WO2024138539A1

WO2024138539A1 - Angle-adjustable functional head and intelligent platform system

Info

Publication number: WO2024138539A1
Application number: PCT/CN2022/143435
Authority: WO
Inventors: 贺鸿发; 张世源
Original assignee: 广东安达智能装备股份有限公司
Filing date: 2022-12-29
Publication date: 2024-07-04

Abstract

An angle-adjustable functional head and an intelligent platform system. The functional head comprises a fixed seat (20), a rotating device (10) and a working unit (40). The rotating device (10) comprises a base (11), a ball head assembly and a driving mechanism (16), wherein the base (11) is provided with a connecting channel (12) and an accommodating cavity (13) in communication with the connecting channel (12); a ball head (14) of the ball head assembly is rotatably arranged in the accommodating cavity (13); a flow channel (141) in communication with the accommodating cavity (13) is arranged in the ball head (14); the flow channel (141) is in communication with the working unit (40); and the driving mechanism (16) drives the ball head assembly to rotate, such that the ball head assembly drives the working unit (40) to rotate. The working unit (40) is a suction head (41) or a clamping head (50).

Description

Angle-adjustable functional head and intelligent platform system

Technical Field

The present invention relates to the technical field of automation equipment, and in particular to an angle-adjustable functional head and an intelligent platform system.

Background technique

The functional head is an automated device commonly used in automated production. It can perform functions such as material picking and gluing on products. It mainly includes a fixed seat, a driving mechanism and a working unit. The working unit can be a suction head, a clamping head, a gluing head, a gluing head, etc.

However, in the existing functional heads, the working unit is usually connected to the negative pressure device or the positive pressure device by an external pipeline. However, the external layout of the pipeline setting leads to a complex structure of the functional head, a large volume, and a large space occupation. The working unit also has pipeline entanglement problems during the rotation angle.

Summary of the invention

In view of the deficiencies in the prior art, the present invention provides a functional head with adjustable angle and an intelligent platform system, which adopts a built-in layout of pipeline settings, so that the functional head structure is more compact, small in size, and occupies less space, thus avoiding the problem of pipeline entanglement.

To achieve the above purpose, the present invention adopts the following technical solutions:

An angle-adjustable functional head comprises a fixed seat, a rotating device and a working unit, wherein the rotating device comprises a base, a ball head assembly and a driving mechanism;

The base is provided with a connecting channel and a accommodating chamber connected to the connecting channel, the ball head of the ball head assembly is rotatably arranged in the accommodating chamber, the ball head is provided with a flow channel connected to the accommodating chamber, the flow channel is connected to the working unit, and the driving mechanism drives the ball head assembly to rotate, so that the ball head assembly drives the working unit to rotate; by providing a connecting channel and a accommodating chamber connected to the connecting channel on the base, the ball head of the ball head assembly is rotatably arranged in the accommodating chamber, the ball head is provided with a flow channel connected to the accommodating chamber, the flow channel is connected to the working unit, and the driving mechanism drives the ball head to rotate, so that the ball head drives the working unit to rotate, when the ball head rotates at different angles, the connecting channel, the accommodating chamber and the flow channel are always connected, so that the working unit can still work normally during the process of following the rotation of the ball head, and the pipeline setting with a built-in layout makes the functional head structure more compact, occupies less space, and avoids the problem of pipeline entanglement.

As a preferred solution, a fluid passage is provided in the fixing seat, the fluid passage can be connected to a negative pressure device or a positive pressure device, and the fluid passage is connected to the connecting channel through a switching passage.

As a preferred solution, the working unit is a suction head, a first connecting hole is provided at the upper end of the suction head, the suction head is installed on the connecting pipe section of the ball head assembly through the first connecting hole, the first connecting hole is connected to the pipeline, and the suction head has a negative pressure channel connected to the first connecting hole.

