CN106737754A - Master craftsman of the Spring and Autumn period locks mounter people - Google Patents
Master craftsman of the Spring and Autumn period locks mounter people Download PDFInfo
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- CN106737754A CN106737754A CN201710061619.7A CN201710061619A CN106737754A CN 106737754 A CN106737754 A CN 106737754A CN 201710061619 A CN201710061619 A CN 201710061619A CN 106737754 A CN106737754 A CN 106737754A
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- autumn period
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- 230000009471 action Effects 0.000 claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 claims description 24
- 238000010147 laser engraving Methods 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 239000012528 membrane Substances 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 5
- 239000011521 glass Substances 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000001338 self-assembly Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000011161 development Methods 0.000 abstract description 4
- 230000001960 triggered effect Effects 0.000 abstract description 2
- 210000003128 head Anatomy 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of master craftsman of the Spring and Autumn period's lock mounter people, master craftsman of the Spring and Autumn period's lockset has multiple assembling splits, mounter people is used to lock multiple assembling separable assembled into master craftsman of the Spring and Autumn period, it includes rack, the top half of rack forms transparent display cabinet, also include the assembling split positioning feed appliance, both arms assembly mechanical hand, assembly or fitting table and the laser applicator that are arranged in transparent display cabinet, also including the touch screen for human-computer interaction, the controller for controlling mounter people to run；Both arms assembly mechanical hand includes the first manipulator and the second manipulator, the head model for simulating human body head for simulating two arms of human body respectively.Master craftsman of the Spring and Autumn period of the invention locks mounter people, applies in places such as science and technology center, adventure playgrounds, the interest that child can be triggered to lock master craftsman of the Spring and Autumn period, can open up the outlook of spectators by the action demonstration of tow-armed robot again and excite spectators to the interest of development in science and technology of future；Also can be used for teaching and the real training of industrial robot, the practice ability of cultivation and training student.
Description
Technical field
The invention belongs to robot science and technology field, and in particular to a kind of master craftsman of the Spring and Autumn period locks mounter people.
Background technology
Master craftsman of the Spring and Autumn period's lock is the traditional civil construction fixed knot clutch of ancient Chinese, and it originates from what is initiated in Chinese ancient architecture
Joinery and its construction, outer viewing is the cross cube for fitting together perfectly, and internal concavo-convex engagement is very ingenious, thus master craftsman of the Spring and Autumn period's lock type toy
Compare many, the construction of shape and inside is different, typically all readily removable difficult dress needs to examine when assembled, ponders deeply,
Its internal structure is analyzed, beneficial to exploitation brain, flexible finger, a kind of good educational toy.At present, in science and technology center, Er Tongyou
The equipment that happy place etc. often can be appreciated that some virtual realities, such as the VR helmets, virtual aircraft, virtual roller-coaster etc. are entertained
Equipment, there is presently no the entertainment presentation equipment for by manipulator assemble master craftsman of the Spring and Autumn period's lock.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of master craftsman of the Spring and Autumn period lock mounter people, applying in science and technology center, children
The places such as recreation ground, the interest that child can be triggered to lock master craftsman of the Spring and Autumn period can open up sight by the action demonstration of tow-armed robot again
Many outlook and spectators are excited to the interest of development in science and technology of future, structure original creation；Separately, also can be used for industrial robot teaching and
Real training, the practice ability of cultivation and training student.
To reach above-mentioned purpose, technical scheme is as follows：A kind of master craftsman of the Spring and Autumn period locks mounter people, master craftsman of the Spring and Autumn period's lockset
There are multiple assembling splits, the mounter people is used to lock described multiple assembling separable assembleds into master craftsman of the Spring and Autumn period, the kludge
Device people includes rack, and the top half of the rack forms transparent display cabinet, it is characterised in that：The mounter people also includes
The assembling split being arranged in transparent display cabinet positions feed appliance, both arms assembly mechanical hand, assembly or fitting table and laser applicator, also
Including the touch screen for human-computer interaction, the controller for controlling mounter people to run；
- both arms the assembly mechanical hand, it includes the first manipulator and second for simulating two arms of human body respectively
Manipulator, the head model for simulating human body head, the head model are fixed on the base plate of transparent display cabinet by base
On, the first manipulator and the second manipulator are symmetrically arranged on head model centered on the head model, and first
The execution end of both manipulator and the second manipulator is equipped with assembling fixture；
The assembly or fitting table is arranged on the front of both arms assembly mechanical hand, the assembling split positioning feed appliance and laser carving
Carve the side that device is arranged on the first manipulator or the second manipulator.
