CN207087261U - The complete assembly system of industrial robot of mouth cleaner - Google Patents
The complete assembly system of industrial robot of mouth cleaner Download PDFInfo
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- CN207087261U CN207087261U CN201720862072.6U CN201720862072U CN207087261U CN 207087261 U CN207087261 U CN 207087261U CN 201720862072 U CN201720862072 U CN 201720862072U CN 207087261 U CN207087261 U CN 207087261U
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- manipulator
- rotating disk
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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 complete assembly system of industrial robot of mouth cleaner, including：For realize the rotating disk mechanism of station conversion, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, the sealing ring installing mechanism for assembling sealing ring, for the sealing ring to be grabbed into suction manipulator on the sealing ring installing mechanism from half way around stock mechanism.The complete assembly system of industrial robot of the utility model mouth cleaner, 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
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 is the provision of a kind of complete assembly system of the industrial robot of mouth cleaner, in electricity
In the Automated assembly production of dynamic toothbrush, after toothbrush handle is installed in dynamic frock, sealing ring is assemblied in toothbrush handle end
Sealing ring mounting surface.The complete assembly system of industrial robot of the utility model mouth cleaner, toothbrush handle are connected to dynamic
Different stations is moved to after in frock with rotating disk mechanism, automatic precision adjustment and positioning can be done to the posture of sealing ring,
The accurate assembling of sealing ring is realized, the toothbrush handle completed using machine vision to assembling is detected, and improves electric toothbrush
Product quality and production efficiency.
A kind of complete assembly system of the industrial robot of mouth cleaner, including：For realizing the disk machine of station conversion
Structure, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, for assembling sealing ring
Sealing ring installing mechanism, for by the sealing ring from the half way around stock mechanism on grab the sealing ring installing mechanism
On suction manipulator；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is fixed on the work
Make platform, the sealing ring installing mechanism and the dynamic frock match；The half way around stock mechanism is located at sealing ring peace
The bottom of mounting mechanism, the suction manipulator are located between the sealing ring installing mechanism and half way around stock mechanism；
The half way around stock mechanism includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk,
Half way around rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, set on half rotating disk
There is stock hole, be internally provided with the spring tray for installing the sealing ring in the stock hole, half rotating disk is consolidated
It is connected in half rotating shaft, half rotating shaft is movably connected on the bedplate；Described half is fixed with the bottom of half rotating shaft
Rotating disk, the half way around rack are movably connected on the bottom of the bedplate by the guiding rail, the half way around rack
One end is movably connected on the end of the piston rod of half rotaring cylinder, and the cylinder block of half rotaring cylinder is fixed on the bedplate
Bottom；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with by the bearing pin in the end of the stripper plate；The de- material axle leads to
The end that the swing arm bar is fixed on the piston rod of the small cylinder is crossed, the cylinder block of the small cylinder is fixed on the bedplate
Bottom.
Preferably, the sealing ring installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting
Revolution feeding machanism, the portable vision testing machine for being detected to the confined state of the sealing ring of the sealing ring
Structure, the revolution feeding machanism are fixed on the workbench, and the transfer robot is located at the top of the revolution feeding machanism,
The portable vision-based detection mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X
Axle arm, Y-axis arm, Z axis arm, vacuum type wrist, the robot support are fixed on the workbench, the X-axis arm
The robot support is fixed on, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis hand
Arm, the vacuum type wrist are fixed on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist motor, connection
Axle device, wrist brace, wrist sucker, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z
Axle slide unit, the gyroaxis are movably connected on the wrist brace by the upper bearing (metal), and the output shaft of the wrist motor leads to
Cross the shaft coupling and be fixed on the gyroaxis, the wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker
Match with the sealing ring, the vacuum passage be provided with the gyroaxis, be provided with the wrist sucker with it is described
The vacuum port that vacuum passage is connected, the vacuum passage are connected to vavuum pump.
