CN109940363B - Artificial intelligence toy kludge manipulator - Google Patents
Artificial intelligence toy kludge manipulator Download PDFInfo
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- CN109940363B CN109940363B CN201910408293.XA CN201910408293A CN109940363B CN 109940363 B CN109940363 B CN 109940363B CN 201910408293 A CN201910408293 A CN 201910408293A CN 109940363 B CN109940363 B CN 109940363B
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Abstract
The invention discloses an artificial intelligent toy assembling manipulator, which structurally comprises a supporting rod, a workbench, a bottom pad, a base supporting rod, a supporting frame and a threaded rotating rod, and further comprises a transmission mechanism, a transverse clamping frame, a tray clamping frame, a tool frame, a connecting arm, a horizontal moving seat and a moving hinge seat Small enterprises provide considerable economic benefits.
Description
Technical Field
The invention belongs to the technical field of assembling manipulators; in particular to an artificial intelligent toy assembling manipulator.
Background
Traditional toy manufacturing, the part at the production toy mostly, it makes it become a complete toy to assemble the toy part that all need produce before the toy leaves the factory, however, current enterprise is when the toy is assembled, mostly adopt artifical equipment, the packaging efficiency is low, and, adopt artifical equipment, because the quantity of equipment is great, very easily lead to the toy to damage in the equipment process because artifical error, or the equipment is wrong, lead to unnecessary wasting of resources, thereby cause the fund waste of enterprise, not only cause toy equipment workman's very big work burden, simultaneously greatly increased the manufacturing cost of enterprise, consequently, the appearance that need not artifical equipment intelligent toy equipment manipulator is compelled the eyelash.
Disclosure of Invention
The invention aims to provide an artificial intelligent toy assembling manipulator, which aims to solve the technical problems of low toy assembling efficiency, large workload of workers and high cost of the existing toy enterprises.
In order to achieve the above purpose, the invention provides an artificial intelligence toy assembling manipulator, which comprises a bottom pad and a support frame, and further comprises a transmission mechanism, a tray holding frame, a connecting arm and a movable hinge seat, wherein the bottom pad is arranged on the lower end surface of a support rod of a base, a workbench is arranged on the upper end surface of the support rod of the base, a pair of support rods is arranged on one side of the upper end surface of the workbench, one end of each of the two support rods penetrates through the upper end surface of the workbench and is connected with the bottom pad, the other end of each of the two support rods extends to the upper end surface of the workbench, two threaded rotating rods distributed up and down are arranged between the two support rods and are rotatably connected with the support rods, a horizontal movable seat is arranged on each threaded rotating rod, the movable hinge seat is arranged on the horizontal movable hinge seat, one end of the, the supporting frames are symmetrically arranged on one side of a non-supporting rod on the upper end surface of the workbench, the two supporting frames are respectively provided with a transverse clamping frame, the transverse clamping frames are oppositely arranged, the tray clamping frame is fixed on the workbench, the tray clamping frame is arranged at the lower end of the transverse clamping frame, the transmission mechanism is fixed on the workbench, and the transmission mechanism is connected with one side of the threaded rotating rod;
the horizontal migration seat is the rectangle, and its both sides are equipped with the recess, the recess cooperatees with the bracing piece, be equipped with the screw thread on horizontal migration seat and the screw thread dwang contact surface, screw thread and screw thread dwang on the horizontal migration seat cooperate.
The horizontal clamping frame comprises a first telescopic rod and a second telescopic rod, one end of the second telescopic rod is arranged on one support frame through a bearing, one end of the first telescopic rod is arranged on the other support frame through a bearing, one end of the first telescopic rod, which is connected with the other support frame, is connected with a motor output shaft of the horizontal clamping frame, the motor of the horizontal clamping frame is arranged on the support frame which is in contact with the first telescopic rod, a connecting plate is arranged at the other end of the first telescopic rod and the other end of the second telescopic rod, the connecting plate is connected with the support plate through a buffer spring, and the clamping frames which are symmetrically distributed are arranged on the support plate through hinges of the horizontal clamping frame, and are connected through a connecting spring.
