CN207013987U - The robot assisted of dental care products automatically assembles outfit - Google Patents

Abstract

The automated production equipment of toothbrush is the utility model is related to, more specifically to a kind of automated assembling equipment for electric toothbrush.The robot assisted of dental care products automatically assembles outfit, including：Including：For realizing rotating disk mechanism, 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 of station conversion；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is fixed on the workbench, and the sealing ring installing mechanism and the dynamic frock match.The robot assisted of the utility model dental care products automatically assembles outfit, toothbrush handle moves to different stations with rotating disk mechanism after being connected in dynamic frock, automatic precision adjustment and positioning can be done to the posture of sealing ring, realize the accurate assembling of sealing ring, the toothbrush handle completed using machine vision to assembling is detected, and improves the product quality and production efficiency of electric toothbrush.

Description

The robot assisted of dental care products automatically assembles outfit

Technical field

The automated production equipment of toothbrush is the utility model is related to, more specifically to a kind of for electric toothbrush Automated assembling equipment.

Background technology

Toothbrush is huge as daily living article, consumption.With the lifting of living standard, electric toothbrush is also gradually general And electric toothbrush, as electromechanical integrated product, complicated, parts are numerous, to realize the automated production of electric toothbrush, Need corresponding automated arm.

Utility model content

The purpose of this utility model be the provision of a kind of robot assisted of dental care products automatically assemble it is complete Equipment, in the Automated assembly production of electric toothbrush, after toothbrush handle is installed in dynamic frock, sealing ring is assemblied in tooth The sealing ring mounting surface of brush holder end.The robot assisted of the utility model dental care products automatically assembles outfit, Toothbrush handle moves to different stations with rotating disk mechanism after being connected in dynamic frock, and the posture of sealing ring can be automated Precision adjustment and positioning, realize the accurate assembling of sealing ring, and the toothbrush handle completed using machine vision to assembling is detected, Improve the product quality and production efficiency of electric toothbrush.

A kind of robot assisted of dental care products automatically assembles outfit, 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；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is consolidated It is connected in the workbench, the sealing ring installing mechanism and the dynamic frock match；

The sealing ring installing mechanism includes：For moving the transfer robot of the sealing ring, described close for supporting The revolution feeding machanism of seal, the portable vision-based detection mechanism for being detected to the confined state of the sealing ring, institute State revolution feeding machanism and be fixed on the workbench, the transfer robot is described positioned at the top of the revolution feeding machanism Portable vision-based detection mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X-axis hand Arm, Y-axis arm, Z axis arm, vacuum type wrist, the robot support are fixed on the workbench, and the X-axis arm is connected In the robot support, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis arm, institute Vacuum type wrist is stated to be fixed on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist motor, shaft coupling, Wrist brace, wrist sucker, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z axis and slided Platform, the gyroaxis are movably connected on the wrist brace by the upper bearing (metal), and the output shaft of the wrist motor passes through institute State shaft coupling and be fixed on the gyroaxis, the wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker and institute State sealing ring to match, the vacuum passage is provided with the gyroaxis, is provided with the wrist sucker and the vacuum The vacuum port that passage is connected, the vacuum passage are connected to vavuum pump.

Preferably, the revolution feeding machanism includes：Bedplate, lower bearing, it is 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 to match 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 disk machine Structure, the rotary type material platform are movably connected on the clamp body, and the position-limited wheel, gear are into coaxially arranged, the position-limited wheel, tooth Wheel is affixed to the rotary type material platform；The bolt block is movably connected on the clamp body, be provided with the position-limited wheel and No.1 breach that the bolt block matches, No. two breach, the bottom of the bolt block is provided with latch back-moving spring；It is described multiple Position seat is connected on the rotating disk mechanism, and the rack slide unit is movably connected on the reset seat, in the rack slide unit and reset Tooth bar resets spring is provided between seat, the rack guide pad is fixed on the clamp body, and the rack is movably connected on institute Rack guide pad is stated, 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 in the installation of 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 robot assisted of the utility model dental care products automatically assembles outfit tool There are following positive role and beneficial effect：

The robot assisted of the utility model dental care products automatically assembles outfit, mainly includes：Disk machine Structure, workbench, dynamic frock, sealing ring installing mechanism；The dynamic frock is fixed on the rotating disk mechanism, the rotating disk mechanism The dynamic frock is operated to different stations, the sealing ring installing mechanism and is fixed on the workbench, the sealing ring Installing mechanism and the dynamic frock match, and the sealing ring installing mechanism is used to the sealing ring being assemblied in the sealing Enclose 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, from it is described revolution feeding machanism on will described in Sealing ring grabs the sealing ring mounting surface, so that the concave edge phase of the flange of the sealing ring mounting surface and the sealing ring Match somebody with somebody, the assembling quality that the portable vision-based detection mechanism is used for the sealing ring detects, to ensure to reach reliable Assembling.