Preferably, the suction machinery hand includes：Manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator, machine
Tool rubber sleeve plate, fine setting motor, synchronous belt mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, absorption
Cavity volume, the manipulator horizontal sliding table are fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the machinery
On the slide unit of hand horizontal sliding table, the manipulator slide plate is movably connected on the vertical slide unit of the manipulator；The manipulator slide plate
The cylinder block of the fine setting motor and up and down motion cylinder is fixed with, the spline housing is movably connected on the machinery by bearing
Rubber sleeve plate, the splined shaft are movably connected on the spline housing, and the upper end of the splined shaft is fixed on the up and down motion cylinder
Piston rod end, the lower sucker is fixed on the lower end of the splined shaft；The output shaft and the flower of the fine setting motor
Key set is realized by the synchronous belt mechanism to be flexibly connected.
Preferably, the splined shaft and the spline housing are into coaxially arranged, and the splined shaft is located at the axle of the spline housing
Heart position, the splined shaft can be along the axial movements of the spline housing.
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 complete assembly system of industrial robot of the utility model mouth cleaner has following product
Pole acts on and beneficial effect：
The complete assembly system of industrial robot of the utility model mouth cleaner, mainly includes：Rotating disk mechanism, work
Platform, dynamic frock, sealing ring installing mechanism；The dynamic frock is fixed on the rotating disk mechanism, and the rotating disk mechanism is by described in
Dynamic frock is operated to different stations, and the sealing ring installing mechanism is fixed on the workbench, the sealing ring fitting machine
Structure and the dynamic frock match, and the sealing ring installing mechanism is used to the sealing ring being assemblied in the sealing ring installation
Face.
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.
Next the course of work and operation principle of the half way around stock mechanism are described：
The half way around stock mechanism is located at the bottom of the transfer robot.Stock hole is provided with half rotating disk, can
So that by being positioned over the sealing ring in a manner of artificial in the stock hole, then half rotating disk rotates 180 degree generals
The sealing ring moves to the bottom of the wrist sucker.The spring tray is used to hold the sealing ring, prevents described close
Seal is dropped from the stock hole.When the absorption manipulator is capturing the sealing ring, the spring tray is also
Flexible support can be provided to the sealing ring, prevent the bad sealing ring of the mechanical hand pressure of absorption.
Half rotating disk is fixed on half rotating shaft, and half rotating disk is fixed with the bottom of half rotating shaft, described
Half way around rack and half rotating disk match.Half rotaring cylinder is used to drive the half way around rack that 180 degree of rotations occur,
180 degree of rotations occur under the control of half rotaring cylinder for half rotating disk.
The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with by the bearing pin in the end of the stripper plate.The de- material cylinder
Piston rod stretches out, and the de- material axle is departed from the sealing ring from the stock hole.Then the absorption manipulator
The sealing ring is siphoned away on the revolution feeding machanism.Being fixed on by the swing arm bar for the de- material axle is described stingy
The end of the piston rod of cylinder, the cylinder block of the small cylinder are fixed on the bottom of the bedplate.The small cylinder can drive
The swing of certain angle occurs for the de- material axle so that the de- material axle by the sealing ring more easily from the stock hole
It is middle to depart from.
Next the course of work and operation principle of the suction manipulator are described：
The vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, the manipulator slide plate activity
It is connected to the vertical slide unit of the manipulator.The manipulator horizontal sliding table is used to drive the manipulator slide plate occurred level direction
Motion, the vertical slide unit of manipulator is used for the motion for driving the manipulator slide plate that vertical direction occurs.The spline housing
The manipulator slide plate is movably connected on by bearing, the output shaft and the spline housing of the fine setting motor pass through the synchronization
Band mechanism, which realizes, to be flexibly connected, and the fine setting motor drives spline housing, splined shaft and the lower suction by the synchronous belt mechanism
Disk rotates, so as to the angle to adjusting the sealing ring.The splined shaft is movably connected on the spline housing, the spline
The upper end of axle is fixed on the end of the piston rod of the up and down motion cylinder, and the lower sucker is fixed under the splined shaft
End.The splined shaft is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, the flower
Key axle can be along the axial movement of the spline housing.The piston rod of the up and down motion cylinder stretches out, and drives under the lower sucker
Drop, makes the lower sucker touch the sealing ring.