The tray clamping frame comprises a supporting plate, a clamping plate telescopic rod, a second gear and a tray clamping motor, wherein the supporting plate is a flat rectangle, grooves are formed in two ends of the supporting plate, sliding grooves are formed in two side walls of the inner side of each groove, the clamping plate is vertically arranged in the grooves in the two ends of the supporting plate through the sliding grooves, the lower end of the supporting plate is connected with the supporting plate telescopic rod, the supporting plate telescopic rod is fixed on the workbench through a bearing, the lower end of the supporting plate telescopic rod penetrates through the workbench and extends below the lower end face of the workbench, the end, extending below the lower end face of the workbench, of the supporting plate telescopic rod is provided with the first gear, the tray clamping motor is embedded in the lower end face of the workbench, an output shaft of the tray clamping motor penetrates through the lower end face of the workbench and extends outside, the other end of the splint telescopic rod is fixed on the supporting plate telescopic rod;
the second gear is meshed with the first gear.
The tool rack comprises a screwdriver, a tool gear, a tool motor, a gear post, a hydraulic telescopic rod, a telescopic rod fixing connecting rod and a screwdriver connecting rod, the screwdriver connecting rod is arranged at the lower end of the side wall of the inner side of the tool rack shell, the telescopic rod fixing connecting rod is fixed at the upper end of the side wall of the inner side of the tool rack shell, the screwdriver is arranged on the screwdriver connecting rod and is in rotating fit with the screw thread of the screwdriver connecting rod, the tool motor is fixed at the lower end of the side wall of the inner side of the tool rack shell through a motor fixing frame, the tool gear is arranged on the output shaft of the tool motor, the screw thread is arranged on the side wall of the screwdriver, the hydraulic telescopic rod is arranged on the telescopic rod fixing connecting rod, a supporting rack is connected on the hydraulic telescopic rod, the upper end of the, the two gear columns are respectively arranged on the left side and the right side of the supporting rack, are arranged between the two fixing plates and are fixed on the two fixing plates through rotating shafts, part clamps are arranged on the side faces of the two gear columns, gear teeth are arranged on the contact faces of the part clamps and the gear columns, the part clamps are meshed with the gear columns, and the part clamps are arranged between the two fixing plates and are fixed on the two fixing plates through the rotating shafts;
the screwdriver lateral wall meshes with the tool gear mutually, the gear tooth of support rack is located the support rack left and right sides, just support rack and gear post mesh mutually.
The connecting arm comprises a first connecting arm, a second connecting arm and a third connecting arm, a connecting arm motor is embedded in one end face of the first connecting arm, the output shaft of the motor of the connecting arm is connected with the connecting rotating rod, the other end of the first connecting arm is connected with one end of the third connecting arm through a first connecting hinge, the rotating shaft of the first connecting hinge is connected with the output shaft of the connecting arm motor, the connecting arm motor is fixed on the side wall of the first connecting hinge through a connecting arm motor fixing frame, the other end of the third connecting arm is connected with one end of the hydraulic telescopic rod of the connecting arm through a second connecting hinge, the other end of the hydraulic lifting rod of the connecting arm is arranged on a third connecting arm hinge which is arranged on the second connecting arm, one end of the second connecting arm is connected with the middle of the third connecting arm through a hinge, and the other end of the second connecting arm is connected to the movable hinge base through a fourth connecting hinge;
and the fourth connecting hinge is connected with a fourth connecting hinge motor.
The screw thread dwang includes first dwang, second dwang, first dwang and second dwang are located between the bracing piece, just second dwang lower extreme is located to first dwang.
Drive mechanism includes drive motor, first drive gear, first belt pulley, second drive gear and second belt pulley, drive motor is fixed in under the workstation on the terminal surface through the drive motor mount, first drive gear is located on the drive motor output shaft, first dwang one end is located to second drive gear, the first dwang other end is located to first belt pulley, the second belt pulley is located on second dwang one end, first drive gear passes through drive chain and is connected with second drive gear, first belt pulley passes through the belt and is connected with the second belt pulley.
The PLC is a 4.3-inch touch screen PLC integrated machine which is manufactured by Suzhou Meihe science and technology company and has the model of MHW-6043-doped 1010MR/MT, and the scanning laser head is a Reeyee X3X5X7 industrial-grade hand-held laser three-dimensional scanner manufactured by Weibu three-dimensional company.
