An angle-adjustable working head and intelligent platform system

Abstract

The present invention discloses an angle-adjustable work head and an intelligent platform system. The angle-adjustable work head includes a first rotating device, a second rotating device, and a working unit. The second rotating device drives the first rotating device to rotate. The first rotating device includes a base, a first driving mechanism, and a connecting module. The connecting module includes a first movable member and a second movable member. The first movable member is rotatably connected to the base, the second movable member is slidably mounted on the first movable member, and the working unit is connected to the first movable member. The first driving mechanism drives the second movable member to slide on the first movable member while the second movable member drives the first movable member to rotate. The working unit is a suction head or a clamping head. The present invention can realize automatic adjustment of the angle of the work head, so that the tilt position of the product can be operated without adjusting the product angle. It has a wide range of applications and good applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an angle-adjustable working head and an intelligent platform system. Background Art

[0002] The working head is an automated device commonly used in automated production. It can perform functions such as material extraction 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.

[0003] However, in the existing working head, the working unit is driven by a driving mechanism to move in a straight line along the X, Y, and Z axes, and cannot operate on the inclined position of some products. The angle of the product needs to be adjusted to meet the working angle of the working head, resulting in large limitations of the working head and poor applicability. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the present invention provides an angle-adjustable working head and intelligent platform system, which can realize automatic adjustment of the angle of the working head, thereby being able to operate on the inclined position of the product without adjusting the product angle, having a wide range of applications and good applicability.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An angle-adjustable working head comprises a first rotating device, a second rotating device, and a working unit, wherein the second rotating device drives the first rotating device to rotate, and the first rotating device comprises a base, a first driving mechanism, and a connecting module;

[0007] The connecting module includes a first movable member and a second movable member, wherein the first movable member is rotatably connected to the base, and the second movable member is slidably mounted on the first movable member;

[0008] The working unit is connected to the first movable part, and the first driving mechanism drives the second movable part to slide on the first movable part while the second movable part drives the first movable part to rotate; by setting the first rotating device, the second rotating device, and the working unit, the second rotating device drives the first rotating device to rotate, and the first rotating device includes a base, a first driving mechanism, a first movable part and a second movable part. The working unit is connected to the first movable part, and the first driving mechanism drives the second movable part to slide on the first movable part while the second movable part drives the first movable part to rotate, thereby realizing automatic adjustment of the angle of the working head, so that the tilt position of the product can be operated without adjusting the product angle. It has a wide range of applications and good applicability.

[0009] As a preferred solution, the first movable part is a T-shaped structural part, and the T-shaped structural part includes a mounting rod section and a slide rail section, the slide rail section is connected to the middle part of the mounting rod section, the mounting rod section is rotatably connected to the base through a rotating shaft, the working unit is connected to the mounting rod section, and the second movable part is slidably connected to the slide rail section of the T-shaped structural part.

[0010] As a preferred solution, one end of the slide rail section is provided with a mounting groove, and one end of the slide rail section is provided with a mounting groove, the mounting rod section is installed in the mounting groove, and a positioning structure is provided between the slide rail section and the mounting rod section, and the positioning structure limits the installation position of the mounting rod section and the slide rail section.

[0011] As a preferred solution, a slide rail is installed on the slide rail section, and the second movable member is slidably connected to the slide rail.

[0012] As a preferred solution, the first driving mechanism includes a movable rod and a driving unit for driving the movable rod to move, and the movable rod is rotationally connected to the second movable member.

[0013] As a preferred solution, the second movable part is provided with a first protrusion and a second protrusion, a groove is formed between the first protrusion and the second protrusion, one end of the movable rod extends into the groove, and the movable rod is rotatably connected to the first protrusion and the second protrusion through a pin.

[0014] As a preferred solution, the working unit is a suction head or a clamping head.

[0015] As a preferred solution, the second rotating device includes a connecting shaft and a second driving mechanism, one end of the connecting shaft is connected to the base, and the second driving mechanism drives the connecting shaft to rotate, so that the connecting shaft drives the first rotating device to rotate.

[0016] An intelligent platform system comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a gantry drive mechanism and an angle-adjustable working head.

[0017] An intelligent platform system comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a side-hanging drive mechanism and an angle-adjustable working head.

[0018] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, by setting a first rotating device, a second rotating device, and a working unit, the second rotating device drives the first rotating device to rotate, the first rotating device includes a base, a first driving mechanism, a first movable part and a second movable part, the working unit is connected to the first movable part, and the first driving mechanism drives the second movable part to slide on the first movable part while the second movable part drives the first movable part to rotate, thereby realizing automatic adjustment of the angle of the working head, so that the inclined position of the product can be operated without adjusting the product angle. It has a wide range of applications and good applicability.