Brief description of the drawings
Fig. 1 is the structural representation of the complete assembly system of industrial robot of the utility model mouth cleaner；
Fig. 2 is the fine setting of the utility model industrial robot auxiliary seal ring and the structural representation for carrying equipment；
Fig. 3,4,5,6,7,8 are the fine settings of the utility model industrial robot auxiliary seal ring and carry the sealing ring peace of equipment
The structural representation of mounting mechanism and half way around stock mechanism；
Fig. 9,10 be the utility model industrial robot auxiliary seal ring fine setting and carry equipment suction manipulator knot
Structure schematic diagram；
Figure 11 is the fine setting of the utility model industrial robot auxiliary seal ring and carries the structure of the transfer robot of equipment
Schematic diagram.
Figure 12,13 be the utility model mouth cleaner the complete assembly system of industrial robot dynamic frock structure
Schematic diagram；
Figure 14 is the dynamic frock of the complete assembly system of industrial robot of the utility model mouth cleaner in tooth of dismantling
Structural representation after wheel.
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 complete assembly system of industrial robot of clean device, in the Automated assembly production of electric toothbrush, toothbrush handle is installed on dynamic
After in frock, sealing ring is assemblied in the sealing ring mounting surface of toothbrush handle end.The industrial machine of the utility model mouth cleaner
The complete assembly system of device people, toothbrush handle move to different stations with rotating disk mechanism after being connected in dynamic frock, can be to close
The posture of seal does automatic precision adjustment and positioning, the accurate assembling of sealing ring is realized, using machine vision to having assembled
Into toothbrush handle detected, improve the product quality and production efficiency of electric toothbrush.
Fig. 1 is the structural representation of the complete assembly system of industrial robot of the utility model mouth cleaner, and Fig. 2 is this
The structural representation of equipment is finely tuned and carried to utility model industrial robot auxiliary seal ring, and Fig. 3,4,5,6,7,8 are this practicalities
The sealing ring installing mechanism of equipment is finely tuned and carried to Novel industrial robot auxiliary seal ring and the structure of half way around stock mechanism is shown
It is intended to, Fig. 9,10 are that the utility model industrial robot auxiliary seal ring is finely tuned and the structure of the suction manipulator of carrying equipment is shown
It is intended to, Figure 11 is the fine setting of the utility model industrial robot auxiliary seal ring and carries the structural representation of the transfer robot of equipment
Figure.
Figure 12,13 be the utility model mouth cleaner the complete assembly system of industrial robot dynamic frock structure
Schematic diagram, Figure 14 are the dynamic frocks of the complete assembly system of industrial robot of the utility model mouth cleaner in gear of dismantling
Structural representation afterwards.
A kind of complete assembly system of the industrial robot of mouth cleaner, including：For realizing the disk machine of station conversion
Structure 2, the workbench 1 for disposing the rotating disk mechanism 2, the dynamic frock 6 being distributed on the rotating disk mechanism 2, for assembling
The sealing ring installing mechanism 45 of sealing ring 72, for by the sealing ring 72 from the half way around stock mechanism 75 on grab institute
State the suction manipulator 76 on sealing ring installing mechanism 45；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；It is described
Half way around stock mechanism 75 is located at the bottom of the sealing ring installing mechanism 45, and the suction manipulator 76 is located at the sealing ring
Between installing mechanism 45 and half way around stock mechanism 75；
The half way around stock mechanism 75 includes：Spring tray 77, half rotating disk 79, half rotating shaft 80, bedplate 81, half way around gas
It is cylinder 82, half rotating disk 83, half way around rack 84, guide rail 85, de- material cylinder 86, stripper plate 87, de- material axle 88, bearing pin 89, small
Cylinder 90, swing arm bar 91, stock hole 78 is provided with half rotating disk 79, is internally provided with the stock hole 78 for installing
The spring tray 77 of the sealing ring 72, half rotating disk 79 are fixed on half rotating shaft 80, the activity of half rotating shaft 80
It is connected to the bedplate 81；Half rotating disk 83 is fixed with the bottom of half rotating shaft 80, the half way around rack 84 is logical
The bottom that the guiding rail 85 is movably connected on the bedplate 81 is crossed, one end of the half way around rack 84 is movably connected on institute
The end of the piston rod of half rotaring cylinder 82 is stated, the cylinder block of half rotaring cylinder 82 is fixed on the bottom of the bedplate 81；Institute
The cylinder block for stating de- material cylinder 86 is fixed on the bedplate 81, and the end of the piston rod of the de- material cylinder 86 is fixed with described
Stripper plate 87, the de- material axle 88 is connected with by the bearing pin 89 in the end of the stripper plate 87；The de- material axle
The end of 88 piston rod that the small cylinder 90 is fixed on by the swing arm bar 91, the cylinder block of the small cylinder 90 are consolidated
It is connected in the bottom of the bedplate 81.