Further, the working steps and the principle of the invention are as follows:
1) placing the toy on a supporting plate, controlling a telescopic rod of the supporting plate to extend through a PLC (programmable logic controller), and moving the toy to a transverse clamping frame;
2) the PLC controller is used for controlling the first telescopic rod and the second telescopic rod to extend, so that the supporting plate is slowly close to the toy, the toy is firmly clamped by the clamping frame, and then the telescopic rod of the supporting plate is shortened, so that the supporting plate is far away from the transverse clamping frame;
3) the PLC controller controls the transmission motor to rotate, and then the second rotating rod and the first rotating rod are driven to rotate, so that the horizontal moving seat moves, and the tool rack is driven to horizontally move until the tool rack and the toy are aligned in the vertical direction;
4) at the moment, the PLC controller controls the fourth connecting hinge motor to rotate and the connecting arm hydraulic telescopic rod to extend and retract so that the tool rack moves above the toy, and then the connecting arm motor enables the scanning laser head and the screwdriver to vertically face the toy;
5) starting a scanning laser head, starting the scanning laser head to scan the toy, slowly rotating a transverse clamping frame motor to drive the toy to rotate, repeatedly rotating the transmission motor forward and backward to enable the tool rest to move back and forth above the toy, and transmitting scanned data to the PLC by the scanning laser head after the toy rotates for 3 circles;
6) building a toy model in a PLC (programmable logic controller), comparing toy installation steps of a database, grasping parts to be installed through a part clamp, installing the parts on the toy one by one through the rotation of a connecting arm motor and the rotation matching of a transmission motor and a connecting arm, picking up screws of the parts needing the screws through a screwdriver, and screwing the screws on the toy one by one through the rotation of the connecting arm motor and the rotation matching of the transmission motor and the connecting arm to finish the primary installation of the toy;
7) then, the PLC controller controls the extension of the supporting plate telescopic rod, the supporting plate is moved to the transverse clamping frame, at the moment, the first telescopic rod and the second telescopic rod are shortened, the toy is placed on the supporting plate, meanwhile, the clamping plate telescopic rod is shortened, the connecting clamping plate is enabled to clamp the toy, then, the tray clamping motor rotates, the supporting plate telescopic rod and the supporting plate are driven to rotate through the second gear and the first gear, the toy is enabled to horizontally rotate 45 degrees, at the moment, the first telescopic rod and the second telescopic rod are extended, the clamping frame continues to clamp the toy, at the moment, the clamping plate telescopic rod is extended, the connecting clamping plate is enabled to loosen the toy, at the same time, the;
8) repeating 3) to 6) to complete the installation of the toy;
9) thereafter, the person removes the toy.
The invention has the beneficial effects that: according to the invention, manual operation is not needed, only the installation data of the toy is stored in the PLC by an installer, and the toy and parts are placed on the device, automatic assembly of the toy is completed through automatic scanning and construction, manual installation is not needed in the process, convenience and rapidness are realized, the workload of the installer is reduced, the assembly efficiency of the toy is greatly improved, the yield is improved, and the cost is reduced.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the general construction of an artificial intelligence toy building robot of the present invention;
FIG. 2 is a schematic view of the lateral holding frame of the artificial intelligence toy assembling manipulator of the present invention;
FIG. 3 is a schematic structural view of a pallet holder of an artificial intelligence toy building robot of the present invention;
FIG. 4 is a schematic view of a tool rack of an artificial intelligence toy building robot according to the present invention;
FIG. 5 is a schematic diagram of a connecting arm of an artificial intelligence toy building robot of the present invention;
fig. 6 is a schematic structural view of the threaded rotating rod and the transmission mechanism of the artificial intelligence toy assembling manipulator of the invention.