In a preferred embodiment of the invention, further include assembling split positioning feed appliance include storage bin,
Pusher platform and each assembling split of driving are moved to the drive mechanism of target location, and the storage bin is arranged on pusher platform, described
Pusher platform is arranged on the base plate of transparent display cabinet by supporting table, and the drive mechanism is arranged on pusher platform side；
- the storage bin, each assembling split of correspondence is equipped with storage cavity in it, is provided with the storage cavity for respective group
The vertical blanking channel that dress split is fallen one by one from top to bottom；
- pusher the platform, thereon correspond to each storage cavity be equipped with horizontal linear extension pusher groove, the pusher groove with
Blanking channel is connected；
- the drive mechanism, it includes cutting somebody's hair and pusher cylinder, and the quantity cut somebody's hair is identical with the quantity of pusher groove,
And cut somebody's hair and set correspondingly with pusher groove, the pusher cylinder is arranged on the base plate of transparent display cabinet, its drive it is all
Synchronization action of cutting somebody's hair；
End on the pusher platform positioned at pusher groove is provided with limiting plate.
In a preferred embodiment of the invention, further include that the supporting table is provided with guide plate, the guide plate
Top plate face be provided with gathering sill, the pusher platform can be arranged on guide plate along what gathering sill was moved.
In a preferred embodiment of the invention, further include that the assembly or fitting table is provided with assembling area and material caching
Area, is provided with the cache slot that assembling split is placed for caching, quantity and the assembling point of the cache slot in the material buffer area
The quantity of body is identical.
In a preferred embodiment of the invention, further include that the laser applicator includes frame and is arranged on frame
On laser engraving machine, the frame is provided with workpiece placement station, and the laser engraving machine is arranged on just going up for workpiece placement station
The upper the next setting that side and vertical interval between the two can be adjusted, the workpiece placement station is provided with for aligning placement
The membrane cavity of master craftsman of the Spring and Autumn period's lock, the clamping cylinder for positioning fixed master craftsman of the Spring and Autumn period's lock is provided near the membrane cavity.
In a preferred embodiment of the invention, further include that the laser engraving machine is externally provided with glass protecting cover.
In a preferred embodiment of the invention, further include that the support includes base plate and near four corners of base plate
The support column of setting, on the support column between the upper and lower every be provided with two supporting plates, respectively supporting plate one and supporting plate two, it is described to swash
Light engraving machine is arranged on supporting plate one, and the workpiece placement station and clamping cylinder are arranged on supporting plate two, the He of the supporting plate one
The setting that the vertical interval between the two of supporting plate two can be adjusted is on the support columns.
In a preferred embodiment of the invention, further include that the support also includes fixed block, the supporting plate passes through
Fixed block can be detachably fixedly arranged on support column, central hole is offered on the fixed block, from outside lateral direction penetrating into
The fixing hole of heart perforation, the evenly spaced multiple that is provided with is caved in collar on the support column, and the support column is located in center and wears
In hole, a fastener self-retaining hole penetrates and support column is abutted in central hole.
In a preferred embodiment of the invention, further include to be additionally provided with the transparent display cabinet finished product show stand,
Thing passage is taken outside cabinet with connecting in cabinet, the thing passage that takes is set near assembly or fitting table.
In a preferred embodiment of the invention, further include that first manipulator and the second manipulator are six axles
Robot.
The beneficial effects of the invention are as follows:
One, master craftsman of the Spring and Autumn period of the invention lock mounter people, apply in places such as science and technology center, adventure playgrounds, can trigger
The interest that child locks to master craftsman of the Spring and Autumn period, the outlook of spectators can be opened up by the action demonstration of tow-armed robot and spectators is excited to not again
Carry out the interest of development in science and technology；Also can be used for teaching and the real training of industrial robot, the practice ability of cultivation and training student；
Secondly, equipment entirety self-feeding, the coherent completion feeding of the dual-arm robot for personalizing, assembling and finished product are moved
Send, and coordinate the machine integrated depiction of laser engraving, structure original creation is novel in design, with fabulous moral.