More specifically, the sealing ring installing mechanism 45 includes：For move the sealing ring 72 transfer robot 46,
For supporting the revolution feeding machanism 47 of the sealing ring 72, for what is detected to the confined state of the sealing ring 72
Portable vision-based detection mechanism 48, the revolution feeding machanism 47 are fixed on the workbench 1, and the transfer robot 46 is located at
The top of the revolution feeding machanism 47, the portable vision-based detection mechanism 48 are located at the top of the dynamic frock 6；It is described
Transfer robot 46 includes：Robot support 49, X-axis arm 50, Y-axis arm 51, Z axis arm 52, vacuum type wrist 53, it is described
Robot support 49 is fixed on the workbench 1, and the X-axis arm 50 is fixed on the robot support 49, the Y-axis arm
51 are fixed on the X-axis arm 50, and the Z axis arm 52 is fixed on the Y-axis arm 51, and the vacuum type wrist 53 is fixed on
On the Z axis slide unit 54 of the Z axis arm 52；The vacuum type wrist 53 includes：Wrist motor 55, shaft coupling 56, wrist brace
57th, wrist sucker 58, upper bearing (metal) 59, gyroaxis 60, vacuum passage 61, vacuum port 62, the wrist brace 57 are fixed on described
Z axis slide unit 54, the gyroaxis 60 are movably connected on the wrist brace 57, the wrist motor 55 by the upper bearing (metal) 59
Output shaft the gyroaxis 60 is fixed on by the shaft coupling 56, the wrist sucker 58 is fixed on the gyroaxis 60
Bottom, the wrist sucker 58 and the sealing ring 72 match, and the vacuum passage 61 is provided with the gyroaxis 60,
The vacuum port 62 being connected with the vacuum passage 61 is provided with the wrist sucker 58, the vacuum passage 61 connects
To vavuum pump.
More specifically, the suction manipulator 76 includes：Manipulator base 92, manipulator horizontal sliding table 93, manipulator erect
Straight slide unit 94, manipulator slide plate 95, fine setting motor 96, synchronous belt mechanism 97, up and down motion cylinder 98, spline housing 99, splined shaft
100th, lower sucker 101, vacuum road junction 102, absorption cavity volume 103, the manipulator horizontal sliding table 93 are fixed on the manipulator bottom
Seat 92, the vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate 95
It is movably connected on the vertical slide unit 94 of the manipulator；The manipulator slide plate 95 is fixed with the fine setting motor 96 and moved up and down
The cylinder block of cylinder 98, the spline housing 99 are movably connected on the manipulator slide plate 95 by bearing, and the splined shaft 100 is lived
Dynamic to be connected to the spline housing 99, the upper end of the splined shaft 100 is fixed on the end of the piston rod of the up and down motion cylinder 98
End, the lower sucker 101 are fixed on the lower end of the splined shaft 100；The output shaft and the spline housing of the fine setting motor 96
99 realize flexible connection by the synchronous belt mechanism 97.
More specifically, the splined shaft 100 and 99 one-tenth of the spline housing are coaxially arranged, the splined shaft 100 is positioned at described
The shaft core position of spline housing 99, the splined shaft 100 can be along the axial movements of the spline housing 99.