As a preferred solution, the working unit is a clamping head, which includes a cylinder body and a clamping jaw. A piston cavity for accommodating a piston head is provided in the cylinder body, and the lower end of the piston head is connected to the clamping jaw through a sliding assembly. A second connecting hole connected to the piston cavity is provided on the cylinder body. The cylinder body is installed on the connecting pipe section through the second connecting hole, and the second connecting hole is connected to the pipeline.

As a preferred embodiment, the ball head is rotatably connected to the base via a rotating shaft, the rotating shaft is passed through the ball head, and the axis of the rotating shaft intersects with the center of the ball head, a yield cavity connected to the flow channel is provided on the rotating shaft, and both ends of the rotating shaft are connected to the base.

As a preferred solution, the accommodating cavity includes a sealing cavity and a mounting cavity which are connected to each other, the ball head is installed in the mounting cavity, and the connecting channel and the flow channel are both connected to the sealing cavity.

As a preferred solution, a sealing ring is provided between the sealing cavity and the installation cavity, the inner diameter of the sealing ring is smaller than the outer diameter of the ball head, and the outer wall of the ball head abuts against the inner wall of the sealing ring.

As a preferred solution, the inner diameter of the sealing cavity is smaller than the inner diameter of the installation cavity, and a step for placing a sealing ring is formed between the lower end of the sealing cavity and the upper end of the installation cavity.

An intelligent platform system comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a gantry-type driving mechanism and a functional head with adjustable angle.

An intelligent platform system comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a side-suspended driving mechanism and a functional head with adjustable angle.

Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, by arranging a connecting channel and a accommodating chamber connected to the connecting channel on the base, the ball head of the ball head assembly can be rotatably arranged in the accommodating chamber, and a flow channel connected to the accommodating chamber is arranged in the ball head. The flow channel is connected to the working unit. The driving mechanism drives the ball head to rotate, so that the ball head drives the working unit to rotate. When the ball head rotates at different angles, the connecting channel, the accommodating chamber and the flow channel are always connected, so that the working unit can still work normally while following the rotation of the ball head. The built-in layout of the pipeline setting makes the functional head structure more compact, occupies less space, and avoids the problem of pipeline entanglement.

In order to more clearly explain the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the assembly structure of the first embodiment of the present invention;

FIG2 is a cross-sectional schematic diagram of a first embodiment of the present invention;

FIG3 is a schematic cross-sectional view of a rotating device of the present invention;

FIG4 is another cross-sectional schematic diagram of the rotating device of the present invention;

5 is a schematic diagram of the assembly structure of the rotating device and the clamping head according to the second embodiment of the present invention;

6 is a schematic diagram of the structure of a clamping head according to a second embodiment of the present invention;

7 is a schematic cross-sectional view of a clamping head according to a second embodiment of the present invention;

8 is another cross-sectional schematic diagram of the clamping head of the second embodiment of the present invention;

FIG9 is a schematic diagram of the assembly structure of the gantry type intelligent platform system of the present invention;

10 is a schematic diagram of the internal structure of the gantry type intelligent platform system of the present invention;

FIG11 is a schematic diagram of the internal structure of another embodiment of the gantry type intelligent platform system of the present invention;

FIG12 is a schematic diagram of the assembly structure of the side-hung intelligent platform system of the present invention;

FIG. 13 is a schematic diagram of the internal structure of the side-hung intelligent platform system of the present invention.

Description of the accompanying drawings:

10- Rotating device 11- Base 111- Second clearance hole

12-Connecting channel 121-Transition channel 13-Accommodating chamber

131- Sealing cavity 132- Installation cavity 133- Sealing ring

134-Step 14-Ball Head 141-Flow Channel

142-First clearance hole 15-Connecting pipe section 151-Pipeline

16-driving mechanism 17-rotating shaft 171-yielding cavity

172-Sealing sleeve 20-Fixed seat 21-Mounting seat

22-Transfer channel 221-Cavity 222-External channel

23- Sealing structure 30- Connecting rod 31- Inner cavity

32-Connecting hole 40-Working unit 41-Suction head

411-first connecting hole 412-negative pressure channel 413-suction nozzle

50-Clamping head 51-Cylinder body 511-Slideway

52-gripper 521-first claw arm 522-second claw arm

53-second connecting hole 54-piston cavity 541-inner cavity

542-driving chamber 55-piston head 551-through hole

552-Sealing ring 56-Pressure spring 57-Sliding assembly

571- push seat 572- first slider 573- second slider

58-Pipeline M-Radial direction

60-angle adjustable functional head 70-gantry intelligent platform system

71-Universal rack mechanism 711-Rack module 712-Main head module

713-First main head module 714-Second main head module 72-Conveying mechanism

73-Quick docking mechanism 731-Docking seat 732-Visual inspection module

74-Gantry drive mechanism 75-First X-axis beam 751-Second drive module

76-first Y-axis longitudinal beam 761-first drive module 77-second Y-axis longitudinal beam

80-Side-hung intelligent platform system 81-Side-hung drive mechanism 82-Second X-axis crossbeam

821-Fourth drive module 83-Third Y-axis longitudinal beam 831-Third drive module

Detailed ways

In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operated in specific directions. Therefore, they should not be understood as limitations on the present invention.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in Figures 1-4, the first embodiment of the present invention discloses an angle-adjustable functional head, including a rotating device 10, a fixed seat 20 and a working unit 40, the rotating device 10 includes a base 11, a ball head assembly, and a driving mechanism 16, the base 11 is provided with a connecting channel 12 and a receiving chamber 13 connected to the connecting channel 12, the ball head 14 of the ball head assembly is rotatably arranged in the receiving chamber 13, the working unit 40 is arranged below the ball head assembly, the ball head 14 is provided with a flow channel 141 connected to the receiving chamber 13, the flow channel 141 is connected to the working unit 40, the driving mechanism 16 drives the ball head 14 to rotate, so that the ball head 14 drives the working unit 40 to rotate relative to the base 11, wherein the rotation range of the working unit 40 is ±30°.

The ball head assembly of the present invention comprises a ball head 14, a rotating shaft 17, and a connecting pipe section 15. The ball head 14 is rotatably connected to the base 11 via the rotating shaft 17. The axial direction of the rotating shaft 17 is parallel to the Y axis. One end of the connecting pipe section 15 is connected to the ball head 14. The connecting pipe section 15 and the sphere 14 may be integrally formed or welded or interference fit or other sealed connection forms. In one embodiment, the connecting pipe section 15 and the ball head 14 are formed by interference fit and then welding. The connecting pipe section 15 has a pipe 151 in it, and the pipe 151 is connected to the flow channel 141. The end of the pipeline 151 away from the ball head 14 is connected to the working unit 40, and the driving mechanism 16 drives the connecting pipe section 15 to rotate around the rotating shaft 17, so that the connecting pipe section 15 drives the working unit 40 to rotate. By setting the connecting pipe section 15, the connecting pipe section 15 has a pipeline 151 connected to the flow channel 141, and the end of the pipeline 151 away from the ball head 14 is connected to the working unit 40. There is a certain distance between the working unit 40 and the ball head 14, so that the rotation distance of the working unit 40 can be enlarged by rotating the ball head 14 by a small angle, so that the working range of the working unit 40 is larger and the applicability is better.

It should be noted that, in the present invention, the axial direction of the rotating shaft 17 may also be parallel to the X-axis.

In practical applications, the driving end of the driving mechanism 16 can be connected to the connecting pipe section 15 by direct connection or indirect connection. When working, the driving end of the driving mechanism 16 drives the connecting pipe section 15 to rotate, so that the connecting pipe section 15 drives the working unit 40 to rotate.

The working unit 40 is a suction head 41, and a first connecting hole 411 is provided at the upper end of the suction head 41. The suction head 41 is installed on the connecting pipe section 15 through the first connecting hole 411. The first connecting hole 411 is connected to the pipeline 151. The suction head 41 has a negative pressure channel 412 connected to the first connecting hole 411, and a suction nozzle 413 is connected to the end of the negative pressure channel 412 away from the first connecting hole 411.

