CN107214493A - The complete assembly system of industrial robot of mouth cleaner - Google Patents
The complete assembly system of industrial robot of mouth cleaner Download PDFInfo
- Publication number
- CN107214493A CN107214493A CN201710577665.2A CN201710577665A CN107214493A CN 107214493 A CN107214493 A CN 107214493A CN 201710577665 A CN201710577665 A CN 201710577665A CN 107214493 A CN107214493 A CN 107214493A
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- China
- Prior art keywords
- fixed
- sealing ring
- rack
- manipulator
- rotating disk
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Classifications
-
- A—HUMAN NECESSITIES
- A46—BRUSHWARE
- A46D—MANUFACTURE OF BRUSHES
- A46D3/00—Preparing, i.e. Manufacturing brush bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the automated production equipment of toothbrush, more specifically to a kind of automated assembling equipment for electric toothbrush.The complete assembly system of industrial robot of mouth cleaner, including：For realizing the rotating disk mechanism of station conversion, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, the sealing ring installing mechanism for assembling sealing ring, the suction manipulator grabbed in mechanism on the sealing ring installing mechanism for the sealing ring to be got the raw materials ready from the half way around.The complete assembly system of industrial robot of mouth cleaner of the present invention, toothbrush handle moves to different stations with rotating disk mechanism after being connected in dynamic frock, automatic precision adjustment can be done to the posture of sealing ring and is positioned, realize the accurate assembling of sealing ring, the toothbrush handle completed using machine vision to assembling is detected, improves the product quality and production efficiency of electric toothbrush.
Description
Technical field
The present invention relates to the automated production equipment of toothbrush, more specifically to a kind of for the automatic of electric toothbrush
Change assembly equipment.
Background technology
Toothbrush is as daily living article, and consumption is huge.With the lifting of living standard, electric toothbrush is also gradually general
And, electric toothbrush is complicated as electromechanical integrated product, and parts are numerous, to realize the automated production of electric toothbrush,
Need corresponding automated arm.
The content of the invention
Object of the present invention is to provide a kind of complete assembly system of the industrial robot of mouth cleaner, in electric tooth
In the Automated assembly production of brush, after toothbrush handle is installed in dynamic frock, sealing ring is assemblied in the close of toothbrush handle end
Seal mounting surface.The complete assembly system of industrial robot of mouth cleaner of the present invention, after toothbrush handle is connected in dynamic frock
Different stations are moved to rotating disk mechanism, automatic precision adjustment can be done to the posture of sealing ring and is positioned, is realized close
The accurate assembling of seal, the toothbrush handle completed using machine vision to assembling is detected, improves the product quality of electric toothbrush
And production efficiency.
A kind of complete assembly system of the industrial robot of mouth cleaner, including：Disk machine for realizing station conversion
Structure, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, for assembling sealing ring
Sealing ring installing mechanism, for the sealing ring to be got the raw materials ready from the half way around grab the sealing ring installing mechanism in mechanism
On suction manipulator；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is fixed on the work
Make platform, the sealing ring installing mechanism and the dynamic frock match；The half way around gets the raw materials ready mechanism positioned at sealing ring peace
The bottom of mounting mechanism, the suction manipulator is got the raw materials ready positioned at the sealing ring installing mechanism and half way around between mechanism；
The half way around mechanism that gets the raw materials ready includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk,
Set on half way around rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, half rotating disk
Get the raw materials ready hole, the spring tray for installing the sealing ring is internally provided with the hole of getting the raw materials ready, half rotating disk is consolidated
It is connected in half rotating shaft, half rotating shaft is movably connected on the bedplate；Described half is fixed with the bottom of half rotating shaft
Rotating disk, the half way around rack is movably connected on the bottom of the bedplate by the guiding rail, the half way around rack
One end is movably connected on the end of the piston rod of half rotaring cylinder, and the cylinder block of half rotaring cylinder is fixed on the bedplate
Bottom；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin；The de- material axle it is logical
The end that the swing arm bar is fixed on the piston rod of the small cylinder is crossed, the cylinder block of the small cylinder is fixed on the bedplate
Bottom.
Preferably, the sealing ring installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting
Revolution feeding machanism, the portable vision testing machine detected for the confined state to the sealing ring of the sealing ring
Structure, the revolution feeding machanism is fixed on the workbench, and the transfer robot is located at the top of the revolution feeding machanism,
The portable vision-based detection mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X
Axle arm, Y-axis arm, Z axis arm, vacuum type wrist, the robot support are fixed on the workbench, the X-axis arm
The robot support is fixed on, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis hand
Arm, the vacuum type wrist is fixed on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist motor, connection
Axle device, wrist brace, wrist sucker, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z
Axle slide unit, the gyroaxis is movably connected on the wrist brace by the upper bearing (metal), and the output shaft of the wrist motor leads to
Cross the shaft coupling and be fixed on the gyroaxis, the wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker
Match with the sealing ring, be provided with the gyroaxis on the vacuum passage, the wrist sucker be provided with it is described
The vacuum port that vacuum passage is connected, the vacuum passage is connected to vavuum pump.
Preferably, the mechanical hand of the suction includes：Manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator, machine
Tool rubber sleeve plate, fine setting motor, synchronous belt mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, absorption
Cavity volume, the manipulator horizontal sliding table is fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the machinery
On the slide unit of hand horizontal sliding table, the manipulator slide plate is movably connected on the vertical slide unit of the manipulator；The manipulator slide plate
The cylinder block of the fine setting motor and up and down motion cylinder is fixed with, the spline housing is movably connected on the machinery by bearing
Rubber sleeve plate, the splined shaft is movably connected on the spline housing, and the upper end of the splined shaft is fixed on the up and down motion cylinder
Piston rod end, the lower sucker is fixed on the lower end of the splined shaft；The output shaft and the flower of the fine setting motor
Key set is realized by the synchronous belt mechanism to be flexibly connected.
Preferably, the splined shaft and the spline housing are into coaxially arranged, and the splined shaft is located at the axle of the spline housing
Heart position, the splined shaft can along the spline housing axial movement.