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 14, the complete assembling of industrial robot for further describing the utility model mouth cleaner is
The operation principle and the course of work of system：
The complete assembly system of industrial robot of the utility model mouth cleaner, mainly includes：Rotating disk mechanism 2, work
Platform 1, dynamic frock 6, sealing ring installing mechanism 45；The dynamic frock 6 is fixed on the rotating disk mechanism 2, the rotating disk mechanism 2
The dynamic frock 6 is operated to different stations, the sealing ring installing mechanism 45 is fixed on the workbench 1, described close
Seal installing mechanism 45 and the dynamic frock 6 match, and the sealing ring installing mechanism 45 is used to fill the sealing ring 72
Assigned 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.
Next the course of work and operation principle of the half way around stock mechanism are described：
The half way around stock mechanism 75 is located at the bottom of the transfer robot 46.Stock is provided with half rotating disk 79
Hole 78, the sealing ring 72 can be positioned in the stock hole 78 by artificial mode, then 79 turns of half rotating disk
Move 180 degree of bottoms that the sealing ring 72 is moved to the wrist sucker 58.The spring tray 77 is used to hold institute
Sealing ring 72 is stated, prevents the sealing ring 72 from being dropped from the stock hole 78.When the absorption manipulator 76 is described in crawl
When sealing ring 72, the spring tray 77 can also provide flexible support to the sealing ring 72, prevent the adsorption machine
Tool hand 76 damages the sealing ring 72 by pressure.
Half rotating disk 79 is fixed on half rotating shaft 80, and half rotating disk is fixed with the bottom of half rotating shaft 80
83, the rotating disk 83 of half way around rack 84 and half matches.Half rotaring cylinder 82 is used to drive the half way around rack 84 to occur
180 degree of rotations occur under the control of half rotaring cylinder 82 for 180 degree of rotations, half rotating disk 79.
The cylinder block of the de- material cylinder 86 is fixed on the bedplate 81, the end of the piston rod of the de- material cylinder 86
The stripper plate 87 is fixed with, the de- material axle 88 is connected with by the bearing pin 89 in the end of the stripper plate 87.
The piston rod of the de- material cylinder 86 stretches out, and the de- material axle 88 is taken off the sealing ring 72 from the stock hole 78
From.Then the absorption manipulator 76 siphons away the sealing ring 72 on the revolution feeding machanism 47.The de- material axle 88
The piston rod that the small cylinder 90 is fixed on by the swing arm bar 91 end, the cylinder block of the small cylinder 90 is fixed on
The bottom of the bedplate 81.The small cylinder 90 can drive the swing of the generation of de- material axle 88 certain angle, so that
The de- material axle 88 more easily departs from the sealing ring 72 from the stock hole 78.
Next the course of work and operation principle of the suction manipulator are described：
The vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate
95 are movably connected on the vertical slide unit 94 of the manipulator.The manipulator horizontal sliding table 93 is used to drive the manipulator slide plate 95
The motion in occurred level direction, the vertical slide unit 94 of manipulator are used to drive the manipulator slide plate 95 that vertical direction occurs
Motion.The spline housing 99 is movably connected on the manipulator slide plate 95 by bearing, the output shaft of the fine setting motor 96 and
The spline housing 99 realizes and is flexibly connected that the fine setting motor 96 passes through the synchronous belt mechanism by the synchronous belt mechanism 97
97 driving spline housing 99, splined shaft 100 and the lower suckers 101 rotate, so as to the angle to adjusting the sealing ring 72.
The splined shaft 100 is movably connected on the spline housing 99, and the upper end of the splined shaft 100 is fixed on the up and down motion cylinder
The end of 98 piston rod, the lower sucker 101 are fixed on the lower end of the splined shaft 100.The splined shaft 100 and described
For spline housing 99 into coaxially arranged, the splined shaft 100 is located at the shaft core position of the spline housing 99, and the splined shaft 100 can be with
Along the axial movement of the spline housing 99.The piston rod of the up and down motion cylinder 98 stretches out, and drives under the lower sucker 101
Drop, makes the lower sucker touch the sealing ring 72.