The rotating shaft 17 is inserted into the ball head 14, and the axis of the rotating shaft 17 intersects with the center of the ball head 14. Both ends of the rotating shaft 17 are connected to the base 11. The rotating shaft 17 is provided with a clearance cavity 171 connected to the flow channel 141. By adopting the whole rotating shaft 17 to be inserted into the ball head 14, the ball head 14 is rotated around a single axis, thereby ensuring the rotation accuracy and stability of the ball head 14. The clearance cavity 171 connected to the flow channel 141 is provided on the rotating shaft 17. The give-way cavity 171 prevents the rotating shaft 17 from blocking the flow channel 141, so that the flow channel 141 and the pipeline 151 remain connected. The give-way cavity 171 is formed on the outer wall of the rotating shaft 17 in a circumferential direction, and the give-way cavity 171 is arranged in a complete annular shape. By setting the give-way cavity 171 to extend circumferentially on the outer wall of the rotating shaft 17, when the ball head 14 rotates relative to the rotating shaft 17, the give-way cavity 171 always remains connected with the flow channel 141 and the pipeline 151.

Specifically, a first clearance hole 142 communicating with the flow channel 141 is formed in the ball head 14, the first clearance hole 142 penetrates the outer wall of the ball head 14, the middle part of the rotating shaft 17 is penetrated in the first clearance hole 142, and sealing sleeves 172 are provided on the inner sides of both ends of the first clearance hole 142, the inner side wall of the sealing sleeve 172 abuts against the outer side wall of the rotating shaft 17, and the sealing sleeve 172 can prevent gas and liquid from leaking out of the first clearance hole 142, and a second clearance hole 111 communicating with the accommodating cavity 13 is provided on the base 11, the second clearance hole 111 penetrates the outer side wall of the base 11, and the two ends of the rotating shaft 17 are penetrated in the second clearance hole 111. By setting the two ends of the first clearance hole 142 to penetrate the outer side wall of the ball head 14, the second The clearance holes 111 penetrate the outer side walls of both sides of the base 11. The ball head 14 can be first installed into the accommodating cavity 13, and then the shaft 17 is inserted from the second clearance hole 111 into the first clearance hole 142 so that the shaft 17 completely passes through the ball head 14, thereby facilitating the installation of the shaft 17 and the ball head 14;

The accommodating chamber 13 includes a sealing chamber 131 and an installation chamber 132 which are connected to each other. The ball head 14 is installed in the installation chamber 132. The head of the ball head 14 is exposed from the installation chamber 132 and extends into the sealing chamber 131. The connecting passage 12 is connected to the sealing chamber 131, and the flow passage 141 is connected to the sealing chamber 131. By setting the sealing chamber 131 and the installation chamber 132, when the ball head 14 rotates in the installation chamber 132, the flow passage 141 can still maintain communication with the sealing chamber 131, thereby maintaining the flow passage 141 and the connecting passage 12 in a connected state. A sealing ring 133 is provided between the sealing chamber 131 and the installation chamber 132. The inner diameter of the sealing ring 133 is smaller than the outer diameter of the ball head 14. The outer wall of the ball head 14 abuts against the inner wall of the sealing ring 133. By setting the sealing ring 133, the sealing between the sealing chamber 131 and the installation chamber 132 can be ensured to avoid air leakage. The inner diameter of 131 is smaller than the inner diameter of the installation cavity 132, and a step 134 for placing the sealing ring 133 is formed between the lower end of the sealing cavity 131 and the upper end of the installation cavity 132; by setting the step 134, when assembling the ball head 14 and the sealing ring 133, the base 11 is first placed upside down, and then the sealing ring 133 is directly placed into the installation cavity 132 from top to bottom and the sealing ring 133 is placed on the step 134, and finally the ball head 14 is installed into the installation cavity 132, which is convenient for assembly. At the same time, due to the installation position of the ball head 14 and the sealing ring 133, and the inner diameter of the sealing ring 133 is smaller than the outer diameter of the ball head 14, the sealing ring 133 can always be stable at the step 134 during the rotation of the ball head 14, so that the sealing cavity 131 and the installation cavity 132 are not connected, thereby ensuring a good sealing effect. During ventilation, the connecting channel 12 is connected with the sealing cavity 131, while the connecting channel 12 is not connected with the installation cavity 132.