Preferably, the revolution feeding machanism includes：Bedplate, lower bearing, servo-actuated pallet, with moving mandrel, Fibre Optical Sensor
Device, it is workbench that the bedplate, which is fixed on, and the servo-actuated pallet is movably connected on the bedplate by the lower bearing, with
Moving mandrel is fixed on the servo-actuated pallet, and the fibre optical sensor is fixed on the bedplate, described with being provided with moving mandrel
The breach matched with the fibre optical sensor.
Preferably, the dynamic frock is fixed on the rotating disk mechanism, and the dynamic frock is evenly arranged in institute into ground
State on rotating disk mechanism；The dynamic frock includes：Clamp body, rotary type material platform, position-limited wheel, gear, rack, rack guide pad,
Rack slide unit, tooth bar resets spring, reset seat, bolt block, latch back-moving spring, the clamp body are fixed on the traffic cycle,
The rotary type material platform is movably connected on the clamp body, and the position-limited wheel, gear are into coaxially arranged, the position-limited wheel, gear
It is affixed to the rotary type material platform；The bolt block is movably connected on the clamp body, the position-limited wheel and is provided with and institute
A breach, No. two breach that bolt block matches are stated, the bottom of the bolt block is provided with latch back-moving spring；It is described to reset
Seat is connected on the traffic cycle, and the rack slide unit is movably connected on the reset seat, the rack slide unit and reset seat it
Between be provided with tooth bar resets spring, the rack guide pad is fixed on the clamp body, and the rack is movably connected on the tooth
Bar guide pad, the bottom of the rack is fixed on the rack slide unit, and the gear and rack are meshed.
Preferably, the portable vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit are connected
In the robot support, the industrial camera is located at the top of the dynamic frock.
Preferably, the vision slide unit and the Y-axis arm are parallel to each other.
Preferably, the resolution ratio of the industrial camera is 10,000,000 pixels.
Preferably, the type of the gear is helical gear, and the type of the rack is helical rack.
Preferably, the type of the wrist motor is stepper motor.
Preferably, the type of the upper bearing (metal) is angular contact ball bearing, and the upper bearing (metal) is installed in back-to-back pretension.
Preferably, the X-axis arm and Y-axis arm are mutually perpendicular to；The Y-axis arm and Z axis arm are mutually perpendicular to；It is described
X-axis arm and Z axis arm are mutually perpendicular to.
Compared with conventional art, the complete assembly system of industrial robot of mouth cleaner of the present invention has following positive work
With and beneficial effect：
The complete assembly system of industrial robot of mouth cleaner of the present invention, mainly includes：It is rotating disk mechanism, workbench, dynamic
State frock, sealing ring installing mechanism；The dynamic frock is fixed on the rotating disk mechanism, and the rotating disk mechanism is by the dynamic work
Shipment goes to different stations, and the sealing ring installing mechanism is fixed on the workbench, the sealing ring installing mechanism and institute
State dynamic frock to match, the sealing ring installing mechanism is used to the sealing ring being assemblied in the sealing ring mounting surface.
After the toothbrush handle is placed in the dynamic frock, the dynamic frock can be with the appearance of toothbrush handle described in accurate adjustment
State angle, in order to the automation manufacturing procedure of the toothbrush handle.Then, the dynamic frock is equipped on the rotating disk mechanism
And operate to the bottom of the sealing ring installing mechanism.The sealing ring installing mechanism includes：Transfer robot, revolution feeding machine
Structure, portable vision-based detection mechanism.The sealing ring is first positioned on the revolution feeding machanism and waits the transfer robot
Absorption, the transfer robot by the angle adjustment of the sealing ring in place after, will be described from the revolution feeding machanism
Sealing ring grabs the sealing ring mounting surface, so that the flange and the concave edge phase of the sealing ring of the sealing ring mounting surface
Match somebody with somebody, the portable vision-based detection mechanism is used to detect the assembling quality of the sealing ring, reliable to ensure to reach
Assembling.
Next the course of work and operation principle of the sealing ring installing mechanism and revolution feeding machanism described：
The revolution feeding machanism is fixed on the workbench, and the sealing ring is placed on the revolution feeding machanism, institute
The top that transfer robot is located at the revolution feeding machanism is stated, the vacuum type wrist contact of the transfer robot is in place
Sealing ring on the revolution feeding machanism, the vacuum type wrist drives the sealing ring to rotate, until the sealing ring
Predetermined angle is adjusted to, then the vacuum type wrist adsorbs the sealing ring, the sealing ring is installed on described close
Seal mounting surface, the portable vision-based detection mechanism is located at the top of the dynamic frock.
The X-axis arm, Y-axis arm, Z axis arm can move along a straight line, the X-axis arm, Y-axis arm, Z axis hand
Arm arranges that the vacuum type wrist is fixed on the Z axis arm into posture perpendicular to each other, therefore the transfer robot possesses
Four frees degree.
The wrist brace is fixed on the Z axis slide unit, and the gyroaxis is movably connected on described by the upper bearing (metal)
Wrist brace, the output shaft of the wrist motor is fixed on the gyroaxis by the shaft coupling, and the wrist motor can be with
The gyroaxis is driven to rotate.The wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker and described close
Seal matches.It is provided with the vacuum passage, the wrist sucker and is provided with and the vacuum passage on the gyroaxis
The vacuum port being connected, the vacuum passage is connected to vavuum pump.The bottom of the wrist sucker be provided with it is described close
The appearance profile that seal matches.The wrist sucker is pressed on after the sealing ring, and the vacuum port is by suction function in institute
Sealing ring is stated, the sealing ring is adsorbed on the wrist sucker, the wrist motor can drive the sealing ring to carry out
Rotate.
It is workbench that the bedplate, which is fixed on, and the fibre optical sensor is fixed on the bedplate, described with moving mandrel
It is fixed on the servo-actuated pallet, the breach matched with being provided with moving mandrel with the fibre optical sensor.The optical fiber
Sensor is irradiated against the breach, and the photosignal of collection is analyzed.The transfer robot driving is described
Sealing ring is rotated, and constitutes a complete circumferential notch after breach and concave edge matching, the fibre optical sensor is irradiated to
The circumferential notch, the fibre optical sensor can perceive the breach by the collection to photosignal and concave edge has been in
Matching status.Then the transfer robot adsorbs the sealing ring, then the sealing ring is assemblied in into the sealing ring peace
On dress face.Because the sealing ring passes through correction so that the flange and concave edge are in the posture of matching, so as to reach essence
Close assembling.