[0019] In order to more clearly illustrate the structural features, technical means and specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the assembly structure of the first embodiment of the present invention;

[0021] Figure 2 This is a schematic structural diagram of the suction head of the present invention;

[0022] Figure 3 1 is a schematic structural diagram of a first rotating device according to a first embodiment of the present invention;

[0023] Figure 4 is a schematic structural diagram of a connection module according to a first embodiment of the present invention;

[0024] Figure 5 1 is a schematic structural diagram of a first movable member according to a first embodiment of the present invention;

[0025] Figure 6 is a cross-sectional view of the mounting rod segment and the first movable member on the first rotating device of the first embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of the assembly structure of the second embodiment of the present invention;

[0027] Figure 8 2 is a schematic structural diagram of a first rotating device according to a second embodiment of the present invention;

[0028] Figure 9 This is a schematic structural diagram of the clamping head of the present invention;

[0029] Figure 10 This is a schematic diagram of the assembly structure of the gantry-type intelligent platform system of the present invention;

[0030] Figure 11 This is a schematic diagram of the internal structure of the gantry-type intelligent platform system of the present invention;

[0031] Figure 12 This is a schematic diagram of the internal structure of another embodiment of the gantry-type intelligent platform system of the present invention;

[0032] Figure 13 This is a schematic diagram of the assembly structure of the side-hung intelligent platform system of the present invention;

[0033] Figure 14 It is a schematic diagram of the internal structure of the side-hung intelligent platform system of the present invention.

[0034] Description of the accompanying drawings:

[0035] 10-first rotating device 11-base 111-head

[0036] 112-Neck 113-Body 114-Installation space

[0037] 115-avoidance space 12-connection groove 14-rotating shaft

[0038] 15-calibration sensor 151-sensor head 16-first drive mechanism

[0039] 161-Active rod 162-Drive unit 20-Connection module

[0040] 21-first movable part 211-installation rod section 2111-upper connecting section

[0041] 2112-lower connecting section 2113-middle connecting section 2114-positioning protrusion

[0042] 212-slide rail section 2121-slide rail 2122-installation slot

[0043] 24-second movable member 241-rotating member 2411-first protrusion

[0044] 2412- second protrusion 2413- groove 242- slider

[0045] 25-pin 26-connecting arm 27-connecting block

[0046] 271-first connecting part 272--second connecting part 28-first pin

[0047] 29-Second pin 30-Fixed seat 31-Mounting seat

[0048] 32-second rotating device 33-connecting shaft 34-second driving mechanism

[0049] 40-working unit 41-suction head 411-first mounting hole

[0050] 412-suction nozzle 50-clamping head 51-second mounting hole

[0051] 52-gripper 60-angle adjustable working head 70-gantry intelligent platform system

[0052] 71-Universal rack mechanism 711-Rack module 712-Main head module

[0053] 713-First main head module 714-Second main head module 72-Conveying mechanism

[0054] 73-Quick docking mechanism 731-Docking seat 732-Visual inspection module

[0055] 74-Gantry drive mechanism 75-First X-axis beam 751-Second drive module

[0056] 76-first Y-axis longitudinal beam 761-first drive module 77-second Y-axis longitudinal beam

[0057] 80-Side-hung intelligent platform system 81-Side-hung drive mechanism 82-Second X-axis beam

[0058] 821-Fourth drive module 83-Third Y-axis longitudinal beam 831-Third drive module DETAILED DESCRIPTION

[0059] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are 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 position or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0061] like Figure 1-6As shown, the first embodiment of the present invention discloses an angle-adjustable working head, comprising a fixed base 30, a first rotating device 10, a second rotating device 32, and a working unit 40, wherein the second rotating device 32 is provided on the fixed base 30, and the second rotating device 32 drives the first rotating device 10 to rotate, the first rotating device 10 comprises a base 11, a first driving mechanism 16, and a connecting module 20, the connecting module 20 comprises a first movable member 21 and a second movable member 24, the first movable member 21 is rotatably connected to the base 11, the second movable member 24 is slidably mounted on the first movable member 21, the working unit 40 is connected to the first movable member 21, the first driving mechanism 16 drives the second movable member 24 to slide on the first movable member 21, and the second movable member 24 drives the first movable member 21 to rotate, so that the first movable member 21 drives the working unit 40 to rotate, wherein the rotation range of the working unit 40 is ±30°;

[0062] Specifically, the first movable part 21 is a T-shaped structural part, which includes a mounting rod section 211 and a slide rail section 212. The slide rail section 212 is connected to the middle part of the mounting rod section 211. The slide rail section 212 is perpendicular to the mounting rod section 211 to form a T-shaped structural part. The upper end of the mounting rod section 211 is rotatably connected to the base 11 through the rotating shaft 14. The axial direction of the rotating shaft 14 is parallel to the Y-axis. The working unit 40 is connected to the lower end of the mounting rod section 211. The second movable part 24 is slidably connected to the slide rail section 212 of the T-shaped structural part.