A transition channel 121 is formed in the base 11, and both ends of the transition channel 121 are respectively connected to the connecting channel 12 and the accommodating chamber 13. Specifically, one end of the transition channel 121 is connected to the sealing chamber 131. The diameter d1 of the transition channel 121, the diameter d2 of the flow channel 141, and the diameter d3 of the pipeline 151 are all the same. By setting the transition channel 121, the flow channel 141, and the pipeline 151 with the same diameter, the flow velocity of the fluid in the transition channel 121, the flow channel 141, and the pipeline 151 is the same, and the fluid pressure is constant, thereby ensuring the stability of the working unit 40.

The fixing seat 20 is also provided with a mounting seat 21, and the mounting seat 21 may be detachable or may be integrally formed on the fixing seat 20, and the mounting seat 21 is connected to the base 11, and a fluid passage (not shown) is provided in the fixing seat 20, and the fluid passage may be connected to a negative pressure device or a positive pressure device, and the fluid passage is connected to the connecting channel 12 via a switching passage 22.

One embodiment of the switching passage 22 includes a cavity 221 disposed in the mounting seat 21 and an external channel 222 communicating with the cavity 221, wherein the external channel 222 is communicated with the fluid passage built into the fixing seat 20, and the connecting channel 12 is communicated with the cavity 221;

The mounting seat 21 is connected to the base 11 through a connecting rod 30, and the connecting rod 30 is inserted into the cavity 221. An inner cavity 31 is formed in the connecting rod 30, one end of the inner cavity 31 is connected to the cavity 221, and the other end of the inner cavity 31 is connected to the connecting channel 12. Specifically, a connecting hole 32 is provided on the connecting rod 30, and the inner cavity 31 is connected to the cavity 221 through the connecting hole 32. When sucking material, the air passes through the suction nozzle 413, the negative pressure channel 412, the first connecting hole 411, the pipeline 151, the flow channel 141, the sealed cavity 131, the connecting channel 12, the inner cavity 31, the connecting hole 32, the cavity 221, the external channel 222, and the fluid passage in sequence to reach the negative pressure device, so that the suction head 41 can absorb the material. The upper and lower ends of the inner side of the cavity 221 are provided with sealing structures 23. The sealing structure 23 is provided to ensure the sealing of the cavity 221 to avoid air leakage.

As shown in Fig. 5-8, the second embodiment of the present invention is different from the first embodiment in that the working unit 40 is a clamping head 50, and the clamping head 50 includes a cylinder body 51 and a clamping jaw 52. A piston cavity 54 for accommodating a piston head 55 is provided in the cylinder body 51. A sealing ring 552 is sleeved on the circumferential outer wall of the piston head 55. The outer wall of the sealing ring 552 abuts against the inner wall of the piston cavity 54. The sealing ring 552 can ensure that the inner cavity 541 is not connected with the driving cavity 542 to avoid air leakage.

The lower end of the piston head 55 is connected to the clamping claw 52 through a sliding assembly 57. The cylinder body 51 is provided with a second connecting hole 53. The cylinder body 51 is installed on the connecting pipe section 15 through the second connecting hole 53, and the second connecting hole 53 is connected to the pipeline 151. A pipeline 58 is formed in the cylinder body 51. The second connecting hole 53 is connected to the driving chamber 542 through the pipeline 58. The piston head 55 separates the piston chamber 54 into an inner chamber 541 and a driving chamber 542. The inner chamber 541 is provided with a pressure spring 56 that makes the piston head 55 always have a tendency to move downward. The piston head 55 is provided with a through hole 551. The inner chamber 54 The piston head 55 is connected to the atmosphere through the through hole 551. When working, the gas output by the positive pressure device passes through the pipeline 151, the second connecting hole 53, and the pipeline 58 in sequence and enters the driving chamber 542 to push the piston head 55 to move upward, and is pushed downward and reset by the pressure spring 56. When the piston head 55 moves upward, it compresses the gas in the inner chamber 541, so that the gas in the inner chamber 541 is discharged from the through hole 551 to the atmosphere. By providing the through hole 551 connected to the atmosphere, when the piston head 55 moves upward to compress the inner chamber 541, the gas in the inner chamber 541 can be discharged from the through hole 551 to the atmosphere. On the contrary, when the piston head 55 moves downward, the air in the atmosphere enters the inner chamber 541 from the through hole 551.