Finally the assembling quality of the sealing ring is detected by the portable vision-based detection mechanism, to ensure assembling
Quality.
Next the course of work and operation principle of the dynamic frock described：
The dynamic frock is used to carry the toothbrush handle, and the toothbrush handle is moved into each station, and by the tooth
Attitude angle required for brush holder adjustment.The clamp body is fixed on the traffic cycle, and the rotary type material platform is flexibly connected
In the clamp body, the position-limited wheel, gear are into coaxially arranged, and the position-limited wheel, gear are affixed to the rotary type material platform,
The gear can drive the rotary type material platform to rotate.The rack guide pad is fixed on the clamp body, and the rack is lived
Dynamic to be connected to the rack guide pad, the bottom of the rack is fixed on the rack slide unit, and the gear and rack are meshed.
The bolt block, which is movably connected on, to be provided with match with the bolt block No. one and lacks on the clamp body, the position-limited wheel
Mouth, No. two breach, the bottom of the bolt block is provided with latch back-moving spring.
The bolt block is under the promotion of the latch back-moving spring, with the trend moved to the position-limited wheel.If
The bolt block is inserted into a breach, then the rotary type material platform is in the state of locking, and at the toothbrush handle
In horizontal attitude；If the bolt block is inserted into No. two breach, the rotary type material platform is in the state of locking,
And the toothbrush handle is in vertical posture；If the bolt block departs from a breach and No. two breach, institute
Stating rotary type material platform has the state freely rotated.
The bolt block is set to depart from a breach under external mechanical influence, then the rotary type material platform has freely
The chance of rotation；Then, decline under external mechanical influence the rack, pinion rotation described in the rack drives is described
Gear drives the position-limited wheel, rotary type material platform to rotate, until under driving of the bolt block in the latch back-moving spring from
It is inserted into dynamicly in No. two breach.Then, the rotary type material platform is in the state of locking, and the toothbrush handle is in
Vertical posture.So as to realize the conversion to the toothbrush handle attitude angle.
Similarly, if necessary to which the toothbrush handle to be changed into horizontal attitude angle from vertical attitude angle.Needing will
The bolt block departs from the position-limited wheel, and the rack is moved up automatically under the promotion of the tooth bar resets spring, the rack
The pinion rotation is driven, the gear drives the position-limited wheel, rotary type material platform to rotate.When the position-limited wheel is rotated necessarily
After angle, the external force being applied in the bolt block is cancelled.Then, the position-limited wheel is rotated further until the bolt block is in institute
A breach is automatically inserted under the driving for stating latch back-moving spring, then the rotary type material platform is in the shape of locking
State, and the toothbrush handle is in horizontal attitude.
Next the half way around is described to get the raw materials ready the course of work and operation principle of mechanism：
The half way around gets the raw materials ready mechanism positioned at the bottom of the transfer robot.Hole of getting the raw materials ready is provided with half rotating disk, can
So that the sealing ring is positioned in the hole of getting the raw materials ready by artificial mode, then 180 degree of the half rotating disk rotation will
The sealing ring moves to the bottom of the wrist sucker.The spring tray is used to hold the sealing ring, prevents described close
Seal is dropped from the hole of getting the raw materials ready.When the absorption manipulator is capturing the sealing ring, the spring tray is also
Flexible support can be provided to the sealing ring, prevent the bad sealing ring of the mechanical hand pressure of the absorption.
Half rotating disk is fixed on half rotating shaft, and half rotating disk is fixed with the bottom of half rotating shaft, described
Half way around rack and half rotating disk match.Half rotaring cylinder is used to drive the half way around rack to occur 180 degree of rotations,
180 degree of rotations occur under the control of half rotaring cylinder for half rotating disk.
The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin.The de- material cylinder
Piston rod stretches out, and the de- material axle is departed from the sealing ring from the hole of getting the raw materials ready.Then the absorption manipulator
The sealing ring is siphoned away on the revolution feeding machanism.Being fixed on by the swing arm bar for the de- material axle is described stingy
The end of the piston rod of cylinder, the cylinder block of the small cylinder is fixed on the bottom of the bedplate.The small cylinder can drive
The swing of certain angle occurs for the de- material axle so that the de- material axle by the sealing ring more easily from the hole of getting the raw materials ready
It is middle to depart from.
Next the course of work and operation principle of the suction manipulator described：
The vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, the manipulator slide plate activity
It is connected to the vertical slide unit of the manipulator.The manipulator horizontal sliding table is used to drive the manipulator slide plate occurred level direction
Motion, the vertical slide unit of manipulator is used for the motion for driving the manipulator slide plate to occur vertical direction.The spline housing
The manipulator slide plate is movably connected on by bearing, the output shaft and the spline housing of the fine setting motor pass through the synchronization
Band mechanism, which is realized, to be flexibly connected, and the fine setting motor drives the spline housing, splined shaft and lower suction by the synchronous belt mechanism
Disk rotates, so that the angle to adjusting the sealing ring.The splined shaft is movably connected on the spline housing, the spline
The upper end of axle is fixed on the end of the piston rod of the up and down motion cylinder, and the lower sucker is fixed under the splined shaft
End.The splined shaft is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, the flower
Key axle can along the spline housing axial movement.The piston rod of the up and down motion cylinder stretches out, and drives under the lower sucker
Drop, makes the lower sucker touch the sealing ring.
Brief description of the drawings
Fig. 1 is the structural representation of the complete assembly system of industrial robot of mouth cleaner of the present invention；
Fig. 2 is industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for carrying equipment；
Fig. 3,4,5,6,7,8 are industrial robot auxiliary seal ring fine setting of the present invention and the sealing ring fitting machine for carrying equipment
Structure and half way around are got the raw materials ready the structural representation of mechanism；
Fig. 9,10 are industrial robot auxiliary seal ring of the present invention fine settings and carry the structure of the suction manipulator of equipment and show
It is intended to；
Figure 11 is industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for the transfer robot for carrying equipment
Figure.
Figure 12,13 be mouth cleaner of the present invention the complete assembly system of industrial robot dynamic frock structural representation
Figure；
Figure 14 is the dynamic frock of the complete assembly system of industrial robot of mouth cleaner of the present invention after gear of dismantling
Structural representation.
