CN110202466B - Automatic industrial robot of laminating - Google Patents
Automatic industrial robot of laminating Download PDFInfo
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- CN110202466B CN110202466B CN201910500692.9A CN201910500692A CN110202466B CN 110202466 B CN110202466 B CN 110202466B CN 201910500692 A CN201910500692 A CN 201910500692A CN 110202466 B CN110202466 B CN 110202466B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of material laminating, in particular to an automatic laminating industrial robot, which comprises a right-angle manipulator platform, a six-axis robot glue dispensing platform, a six-axis robot polishing platform and a carrier conveying line, wherein the head end of the six-axis robot glue dispensing platform is fixedly connected to the tail end of the right-angle manipulator platform, the head end of the six-axis robot polishing platform is fixedly connected to the tail end of the six-axis robot glue dispensing platform, and the bottom of the carrier conveying line is fixedly connected to the middle of the tops of the right-angle manipulator platform, the six-axis robot glue dispensing platform and the six-axis robot polishing platform. The automatic material feeding and polishing machine realizes the functions of grabbing, polishing, dispensing, automatic screwing and the like of materials, saves a large amount of labor, improves the production efficiency, greatly improves the quality, simplifies the dispensing and polishing processes by adopting a large amount of automatic equipment, reduces the labor intensity, enables each process in production to be tightly combined, and greatly improves the intelligent degree of the whole equipment.
Description
Technical Field
The invention relates to the technical field of material laminating, in particular to an automatic laminating industrial robot.
Background
Dispensing is a process, also called glue applying, glue spreading, glue pouring, glue dripping and the like, and is to apply, fill and drip electronic glue, oil or other liquid on a product, so that the product has the functions of pasting, filling and sealing, insulating, fixing, surface smoothing and the like.
At present, the materials are generally manually switched when being dispensed, the intelligent degree is low, the operation is too complex, the materials are inconvenient to use by people, the labor intensity is high, the production environment is severe, the production efficiency is very low, and the quality cannot be controlled.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an automatic laminating industrial robot, which has the advantage of automatic operation and solves the problems that the materials are generally manually switched when being subjected to glue dispensing, the intelligent degree is low, the operation is too complex, the use by personnel is inconvenient, the labor intensity is high, the production environment is severe, the production efficiency is very low, and meanwhile, the quality cannot be controlled by any method.
(II) technical scheme
In order to achieve the technical problem, the invention provides an industrial robot capable of automatically laminating, which comprises a right-angle manipulator platform, a six-axis robot glue dispensing platform, a six-axis robot polishing platform and a carrier conveying line, wherein the head end of the six-axis robot glue dispensing platform is fixedly connected to the tail end of the right-angle manipulator platform, the head end of the six-axis robot polishing platform is fixedly connected to the tail end of the six-axis robot glue dispensing platform, and the bottom of the carrier conveying line is fixedly connected to the middle of the tops of the right-angle manipulator platform, the six-axis robot glue dispensing platform and the six-axis robot polishing platform.
Further, the right angle manipulator platform places platform, the smart positioning mechanism of first frock and snatchs the workstation including right angle manipulator, first industry camera, product, the left side fixed connection of carrier transfer chain bottom is at the middle part of snatching the workstation top, right angle manipulator fixed connection is in the upper right side of snatching the workstation top, first industry camera fixed connection is on right angle manipulator, the product is placed a fixed connection and is in the middle part of snatching the workstation top, and the product is placed the platform and is located the left below of carrier transfer chain, the smart positioning mechanism fixed connection of first frock is in the right side below of snatching the workstation top.
Further, platform is glued to six robots is including first six robots, second industry camera, pushing hands, the smart positioning mechanism of second frock and gluey workstation, the middle part fixed connection of carrier transfer chain bottom is at the middle part of gluey workstation top, the middle part at gluey workstation top is glued to first six robots fixed connection, and first six robots are located the top at carrier transfer chain middle part, the equal fixed connection of second industry camera and pushing hands is on the manipulator of first six robots, the right side at gluey workstation top middle part is glued to the smart positioning mechanism fixed connection of second frock.
Further, six robot polishing platforms including the six robots of second, automatic polishing module, product unloader and polishing workstation, the right side fixed connection of carrier transfer chain bottom is at the middle part at polishing workstation top, the six robot fixed connection of second is at the middle part at polishing workstation top, and the six robots of second are located the top at carrier transfer chain middle part, automatic polishing module fixed connection is in the upper left side at polishing workstation top, product unloader fixed connection is on the right side at polishing workstation top middle part.