Detailed Description
Referring to fig. 1-6, an artificial intelligence toy assembling manipulator comprises a bottom pad 4 and a supporting frame 9, and further comprises a transmission mechanism 2, a tray clamping frame 7, a connecting arm 10 and a movable hinge base 12, wherein the bottom pad 4 is disposed on the lower end surface of a base supporting rod 5, a workbench 3 is disposed on the upper end surface of the base supporting rod 5, a pair of supporting rods 1 is disposed on one side of the upper end surface of the workbench 3, one end of each of the two supporting rods 1 penetrates through the upper end surface of the workbench 3 to be connected with the bottom pad 4, the other end of each of the two supporting rods 1 extends to the upper end surface of the workbench 3, two threaded rotating rods 13 are disposed between the two supporting rods 1 and distributed up and down, the threaded rotating rods 13 are rotatably connected with the supporting rods 1, a horizontal movable base 11 is disposed on the threaded rotating rods 13, the movable hinge base 12 is disposed on the horizontal movable hinge base 11, one end, one side of non-bracing piece 1 on the 3 up end of workstation is located to support frame 9 symmetry, all is equipped with horizontal holding frame 6 on two support frames 9, and 6 subtend installations of horizontal holding frame, on the tray holder 7 is fixed in workstation 3, and tray holder 7 locates horizontal holding frame 6 lower extreme, and drive mechanism 2 is fixed in on workstation 3, and drive mechanism 2 is connected with screw thread dwang 13 one side.
The horizontal moving seat 11 is rectangular, grooves are formed in two sides of the horizontal moving seat and matched with the supporting rod 1, threads are arranged on the contact surface of the horizontal moving seat 11 and the threaded rotating rod 13, and the threads on the horizontal moving seat 11 are matched with the threaded rotating rod 13.
As shown in fig. 2, the horizontal holding frame 6 includes a first telescopic rod 65 and a second telescopic rod 69, one end of the second telescopic rod 69 is disposed on one support frame 9 through a bearing, one end of the first telescopic rod 65 is disposed on the other support frame 9 through a bearing, one end of the first telescopic rod 65 connected with the other support frame 9 is connected with an output shaft of a horizontal holding frame motor 64, the horizontal holding frame motor 64 is disposed on the support frame 9 contacting with the first telescopic rod 65, a connecting plate 61 is both mounted at the other end of the first telescopic rod 65 and the other end of the second telescopic rod 69, the connecting plate 61 is connected with a support plate 66 through a buffer spring 68, two symmetrically distributed holding frames 62 are mounted on the support plate 66 through a horizontal holding frame hinge 63, and the two holding frames 62 are connected through a.
As shown in fig. 3, the tray holding frame 7 includes a supporting plate 71, a clamping plate 73, a clamping plate expansion link 74, a second gear 77 and a tray holding motor 78, the supporting plate 71 is a flat rectangle, both ends of the supporting plate 71 are provided with grooves, both side walls of the inner side of the grooves are provided with sliding grooves 72, the clamping plate 73 is vertically installed in the grooves at both ends of the supporting plate 71 through the sliding grooves 72, the lower end of the supporting plate 71 is connected with the supporting plate expansion link 75, the supporting plate expansion link 75 is fixed on the workbench 3 through a bearing, the lower end of the supporting plate expansion link 75 penetrates through the workbench 3 and extends below the lower end face of the workbench 3, one end of the supporting plate expansion link 75 extending below the lower end face of the workbench 3 is provided with a first gear 76, the tray holding motor 78 is embedded in the lower end face of the workbench 3, an output shaft of the tray holding motor 78 penetrates through the lower end face of, the other end of the splint telescopic rod 74 is fixed on the splint telescopic rod 75.
The second gear 77 is meshed with the first gear 76.
As shown in fig. 4, the tool rack 8 comprises a screwdriver 81, a tool gear 82, a tool motor 84, a gear post 88, a hydraulic telescopic rod 89, a telescopic rod fixing connecting rod 810 and a screwdriver connecting rod 811, the screwdriver connecting rod 811 is arranged on the lower end of the inner side wall of the tool rack housing 812, the telescopic rod fixing connecting rod 810 is fixed on the upper end of the inner side wall of the tool rack housing 812, the screwdriver 81 is arranged on the screwdriver connecting rod 811 and is in threaded rotation fit with the screwdriver connecting rod 811, the tool motor 84 is fixed on the lower end of the inner side wall of the tool rack housing 812 through a motor fixing bracket 83, the tool gear 82 is arranged on the output shaft of the tool motor 84, threads are arranged on the side wall of the screwdriver 81, the hydraulic telescopic rod 89 is arranged on the telescopic rod fixing connecting rod 810, a support rack 86 is connected on the hydraulic, the upper end face of the tool rack shell 812 is provided with a pair of fixing plates 813 which are symmetrically distributed in parallel, the number of the gear columns 88 is two, the two gear columns 88 are respectively arranged on the left side and the right side of the supporting rack 86 and between the two fixing plates 813, and the two gear columns are fixed on the two fixing plates 813 through rotating shafts, the side faces of the two gear columns 88 are provided with the part clamps 87, gear teeth are arranged on the contact faces of the part clamps 87 and the gear columns 88, the part clamps 87 are meshed with the gear columns 88, the part clamps 87 are arranged between the two fixing plates 813, and the two fixing plates 813 are fixed through.