1 workbench, 2 rotating disk mechanisms, 3 feeding stations, 6 dynamic frocks, 11 clamp bodies, 12 rotary type material platforms, 13 position-limited wheels,
14 gears, 15 racks, 16 rack guide pads, 17 rack slide units, 18 tooth bar resets springs, 19 reset seats, 20 bolt blocks, 21 latches
Back-moving spring, No. 22 breach, 23 No. two breach, 24 toothbrush handles, 45 sealing ring installing mechanisms, 46 transfer robots, 47 revolutions
It is feeding machanism, 48 portable vision-based detection mechanisms, 49 robot supports, 50X axles arm, 51Y axles arm, 52Z axles arm, 53 true
Empty formula wrist, 54Z axles slide unit, 55 wrist motors, 56 shaft couplings, 57 wrist braces, 58 wrist suckers, 59 upper bearing (metal)s, 60 revolutions
Axle, 61 vacuum passages, 62 vacuum ports, 63 bedplates, 64 lower bearings, 65 servo-actuated pallets, 66 with moving mandrel, 67 fibre optical sensors,
68 vision slide units, 69 industrial cameras, 70 sealing ring mounting surfaces, 71 flanges, 72 sealing rings, 73 concave edges, 74 breach.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of industry of mouth cleaner
The complete assembly system of robot,, will after toothbrush handle is installed in dynamic frock in the Automated assembly production of electric toothbrush
Sealing ring is assemblied in the sealing ring mounting surface of toothbrush handle end.The complete assembling system of industrial robot of mouth cleaner of the present invention
System, toothbrush handle moves to different stations with rotating disk mechanism after being connected in dynamic frock, the posture of sealing ring can be done certainly
The adjustment of dynamicization precision and positioning, realize the accurate assembling of sealing ring, and the toothbrush handle that assembling is completed is carried out using machine vision
Detection, improves the product quality and production efficiency of electric toothbrush.
Fig. 1 is the structural representation of the complete assembly system of industrial robot of mouth cleaner of the present invention, and Fig. 2 is the present invention
The structural representation of equipment is finely tuned and carried to industrial robot auxiliary seal ring, and Fig. 3,4,5,6,7,8 are industrial machines of the present invention
The sealing ring installing mechanism and half way around that equipment was finely tuned and carried to people's auxiliary seal ring are got the raw materials ready the structural representation of mechanism, and Fig. 9,10 are
Industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for the suction manipulator for carrying equipment, Figure 11 is the present invention
The structural representation of the transfer robot of equipment is finely tuned and carried to industrial robot auxiliary seal ring.
Figure 12,13 be mouth cleaner of the present invention the complete assembly system of industrial robot dynamic frock structural representation
Figure, Figure 14 is structure of the dynamic frock of the complete assembly system of industrial robot of mouth cleaner of the present invention after gear of dismantling
Schematic diagram.
A kind of complete assembly system of the industrial robot of mouth cleaner, including：Disk machine for realizing station conversion
Structure 2, the workbench 1 for disposing the rotating disk mechanism 2, the dynamic frock 6 being distributed on the rotating disk mechanism 2, for assembling
The sealing ring installing mechanism 45 of sealing ring 72, grab in mechanism 75 for the sealing ring 72 to be got the raw materials ready from the half way around it is described
Suction manipulator 76 on sealing ring installing mechanism 45；The dynamic frock 6 is fixed on the rotating disk mechanism 2, the sealing ring
Installing mechanism 45 is fixed on the workbench 1, and the sealing ring installing mechanism 45 and the dynamic frock 6 match；Described half
Turn to get the raw materials ready mechanism 75 positioned at the bottom of the sealing ring installing mechanism 45, the suction manipulator 76 is installed positioned at the sealing ring
Mechanism 45 and half way around are got the raw materials ready between mechanism 75；
The half way around mechanism 75 that gets the raw materials ready includes：Spring tray 77, half rotating disk 79, half rotating shaft 80, bedplate 81, half rotaring cylinder
82nd, half rotating disk 83, half way around rack 84, guide rail 85, de- material cylinder 86, stripper plate 87, de- material axle 88, bearing pin 89, stingy
Hole 78 of getting the raw materials ready is provided with cylinder 90, swing arm bar 91, half rotating disk 79, is internally provided with the hole 78 of getting the raw materials ready for installing institute
The spring tray 77 of sealing ring 72 is stated, half rotating disk 79 is fixed on half rotating shaft 80, and the activity of half rotating shaft 80 is even
It is connected to the bedplate 81；Half rotating disk 83 is fixed with the bottom of half rotating shaft 80, the half way around rack 84 passes through
The guiding rail 85 is movably connected on the bottom of the bedplate 81, and one end of the half way around rack 84 is movably connected on described
The end of the piston rod of half rotaring cylinder 82, the cylinder block of half rotaring cylinder 82 is fixed on the bottom of the bedplate 81；It is described
The cylinder block of de- material cylinder 86 is fixed on the bedplate 81, and the end of the piston rod of the de- material cylinder 86 is fixed with described take off
Flitch 87, the de- material axle 88 is connected with the end of the stripper plate 87 by the bearing pin 89；The de- material axle 88
The piston rod that the small cylinder 90 is fixed on by the swing arm bar 91 end, the cylinder block of the small cylinder 90 is fixed on
The bottom of the bedplate 81.
More specifically, the sealing ring installing mechanism 45 includes：For move the sealing ring 72 transfer robot 46,
For the shifting for supporting the revolution feeding machanism 47 of the sealing ring 72, being detected for the confined state to the sealing ring 72
Dynamic formula vision-based detection mechanism 48, the revolution feeding machanism 47 is fixed on the workbench 1, and the transfer robot 46 is located at institute
The top of revolution feeding machanism 47 is stated, the portable vision-based detection mechanism 48 is located at the top of the dynamic frock 6；It is described to remove
Fortune robot 46 includes：Robot support 49, X-axis arm 50, Y-axis arm 51, Z axis arm 52, vacuum type wrist 53, the machine
Device people support 49 is fixed on the workbench 1, and the X-axis arm 50 is fixed on the robot support 49, the Y-axis arm 51
The X-axis arm 50 is fixed on, the Z axis arm 52 is fixed on the Y-axis arm 51, and the vacuum type wrist 53 is fixed on institute
State on the Z axis slide unit 54 of Z axis arm 52；The vacuum type wrist 53 includes：Wrist motor 55, shaft coupling 56, wrist brace 57,
Wrist sucker 58, upper bearing (metal) 59, gyroaxis 60, vacuum passage 61, vacuum port 62, the wrist brace 57 are fixed on the Z axis
Slide unit 54, the gyroaxis 60 is movably connected on the wrist brace 57 by the upper bearing (metal) 59, the wrist motor 55
Output shaft is fixed on the gyroaxis 60 by the shaft coupling 56, and the wrist sucker 58 is fixed under the gyroaxis 60
Portion, the wrist sucker 58 and the sealing ring 72 match, and the vacuum passage 61 is provided with the gyroaxis 60, described
The vacuum port 62 being connected with the vacuum passage 61 is provided with wrist sucker 58, the vacuum passage 61 is connected to very
Empty pump.