Finally it is pointed out that above example is only the complete assembling of industrial robot of the utility model mouth cleaner
The more representational example of system.Obviously, the complete assembly system of the industrial robot of the utility model mouth cleaner is not limited to
Above-described embodiment, there can also be many deformations.Every complete assembling of industrial robot according to the utility model mouth cleaner
Any simple modification, equivalent change and modification that the technical spirit of system makees above example, it is considered as belonging to this reality
With the protection domain of the complete assembly system of the industrial robot of novel oral cavity cleaner.
Claims (10)
- A kind of 1. complete assembly system of the industrial robot of mouth cleaner, it is characterised in that including：For realizing that station is changed Rotating disk mechanism, the workbench for disposing the rotating disk mechanism, the dynamic frock being distributed on the rotating disk mechanism, for filling Sealing ring installing mechanism with sealing ring, install for the sealing ring to be grabbed into the sealing ring from half way around stock mechanism Suction manipulator in mechanism；The dynamic frock is fixed on the rotating disk mechanism, and the sealing ring installing mechanism is fixed on institute Workbench is stated, the sealing ring installing mechanism and the dynamic frock match；The half way around stock mechanism is located at the sealing The bottom of installing mechanism is enclosed, the suction manipulator is located between the sealing ring installing mechanism and half way around stock mechanism；The half way around stock mechanism includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk, half way around Rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, it is provided with half rotating disk standby Expect hole, be internally provided with the spring tray for installing the sealing ring in the stock hole, half rotating disk is fixed on Half rotating shaft, half rotating shaft are movably connected on the bedplate；The half way around tooth is fixed with the bottom of half rotating shaft Wheel, the half way around rack are movably connected on the bottom of the bedplate, one end of the half way around rack by the guiding rail The end of the piston rod of half rotaring cylinder is movably connected on, the cylinder block of half rotaring cylinder is fixed under the bedplate Portion；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with described Stripper plate, the de- material axle is connected with by the bearing pin in the end of the stripper plate；The de- material axle passes through institute The end that swing arm bar is fixed on the piston rod of the small cylinder is stated, the cylinder block of the small cylinder is fixed under the bedplate Portion.
- 2. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that described close Seal installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting the revolution of the sealing ring to be fed Mechanism, the portable vision-based detection mechanism for being detected to the confined state of the sealing ring, the revolution feeding machanism The workbench is fixed on, the transfer robot is positioned at the top of the revolution feeding machanism, the portable vision-based detection Mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X-axis arm, Y-axis arm, Z axis Arm, vacuum type wrist, the robot support are fixed on the workbench, and the X-axis arm is fixed on the robot branch Frame, the Y-axis arm are fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis arm, and the vacuum type wrist is consolidated It is connected on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist motor, shaft coupling, wrist brace, wrist are inhaled Disk, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z axis slide unit, and the gyroaxis passes through The upper bearing (metal) is movably connected on the wrist brace, and the output shaft of the wrist motor is fixed on described by the shaft coupling Gyroaxis, the wrist sucker are fixed on the bottom of the gyroaxis, and the wrist sucker and the sealing ring match, described The vacuum passage is provided with gyroaxis, the vacuum being connected with the vacuum passage is provided with the wrist sucker Mouthful, the vacuum passage is connected to vavuum pump.
- 3. the complete assembly system of the industrial robot of mouth cleaner according to claim 2, it is characterised in that described time Turning feeding machanism includes：Bedplate, lower bearing, it is servo-actuated pallet, with moving mandrel, fibre optical sensor, the bedplate, which is fixed on, is Workbench, the servo-actuated pallet are movably connected on the bedplate by the lower bearing, are fixed on moving mandrel described servo-actuated Pallet, the fibre optical sensor are fixed on the bedplate, described with being provided with moving mandrel and the fibre optical sensor phase The breach matched somebody with somebody.