The side wall of the screwdriver 81 is engaged with the tool gear 82, the gear teeth of the support rack 86 are arranged at the left and right sides of the support rack 86, and the support rack 86 is engaged with the gear post 88.
As shown in fig. 5, the connecting arm 10 includes a first connecting arm 102, second linking arm 104 and third linking arm 109, embedded linking arm motor 101 on the terminal surface of first linking arm 102, linking arm motor 101 output shaft is connected with connecting dwang 85, the first linking arm 102 other end is connected with third linking arm 109 one end through first connecting hinge 1010, first connecting hinge 1010 pivot and linking arm motor 1011 output shaft, linking arm motor 1011 is fixed in on first connecting hinge 1010 lateral wall through linking arm motor mount, the third linking arm 109 other end is connected with linking arm hydraulic pressure liter pole 107 one end through second connecting hinge 108, the linking arm hydraulic pressure liter pole 107 other end is installed on third linking arm hinge 106, third linking arm hinge 106 is located on second linking arm 104, second linking arm 104 one end is through hinge and third linking arm 109 intermediate junction, the second linking arm 104 other end passes through fourth connecting hinge 105 and connects in removing hinge seat 12.
The fourth connecting hinge 105 is connected to a fourth connecting hinge motor.
As shown in fig. 6, the threaded rotating rod 13 includes a first rotating rod 131 and a second rotating rod 132, the first rotating rod 131 and the second rotating rod 132 are disposed between the supporting rods 1, and the first rotating rod 131 is disposed at the lower end of the second rotating rod 132.
The transmission mechanism 2 comprises a transmission motor 22, a first transmission gear 23, a first belt pulley 24, a second transmission gear 26 and a second belt pulley 27, the transmission motor 22 is fixed on the lower end face of the workbench 3 through a transmission motor fixing frame 21, the first transmission gear 23 is arranged on an output shaft of the transmission motor 22, the second transmission gear 26 is arranged at one end of the first rotating rod 131, the first belt pulley 24 is arranged at the other end of the first rotating rod 131, the second belt pulley 27 is arranged at one end of the second rotating rod 132, the first transmission gear 23 is connected with the second transmission gear 26 through a transmission chain 25, and the first belt pulley 24 is connected with the second belt pulley 27 through a belt 28.
The workbench 3 is provided with a PLC controller, the lower end face of the outer side of a tool rack shell 812 of the tool rack 8 is provided with a scanning laser head, the scanning laser head is connected with the PLC controller, the PLC controller adopts a 4.3-inch touch screen PLC integrated machine which is manufactured by Suzhou Meihe science and technology company and has the model of MHW-6043 and 1010MR/MT, and the scanning laser head adopts a ReeyeX 3X5X7 industrial-grade hand-held laser three-dimensional scanner manufactured by Weibu three-dimensional company.