Next describe the sealing ring installing mechanism and turn round the course of work and operation principle of feeding machanism：

The revolution feeding machanism is fixed on the workbench, and the sealing ring is placed on the revolution feeding machanism, institute Transfer robot is stated positioned at the top of the revolution feeding machanism, 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 are 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 axles arm, Z axis Arm arranges that the vacuum type wrist is fixed on the Z axis arm, therefore the transfer robot has into posture perpendicular to each other Standby 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 are 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.The vacuum passage is provided with the gyroaxis, is provided with the wrist sucker and the vacuum passage The vacuum port being connected, the vacuum passage are connected to vavuum pump.The bottom of the wrist sucker be provided with it is described close The appearance profile that seal matches.After the wrist sucker is pressed on the sealing ring, 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 to match 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.Described in the transfer robot driving Sealing ring rotates, and forms 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 and pacified On dress face.Because the sealing ring has already passed through correction so that the flange and concave edge are in the posture matched, so as to reach essence Close assembling.

Finally detected by assembling quality of the portable vision-based detection mechanism to the sealing ring, to ensure to assemble Quality.

Next the course of work and operation principle of the dynamic frock are 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 rotating disk mechanism, and the rotary type material platform activity is even It is connected to the clamp body, into coaxially arranged, the position-limited wheel, gear are affixed to the rotary type material for the position-limited wheel, gear Platform, the gear can drive the rotary type material platform to rotate.The rack guide pad is fixed on the clamp body, the rack The rack guide pad is movably connected on, the bottom of the rack is fixed on the rack slide unit, and the gear is mutually nibbled with rack Close.The bolt block is movably connected on the clamp body, and the No.1 to match with the bolt block is provided with the position-limited wheel Breach, No. two breach, the bottom of the bolt block are provided with latch back-moving spring.

The bolt block has the trend moved to the position-limited wheel under the promotion of the latch back-moving spring.If The bolt block is inserted into the No.1 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 the No.1 breach and No. two breach, institute Stating rotary type material platform has the state freely rotated.

The bolt block is set to depart from the No.1 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 is changed into horizontal attitude angle from vertical attitude angle.Needing will The bolt block departs from the position-limited wheel, and the rack moves 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 rotates 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 State and the No.1 breach is automatically inserted under the driving of 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.

Brief description of the drawings

Fig. 1 is that the robot assisted of the utility model dental care products automatically assembles the structural representation of outfit Figure；

Fig. 2,3,4 are that the robot assisted of the utility model dental care products automatically assembles the sealing ring of outfit The structural representation of installing mechanism；

Fig. 5 is that the robot assisted of the utility model dental care products automatically assembles the transfer robot of outfit Structural representation；

Fig. 6,7 are that the robot assisted of the utility model dental care products automatically assembles the dynamic frock of outfit Structural representation；

Fig. 8 is that the robot assisted of the utility model dental care products automatically assembles the dynamic frock of outfit and existed Dismantle the structural representation after gear.

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, 22 No.1 breach, 23 No. two breach, 24 toothbrush handles, 45 sealing ring installing mechanisms, 46 transfer robots, 47 revolutions Feeding machanism, 48 portable vision-based detection mechanisms, 49 robot supports, 50X axles arm, 51Y axles arm, 52Z axles arm, 53 Vacuum type wrist, 54Z axles slide unit, 55 wrist motors, 56 shaft couplings, 57 wrist braces, 58 wrist suckers, 59 upper bearing (metal)s, 60 times Rotating shaft, 61 vacuum passages, 62 vacuum ports, 63 bedplates, 64 lower bearings, 65 servo-actuated pallets, 66 are with moving mandrel, 67 Fibre Optical Sensors Device, 68 vision slide units, 69 industrial cameras, 70 sealing ring mounting surfaces, 71 flanges, 72 sealing rings, 73 concave edges, 74 breach.