Specifically, the sliding assembly 57 includes a first slider 572, a second slider 573, and a push seat 571 that pushes the first slider 572 and the second slider 573 to open and close relative to each other. The push seat 571 is connected to the lower end of the piston head 55. The clamp 52 includes a first claw arm 521 and a second claw arm 522. The first claw arm 521 and the second claw arm 522 are respectively connected to the first slider 572 and the second slider 573. A slide groove 511 is provided at the lower end of the cylinder body 51. The slide groove 511 extends along the radial direction M and passes through the side walls of the cylinder body 51. The first slider 572 and the second slider 573 are connected to each other. 3 can be radially slidably arranged in the slide groove 511, and a guide rail and guide groove structure (not shown) is arranged between the push seat 571 and the first slider 572 and the second slider 573, so that the push seat 571 is slidably connected with the first slider 572 and the second slider 573 through the guide rail and guide groove structure; when working, the gas output by the positive pressure device passes through the pipeline 151, the second connecting hole 53, and the pipeline 58 in sequence and enters the driving chamber 542, and the gas in the driving chamber 542 pushes the piston to move upward, and the piston head 55 moves upward to drive the push seat 571 to move upward, and the push seat 571 pushes the first slider 572 and the second slider 573 to move closer to each other, so that the clamping jaws 52 clamp and realize that the clamping jaws 52 clamp the material; the pressure spring 56 pushes the piston head 55 downward to drive the push seat 571 downward, and the push seat 571 pushes the first slider 572 and the second slider 573 to separate from each other, so that the clamping jaws 52 open, and realize that the clamping jaws 52 release the material.

Working principle of the present invention:

The working unit 40 takes the suction head 41 as an example:

When the suction head 41 absorbs the material, the air passes through the suction nozzle 413, the negative pressure channel 412, the first connecting hole 411, the pipeline 151, the flow channel 141, the sealing cavity 131, the connecting channel 12, the inner cavity 31, the connecting hole 32, the cavity 221, the external channel 222, and the fluid passage in sequence before reaching the negative pressure device, so that the suction head 41 can absorb the material;

The working unit 40 takes the clamping head 50 as an example:

The positive pressure device outputs gas or liquid that passes through the fluid passage, external channel 222, cavity 221, connecting hole 32, inner cavity 31, connecting channel 12, sealing cavity 131, flow channel 141, pipeline 151, second connecting hole 53, and pipeline 58 in sequence, and then enters the driving cavity 542 to push the piston head 55 to move upward. The upward movement of the piston head 55 drives the clamping jaw 52 to clamp the material. The positive pressure device stops outputting gas or liquid, and the pressure spring 56 pushes the piston head downward. The piston head compresses the driving cavity 542 downward, so that the gas or liquid in the driving cavity 542 returns to the positive pressure device along the original path, and the clamping jaw 52 releases the material.