Brief description of the drawings
Technical scheme in technology in order to illustrate more clearly the embodiments of the present invention, in being described to embodiment technology below
The required accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description are only some realities of the invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of preferred embodiment of the present invention both arms assembly mechanical hand；
Fig. 3 is the structural representation that preferred embodiment of the present invention assembling split positions feed appliance；
Fig. 4 is the structural representation of preferred embodiment of the present invention laser applicator；
Fig. 5 is the structural representation of preferred embodiment of the present invention assembly or fitting table.
Wherein：1- master craftsman of the Spring and Autumn periods lock, and 11- assembling splits, 10- touch screens, 12- finished product show stands, 14- takes thing passage；
2- racks, 21- transparent display cabinets；
4- assemblings split positions feed appliance, 41- storage bins, 42- pusher platforms, 43- supporting tables, 44- storage cavitys, 45- pushers
Groove, 46- cuts somebody's hair, 47- pusher cylinders, 48- limiting plates, 49- guide plates, 50- gathering sills；
6- both arms assembly mechanical hands, the manipulators of 61- first, the manipulators of 62- second, 63- head models, 64- bases, 65-
Assembling fixture；
8- assembly or fitting tables, 81- assemblings area, 82- material buffer areas, 83- cache slots；
9- laser applicators, 91- frames, 92- laser engraving machines, 93- workpiece placement stations, 94- clamping cylinders, 95- glass
Protective cover, 96- base plates, 97- support columns, 98- supporting plates one, 99- supporting plates two, 100- fixed blocks, 101- fixing holes, 102- caves in card
Circle.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment
As shown in figure 1, disclosing a kind of master craftsman of the Spring and Autumn period's lock mounter people in the present embodiment, above-mentioned master craftsman of the Spring and Autumn period's lock 1 has multiple groups
Dress split 11, above-mentioned mounter people is used to for above-mentioned multiple assembling splits 11 to be assembled into master craftsman of the Spring and Autumn period's lock 1, above-mentioned mounter people
Including rack 2, the top half of above-mentioned rack 2 forms transparent display cabinet 21, and above-mentioned mounter people also includes being arranged at
Assembling split positioning feed appliance 4, both arms assembly mechanical hand 6, assembly or fitting table 8 and laser applicator 9 in bright showcase 21, also include
Touch screen 10 for human-computer interaction and the controller for controlling mounter people to run；Set in above-mentioned transparent display cabinet 21
There is finished product show stand 12 take thing passage 14 outside cabinet with to connect in cabinet, the above-mentioned thing passage 14 that takes is set near assembly or fitting table 8；
Robot is integrally placed in rack 2, is set transparent rack 21 and is facilitated spectators to stand in the complete of the outer viewing assembling of rack 2
Portion's process, experiencer is interactive with robot by touch screen 10, and selection master craftsman of the Spring and Autumn period locks pattern and locked in master craftsman of the Spring and Autumn period after assembling terminates
Pattern of upper engraving etc., assembling split positioning feed appliance 4 is used to form master craftsman of the Spring and Autumn period's lock 1 to the automatically feeding of both arms assembly mechanical hand 6
Assembling split 11, the both arms action of the simulation people of both arms assembly mechanical hand 6 completes feeding, assembling and master craftsman of the Spring and Autumn period's lock of assembling split 11
The transfer of finished product, both arms assembly mechanical hand 6 is assembled on assembly or fitting table 8, and will assemble master craftsman of the Spring and Autumn period lock finished product be transferred to it is sharp
On light bruin 9, the instruction that laser applicator 9 is sended over according to touch screen laser carving on the master craftsman of the Spring and Autumn period's lock 1 after assembling terminates
Carve target pattern and form master craftsman of the Spring and Autumn period's lock finished product, acted by both arms assembly mechanical hand 6 and master craftsman of the Spring and Autumn period's lock finished product is transferred to and takes in thing passage 14
Or finished product show stand 12 is transferred to, from the master craftsman of the Spring and Autumn period's lock 1 for taking extraction oneself in thing passage 14, whole process is by controller for experiencer
It is uniformly controlled and automatically completes, controller main frame is arranged in rack 2.