More specifically, the suction manipulator 76 includes：Manipulator base 92, manipulator horizontal sliding table 93, manipulator are erected
Straight slide unit 94, manipulator slide plate 95, fine setting motor 96, synchronous belt mechanism 97, up and down motion cylinder 98, spline housing 99, splined shaft
100th, lower sucker 101, vacuum road junction 102, absorption cavity volume 103, the manipulator horizontal sliding table 93 are fixed on the manipulator bottom
Seat 92, the vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate 95
It is movably connected on the vertical slide unit 94 of the manipulator；The manipulator slide plate 95 is fixed with the fine setting motor 96 and moved up and down
The cylinder block of cylinder 98, the spline housing 99 is movably connected on the manipulator slide plate 95 by bearing, and the splined shaft 100 is lived
Dynamic to be connected to the spline housing 99, the upper end of the splined shaft 100 is fixed on the end of the piston rod of the up and down motion cylinder 98
End, the lower sucker 101 is fixed on the lower end of the splined shaft 100；The output shaft and the spline housing of the fine setting motor 96
99 realize flexible connection by the synchronous belt mechanism 97.
More specifically, the splined shaft 100 and 99 one-tenth of the spline housing are coaxially arranged, the splined shaft 100 is located at described
The shaft core position of spline housing 99, the splined shaft 100 can along the spline housing 99 axial movement.
More specifically, the revolution feeding machanism 47 includes：Bedplate 63, lower bearing 64, servo-actuated pallet 65, with moving mandrel
66th, fibre optical sensor 67, it is workbench 1 that the bedplate 63, which is fixed on, and the servo-actuated pallet 65 is lived by the lower bearing 64
It is dynamic to be connected to the bedplate 63, the servo-actuated pallet 65 is fixed on moving mandrel 66, the fibre optical sensor 67 is fixed on institute
State bedplate 63, the breach 74 matched with being provided with moving mandrel 66 with the fibre optical sensor 67.
More specifically, the dynamic frock 6 is fixed on the rotating disk mechanism 2, the dynamic frock 6 is evenly arranged into ground
In on the rotating disk mechanism 2；The dynamic frock 6 includes：Clamp body 11, rotary type material platform 12, position-limited wheel 13, gear 14, tooth
Bar 15, rack guide pad 16, rack slide unit 17, tooth bar resets spring 18, reset seat 19, bolt block 20, latch back-moving spring 21,
The clamp body 11 is fixed on the traffic cycle 8, and the rotary type material platform 12 is movably connected on the clamp body 11, described spacing
Wheel 13, gear 14 are into coaxially arranged, and the position-limited wheel 13, gear 14 are affixed to the rotary type material platform 12；The bolt block
20 are movably connected on the breach for being provided with and matching with the bolt block 20 on the clamp body 11, the position-limited wheel 13
22nd, No. two breach 23, the bottom of the bolt block 20 is provided with latch back-moving spring 21；The reset seat 19 is connected described big turn
On disk 8, the rack slide unit 17 is movably connected on the reset seat 19, is set between the rack slide unit 17 and reset seat 19
There is rack back-moving spring 18, the rack guide pad 16 is fixed on the clamp body 11, and the rack 15 is movably connected on described
Rack guide pad 16, the bottom of the rack 15 is fixed on the rack slide unit 17, and the gear 14 and rack 15 are meshed.
More specifically, the portable vision-based detection mechanism 48 includes：Vision slide unit 68, industrial camera 69, the vision
Slide unit 68 is fixed on the robot support 49, and the industrial camera 69 is located at the top of the dynamic frock 6.
More specifically, the vision slide unit 68 and the Y-axis arm 51 are parallel to each other.
More specifically, the resolution ratio of the industrial camera 69 is 10,000,000 pixels.
More specifically, the type of the gear 14 is helical gear, the type of the rack 15 is helical rack.
More specifically, the type of the wrist motor 55 is stepper motor.
More specifically, the type of the upper bearing (metal) 59 is angular contact ball bearing, the upper bearing (metal) 59 is in back-to-back pretension
Install.
More specifically, the X-axis arm 50 and Y-axis arm 51 are mutually perpendicular to；Y-axis arm 51 and Z axis arm 52 phase
It is mutually vertical；The X-axis arm 50 and Z axis arm 52 are mutually perpendicular to.
Below in conjunction with Fig. 1 to 14, the complete assembly system of industrial robot of mouth cleaner of the present invention is further described
Operation principle and the course of work：
The complete assembly system of industrial robot of mouth cleaner of the present invention, mainly includes：Rotating disk mechanism 2, workbench 1,
Dynamic frock 6, sealing ring installing mechanism 45；The dynamic frock 6 is fixed on the rotating disk mechanism 2, and the rotating disk mechanism 2 is by institute
State dynamic frock 6 to operate to different stations, the sealing ring installing mechanism 45 is fixed on the workbench 1, the sealing ring
Installing mechanism 45 and the dynamic frock 6 match, and the sealing ring installing mechanism 45 is used to the sealing ring 72 being assemblied in
The sealing ring mounting surface 70.