Furthermore, the product blanking device is located at the tail end of the carrier conveying line, and the carrier conveying line and the product blanking device are located on the same horizontal line.
Furthermore, the bottom of the grabbing workbench, the bottom of the dispensing workbench and the bottom of the polishing workbench are fixedly connected with an electric cabinet, and the left lower corners of the tops of the grabbing workbench, the dispensing workbench and the polishing workbench are fixedly connected with three control panels.
Further, the top fixedly connected with intelligence touch-sensitive screen on six robots polishing platform right side, intelligence touch-sensitive screen is respectively with three control panel electricity is connected, it is three control panel is connected with carrier transfer chain, right angle manipulator, first industry camera, first six robots, second industry camera, pushing hands, the six robots of second, automatic polishing module and product unloader electricity respectively.
Further, the total length of right angle manipulator platform, six robot point gluey platforms and six robot polishing platforms is mm, right angle manipulator platform, six robot point gluey platforms and six robot polishing platforms highly be 1800mm, right angle manipulator platform, six robot point gluey platforms and six robot polishing platforms's width is 1363 mm.
(III) advantageous effects
The invention provides an automatic laminating industrial robot, which has the following beneficial effects:
1. the automatic laminating industrial robot has the advantages that through the matched use of the right-angle manipulator platform, the six-axis robot glue dispensing platform and the six-axis robot polishing platform, the right-angle manipulator platform finishes material identification and grabbing, the right-angle manipulator platform is grabbed to a carrier from a material placing platform and identified by adopting the first industrial camera, the six-axis robot glue dispensing platform can be used for carrying an automatic glue supply system or an automatic nail feeding system to finish demonstration functions of glue dispensing, automatic screw driving and the like, can grab, laminate and assemble, is high in adjustability and freedom degree, the six-axis robot polishing platform utilizes six freedom degree spaces of the second six-axis robot to realize the functions of grabbing, polishing, complex space multidimensional movement and the like of materials, the adjustability and freedom degree are highest, industrial visual software can be carried to enable equipment to realize intelligent automatic production, a large amount of labor is saved in the operation, and the production efficiency is improved, meanwhile, the quality is greatly improved, a large amount of automatic equipment is adopted, the glue dispensing and polishing processes are simplified, the labor intensity is reduced, each process of production can be tightly combined, and the production line type production is achieved.
2. This automatic industrial robot of laminating through the setting of carrier transfer chain, carrier transfer chain mainly accomplishes and carries the carrier to the rear end from the front end, and every arrives a station and all keeps off the carrier and stop and fix a position, accomplishes and puts next work station after the process function requires again, easy operation facilitates the use, has improved the intelligent degree of whole equipment greatly, has improved work efficiency simultaneously.
3. This automatic industrial robot of laminating, through the setting of six robots point platform of gluing, the second industrial camera shoots the material earlier, acquires the concrete position of material, and first six robots can carry on automatic system of sending glue and accomplish automatic point and glue, can realize that the circular interpolation is various special-shaped to glue, also can carry on the electric batch and realize functions such as automatic lock screw.
4. This automatic industrial robot of laminating, through the setting of six robot polishing platforms, utilize six degree of freedom spaces of second six robots, realize the material snatch, functions such as polishing, the space multidimension degree motion of complicacy, controllability and degree of freedom are highest, carry on industrial vision software and can make equipment realize intelligent automated production.
Drawings
FIG. 1 is a top view of the structure of the present invention;
FIG. 2 is a front view of the present invention;
fig. 3 is a right side view of the inventive structure.