Specifically：As described in Figure 2, above-mentioned both arms assembly mechanical hand 6 includes for simulation two arms of human body respectively
One manipulator 61 and the second manipulator 62, the head model 63 for simulating human body head, above-mentioned head model 63 pass through base
64 are fixed on the base plate of transparent display cabinet 21, and the first manipulator 61 and the second manipulator 62 are centered on above-mentioned head model 63
It is symmetrically arranged on head model 63, the first manipulator 61 and both execution ends of the second manipulator 62 are equipped with group
Clamps 65；The manipulator 62 of first manipulator of the invention 61 and second coordinates respective assembling fixture 65 to simulate the double of people completely
Arm is operated, and completes the actions such as feeding, assembling and transfer material, and the design of head model 63 causes that manipulator integrally more personalizes,
Play decoration and beauty function.Separately, the axle machine of 61 and second 62 equal preferred structure identical of manipulator of the first manipulator of the invention six
Device people, structure is identical beneficial to the both arms for simulating people completely, and the action programming Control of manipulator can be applied in teaching field, trained
Support the programming practice ability with exercise student '.
As shown in figure 3, above-mentioned assembling split positioning feed appliance 4 includes storage bin 41, pusher platform 42 and drives each assembling point
Body 11 is moved to the drive mechanism of target location, and above-mentioned storage bin 41 is arranged on pusher platform 42, and above-mentioned pusher platform 42 is crossed and supported
Platform 43 is arranged on the base plate of transparent display cabinet 21, and above-mentioned drive mechanism is arranged on the side of pusher platform 42；
Each assembling split 11 of correspondence is equipped with storage cavity 44, above-mentioned storage cavity 44 and is provided with for each in above-mentioned storage bin 41
The vertical blanking channel that self assembly split 11 is fallen one by one from top to bottom；Electric typical master craftsman of the Spring and Autumn period's lockset has six assembling splits 11,
The six assembling splits 11 of the correspondence of storage bin 41 are provided with six storage cavitys 44 in the present embodiment, and are set in a row, one kind assembling point
Body 11 is correspondingly placed in a storage cavity 44, and top-down stacking is placed, by one assembling split of artificial one layer placement
11, assembling split is fallen and enters pusher platform 42 one by one after placing in the vertical blanking channel of Action of Gravity Field lower edge of itself；
Each storage cavity 44 of correspondence is equipped with the pusher groove 45 of horizontal linear extension, above-mentioned pusher groove on above-mentioned pusher platform 42
45 are connected with blanking channel, and each assembling split 11 is fallen along respective blanking channel, and the assembling split 11 of the bottom enters pusher
In groove 45；
Above-mentioned drive mechanism includes cutting somebody's hair 46 and pusher cylinder 47, it is above-mentioned cut somebody's hair 46 quantity and pusher groove 45 quantity phase
Together, and cut somebody's hair 46 and pusher groove 45 set correspondingly, above-mentioned pusher cylinder 47 is arranged on the base plate of transparent display cabinet 21,
It drives all of 46 synchronization actions of cutting somebody's hair；Pusher cylinder 47 acts the assembling point that will be dropped down onto under blanking channel in pusher groove 45
Body pushes to the end of pusher groove 45, gives the feed of both arms assembly mechanical hand 6, will assemble six assemblings point for forming master craftsman of the Spring and Autumn period's lock
Body 11 disposably pushes to the end of pusher groove 45, in order to prevent assembling split 11 during pushing offside, above-mentioned pusher platform
End on 42 positioned at pusher groove 45 is provided with limiting plate 48.
Further, above-mentioned supporting table 43 is provided with guide plate 49, and the top plate face of above-mentioned guide plate 49 is provided with guiding
Groove 50, above-mentioned pusher platform 42 can be arranged on guide plate 49 along what gathering sill 50 was moved, and gathering sill 50 forms assembling split 11
Push displacement spacing guiding, to prevent its in-position for specifying of deviation, improve the accuracy of feeding position.
As described in Figure 5, above-mentioned assembly or fitting table 8 is provided with assembling area 81 and material buffer area 82, in above-mentioned material buffer area 82
It is provided with the cache slot 83 that assembling split 11 is placed for caching, the quantity of above-mentioned cache slot 83 and the quantity phase of assembling split 11
Together.Assembling split positioning feed appliance 4 is once delivered to the end of pusher groove 45 by six assembling splits 11, and manipulator once takes one
Assembling split 11, the assembling split 11 for taking is placed on caching in cache slot 83, until assembling forms one six of master craftsman of the Spring and Autumn period's lock
Assembling split all takes the Assembly Action for being placed in respective cache slot 83 and carrying out next step again.Six assembling splits of correspondence
11 cache slots 83 are also equipped with six, and the membrane cavity shape of each cache slot 83 and each self assembly split 11 contour structures phase
Together, a cache slot 83 places a kind of assembling split 11, and so design is beneficial to simplified program.