After the toothbrush handle 24 is placed in the dynamic frock 6, the dynamic frock 6 can be with toothbrush handle described in accurate adjustment
24 attitude angle, in order to the automation manufacturing procedure of the toothbrush handle 24.Then, the dynamic frock 6 is equipped on described
On rotating disk mechanism 2 and operate to the bottom of the sealing ring installing mechanism 45.The sealing ring installing mechanism 45 includes：Carrying implement
Device people 46, revolution feeding machanism 47, portable vision-based detection mechanism 48.The sealing ring 72 is first positioned over the revolution feeding machine
Wait the absorption of the transfer robot 46 on structure 47, the transfer robot 46 by the angle adjustment of the sealing ring 72 in place
Afterwards, the sealing ring 72 is grabbed into the sealing ring mounting surface 70 from the revolution feeding machanism 47, so that the sealing
The flange 71 and the concave edge 73 of the sealing ring 72 for enclosing mounting surface 70 match, and the portable vision-based detection mechanism 48 is used for pair
The assembling quality of the sealing ring 72 is detected, to ensure to reach reliable assembling.
Next the course of work and operation principle of the sealing ring installing mechanism 45 and revolution feeding machanism 47 described：
The revolution feeding machanism 47 is fixed on the workbench 1, and the sealing ring 72 is placed on the revolution feeding machanism
On 47, the transfer robot 46 is located at the top of the revolution feeding machanism 47, the vacuum of the transfer robot 46
Formula wrist 53 touches the sealing ring 72 on the revolution feeding machanism 47, and the vacuum type wrist 53 drives the sealing
Circle 72 is rotated, and until the sealing ring 72 is adjusted to predetermined angle, then the vacuum type wrist 53 adsorbs the sealing
Circle 72, the sealing ring mounting surface 70 is installed on by the sealing ring 72, and the portable vision-based detection mechanism 48 is located at described
The top of dynamic frock 6.
The X-axis arm 50, Y-axis arm 51, Z axis arm 52 can move along a straight line, the X-axis arm 50, Y-axis hand
Arm 51, Z axis arm 52 arrange that the vacuum type wrist 53 is fixed on the Z axis arm 52, therefore institute into posture perpendicular to each other
State transfer robot 46 and possess four frees degree.
The wrist brace 57 is fixed on the Z axis slide unit 54, and the gyroaxis 60 is connected by the activity of upper bearing (metal) 59
The wrist brace 57 is connected to, the output shaft of the wrist motor 55 is fixed on the gyroaxis 60 by the shaft coupling 56,
The wrist motor 55 can drive the gyroaxis 60 to rotate.The wrist sucker 58 is fixed under the gyroaxis 60
Portion, the wrist sucker 58 and the sealing ring 72 match.The vacuum passage 61 is provided with the gyroaxis 60, it is described
The vacuum port 62 being connected with the vacuum passage 61 is provided with wrist sucker 58, the vacuum passage 61 is connected to very
Empty pump.The bottom of the wrist sucker 58 is provided with the appearance profile matched with the sealing ring 72.The wrist sucker 58
It is pressed on after the sealing ring 72, the vacuum port 62, in the sealing ring 72, adsorbs the sealing ring 72 by suction function
In on the wrist sucker 58, the wrist motor 55 can drive the sealing ring 72 to be rotated.
It is workbench 1 that the bedplate 63, which is fixed on, and the fibre optical sensor 67 is fixed on the bedplate 63, it is described with
Moving mandrel 66 is fixed on the servo-actuated pallet 65, described to match with being provided with moving mandrel 66 with the fibre optical sensor 67
Breach 74.The fibre optical sensor 67 is irradiated against the breach 74, and the photosignal of collection is analyzed.It is described
Transfer robot 46 drives the sealing ring 72 to rotate, and a complete circle is constituted after the breach 74 and the matching of concave edge 73
Breach, the fibre optical sensor 67 is irradiated to the circumferential notch, and the fibre optical sensor 67 can by the collection to photosignal
Matching status is in perceive the breach 74 and concave edge 73.Then the transfer robot 46 adsorbs the sealing
Circle 72, then the sealing ring 72 is assemblied on the sealing ring mounting surface 70.Because the sealing ring 72 passes through correction,
So that the flange 71 and concave edge 73 are in the posture of matching, so as to reach precision assembly.
Finally detected by the assembling quality of portable 48 pairs of the vision-based detection mechanism sealing ring 72, to ensure
Assemble quality.
Next the course of work and operation principle of the dynamic frock 6 described：
The dynamic frock 6 is used to carry the toothbrush handle 24, and the toothbrush handle 24 is moved into each station, and by institute
State toothbrush handle 24 and adjust a required attitude angle.The clamp body 11 is fixed on the traffic cycle 8, the rotary type material platform
12 are movably connected on the clamp body 11, and the position-limited wheel 13, gear 14 are into coaxially arranged, and the position-limited wheel 13, gear 14 are all
The rotary type material platform 12 is fixed on, the gear 14 can drive the rotary type material platform 12 to rotate.The rack guide pad
16 are fixed on the clamp body 11, and the rack 15 is movably connected on the rack guide pad 16, and the bottom of the rack 15 is consolidated
It is connected in the rack slide unit 17, the gear 14 and rack 15 are meshed.The bolt block 20 is movably connected on the clamp body
11, the breach 22 matched with the bolt block 20, No. two breach 23, the bolt block are provided with the position-limited wheel 13
20 bottom is provided with latch back-moving spring 21.
The bolt block 20 is under the promotion of the latch back-moving spring 21, with becoming for being moved to the position-limited wheel 13
Gesture.If the bolt block 20 is inserted into a breach 22, the rotary type material platform 12 is in the state of locking, and
The toothbrush handle 24 is in horizontal attitude；If the bolt block 20 is inserted into No. two breach 23, the rotary type
Expect that platform 12 is in the state of locking, and the toothbrush handle 24 is in vertical posture；If the bolt block 20 departs from described one
Number breach 22 and No. two breach 23, then the rotary type material platform 12 there is the state freely rotated.
The bolt block 20 is set to depart from a breach 22 under external mechanical influence, then the rotary type material platform 12 has
There is the chance freely rotated；Then, decline under external mechanical influence the rack 15, the rack 15 drives the gear
14 rotate, and the gear 14 drives the position-limited wheel 13, rotary type material platform 12 to rotate, until the bolt block 20 is in the latch
It is automatically inserted under the driving of back-moving spring 21 in No. two breach 23.Then, the rotary type material platform 12 is in locking
State, and the toothbrush handle 24 be in vertical posture.So as to realize the conversion to the attitude angle of toothbrush handle 24.