- 4. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that the suction Material manipulator includes：It is manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator, manipulator slide plate, fine setting motor, same Step band mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, absorption cavity volume, the manipulator are horizontal sliding Platform is fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, institute State manipulator slide plate and be movably connected on the vertical slide unit of the manipulator；The manipulator slide plate is fixed with the fine setting motor and upper The cylinder block of lower motion cylinder, the spline housing are movably connected on the manipulator slide plate, the splined shaft activity by bearing The spline housing is connected to, the upper end of the splined shaft is fixed on the end of the piston rod of the up and down motion cylinder, under described Sucker is fixed on the lower end of the splined shaft；The output shaft and the spline housing of the fine setting motor pass through the synchronous belt mechanism Realize and be flexibly connected.
- 5. the complete assembly system of the industrial robot of mouth cleaner according to claim 4, it is characterised in that the flower Key axle is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, and the splined shaft can be with Along the axial movement of the spline housing.
- 6. the complete assembly system of the industrial robot of mouth cleaner according to claim 1, it is characterised in that described dynamic State frock is fixed on the rotating disk mechanism, and the dynamic frock is evenly arranged on the rotating disk mechanism into ground；The dynamic Frock includes：Clamp body, rotary type material platform, position-limited wheel, gear, rack, rack guide pad, rack slide unit, tooth bar resets spring, Reset seat, bolt block, latch back-moving spring, the clamp body are fixed on the 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 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 reset seat is connected the rotating disk mechanism On, the rack slide unit is movably connected on the reset seat, and tooth bar resets are provided between the rack slide unit and reset seat Spring, the rack guide pad are fixed on the clamp body, and the rack is movably connected on the rack guide pad, the rack Bottom be fixed on the rack slide unit, the gear and rack are meshed.
- 7. the complete assembly system of the industrial robot of mouth cleaner according to claim 2, it is characterised in that the shifting Dynamic formula vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit is fixed on the robot support, described Industrial camera is located at the top of the dynamic frock.
- 8. the complete assembly system of the industrial robot of mouth cleaner according to claim 7, it is characterised in that described to regard Feel that slide unit and the Y-axis arm are parallel to each other.
- 9. the complete assembly system of the industrial robot of mouth cleaner according to claim 4, it is characterised in that the work The resolution ratio of industry camera is 10,000,000 pixels.
- 10. the complete assembly system of the industrial robot of mouth cleaner according to claim 3, it is characterised in that described The type of gear is helical gear, and the type of the rack is helical rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720862072.6U CN207087261U (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720862072.6U CN207087261U (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
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| CN207087261U true CN207087261U (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720862072.6U Expired - Fee Related CN207087261U (en) | 2017-07-15 | 2017-07-15 | The complete assembly system of industrial robot of mouth cleaner |
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| CN (1) | CN207087261U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108652197A (en) * | 2018-07-10 | 2018-10-16 | 中山尚洋科技股份有限公司 | The feeding of a kind of cosmetic brush brush holder support or brush head positions adjustment system |
| CN113977975A (en) * | 2021-11-10 | 2022-01-28 | 扬州金巴丽刷业有限公司 | Toothbrush positioning and assembling device |
-
2017
- 2017-07-15 CN CN201720862072.6U patent/CN207087261U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108652197A (en) * | 2018-07-10 | 2018-10-16 | 中山尚洋科技股份有限公司 | The feeding of a kind of cosmetic brush brush holder support or brush head positions adjustment system |
| CN108652197B (en) * | 2018-07-10 | 2024-01-30 | 中山尚洋科技股份有限公司 | Feeding positioning adjustment system for cosmetic brush rod or brush head |
| CN113977975A (en) * | 2021-11-10 | 2022-01-28 | 扬州金巴丽刷业有限公司 | Toothbrush positioning and assembling device |
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Effective date of registration: 20201110 Address after: Room 905, No.1 Hengcheng Road, Chang'an Town, Dongguan City, Guangdong Province 523000 Patentee after: Dongguan shengdiluo Electronic Equipment Co., Ltd Address before: No.207, Xinchen East Road, Dongchen village, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Patentee before: Lin Yuehong |
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