After six assembling splits 11 of one master craftsman of the Spring and Autumn period's lock of assembling formation are correspondingly placed in respective cache slot 83, the first machine
The manipulator 62 of tool hand 61 and second assembles six in assembling area 81 according to program behavior set in advance, the both arms for simulating people
Split 11 is assembled into master craftsman of the Spring and Autumn period's lock 1, and one of manipulator behavior will assemble the master craftsman of the Spring and Autumn period's lock after terminating and be transferred to laser applicator 9.
As shown in figure 1, above-mentioned assembly or fitting table 8 is arranged on the front of both arms assembly mechanical hand, above-mentioned assembling split positioning is sent
Glassware 4 and laser applicator 9 are arranged on the side of the first manipulator 61 or the second manipulator 62, this to be designed to maximum journey
The actuating length for shortening both arms assembly mechanical hand 6 of degree.
As shown in figure 4, above-mentioned laser applicator 9 includes frame 91 and the laser engraving machine 92 being arranged in frame, it is above-mentioned
Frame 91 is provided with workpiece placement station 93, and above-mentioned laser engraving machine 92 is arranged on the surface of workpiece placement station 93 and both it
Between vertical interval can adjust it is upper the next set, above-mentioned workpiece placement station 93 is provided with the film that master craftsman of the Spring and Autumn period's lock is placed for aligning
Chamber, is provided with the clamping cylinder 94 for positioning fixed master craftsman of the Spring and Autumn period's lock, herein the preferred single shaft cylinder of clamping cylinder 94 near above-mentioned membrane cavity.
Master craftsman of the Spring and Autumn period's lock after assembling terminates is transferred in the membrane cavity of workpiece placement station 93 by manipulator, starts the positioning clamping Shandong of clamping cylinder 94
Class's lock, holding action terminates rear feedback signal to laser engraving machine 92, and be carved in for default pattern laser by laser engraving machine 92
Master craftsman of the Spring and Autumn period locks.
The eyes of damage from laser spectators when being worked in order to avoid laser engraving machine 92, above-mentioned laser engraving machine 92 is externally provided with glass
Glass protective cover 95, weakens injury of the infrared laser to human eye.
Laser engraving machine 92 and workpiece placement station 93 vertical interval between the two can be adjusted, and on the one hand be caused a set of sharp
Master craftsman of the Spring and Autumn period's lock that light engraving machine 92 can be directed to various height is applicable；On the other hand the depiction of laser engraving machine 92 can be adjusted
Effect.The present invention is preferably as follows structure to realize laser engraving machine 92 and workpiece placement station 93 vertical interval energy between the two
Enough adjustment：
Specifically, as shown in figure 4, above-mentioned support 91 includes base plate 96 and the support column set near 96 4 corners of base plate
97, on above-mentioned support column 97 between the upper and lower every be provided with two supporting plates, respectively supporting plate 1 and supporting plate 2 99, above-mentioned laser carving
Quarter, machine 92 was arranged on supporting plate 1, and above-mentioned workpiece placement station 93 and clamping cylinder 94 are arranged on supporting plate 2 99, above-mentioned support
What plate 1 and supporting plate 2 99 vertical interval between the two can be adjusted is arranged on support column 97.Further specifically, on
Stating support 91 also includes fixed block 100, and above-mentioned supporting plate can be detachably fixedly arranged on support column 97 by fixed block 100, above-mentioned
Central hole, the fixing hole 101 of certainly outside lateral direction penetrating to central hole are offered on fixed block 100, on above-mentioned support column 97
The evenly spaced multiple that is provided with is caved in collar 102, and above-mentioned support column 97 is located in central hole, a fastener self-retaining hole
101 penetrate abutting support column 97 in central hole.Two supporting plates that constituted above is fixed very can adjust height in labour-saving, finally
Realize that laser engraving machine 92 and workpiece placement station 93 vertical interval between the two can be adjusted.
The robot of above structure, the process for completing entire exercise is as follows：
A, original state are：9 kinds of master craftsman of the Spring and Autumn period's locks are occupied on finished product show stand 12, has completely been expected at storage bin 41, two machineries
The controller of hand is hidden in inside rack 1.By debugging, whole system is in good condition.Separately, experiencer has been selected by touch screen 10
The pattern of engraving needed for fixed, and system accurately receives instruction.