Embodiment

The utility model is described in further detail below in conjunction with accompanying drawing, but not formed to of the present utility model What is limited, and similar element numbers represent similar element in accompanying drawing.As described above, to provide a kind of oral cavity clear for the utility model The robot assisted of clean articles for use automatically assembles outfit, and in the Automated assembly production of electric toothbrush, toothbrush handle is pacified After in dynamic frock, sealing ring is assemblied in the sealing ring mounting surface of toothbrush handle end.The utility model oral cleaning is used The robot assisted of product automatically assembles outfit, and toothbrush handle with rotating disk mechanism moves to difference after being connected in dynamic frock Station, the posture of sealing ring can be done automatic precision adjustment and positioning, realize the accurate assembling of sealing ring, utilize machine The toothbrush handle that device vision is completed to assembling detects, and improves the product quality and production efficiency of electric toothbrush.

Fig. 1 is that the robot assisted of the utility model dental care products automatically assembles the structural representation of outfit Figure, Fig. 2,3,4 are that the robot assisted of the utility model dental care products automatically assembles the sealing ring installation of outfit The structural representation of mechanism, Fig. 5 are that the robot assisted of the utility model dental care products automatically assembles outfit The structural representation of transfer robot, Fig. 6,7 are that the robot assisteds of the utility model dental care products is automatically assembled into The structural representation of the dynamic frock of equipment is covered, Fig. 8 is that the robot assisted of the utility model dental care products automatically fills Structural representation of the dynamic frock after gear of dismantling with outfit.

A kind of robot assisted of dental care products automatically assembles outfit, including：For realizing that station is changed Rotating disk mechanism 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；The dynamic frock 6 is fixed on the rotating disk mechanism 2, the sealing Circle installing mechanism 45 is fixed on the workbench 1, and the sealing ring installing mechanism 45 and the dynamic frock 6 match；

The sealing ring installing mechanism 45 includes：For moving the transfer robot 46 of the sealing ring 72, for supporting The revolution feeding machanism 47 of the sealing ring 72, the portable vision for being detected to the confined state of the sealing ring 72 Testing agency 48, the revolution feeding machanism 47 are fixed on the workbench 1, and the transfer robot 46 supplies positioned at the revolution Expect the top of mechanism 47, the portable vision-based detection mechanism 48 is located at the top of the dynamic frock 6；The transfer robot 46 include：Robot support 49, X axles arm 50, Y-axis arm 51, Z axis arm 52, vacuum type wrist 53, the robot branch Frame 49 is fixed on the workbench 1, and the X-axis arm 50 is fixed on the robot support 49, and the Y-axis arm 51 is connected In the X-axis arm 50, the Z axis arm 52 is fixed on the Y-axis arm 51, and the vacuum type wrist 53 is fixed on the Z On the Z axis slide unit 54 of axle arm 52；The vacuum type wrist 53 includes：Wrist motor 55, shaft coupling 56, wrist brace 57, wrist Portion's sucker 58, upper bearing (metal) 59, gyroaxis 60, vacuum passage 61, vacuum port 62, the wrist brace 57 are fixed on the Z axis and slided Platform 54, the gyroaxis 60 are movably connected on the wrist brace 57 by the upper bearing (metal) 59, the wrist motor 55 it is defeated 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, institute are provided with the gyroaxis 60 The vacuum port 62 for being provided with wrist sucker 58 and being connected with the vacuum passage 61 is stated, the vacuum passage 61 is connected to Vavuum pump.

More specifically, the revolution feeding machanism 47 includes：Bedplate 63, lower bearing 64, servo-actuated pallet 65, servo-actuated core Axle 66, fibre optical sensor 67, it is workbench 1 that the bedplate 63, which is fixed on, and the servo-actuated pallet 65 passes through the lower bearing 64 The bedplate 63 is movably connected on, is fixed on the servo-actuated pallet 65 with moving mandrel 66, the fibre optical sensor 67 is fixed on The bedplate 63, the breach 74 to match 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 rotating disk mechanism 2, and the rotary type material platform 12 is movably connected on the clamp body 11, the limit Into coaxially arranged, the position-limited wheel 13, gear 14 are affixed to the rotary type material platform 12 for position wheel 13, gear 14；The latch Block 20 is movably connected on the clamp body 11, and the No.1 to match with the bolt block 20 is provided with the position-limited wheel 13 and is lacked 22, No. two breach 23 of mouth, the bottom of the bolt block 20 is provided with latch back-moving spring 21；The reset seat 19 is connected described turn On disc mechanism 2, the rack slide unit 17 is movably connected on the reset seat 19, between the rack slide unit 17 and reset seat 19 Tooth bar resets spring 18 is provided with, the rack guide pad 16 is fixed on the clamp body 11, and the rack 15 is movably connected on The rack guide pad 16, the bottom of the rack 15 are fixed on the rack slide unit 17, and the gear 14 is mutually nibbled with rack 15 Close.