Similarly, if necessary to which the toothbrush handle 24 is changed into horizontal attitude angle from vertical attitude angle.Need
The bolt block 20 is departed from into the position-limited wheel 13, on the rack 15 is automatic under the promotion of the tooth bar resets spring 18
Move, the rack 15 drives the gear 14 to rotate, and the gear 14 drives the position-limited wheel 13, rotary type material platform 12 to rotate.
After the position-limited wheel 13 rotates certain angle, the external force being applied in the bolt block 20 is cancelled.Then, the position-limited wheel
13 be rotated further until be automatically inserted under driving of the bolt block 20 in the latch back-moving spring 21 described No. one lack
Mouth 22, then the rotary type material platform 12 is in the state of locking, and the toothbrush handle 24 is in horizontal attitude.
Next the half way around is described to get the raw materials ready the course of work and operation principle of mechanism：
The half way around gets the raw materials ready mechanism 75 positioned at the bottom of the transfer robot 46.It is provided with and gets the raw materials ready on half rotating disk 79
The sealing ring 72, can be positioned in the hole 78 of getting the raw materials ready, then 79 turns of half rotating disk by hole 78 by artificial mode
Move 180 degree of bottoms that the sealing ring 72 is moved to the wrist sucker 58.The spring tray 77 is used to hold institute
Sealing ring 72 is stated, prevents the sealing ring 72 from being dropped from the hole 78 of getting the raw materials ready.When the absorption manipulator 76 is described in crawl
When sealing ring 72, the spring tray 77 can also provide flexible support to the sealing ring 72, prevent the adsorption machine
Tool hand 76 damages the sealing ring 72 by pressure.
Half rotating disk 79 is fixed on half rotating shaft 80, and half rotating disk is fixed with the bottom of half rotating shaft 80
83, the rotating disk 83 of half way around rack 84 and half matches.Half rotaring cylinder 82 is used to drive the half way around rack 84 to occur
180 degree of rotations occur under the control of half rotaring cylinder 82 for 180 degree of rotations, half rotating disk 79.
The cylinder block of the de- material cylinder 86 is fixed on the bedplate 81, the end of the piston rod of the de- material cylinder 86
The stripper plate 87 is fixed with, the de- material axle 88 is connected with by the bearing pin 89 in the end of the stripper plate 87.
The piston rod of the de- material cylinder 86 stretches out, and the de- material axle 88 is taken off the sealing ring 72 from the hole 78 of getting the raw materials ready
From.Then the absorption manipulator 76 siphons away the sealing ring 72 on the revolution feeding machanism 47.The de- material axle 88
The piston rod that the small cylinder 90 is fixed on by the swing arm bar 91 end, the cylinder block of the small cylinder 90 is fixed on
The bottom of the bedplate 81.The small cylinder 90 can drive the de- material axle 88 to occur the swing of certain angle, so that
The de- material axle 88 more easily departs from the sealing ring 72 from the hole 78 of getting the raw materials ready.
Next the course of work and operation principle of the suction manipulator described：
The vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate
95 are movably connected on the vertical slide unit 94 of the manipulator.The manipulator horizontal sliding table 93 is used to drive the manipulator slide plate 95
The motion in occurred level direction, the vertical slide unit 94 of manipulator is used to drive the manipulator slide plate 95 to occur vertical direction
Motion.The spline housing 99 is movably connected on the manipulator slide plate 95 by bearing, the output shaft of the fine setting motor 96 and
The spline housing 99 realizes and is flexibly connected that the fine setting motor 96 passes through the synchronous belt mechanism by the synchronous belt mechanism 97
The 97 driving spline housings 99, splined shaft 100 and lower sucker 101 rotate, so that the angle to adjusting the sealing ring 72.
The splined shaft 100 is movably connected on the spline housing 99, and the upper end of the splined shaft 100 is fixed on the up and down motion cylinder
The end of 98 piston rod, the lower sucker 101 is fixed on the lower end of the splined shaft 100.The splined shaft 100 and the flower
Key set 99 is into coaxially arranged, and the splined shaft 100 is located at the shaft core position of the spline housing 99, and the splined shaft 100 can edge
The axial movement of the spline housing 99.The piston rod of the up and down motion cylinder 98 stretches out, and drives the lower sucker 101 to decline,
The lower sucker is set to touch the sealing ring 72.
Finally it is pointed out that above example is only the complete assembly system of industrial robot of mouth cleaner of the present invention
More representational example.Obviously, the complete assembly system of the industrial robot of mouth cleaner of the present invention is not limited to above-mentioned implementation
Example, can also there is many deformations.The technology of every complete assembly system of industrial robot according to mouth cleaner of the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to mouth cleaner of the present invention
The complete assembly system of industrial robot protection domain.
Claims (10)
1. a kind of complete assembly system of the industrial robot of mouth cleaner, it is characterised in that including：For realizing that station is changed
Rotating disk mechanism, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, for filling
Sealing ring installing mechanism with sealing ring, for the sealing ring to be got the raw materials ready from the half way around sealing ring is grabbed in mechanism
Suction manipulator on installing mechanism；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is connected
In the workbench, the sealing ring installing mechanism and the dynamic frock match；The half way around gets the raw materials ready mechanism positioned at described
The bottom of sealing ring installing mechanism, the suction manipulator is got the raw materials ready positioned at the sealing ring installing mechanism and half way around between mechanism；
The half way around mechanism that gets the raw materials ready includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk, half way around
It is provided with rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, half rotating disk standby
Expect hole, the spring tray for installing the sealing ring is internally provided with the hole of getting the raw materials ready, half rotating disk is fixed on
Half rotating shaft, half rotating shaft is movably connected on the bedplate；The half way around tooth is fixed with the bottom of half rotating shaft
Wheel, the half way around rack is movably connected on the bottom of the bedplate, one end of the half way around rack by the guiding rail
The end of the piston rod of half rotaring cylinder is movably connected on, the cylinder block of half rotaring cylinder is fixed under the bedplate
Portion；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with described
Stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin；The de- material axle passes through institute
The end that swing arm bar is fixed on the piston rod of the small cylinder is stated, the cylinder block of the small cylinder is fixed under the bedplate
Portion.
2. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that described close
Seal installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting the revolution of the sealing ring to be fed
Mechanism, the portable vision-based detection mechanism detected for the confined state to the sealing ring, the revolution feeding machanism
The workbench is fixed on, the transfer robot is located at the top of the revolution feeding machanism, the portable vision-based detection
Mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X-axis arm, Y-axis arm, Z axis
Arm, vacuum type wrist, the robot support are fixed on the workbench, and the X-axis arm is fixed on the robot branch
Frame, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis arm, and the vacuum type wrist is consolidated
On the Z axis slide unit for being connected in the Z axis arm；The vacuum type wrist includes：Wrist motor, shaft coupling, wrist brace, wrist are inhaled
Disk, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z axis slide unit, and the gyroaxis passes through
The upper bearing (metal) is movably connected on the wrist brace, and the output shaft of the wrist motor is fixed on described by the shaft coupling
Gyroaxis, the wrist sucker is fixed on the bottom of the gyroaxis, and the wrist sucker and the sealing ring match, described
It is provided with gyroaxis on the vacuum passage, the wrist sucker and is provided with the vacuum being connected with the vacuum passage
Mouthful, the vacuum passage is connected to vavuum pump.
3. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that described time
Turning feeding machanism includes：Bedplate, lower bearing, servo-actuated pallet, with moving mandrel, fibre optical sensor, the bedplate, which is fixed on, is
Workbench, the servo-actuated pallet is movably connected on the bedplate by the lower bearing, is fixed on moving mandrel described servo-actuated
Pallet, the fibre optical sensor is fixed on the bedplate, described with being provided with moving mandrel and the fibre optical sensor phase
The breach matched somebody with somebody.
4. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that the suction
Material manipulator includes：It is manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator, manipulator slide plate, fine setting motor, same
Step band mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, absorption cavity volume, the manipulator level are slided
Platform is fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, institute
State manipulator slide plate and be movably connected on the vertical slide unit of the manipulator；The manipulator slide plate is fixed with the fine setting motor and upper
The cylinder block of lower motion cylinder, the spline housing is movably connected on the manipulator slide plate, the splined shaft activity by bearing
Be connected to the spline housing, the upper end of the splined shaft is fixed on the end of the piston rod of the up and down motion cylinder, it is described under
Sucker is fixed on the lower end of the splined shaft；The output shaft and the spline housing of the fine setting motor pass through the synchronous belt mechanism
Realize and be flexibly connected.
5. the complete assembly system of the industrial robot of mouth cleaner according to claim 4, it is characterised in that the flower
Key axle is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, and the splined shaft can be with
Along the axial movement of the spline housing.
6. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that described dynamic
State frock is fixed on the rotating disk mechanism, and the dynamic frock is evenly arranged on the rotating disk mechanism into ground；The dynamic
Frock includes：Clamp body, rotary type material platform, position-limited wheel, gear, rack, rack guide pad, rack slide unit, tooth bar resets spring,
Reset seat, bolt block, latch back-moving spring, the clamp body are fixed on the traffic cycle, and the rotary type material platform is flexibly connected
In the clamp body, the position-limited wheel, gear are into coaxially arranged, and the position-limited wheel, gear are affixed to the rotary type material platform；
The bolt block, which is movably connected on, to be provided with match with the bolt block No. one and lacks on the clamp body, the position-limited wheel
Mouth, No. two breach, the bottom of the bolt block is provided with latch back-moving spring；The reset seat is connected on the traffic cycle, institute
State rack slide unit and be movably connected on the reset seat, tooth bar resets spring is provided between the rack slide unit and reset seat,
The rack guide pad is fixed on the clamp body, and the rack is movably connected under the rack guide pad, the rack
Portion is fixed on the rack slide unit, and the gear and rack are meshed.
7. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that the shifting
Dynamic formula vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit are fixed on the robot support, described
Industrial camera is located at the top of the dynamic frock.
8. the complete assembly system of the industrial robot of mouth cleaner according to claim 4, it is characterised in that described to regard
Feel that slide unit and the Y-axis arm are parallel to each other.
9. the complete assembly system of the industrial robot of mouth cleaner according to claim 4, it is characterised in that the work
The resolution ratio of industry camera is 10,000,000 pixels.
10. the complete assembly system of the industrial robot of mouth cleaner according to claim 3, it is characterised in that described
The type of gear is helical gear, and the type of the rack is helical rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577665.2A CN107214493A (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577665.2A CN107214493A (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214493A true CN107214493A (en) | 2017-09-29 |
Family
ID=59952950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710577665.2A Withdrawn CN107214493A (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
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| Country | Link |
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| CN (1) | CN107214493A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354317A (en) * | 2018-01-31 | 2018-08-03 | 湖北智丰数控机械有限公司 | Hair rolling cropping discharging integrated apparatus is planted in full-automatic brush feeding reaming |
| CN110388539A (en) * | 2018-04-16 | 2019-10-29 | 广州中国科学院先进技术研究所 | It is a kind of for precision to the camera retainer of bit platform |
| CN114178816A (en) * | 2021-12-08 | 2022-03-15 | 赫比（厦门）精密塑胶制品有限公司 | Automatic press-in device |
| CN115383445A (en) * | 2022-08-30 | 2022-11-25 | 扬州威视智能科技有限公司 | Automatic aligning and assembling system for shell and button of electric toothbrush |
-
2017
- 2017-07-15 CN CN201710577665.2A patent/CN107214493A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354317A (en) * | 2018-01-31 | 2018-08-03 | 湖北智丰数控机械有限公司 | Hair rolling cropping discharging integrated apparatus is planted in full-automatic brush feeding reaming |
| CN108354317B (en) * | 2018-01-31 | 2019-08-23 | 湖北智丰数控机械有限公司 | Hair rolling cropping discharging integrated apparatus is planted in full-automatic brush feeding reaming |
| CN110388539A (en) * | 2018-04-16 | 2019-10-29 | 广州中国科学院先进技术研究所 | It is a kind of for precision to the camera retainer of bit platform |
| CN114178816A (en) * | 2021-12-08 | 2022-03-15 | 赫比（厦门）精密塑胶制品有限公司 | Automatic press-in device |
| CN114178816B (en) * | 2021-12-08 | 2022-09-30 | 赫比（厦门）精密塑胶制品有限公司 | Automatic press-in device |
| CN115383445A (en) * | 2022-08-30 | 2022-11-25 | 扬州威视智能科技有限公司 | Automatic aligning and assembling system for shell and button of electric toothbrush |
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Application publication date: 20170929 |