The working steps and the principle of the invention are as follows:
1) placing the toy on the supporting plate 71, controlling the extension of the supporting plate telescopic rod 75 through the PLC controller, and moving the toy to the transverse clamping frame 6;
2) the PLC controller is used for controlling the first telescopic rod 65 and the second telescopic rod 69 to extend, so that the supporting plate 66 is slowly close to the toy, the toy is fastened by the clamping frame 62, and then the supporting plate telescopic rod 75 is shortened, so that the supporting plate 71 is far away from the transverse clamping frame 6;
3) the PLC is used for controlling the transmission motor 22 to rotate, and then the second rotating rod 132 and the first rotating rod 131 are driven to rotate, so that the horizontal moving seat 11 is moved, and the tool rack 8 is driven to horizontally move until the tool rack 8 is level with the toy in the vertical direction;
4) at the moment, the PLC controller controls the fourth connecting hinge motor to rotate and the connecting arm hydraulic telescopic rod 107 to be lifted and contracted, so that the tool rack 8 moves above the toy, and then the scanning laser head and the screwdriver vertically face the toy through the connecting arm motor 1011;
5) starting a scanning laser head, starting the scanning laser head to scan the toy, slowly rotating the transverse clamping frame motor 64 to drive the toy to rotate, simultaneously repeatedly rotating the transmission motor 22 forward and backward to enable the tool frame 8 to move back and forth above the toy, and transmitting scanned data to the PLC controller by the scanning laser head after the toy rotates for 3 circles;
6) building a toy model in a PLC controller, comparing the toy model with a database, installing the toy model in the database, grasping parts to be installed through a part clamp 87, installing the parts on the toy one by one through the rotation of a connecting arm motor 101 and the rotation of a transmission motor 22 which are matched with a connecting arm 10, picking up screws of the parts needing the screws through a screwdriver 81, and screwing the screws on the toy one by one through the rotation of the connecting arm motor 101 and the rotation of the transmission motor 22 which are matched with the connecting arm 10 to finish the primary installation of the toy;
7) then, the PLC controls the extension of the supporting plate telescopic rod 75 to move the supporting plate 71 to the transverse clamping frame 6, at the moment, the first telescopic rod 65 and the second telescopic rod 69 are shortened to enable the toy to be placed on the supporting plate 71, meanwhile, the clamping plate telescopic rod 74 is shortened to enable the connecting clamping plate 73 to clamp the toy, then, the tray clamping motor 78 rotates to drive the supporting plate telescopic rod 75 and the supporting plate 71 to rotate through the second gear 77 and the first gear 76 to enable the toy to horizontally rotate by 45 degrees, then, the first telescopic rod 65 and the second telescopic rod 69 are extended to enable the clamping frame 62 to continuously clamp the toy, at the moment, the clamping plate telescopic rod 74 is extended to enable the connecting clamping plate 73 to loosen the toy, at the same time, the supporting plate telescopic rod 75 is shortened;
8) repeating 3) to 6) to complete the installation of the toy;
9) thereafter, the person removes the toy.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (5)
1. An artificial intelligence toy assembling manipulator comprises a bottom pad (4) and a support frame (9), and is characterized by further comprising a transmission mechanism (2), a tray clamping frame (7), a connecting arm (10) and a movable hinge seat (12), wherein the bottom pad (4) is arranged on the lower end face of a base supporting rod (5), a workbench (3) is arranged on the upper end face of the base supporting rod (5), one side of the upper end face of the workbench (3) is provided with a pair of supporting rods (1), one ends of the two supporting rods (1) penetrate through the upper end face of the workbench (3) and are connected with the bottom pad (4), the other ends of the two supporting rods (1) extend to the upper end face of the workbench (3), two threaded rotating rods (13) are arranged between the two supporting rods (1) and are distributed up and down, and the threaded rotating rods (13) are rotatably connected with the supporting rods (1), the automatic clamping device is characterized in that a horizontal moving seat (11) is arranged on the threaded rotating rod (13), the moving hinge seat (12) is arranged on the horizontal moving seat (11), one end of a connecting arm (10) is arranged on the moving hinge seat (12), the other end of the connecting arm (10) is connected with a tool holder (8), the supporting frames (9) are symmetrically arranged on one side of a non-supporting rod (1) on the upper end surface of the workbench (3), two supporting frames (9) are respectively provided with a transverse clamping frame (6), the transverse clamping frames (6) are oppositely arranged, the tray clamping frames (7) are fixed on the workbench (3), the tray clamping frames (7) are arranged at the lower end of the transverse clamping frames (6), the transmission mechanism (2) is fixed on the workbench (3), and the transmission mechanism (2) is connected with one side of the threaded rotating rod (13);