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 Installation.

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 8, the robot assisted for further describing the utility model dental care products automatically assembles The operation principle and the course of work of outfit：

The robot assisted of the utility model dental care products automatically assembles outfit, mainly includes：Disk machine Structure 2, workbench 1, dynamic frock 6, sealing ring installing mechanism 45；The dynamic frock 6 is fixed on the rotating disk mechanism 2, described The dynamic frock 6 is operated to different stations, the sealing ring installing mechanism 45 and is fixed on the workbench by rotating disk mechanism 2 1, the sealing ring installing mechanism 45 and the dynamic frock 6 match, and the sealing ring installing mechanism 45 is used for will be described close Seal 72 is 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 describe the sealing ring installing mechanism 45 and turn round the course of work and operation principle of feeding machanism 47：

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 positioned 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 rotates, 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 72 is installed on the sealing ring mounting surface 70, the portable vision-based detection mechanism 48 is positioned 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 into posture perpendicular to each other The transfer robot 46 possesses 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, institute are provided with the gyroaxis 60 The vacuum port 62 for being provided with wrist sucker 58 and being connected with the vacuum passage 61 is stated, the vacuum passage 61 is connected to Vavuum pump.The bottom of the wrist sucker 58 is provided with the appearance profile to match with the sealing ring 72.The wrist sucker After 58 are pressed on the sealing ring 72, the vacuum port 62, in the sealing ring 72, inhales the sealing ring 72 by suction function Invest 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, described The servo-actuated pallet 65 is fixed on moving mandrel 66, it is described to match with the fibre optical sensor 67 with being provided with moving mandrel 66 Breach 74.The fibre optical sensor 67 is irradiated against the breach 74, and the photosignal of collection is analyzed.Institute Stating transfer robot 46 drives the sealing ring 72 to rotate, and a complete circle is formed after the breach 74 and the matching of concave edge 73 V notch v, the fibre optical sensor 67 are irradiated to the circumferential notch, and the fibre optical sensor 67 passes through the collection to photosignal The breach 74 and concave edge 73 can be perceived and be in matching status.Then the transfer robot 46 adsorbs described close Seal 72, then the sealing ring 72 is assemblied on the sealing ring mounting surface 70.Because the sealing ring 72 has already passed through school Just so that the flange 71 and concave edge 73 are in the posture matched, so as to reach precision assembly.

Finally the assembling quality of the sealing ring 72 is detected by the portable vision-based detection mechanism 48, to ensure Assemble quality.

Next the course of work and operation principle of the dynamic frock 6 are 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 rotating disk mechanism 2, the rotary type material Platform 12 is movably connected on the clamp body 11, and the position-limited wheel 13, gear 14 are into coaxially arranged, the position-limited wheel 13, gear 14 The rotary type material platform 12 is affixed to, the gear 14 can drive the rotary type material platform 12 to rotate.The rack is oriented to Block 16 is fixed on the clamp body 11, and the rack 15 is movably connected on the rack guide pad 16, the bottom of the rack 15 The rack slide unit 17 is fixed on, the gear 14 and rack 15 are meshed.The bolt block 20 is movably connected on the fixture Body 11,22, No. two breach 23 of No.1 breach to match with the bolt block 20, the latch are provided with the position-limited wheel 13 The bottom of block 20 is provided with latch back-moving spring 21.

The bolt block 20 has to what the position-limited wheel 13 moved under the promotion of the latch back-moving spring 21 Gesture.If the bolt block 20 is inserted into the No.1 breach 22, the rotary type material platform 12 is in the state of locking, and And the toothbrush handle 24 is in horizontal attitude；If the bolt block 20 is inserted into No. two breach 23, the rotation Formula material 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 No.1 breach 22 and No. two breach 23, then the rotary type material platform 12 is with the state freely rotated.

The bolt block 20 is set to depart from the No.1 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 inserted described Sell and be automatically inserted under the driving of back-moving spring 21 in No. two breach 23.Then, the rotary type material platform 12 is in lock Fixed state, and the toothbrush handle 24 is 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 are rotated further and are lacked until being automatically inserted into the No.1 under driving of the bolt block 20 in the latch back-moving spring 21 Mouth 22, then the rotary type material platform 12 is in the state of locking, and the toothbrush handle 24 is in horizontal attitude.