B, power switch start upper electricity, and pusher cylinder 47 is bounced back, stretched out in assembling split positioning feed appliance 4, by six Shandongs
Class lock chunk split 11 is pushed into specified location, and feedback signal is to the first manipulator 61.
After C, the first manipulator 61 receive feedback, moved at pusher groove 45 with assembling 65.In specified location, one by one
Six assembling splits 11 of gripping, and be transferred in buffer area one by one, and give the signal of the second manipulator 62 feedback, the second manipulator 62
After receiving feedback, with the foregoing corresponding position of the motion of assembling 65, one by one from buffer area gripping assembling split 11, extremely assemble
Area 81, two manipulators are cooperated, and master craftsman of the Spring and Autumn period's lock is completed.
After D, master craftsman of the Spring and Autumn period's lock are completed, master craftsman of the Spring and Autumn period's locker is taken and put to workpiece placement station 93 by the second manipulator 62, and is believed
Number feedback.After clamping cylinder 94 receives feedback, stretch out, bounce back, master craftsman of the Spring and Autumn period's lock position is adjusted feedback signal after completing and clamping, swash
After light engraving machine 92 receives feedback, start laser, start pattern engraving.Now, two manipulators continue according to abovementioned steps, open
Beginning subsequent cycle action process.
After E, the finishing patterns of laser engraving machine 92 engraving, signal is fed back into the first manipulator 61, after feedback reception, second
The continuation of manipulator 62 is acted, and the first manipulator 61 then stops and now acts, to laser engraving machine 92 at grip out master craftsman of the Spring and Autumn period's lock, move
It is dynamic to put to taking at thing passage 14, voluntarily take master craftsman of the Spring and Autumn period's lock away by experiencer.Separately, two manipulators continue to assemble master craftsman of the Spring and Autumn period's lock, and at any time
Receive the next pattern instructions of experiencer.
The master craftsman of the Spring and Autumn period lock mounter people of constituted above, applies in places such as science and technology center, adventure playgrounds, can trigger child
To the interest of master craftsman of the Spring and Autumn period's lock, the outlook of spectators can be opened up by the action demonstration of tow-armed robot again and spectators is excited to following section
The interest of skill development；Also can be used for teaching and the real training of industrial robot, the practice ability of cultivation and training student.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. a kind of master craftsman of the Spring and Autumn period locks mounter people, and master craftsman of the Spring and Autumn period's lockset has multiple assembling splits, and the mounter people is used for institute
The multiple assembling separable assembleds stated are locked into master craftsman of the Spring and Autumn period, and the mounter people includes rack, and the top half of the rack is formed
Bright showcase, it is characterised in that：The mounter people also includes that the assembling split positioning being arranged in transparent display cabinet is sent
Glassware, both arms assembly mechanical hand, assembly or fitting table and laser applicator, also including the touch screen for human-computer interaction, for controlling group
The controller of machine people operation；
- both arms the assembly mechanical hand, it includes the first manipulator and the second machinery for simulating two arms of human body respectively
Hand, the head model for simulating human body head, the head model are fixed on the base plate of transparent display cabinet by base, the
One manipulator and the second manipulator are symmetrically arranged on head model centered on the head model, the first manipulator
Execution end with both the second manipulators is equipped with assembling fixture；
The assembly or fitting table is arranged on the front of both arms assembly mechanical hand, and the assembling split positions feed appliance and laser applicator
It is arranged on the side of the first manipulator or the second manipulator.
2. master craftsman of the Spring and Autumn period according to claim 1 locks mounter people, it is characterised in that：The assembling split positions feed appliance bag
Include storage bin, pusher platform and drive each assembling split to be moved to the drive mechanism of target location, the storage bin is arranged on pusher
On platform, the pusher platform is arranged on the base plate of transparent display cabinet by supporting table, and the drive mechanism is arranged on pusher platform one
Side；
- the storage bin, each assembling split of correspondence is equipped with storage cavity in it, is provided with the storage cavity for each self assembly point
The vertical blanking channel that body falls one by one from top to bottom；
- pusher the platform, corresponds to the pusher groove that each storage cavity is equipped with horizontal linear extension, the pusher groove and blanking thereon
Channel connection；
- the drive mechanism, it includes cutting somebody's hair and pusher cylinder, and the quantity cut somebody's hair is identical with the quantity of pusher groove, and pushes away
Head and pusher groove are set correspondingly, and the pusher cylinder is arranged on the base plate of transparent display cabinet, it drives all of pushing away
Head synchronization action；
End on the pusher platform positioned at pusher groove is provided with limiting plate.