the horizontal moving seat (11) is rectangular, grooves are formed in two sides of the horizontal moving seat, the grooves are matched with the supporting rods (1), threads are arranged on the contact surface of the horizontal moving seat (11) and the threaded rotating rod (13), and the threads on the horizontal moving seat (11) are matched with the threaded rotating rod (13);
the tool rack (8) comprises a screwdriver (81), a tool gear (82), a tool motor (84), a gear column (88), a hydraulic telescopic rod (89), a telescopic rod fixed connecting rod (810) and a screwdriver connecting rod (811), wherein the screwdriver connecting rod (811) is arranged at the lower end of the inner side wall of a tool rack shell (812), the telescopic rod fixed connecting rod (810) is fixed at the upper end of the inner side wall of the tool rack shell (812), the screwdriver (81) is arranged on the screwdriver connecting rod (811) and is in threaded rotation fit with the screwdriver connecting rod (811), the tool motor (84) is fixed at the lower end of the inner side wall of the tool rack shell (812) through a motor fixing frame (83), the tool gear (82) is arranged on the output shaft of the tool motor (84), the screw thread is arranged on the side wall of the screwdriver (81), and the hydraulic telescopic rod (89) is arranged on the telescopic rod, the hydraulic telescopic rod (89) is connected with a supporting rack (86), the upper end of the supporting rack (86) penetrates through the tool rack shell (812) and extends to the upper side outside the tool rack shell (812), a pair of fixing plates (813) which are symmetrically distributed in parallel are arranged on the upper end surface of the tool rack shell (812), two gear columns (88) are arranged, the two gear columns (88) are respectively arranged at the left side and the right side of the supporting rack (86) and are arranged between the two fixing plates (813), and is fixed on two fixing plates (813) through a rotating shaft, the side surfaces of the two gear columns (88) are provided with part clamps (87), gear teeth are arranged on the contact surface of the part clamp (87) and the gear column (88), the part clamp (87) is meshed with the gear column (88), and the part clamp (87) is arranged between the two fixing plates (813) and is fixed on the two fixing plates (813) through a rotating shaft;
the side wall of the screwdriver (81) is meshed with the tool gear (82), gear teeth of the supporting rack (86) are arranged on the left side and the right side of the supporting rack (86), and the supporting rack (86) is meshed with the gear column (88);
the connecting arm (10) comprises a first connecting arm (102), a second connecting arm (104) and a third connecting arm (109), a connecting arm motor (101) is embedded in one end face of the first connecting arm (102), an output shaft of the connecting arm motor (101) is connected with a connecting rotating rod (85), the other end of the first connecting arm (102) is connected with one end of the third connecting arm (109) through a first connecting hinge (1010), a rotating shaft of the first connecting hinge (1010) is connected with an output shaft of a connecting arm motor (1011), the connecting arm motor (1011) is fixed on the side wall of the first connecting hinge (1010) through a connecting arm motor fixing frame, the other end of the third connecting arm (109) is connected with one end of a connecting arm hydraulic telescopic rod (107) through a second connecting hinge (108), and the other end of the connecting arm hydraulic telescopic rod (107) is installed on the third connecting arm hinge (106), the third connecting arm hinge (106) is arranged on the second connecting arm (104), one end of the second connecting arm (104) is connected with the middle of the third connecting arm (109) through a hinge, and the other end of the second connecting arm (104) is connected to the movable hinge base (12) through a fourth connecting hinge (105);
the fourth connecting hinge (105) is connected with a fourth connecting hinge motor;
install the PLC controller on workstation (3), be equipped with the scanning laser head on the terminal surface under tool holder shell (812) the outside of tool holder (8), the scanning laser head is connected with the PLC controller.
2. The hand for assembling artificial intelligent toys according to claim 1, wherein the horizontal holding frame (6) comprises a first telescopic rod (65) and a second telescopic rod (69), one end of the second telescopic rod (69) is mounted on one support frame (9) through a bearing, one end of the first telescopic rod (65) is mounted on the other support frame (9) through a bearing, one end of the first telescopic rod (65) connected with the other support frame (9) is connected with an output shaft of a horizontal holding frame motor (64), the horizontal holding frame motor (64) is mounted on the support frame (9) in contact with the first telescopic rod (65), the other ends of the first telescopic rod (65) and the second telescopic rod (69) are both provided with a connecting plate (61), the connecting plate (61) is connected with a support plate (66) through a buffer spring (68), two symmetrically distributed clamping frames (62) are arranged on the supporting plate (66) through a transverse clamping frame hinge (63), and the two clamping frames (62) are connected through a connecting spring (67).