As shown in FIGS. 9-10 , the present invention further discloses a gantry-type intelligent platform system 70, comprising a universal frame mechanism 71, a conveying mechanism 72, a quick docking mechanism 73, a gantry-type driving mechanism 74, and the functional head 60 with adjustable angle, wherein the conveying mechanism 72, the conveying mechanism 72, the quick docking mechanism 73, the gantry-type driving mechanism 74, and the functional head 60 with adjustable angle are all mounted on the universal frame mechanism 71;

Specifically, the universal rack mechanism 71 includes a rack module 711 and a main head module 712, the main head module 712 is detachably mounted on the rack module 711, and the main head module 712 is electrically connected to the rack module 711;

The conveying mechanism 72 is installed on the main head module 712, and the conveying mechanism 72 is used to convey the workpiece;

The quick docking mechanism 73 is installed on the main head module 712. The quick docking mechanism 73 includes a docking seat 731 and a plurality of docking mechanisms docked with the docking seat 731. The docking mechanism includes a screw feeding module (not shown), a glue dispensing service module (not shown), a functional head cleaning module (not shown), and a visual inspection module 732. The screw feeding module is used for screw feeding, and the screws can be sucked by the suction head 41. The glue dispensing service module is used for glue weighing, glue height measurement, and glue cleaning. The functional head cleaning module is used for cleaning the working unit 40. The visual inspection module 732 is used for visual inspection of materials.

In this embodiment, the gantry drive mechanism 74 is installed on the main head module 712, and the gantry drive mechanism 74 includes a first X-axis crossbeam 75 and a first Y-axis longitudinal beam 76 and a second Y-axis longitudinal beam 77 extending along the Y-axis direction. The two ends of the first X-axis crossbeam 75 are respectively slidably connected with the first Y-axis longitudinal beam 76 and the second Y-axis longitudinal beam 77, and the first Y-axis longitudinal beam 76 or the second Y-axis longitudinal beam 77 is provided with a first drive module 761 for driving the first X-axis crossbeam 75 to move along the Y-axis direction, and the first X-axis crossbeam 75 is provided with a second drive module 751. The angle-adjustable functional head 60 is slidably installed on the first X-axis crossbeam 75, and the second drive module 751 drives the angle-adjustable functional head 60 to move along the X-axis direction.

As shown in FIG. 11 , in another embodiment, two first X-axis crossbeams 75 may be provided, and both first X-axis crossbeams 75 are slidably connected to the first Y-axis longitudinal beam 76 and the second Y-axis longitudinal beam 77 , and both first X-axis crossbeams 75 are provided with an angle-adjustable functional head 60 .

As shown in FIGS. 12-13 , the present invention further discloses a side-hung intelligent platform system 80, comprising a universal frame mechanism 71, a conveying mechanism 72, a quick docking mechanism 73, a side-hung driving mechanism 81 and the angle-adjustable functional head 60, wherein the conveying mechanism 72, the conveying mechanism 72, the quick docking mechanism 73, the side-hung driving mechanism 81 and the angle-adjustable functional head 60 are all mounted on the universal frame mechanism 71;

Specifically, the universal rack mechanism 71 includes a rack module 711 and a host head module 712, the host head module 712 includes an Nth and an N+1th host head module 712 arranged in parallel, the Nth and the N+1th host head module 712 can be detachably mounted on the rack module 711, and the Nth and the N+1th host head module 712 are electrically connected to the rack module 711, and illustratively, the host head module 712 includes a first host head module 713 and a second host head module 714 arranged in parallel;

It can be understood that the structural functions of the conveying mechanism 72, conveying mechanism 72, and quick docking mechanism 73 on the side-suspended intelligent platform system 80 are the same as the structural functions of the conveying mechanism 72, conveying mechanism 72, and quick docking mechanism 73 on the gantry-type intelligent platform system 70, and will not be repeated here.

It can be understood that the number of the side-suspended drive mechanisms 81 is the same as the number of the main head modules 712, and the side-suspended drive mechanisms 81 are installed on the main head modules 712;

The side-suspended driving mechanism 81 includes a second X-axis crossbeam 82 and a third Y-axis longitudinal beam 83 extending along the Y-axis direction. One end of the second X-axis crossbeam 82 is slidably connected to the third Y-axis longitudinal beam 83, and the third Y-axis longitudinal beam 83 is provided with a third driving module 831 for driving the second X-axis crossbeam 82 to move along the Y-axis direction. The second X-axis crossbeam 82 is provided with a fourth driving module 821. The angle-adjustable functional head 60 is slidably installed on the second X-axis crossbeam 82, and the fourth driving module 821 drives the angle-adjustable functional head 60 to move along the X-axis direction.