In the figure: 1 right angle manipulator platform, the platform is glued to six axis robot point, 3 six axis robot polishing platform, 4 carrier transfer chains, 5 right angle manipulators, 6 first industry cameras, 7 platforms are placed to the product, 8 first frock fine positioning mechanism, 9 first six axis robot, 10 second industry cameras, 11 pushing hands, 12 second frock fine positioning mechanism, 13 six axis robot of second, 14 automatic polishing module, 15 product unloader, 16 control panel, 17 intelligent touch-sensitive screen, 18 snatch the workstation, 19 gluey workstations, 20 polishing workstations, 21 electric cabinets.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an automatic laminating industrial robot comprises a right-angle manipulator platform 1, a six-axis robot dispensing platform 2, a six-axis robot polishing platform 3 and a carrier conveying line 4, wherein the head end of the six-axis robot dispensing platform 2 is fixedly connected to the tail end of the right-angle manipulator platform 1, the head end of the six-axis robot polishing platform 3 is fixedly connected to the tail end of the six-axis robot dispensing platform 2, the bottom of the carrier conveying line 4 is fixedly connected to the right-angle manipulator platform 1, the six-axis robot dispensing platform 2 and the middle of the top of the six-axis robot polishing platform 3, the carrier conveying line 4 mainly conveys carriers from the front end to the rear end through the arrangement of the carrier conveying line 4, stops and positions the carriers from each station, and then moves to the next station after the functional requirements of the processes are met, the operation is simple, the use is convenient, and the intelligence degree of the whole equipment is greatly improved, meanwhile, the working efficiency is improved, the right-angle manipulator platform 1, the six-axis robot dispensing platform 2 and the six-axis robot polishing platform 3 are matched for use, the right-angle manipulator platform 1 finishes material identification and grabbing, the materials are grabbed from the material placing platform to the carrier, the first industrial camera 6 is adopted for identification, the six-axis robot dispensing platform 2 can be carried by an automatic glue supply system or an automatic nail feeding system to finish demonstration functions of dispensing, automatic screwing and the like, the grabbing, laminating and assembling can be realized, the adjustability and the freedom degree are high, the six-axis robot polishing platform 3 utilizes six-freedom-degree spaces of the second six-axis robot 13 to realize the functions of grabbing, polishing, complex space multi-dimensional motion and the like of the materials, the adjustability and the freedom degree are highest, the carrying industrial vision software can enable the equipment to realize intelligent automatic production, and a large amount of labor is saved in the operation, the production efficiency is improved, the quality is greatly improved, a large amount of automatic equipment is adopted, the glue dispensing and polishing processes are simplified, the labor intensity is reduced, each process of production can be tightly combined, and the production line type production is achieved.
Right angle manipulator platform 1 is including right angle manipulator 5, first industry camera 6, platform 7 is placed to the product, first frock fine positioning mechanism 8 and snatch workstation 18, the left side fixed connection of 4 bottoms of carrier transfer chain is at the middle part of snatching workstation 18 tops, 5 fixed connection of right angle manipulator is in the upper right side of snatching workstation 18 tops, 6 fixed connection of first industry camera are on right angle manipulator 5, platform 7 fixed connection is placed at the middle part of snatching workstation 18 tops to the product, and platform 7 is placed to the product is located the left below of carrier transfer chain 4, 8 fixed connection of first frock fine positioning mechanism is in the right side below of snatching workstation 18 tops.
The six-axis robot glue dispensing platform 2 comprises a first six-axis robot 9, a second industrial camera 10, a pushing hand 11, a second tooling fine positioning mechanism 12 and a glue dispensing workbench 19, the middle part of the bottom of a carrier conveying line 4 is fixedly connected with the middle part of the top of the glue dispensing workbench 19, the first six-axis robot 9 is positioned above the middle part of the carrier conveying line 4, the second industrial camera 10 and the pushing hand 11 are both fixedly connected with a manipulator of the first six-axis robot 9, the second tooling fine positioning mechanism 12 is fixedly connected with the right side of the middle part of the top of the glue dispensing workbench 19, through the arrangement of the six-axis robot glue dispensing platform 2, the second industrial camera 10 takes pictures the materials firstly to obtain the specific positions of the materials, the first six-axis robot 9 can carry an automatic glue feeding system to complete automatic glue dispensing, and can realize various glue dispensing of circular interpolation, and the screwdriver can be carried to realize the functions of automatic screw locking and the like.
The six-axis robot polishing platform 3 comprises a second six-axis robot 13, an automatic polishing module 14, a product blanking device 15 and a polishing workbench 20, the right side of the bottom of a carrier conveying line 4 is fixedly connected to the middle of the top of the polishing workbench 20, the second six-axis robot 13 is fixedly connected to the middle of the top of the polishing workbench 20, the types of the first six-axis robot 9 and the second six-axis robot 13 are IRB120, the maximum working strokes of the six-axis robot 9 and the second six-axis robot 13 are 411mm, the picking distance below the bases of the first six-axis robot 9 and the second six-axis robot 13 is 112mm, the first six-axis robot 9 and the second six-axis robot 13 are researched on the basis of a swing cross bar type conveying mechanism, the six-axis robot polishing platform has good product flexibility and high production efficiency, the first six-axis robot 9 and the second six-axis robot 13 are provided with a plurality of freedom degree adjusting devices, can satisfy the requirement of a plurality of stations, and simultaneously, the transportation is stable, and is fast, production beat and production efficiency have been improved, and second six axis robot 13 is located the top at 4 middle parts of carrier transfer chain, automatic 14 fixed connection in the upper left side at polishing workstation 20 top of polishing module, 15 fixed connection on the right side at polishing workstation 20 top middle parts of product unloader, 15 tail ends at carrier transfer chain 4 that are located of product unloader, and carrier transfer chain 4 is located same water flat line with product unloader 15, through the setting of six axis robot polishing platform 3, utilize six degree of freedom spaces of second six axis robot 13, realize snatching the material, the polishing, functions such as complicated space multidimension degree motion, controllability and the degree of freedom are the highest, industrial vision software can make equipment realize intelligent automated production.