3. master craftsman of the Spring and Autumn period according to claim 2 locks mounter people, it is characterised in that：The supporting table is provided with guide plate,
The top plate face of the guide plate is provided with gathering sill, and the pusher platform can be arranged on guide plate along what gathering sill was moved.
4. master craftsman of the Spring and Autumn period according to claim 1 locks mounter people, it is characterised in that：The assembly or fitting table be provided with assembling area and
Material buffer area, is provided with the cache slot that assembling split is placed for caching, the quantity of the cache slot in the material buffer area
Quantity with assembling split is identical.
5. master craftsman of the Spring and Autumn period according to claim 1 locks mounter people, it is characterised in that：The laser applicator include frame and
The laser engraving machine in frame is arranged on, the frame is provided with workpiece placement station, and the laser engraving machine is arranged on workpiece and puts
The upper the next setting that the surface and vertical interval between the two for putting platform can adjust, the workpiece placement station is provided with use
The membrane cavity of master craftsman of the Spring and Autumn period's lock is placed in contraposition, the clamping cylinder for positioning fixed master craftsman of the Spring and Autumn period's lock is provided near the membrane cavity.
6. master craftsman of the Spring and Autumn period according to claim 5 locks mounter people, it is characterised in that：The laser engraving machine is externally provided with glass
Protective cover.
7. master craftsman of the Spring and Autumn period according to claim 5 locks mounter people, it is characterised in that：The support includes base plate and the bottom of near
The support columns that four corners of plate are set, on the support column between the upper and lower every be provided with two supporting plates, respectively supporting plate one and support
Plate two, the laser engraving machine is arranged on supporting plate one, and the workpiece placement station and clamping cylinder are arranged on supporting plate two, institute
State setting that supporting plate one and supporting plate two vertical interval between the two can adjust on the support columns.
8. master craftsman of the Spring and Autumn period according to claim 7 locks mounter people, it is characterised in that：The support also includes fixed block, institute
Stating supporting plate can be detachably fixedly arranged on support column by fixed block, central hole be offered on the fixed block, from outer lateral
To the fixing hole of insertion to central hole, the evenly spaced multiple that is provided with is caved in collar on the support column, and the support column is worn
It is located in central hole, a fastener self-retaining hole penetrates and support column is abutted in central hole.
9. the master craftsman of the Spring and Autumn period according to claim any one of 1-8 locks mounter people, it is characterised in that：In the transparent display cabinet
It is additionally provided with finished product show stand and take thing passage outside cabinet with connects in cabinet, the thing passage that takes is set near assembly or fitting table.
10. master craftsman of the Spring and Autumn period according to claim 1 locks mounter people, it is characterised in that：First manipulator and the second machine
Tool hand is six-joint robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061619.7A CN106737754A (en) | 2017-01-26 | 2017-01-26 | Master craftsman of the Spring and Autumn period locks mounter people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061619.7A CN106737754A (en) | 2017-01-26 | 2017-01-26 | Master craftsman of the Spring and Autumn period locks mounter people |
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| CN106737754A true CN106737754A (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710061619.7A Pending CN106737754A (en) | 2017-01-26 | 2017-01-26 | Master craftsman of the Spring and Autumn period locks mounter people |
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| CN107571246A (en) * | 2017-10-13 | 2018-01-12 | 上海神添实业有限公司 | A kind of component assembly system and method based on tow-armed robot |
| CN107627288A (en) * | 2017-10-13 | 2018-01-26 | 天津市久跃科技有限公司 | A kind of automatic piece installing manipulator |
| CN110143090A (en) * | 2019-04-22 | 2019-08-20 | 合肥磐石自动化科技有限公司 | A kind of signature design engraving producing device |
| CN110393399A (en) * | 2019-06-25 | 2019-11-01 | 美克国际家居用品股份有限公司 | A kind of intelligence assembly and disassembly furniture display systems |
| CN114842731A (en) * | 2022-06-09 | 2022-08-02 | 安徽康新建设工程有限公司 | Panel overlapping display structure based on BIM simulation construction and display method thereof |
| CN115057204A (en) * | 2022-06-27 | 2022-09-16 | 武汉筑梦科技有限公司 | Automatic Luban lock assembly flexible production line and method based on visual recognition robot |
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Application publication date: 20170531 |