In summary, the present invention provides a connecting channel 12 and a receiving chamber 13 connected to the connecting channel 12 on the base 11, and the ball head 14 of the ball head assembly is rotatably arranged in the receiving chamber 13. A flow channel 141 connected to the receiving chamber 13 is provided in the ball head 14, and the flow channel 141 is connected to the working unit 40. The driving mechanism 16 drives the ball head 14 to rotate, so that the ball head 14 drives the working unit 40 to rotate. When the ball head 14 rotates at different angles, the connecting channel 12, the receiving chamber 13, and the flow channel 141 are always connected, so that the working unit 40 can still work normally in the process of following the rotation of the ball head 14. The use of a built-in layout of the pipeline setting makes the functional head structure more compact, occupies less space, and avoids the problem of pipeline entanglement.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made to the above embodiment based on the technical practice of the present invention still falls within the scope of the technical solution of the present invention.

Claims

An angle-adjustable functional head, characterized in that it comprises a fixed seat, a rotating device and a working unit, wherein the rotating device comprises a base, a ball head assembly and a driving mechanism;

It is characterized in that: the base is provided with a connecting channel and a accommodating chamber connected to the connecting channel, the ball head of the ball head assembly is rotatably arranged in the accommodating chamber, the ball head is provided with a flow channel connected to the accommodating chamber, the flow channel is connected to the working unit, and the driving mechanism drives the ball head assembly to rotate, so that the ball head assembly drives the working unit to rotate.
The angle-adjustable functional head according to claim 1 is characterized in that a fluid passage is provided in the fixing seat, the fluid passage can be connected to a negative pressure device or a positive pressure device, and the fluid passage is connected to the connecting channel through a switching passage.
The angle-adjustable functional head according to claim 2 is characterized in that the working unit is a suction head, a first connecting hole is provided at the upper end of the suction head, the suction head is installed on the connecting pipe section of the ball head assembly through the first connecting hole, the first connecting hole is connected to the pipeline, and the suction head has a negative pressure channel connected to the first connecting hole.
The angle-adjustable functional head according to claim 2 is characterized in that the working unit is a clamping head, which includes a cylinder body and a clamping jaw, a piston cavity for accommodating a piston head is provided in the cylinder body, the lower end of the piston head is connected to the clamping jaw through a sliding assembly, a second connecting hole connected to the piston cavity is provided on the cylinder body, the cylinder body is installed on the connecting pipe section through the second connecting hole, and the second connecting hole is connected to the pipeline.
According to the angle-adjustable functional head described in claim 1, it is characterized in that the ball head is rotatably connected to the base via a rotating shaft, the rotating shaft is passed through the ball head, and the axis of the rotating shaft intersects with the center of the ball head, the rotating shaft is provided with a give way cavity connected to the flow channel, and both ends of the rotating shaft are connected to the base.
The angle-adjustable functional head according to any one of claims 1 to 5 is characterized in that the accommodating cavity comprises a sealing cavity and an installation cavity which are connected, the ball head is installed in the installation cavity, and the connecting channel and the flow channel are both connected to the sealing cavity.
The angle-adjustable functional head according to claim 6 is characterized in that a sealing ring is provided between the sealing cavity and the mounting cavity, the inner diameter of the sealing ring is smaller than the outer diameter of the ball head, and the outer side wall of the ball head abuts against the inner side wall of the sealing ring.
The angle-adjustable functional head according to claim 7 is characterized in that the inner diameter of the sealing cavity is smaller than the inner diameter of the mounting cavity, and a step for placing a sealing ring is formed between the lower end of the sealing cavity and the upper end of the mounting cavity.
An intelligent platform system, characterized in that it includes a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a gantry drive mechanism and an angle-adjustable functional head as described in any one of claims 1 to 8.
An intelligent platform system, characterized in that it includes a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a side-suspended drive mechanism and an angle-adjustable functional head as described in any one of claims 1-8.