Snatch workstation 18, the equal fixedly connected with electric cabinet 21 in bottom of dispensing workstation 19 and polishing workstation 20, snatch workstation 18, the equal three control panel 16 of the lower left corner of dispensing workstation 19 and polishing workstation 20 top, the top fixedly connected with intelligence touch-sensitive screen 17 on 3 right sides of six-axis robot polishing platform, intelligence touch-sensitive screen 17 is connected with three control panel 16 electricity respectively, three control panel 16 respectively with carrier transfer chain 4, right angle manipulator 5, first industry camera 6, first six-axis robot 9, second industry camera 10, pushing hands 11, second six-axis robot 13, automatic polishing module 14 and product unloader 15 electricity are connected.
The total length of the right-angle manipulator platform 1, the six-axis robot dispensing platform 2 and the six-axis robot polishing platform 3 is 5000mm, the height of the right-angle manipulator platform 1, the six-axis robot dispensing platform 2 and the six-axis robot polishing platform 3 is 1800mm, and the width of the right-angle manipulator platform 1, the six-axis robot dispensing platform 2 and the six-axis robot polishing platform 3 is 1363 mm.
The equipment capacity of the automatic laminating industrial robot is 100-200 tools/H, the conveying height is 1000mm +/-15, and the power supply is single-phase 220V; 50Hz, the humidity requirement is less than 80 percent, and the power supply grid requirement is 220V; 50Hz/60Hz, power supply grid fluctuation is +/-15%, a grid ground wire meets the international requirement, an electronic automatic voltage stabilizing and current stabilizing device is additionally arranged in an area with voltage amplitude of more than 15%, strong electromagnetic signal interference does not exist nearby installation equipment, a radio transmitting station is avoided around the installation site, the ground amplitude is smaller than 50um, the vibration acceleration is smaller than 0.05g, a large number of machine tool equipment such as stamping equipment is avoided nearby, the equipment space requirement is to ensure no smoke and dust, the serious working environment of dust such as metal polishing and grinding is avoided, and the air source requirement is 0.6 +/-0.1 MPa.
The automatic laminating industrial robot is used for material dispensing and laminating in a factory, when materials are dispensed and laminated, materials in specific shapes are grabbed from a material placing platform to enter a carrier conveying line 4 through a right-angle manipulator 5, the appearance characteristics of the products are identified through photographing of a first industrial camera 6, the round materials are placed in a round pit of a carrier on the carrier conveying line 4 after identification, the triangular materials are placed in the triangular pits on the carrier conveying line 4 and conveyed into a six-axis robot dispensing platform 2, the six-axis robot dispensing platform 2 can carry an automatic glue supply system or an automatic nail conveying system, the dispensing, the automatic screwing and other demonstration functions are completed through a first six-axis robot 9, the materials can be grabbed, laminated and assembled, then the materials are conveyed into a six-axis robot polishing platform 3 through the carrier conveying line 4, and the six-degree-of-freedom space of a second six-axis robot 13 is utilized, the functions of grabbing and polishing materials, complex space multi-dimensional motion and the like are achieved, and intelligent automatic production of the equipment can be achieved by carrying industrial vision software.
