open configuration and merging phase.
It should be noted that the first pneumatic device 1121 and the first controller are present technology, in the present embodiment, it is intended to
Using the first pneumatic device 1121 and the first controller to realize that the first clamping jaw 1122 of control and the first guide pin work.
For example, the first clamping jaw 1122 is symmetrically arranged with two intermediate plates 113, and when two intermediate plates 113 are located remotely from each other, the first clamping jaw
1122 are in open configuration；When two intermediate plates 113 are close to each other, the first clamping jaw 1122 is in merging phase.At two intermediate plates 113
Distance when open configuration and its in merging phase when distance can be changed according to the structure of processed product.
For example, the first guide pin is set on the first noumenon 111, and between two intermediate plates 113.For example,
First guide pin is used to position the position of processed product and the first fixture 112, is captured from assembly line with accurately to be added
Chemical product.Have it is appreciated that the specific location of the first guide pin adapts to the structure of processed product namely processed product
Location hole, the first guide pin wear the location hole, to realize positioning, and capture under the action of two intermediate plate 113 to be added
Chemical product.
For example, the first guide pin is connect with the first clamping jaw 1122, the first clamping jaw 1122 and the first pneumatic device 1121 connect
It connects, the first pneumatic device 1121 is connect with the first controller, for controlling the first clamping jaw 1122 under the action of the first controller
In open configuration or merging phase.That is, during capturing processed product at one, 1122 thing of the first clamping jaw
It is first in open configuration, when the first clamping jaw 1122 is close to processed product, the first clamping jaw 1122 merges, to be processed to complete crawl
Product.
It should be noted that feeding module 110 captures the structural principle of processed product, cover mold group 120 is taken to capture bloom
The structural principle that the structural principle and feeding module 130 of cover board on machine remove the machined product on high ray machine is similar, therefore
In the present embodiment, only the concrete structure of feeding module 110 is unfolded to illustrate, takes cover mold group 120 and the structure of feeding module 130
Principle refers to feeding module 110.
For example, it includes the second ontology and the second fixture for being set on the second ontology to take cover mold group 120, the second ontology and the
Two installation positions 108 connect, and the second fixture is used to capture the cover board on high ray machine.
For example, the second fixture includes the second pneumatic device, the second clamping jaw, the second guide pin and second controller, second
Clamping jaw has open configuration and merging phase.
For example, the second guide pin is connect with the second clamping jaw, the second clamping jaw is connect with the second pneumatic device, the second pneumatic dress
It sets and is connect with second controller, open configuration or merging shape are in for controlling the second clamping jaw under the action of second controller
State.
For example, feeding module 130 includes third ontology and the third fixture that is set on third ontology, third ontology and the
Three installation positions 109 connect, and third fixture is used to remove the machined product on high ray machine.
For example, third fixture includes third pneumatic device, third clamping jaw, third guide pin and third controller, third
Clamping jaw has open configuration and merging phase,
For example, third guide pin is connect with third clamping jaw, third clamping jaw is connect with third pneumatic device, and third pneumatically fills
It sets and is connect with third controller, open configuration or merging shape are in for controlling third clamping jaw under the action of third controller
State.
The feeding module 110 takes cover mold group 120 and feeding module 130 at work, first by the feeding module
Processed product is captured on 110 gravity flow waterlines, and is moved to machining area (such as high ray machine processing machine)；Cover mold is taken by described
Cover board above the machined product of the 120 crawl machining area of group, rotates the rotating module 100；By the feeding mould
The machined product of the 130 crawl machining area of group, rotates the rotating module 100 again；The feeding module 110 is by institute
It states processed product and is put into the machining area, and rotate the rotating module 100 again；It is described to take cover mold group 120 described
Cover board is capped above the processed product, and the mobile mechanical hand discharges the machined product to designated position, meanwhile,
The processing machine is processed the processed product.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of Intelligent robotic manipulator, which is characterized in that including
Rotating module, the rotating module include coupling piece and tie up tracheae disk；
Feeding module, the feeding module are set on the coupling piece, under being driven in the rotating module, from assembly line
Upper crawl processed product；
Cover mold group is taken, it is described that cover mold group is taken to be set on the coupling piece, under rotating module drive, crawl to be processed
Cover board on machine；
Feeding module, the feeding module are set on the coupling piece, under rotating module drive, removing processing
Machined product on machine；
At least two air blowing modules, each air blowing module include at least three air jet pipes, and at least three air jet pipe is equal
It is set on the coupling piece；And