3. The artificial intelligence toy assembling manipulator of claim 1, wherein the tray holding frame (7) comprises a supporting plate (71), a clamping plate (73), a clamping plate telescopic rod (74), a second gear (77) and a tray holding motor (78), the supporting plate (71) is a flat rectangle, two ends of the supporting plate (71) are both provided with grooves, two side walls of the inner side of each groove are provided with sliding grooves (72), the clamping plate (73) is vertically installed in the grooves at the two ends of the supporting plate (71) through the sliding grooves (72), the lower end of the supporting plate (71) is connected with the supporting plate telescopic rod (75), the supporting plate telescopic rod (75) is fixed on the workbench (3) through a bearing, the lower end of the supporting plate (75) penetrates through the workbench (3) and extends below the lower end face of the workbench (3), one end of the supporting plate telescopic rod (75) extending below the lower end face of the workbench (3) is provided with a first gear (76), the tray clamping motor (78) is embedded in the lower end face of the workbench (3), an output shaft of the tray clamping motor (78) penetrates through the lower end face of the workbench (3) and extends to the outside, the second gear (77) is arranged on the output shaft of the tray clamping motor (78), one end of the clamping plate telescopic rod (74) is connected to the lower end face of the clamping plate (73), and the other end of the clamping plate telescopic rod (74) is fixed on the supporting plate telescopic rod (75);
the second gear (77) is meshed with the first gear (76).
4. An artificial intelligence toy building manipulator according to claim 1, characterized in that the threaded turning rod (13) comprises a first turning rod (131), a second turning rod (132), the first turning rod (131) and the second turning rod (132) are arranged between the support rods (1), and the first turning rod (131) is arranged at the lower end of the second turning rod (132).
5. The artificial intelligence toy assembling robot of claim 1, the transmission mechanism (2) comprises a transmission motor (22), a first transmission gear (23), a first belt pulley (24), a second transmission gear (26) and a second belt pulley (27), the transmission motor (22) is fixed on the lower end surface of the workbench (3) through a transmission motor fixing frame (21), the first transmission gear (23) is arranged on an output shaft of the transmission motor (22), the second transmission gear (26) is arranged at one end of the first rotating rod (131), the first belt pulley (24) is arranged at the other end of the first rotating rod (131), the second belt pulley (27) is arranged at one end of the second rotating rod (132), the first transmission gear (23) is connected with the second transmission gear (26) through a transmission chain (25), the first belt pulley (24) is connected with the second belt pulley (27) through a belt (28).
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| CN201910408293.XA CN109940363B (en) | 2019-05-16 | 2019-05-16 | Artificial intelligence toy kludge manipulator |
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| CN109940363B true CN109940363B (en) | 2020-08-28 |
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| CN113358338B (en) * | 2021-06-03 | 2022-06-24 | 深圳海关玩具检测技术中心 | Automatic assembly detection device for toy accessory screw |
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| FR2701228B1 (en) * | 1993-02-08 | 1995-04-07 | Thibaut Sa | Machine for milling, drilling, facing, molding and polishing stones or similar material. |
| CN105538077A (en) * | 2015-12-15 | 2016-05-04 | 嵊州市古艺木雕装饰有限公司 | Polishing device for wooden decorative board |
| CN206750920U (en) * | 2017-04-05 | 2017-12-15 | 山东盛达联创环保工程有限公司 | A kind of sanitary equipment filter assembly system |
| CN207255998U (en) * | 2017-09-20 | 2018-04-20 | 福建拓邦机械制造有限公司 | A kind of grinding machine workpiece support device |
| CN107553092B (en) * | 2017-09-21 | 2019-06-28 | 深圳市长盈精密技术股份有限公司 | Rubber ring assembling device |
| CN208409327U (en) * | 2018-05-04 | 2019-01-22 | 沈阳格泰克机械设备制造有限公司 | A kind of embedded mechanical automation device of multi-angle |
| CN208557585U (en) * | 2018-08-09 | 2019-03-01 | 湖南化工职业技术学院（湖南工业高级技工学校） | A kind of assembling fixture and manipulator |
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