It should be noted that the carrier conveying line 4, the right-angle manipulator 5, the first industrial camera 6, the product placing table 7, the first tool fine positioning mechanism 8, the first six-axis robot 9, the second industrial camera 10, the pushing hand 11, the second tool fine positioning mechanism 12, the second six-axis robot 13, the automatic polishing module 14, the product blanking device 15, the control panel 16, the intelligent touch screen 17, the grabbing workbench 18, the dispensing workbench 19, the polishing workbench 20 and the electric control box 21, which appear in this document, are all existing devices in the market maturity, for this reason, the present invention is not described in detail, and relational terms such as first and second, etc., are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides an automatic industrial robot of laminating, includes right angle manipulator platform (1), six robot point and glues platform (2), six robot polishing platform (3) and carrier transfer chain (4), its characterized in that: the head end of the six-axis robot dispensing platform (2) is fixedly connected to the tail end of the right-angle manipulator platform (1), the head end of the six-axis robot polishing platform (3) is fixedly connected to the tail end of the six-axis robot dispensing platform (2), and the bottom of the carrier conveying line (4) is fixedly connected to the middle of the tops of the right-angle manipulator platform (1), the six-axis robot dispensing platform (2) and the six-axis robot polishing platform (3);
the right-angle manipulator platform (1) comprises a right-angle manipulator (5), a first industrial camera (6), a product placing table (7), a first tool fine positioning mechanism (8) and a grabbing workbench (18), the left side of the bottom of the carrier conveying line (4) is fixedly connected to the middle of the top of the grabbing workbench (18), the right-angle manipulator (5) is fixedly connected to the upper right of the top of the grabbing workbench (18), the first industrial camera (6) is fixedly connected to the right-angle manipulator (5), the product placing table (7) is fixedly connected to the middle of the top of the grabbing workbench (18), the product placing table (7) is located below the left side of the carrier conveying line (4), and the first tool fine positioning mechanism (8) is fixedly connected to the lower right of the top of the grabbing workbench (18);
the six-axis robot dispensing platform (2) comprises a first six-axis robot (9), a second industrial camera (10), a pushing hand (11), a second tool fine positioning mechanism (12) and a dispensing workbench (19), the middle of the bottom of the carrier conveying line (4) is fixedly connected to the middle of the top of the dispensing workbench (19), the first six-axis robot (9) is located above the middle of the carrier conveying line (4), the second industrial camera (10) and the pushing hand (11) are fixedly connected to a manipulator of the first six-axis robot (9), and the second tool fine positioning mechanism (12) is fixedly connected to the right side of the middle of the top of the dispensing workbench (19); the polishing platform (3) comprises a second six-axis robot (13), an automatic polishing module (14), a product blanking device (15) and a polishing workbench (20), the right side of the bottom of the carrier conveying line (4) is fixedly connected to the middle of the top of the polishing workbench (20), the second six-axis robot (13) is located above the middle of the carrier conveying line (4), the automatic polishing module (14) is fixedly connected to the upper left of the top of the polishing workbench (20), and the product blanking device (15) is fixedly connected to the right side of the middle of the top of the polishing workbench (20); the product blanking device (15) is located at the tail end of the carrier conveying line (4), and the carrier conveying line (4) and the product blanking device (15) are located on the same horizontal line.
2. An automatically conforming industrial robot according to claim 1 wherein: the equal fixedly connected with electric cabinet (21) in bottom of snatching workstation (18), point and glue workstation (19) and polishing workstation (20), snatch workstation (18), point and glue workstation (19) and polish three control panel (16) of the equal fixedly connected with in the lower left corner at workstation (20) top.
3. An automatically conforming industrial robot according to claim 2 wherein: six robot polishing platform (3) right side's top fixedly connected with intelligence touch-sensitive screen (17), intelligence touch-sensitive screen (17) respectively with three control panel (16) electricity is connected, it is three control panel (16) are connected with carrier transfer chain (4), right angle manipulator (5), first industry camera (6), first six robots (9), second industry camera (10), pushing hands (11), the six robots of second (13), automatic polishing module (14) and product unloader (15) electricity respectively.
4. An automatically conforming industrial robot according to claim 1 wherein: platform (2) and six robot polishing platform (3) are glued to right angle manipulator platform (1), six robots 'total length is 5000mm, right angle manipulator platform (1), six robot glue platform (2) and six robot polishing platform (3) highly be 1800mm, right angle manipulator platform (1), six robot glue platform (2) and six robot polishing platform (3)'s width is 1363 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910500692.9A CN110202466B (en) | 2019-06-11 | 2019-06-11 | Automatic industrial robot of laminating |
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| CN201910500692.9A CN110202466B (en) | 2019-06-11 | 2019-06-11 | Automatic industrial robot of laminating |
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| CN110202466B true CN110202466B (en) | 2021-08-24 |
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| US9751641B2 (en) * | 2015-05-07 | 2017-09-05 | The Boeing Company | Automated index pin locking apparatus |
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| CN203734839U (en) * | 2013-12-23 | 2014-07-23 | 惠州市三协精密有限公司 | Loudspeaker assembly line |
| CN204093669U (en) * | 2014-07-15 | 2015-01-14 | 深圳市旭通自动化科技有限公司 | Full-automatic spot gluing pressing line |
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| CN110202466A (en) | 2019-09-06 |
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