The feeding module, it is described take the both sides of cover mold group and the feeding module at least provided with two air jet pipes, and
The gas outlet of the air jet pipe respectively towards the feeding module, described take cover mold group and the feeding module；
The coupling piece offers air inlet and outlet passageway, and the air inlet is connected to the outlet passageway；The coupling piece is set
Be equipped with nozzle, the nozzle set is set to the outlet passageway so that the air inlet, the outlet passageway and the nozzle that
This connection；
The tracheae disk of tying up is sheathed on the coupling piece, and the tracheae disk of tying up is close to the air inlet；
The rotating module further includes index dial, and the index dial is sheathed on the coupling piece,
The index dial is arranged at intervals with the first installation position, the second installation position and third installation position,
The feeding module is set on first installation position, described that cover mold group is taken to be set on second installation position, institute
Feeding module is stated to be set on the third installation position；
The coupling piece offers guide groove, and the index dial is correspondingly arranged on confinement block, and the confinement block is embedded in the guiding
Slot；
The air blowing module further includes air distribution disk, and at least three air jet pipe is set on the air distribution disk, the air distribution disk
The air guide channel being connected to at least three air jet pipe is offered, there is the air guide channel air guide entrance and air guide to go out
Mouthful, each air guide outlet is correspondingly arranged an air jet pipe, and each air guide entrance is correspondingly connected with an outside and send
Tracheae, air jet pipe tool there are two being in charge of, the gas outlet being in charge of described in two respectively towards the feeding module, described take
Cover mold group and the feeding module.
2. Intelligent robotic manipulator according to claim 1, which is characterized in that the index dial includes 120 degree of index dials, described
First installation position, second installation position and the third installation position are uniformly distributed in 120 degree of index dials.
3. Intelligent robotic manipulator according to claim 1, which is characterized in that the feeding module includes the first noumenon and setting
In the first fixture on the first noumenon, the first noumenon is connect with first installation position, and first fixture is used for
Processed product is captured from assembly line.
4. Intelligent robotic manipulator according to claim 3, which is characterized in that first fixture include the first pneumatic device,
First clamping jaw, the first guide pin and the first controller, and first clamping jaw has open configuration and merging phase,
First guide pin is connect with first clamping jaw, and first clamping jaw is connect with first pneumatic device, institute
It states the first pneumatic device to connect with first controller, for controlling first folder under the action of first controller
Pawl is in the open configuration or the merging phase.
5. Intelligent robotic manipulator according to claim 1, which is characterized in that described that cover mold group is taken to include the second ontology and setting
The second fixture on second ontology, second ontology are connect with second installation position, and second fixture is used for
Capture the cover board on processing machine.
6. Intelligent robotic manipulator according to claim 5, which is characterized in that second fixture include the second pneumatic device,
Second clamping jaw, the second guide pin and second controller, and second clamping jaw has open configuration and merging phase,
Second guide pin is connect with second clamping jaw, and second clamping jaw is connect with second pneumatic device, institute
It states the second pneumatic device to connect with the second controller, for controlling second folder under the action of second controller
Pawl is in the open configuration or the merging phase.
7. Intelligent robotic manipulator according to claim 1, which is characterized in that the feeding module includes third ontology and setting
Third fixture on the third ontology, the third ontology are connect with the third installation position, and the third fixture is used for
Remove the machined product on processing machine.
8. Intelligent robotic manipulator according to claim 7, which is characterized in that the third fixture include third pneumatic device,
Third clamping jaw, third guide pin and third controller, and the third clamping jaw has open configuration and merging phase,
The third guide pin is connect with the third clamping jaw, and the third clamping jaw is connect with the third pneumatic device, institute
It states third pneumatic device to connect with the third controller, for controlling the third folder under the action of third controller
Pawl is in the open configuration or the merging phase.
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| CN205290506U (en) * | 2015-11-20 | 2016-06-08 | 广东天机工业智能系统有限公司 | Intelligent machine hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203293216U (en) * | 2013-06-19 | 2013-11-20 | 浙江中烟工业有限责任公司 | Spraying and blowing device based on manipulator |
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| EP0807964A1 (en) * | 1995-01-13 | 1997-11-19 | Zakrytoe Aktsionernoe Obschestvo Nauchno Proizvodstvennaya Firma "Az" | Device for treating planar elements with a plasma jet |
| CN202070847U (en) * | 2011-05-20 | 2011-12-14 | 浙江正泰电器股份有限公司 | Multiple-station turntable type automatic welding equipment |
| CN102642115A (en) * | 2012-04-19 | 2012-08-22 | 广东安帝斯智能家具组件有限公司 | Intelligent guide rail forming machine and control method thereof |
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| CN105364621A (en) | 2016-03-02 |
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