Finally it is pointed out that above example be only the utility model dental care products robot assisted it is full-automatic Assemble the more representational example of outfit.Obviously, the robot assisted of the utility model dental care products automatically fills Above-described embodiment is not limited to outfit, there can also be many deformations.Every foundation the utility model dental care products Any simply modification, the equivalent variations that the technical spirit that robot assisted automatically assembles outfit is made to above example With modification, the robot assisted for being considered as belonging to the utility model dental care products automatically assembles the protection of outfit Scope.

Claims (10)

1. a kind of robot assisted of dental care products automatically assembles outfit, it is characterised in that including：For realizing The rotating disk mechanism of station conversion, the workbench for disposing the rotating disk mechanism, the dynamic work being distributed on the rotating disk mechanism Dress, the sealing ring installing mechanism for assembling sealing ring；The dynamic frock is fixed on the rotating disk mechanism, the sealing ring peace Mounting mechanism is fixed on the workbench, and the sealing ring installing mechanism and the dynamic frock match；

The sealing ring installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting the sealing ring Revolution feeding machanism, the portable vision-based detection mechanism for being detected to the confined state of the sealing ring, described time Turn feeding machanism and be fixed on the workbench, the transfer robot is positioned at the top of the revolution feeding machanism, the movement Formula vision-based detection mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X-axis arm, Y Axle arm, Z axis arm, vacuum type wrist, the robot support are fixed on the workbench, and the X-axis arm is fixed on institute Robot support is stated, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis arm, described true Empty formula wrist is fixed on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist motor, shaft coupling, wrist Support, wrist sucker, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z axis slide unit, institute State gyroaxis and the wrist brace is movably connected on by the upper bearing (metal), the output shaft of the wrist motor passes through the shaft coupling Device is fixed on the gyroaxis, and the wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker and the sealing Circle matches, and the vacuum passage is provided with the gyroaxis, is provided with the wrist sucker and the vacuum passage phase The vacuum port of connection, the vacuum passage are connected to vavuum pump.

2. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the revolution feeding machanism includes：Bedplate, lower bearing, it is servo-actuated pallet, with moving mandrel, fibre optical sensor, the bedplate It is workbench to be fixed on, and the servo-actuated pallet is movably connected on the bedplate by the lower bearing, is fixed on moving mandrel The servo-actuated pallet, the fibre optical sensor are fixed on the bedplate, described with being provided with moving mandrel and the optical fiber passes The breach that sensor matches.

3. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the dynamic 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, rack Back-moving spring, reset seat, bolt block, latch back-moving spring, the clamp body are fixed on the rotating disk mechanism, the rotary type material Platform is movably connected on the clamp body, and into coaxially arranged, the position-limited wheel, gear are affixed to described for the position-limited wheel, gear Rotary type material platform；The bolt block is movably connected on the clamp body, is provided with the position-limited wheel and the bolt block phase No.1 breach, No. two breach matched somebody with somebody, the bottom of the bolt block is provided with latch back-moving spring；The reset seat is connected described turn On disc mechanism, the rack slide unit is movably connected on the reset seat, is set between the rack slide unit and reset seat with teeth Bar back-moving spring, the rack guide pad are fixed on the clamp body, and the rack is movably connected on the rack guide pad, institute The bottom for stating rack is fixed on the rack slide unit, and the gear and rack are meshed.

4. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the portable vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit are fixed on the robot Support, the industrial camera are located at the top of the dynamic frock.

5. the robot assisted of dental care products according to claim 4 automatically assembles outfit, its feature exists In the vision slide unit and the Y-axis arm are parallel to each other.

6. the robot assisted of dental care products according to claim 4 automatically assembles outfit, its feature exists In the resolution ratio of the industrial camera is 10,000,000 pixels.

7. the robot assisted of dental care products according to claim 3 automatically assembles outfit, its feature exists In the type of the gear is helical gear, and the type of the rack is helical rack.

8. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the type of the wrist motor is stepper motor.

9. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the type of the upper bearing (metal) is angular contact ball bearing, and the upper bearing (metal) is in the installation of back-to-back pretension.

10. the robot assisted of dental care products according to claim 1 automatically assembles outfit, its feature exists In the X-axis arm and Y-axis arm are mutually perpendicular to；The Y-axis arm and Z axis arm are mutually perpendicular to；The X-axis arm and Z axis Arm is mutually perpendicular to.