[0063] The second movable part 24 is a stacked part, which includes a rotating part 241 and a slider 242. The rotating part 241 is fixedly installed on the slider 242. The slider 242 of the stacked part slides on the slide rail section 212. Specifically, a slide rail 2121 is installed on the slide rail section 212. The slider 242 is slidably connected to the slide rail 2121. The extension direction of the slide rail 2121 is perpendicular to the axial direction of the rotating shaft 14.

[0064] It should be noted that, in the present invention, the axial direction of the rotating shaft 14 may also be parallel to the X-axis.

[0065] Exemplarily, the working unit 40 may be a suction head 41 , the lower end of which is provided with a suction nozzle 412 , the upper end of which is provided with a first mounting hole 411 , and the suction head 41 is mounted on the lower end of the mounting rod segment 211 through the first mounting hole 411 .

[0066] Specifically, one end of the slide rail section 212 is provided with a mounting groove 2122, and the mounting groove 2122 passes through the upper and lower surfaces of the slide rail section 212. The mounting rod section 211 is fixedly installed in the mounting groove 2122. A positioning structure is provided between the slide rail section 212 and the mounting rod section 211. The positioning structure limits the installation position of the mounting rod section 211 and the slide rail section 212. Specifically, the positioning structure is a positioning protrusion 2114 provided on the mounting rod section. The positioning protrusion 2114 is integrally connected to the outer side wall of the mounting rod section 211. The positioning protrusion 2114 protrudes radially outward and is annular. The positioning protrusion 2114 is set in a shape. During assembly, the surface of the positioning protrusion 2114 abuts against the surface of the slide rail section 212. Specifically, the lower surface of the positioning protrusion 2114 abuts against the upper surface of the slide rail section 212. By setting the positioning protrusion 2114, the positioning effect is utilized to facilitate the slide rail section 212 to be quickly positioned from bottom to top to the middle of the mounting rod section 211, and the positioning and installation efficiency is high. The positioning protrusion 2114 defines the installation position of the slide rail section 212, avoiding the installation position of the slide rail section 212 from shifting upward during installation, thereby ensuring the distance between the upper end of the slide rail section 212 and the lower end of the base 11, and preventing the slide rail section 212 from colliding with the base 11 during rotation.

[0067] The mounting rod section 211 includes an upper connecting section 2111, a lower connecting section 2112 and an intermediate connecting section 2113. The upper connecting section 2111 is rotatably connected to the base 11 through the rotating shaft 14, the lower connecting section 2112 is connected to the working unit 40, the slide rail section 212 is connected to the intermediate connecting section 2113, and the positioning protrusion 2114 is provided between the intermediate connecting section 2113 and the upper connecting section 2111. Specifically, the working unit 40 can be fixedly connected to the lower connecting section 2112 by a threaded connection, or can be fixedly connected by a clamping method or other methods. By providing the mounting rod section 211 composed of the upper connecting section 2111, the lower connecting section 2112 and the intermediate connecting section 2113, it is convenient to connect and combine the base 11, the slide rail section 212 and the working unit 40, and the installation and disassembly are convenient. The slide rail section 212 is connected to the intermediate connecting section 2113, so that the structure is compact and the slide rail section 212 has good stability when pushing and pulling the mounting rod section 211.

[0068] The first driving mechanism 16 includes a movable rod 161 and a driving unit 162 for driving the movable rod 161 to move. The movable rod 161 is rotatably connected to the rotating member 241. The rotating member 241 is provided with a first protrusion 2411 and a second protrusion 2412. A groove 2413 is formed between the first protrusion 2411 and the second protrusion 2412. One end of the movable rod 161 extends into the groove 2413, and the movable rod 161 is rotatably connected to the first protrusion 2411 and the second protrusion 2412 through a pin 25. The axial direction of the pin 25 is parallel to the axial direction of the rotating shaft 14. Specifically, The movable rod 161 is a screw rod, and the driving unit 162 is a motor. The rotor inside the motor is rotatably connected to the screw rod. When the motor is working, the rotor rotates to make the screw rod move linearly along the Z-axis direction. By setting a first driving mechanism 16 composed of the movable rod 161 and the driving unit 162, the connecting module 20 converts the linear driving mode of the first driving mechanism 16 into the rotational motion of the working unit 40. The first driving mechanism 16 can be installed in the upper and lower directions of the base 11 to avoid other structures in the horizontal direction of the base 11, and to prevent the base 11 from colliding with other external structures when rotating. The layout is reasonable and compact.

[0069] The distance h1 between the rotating shaft 14 and the slide rail 2121 is greater than the distance h2 between the pin 25 and the slide rail 2121. By setting the distance h1 between the rotating shaft 14 and the slide rail 2121 to be greater than the distance h2 between the pin 25 and the slide rail 2121, when the movable rod 161 moves a larger straight-line distance, the mounting rod segment 211 only rotates a smaller angle, so that the working unit 40 rotates at a smaller angle, thereby making the angle adjustment of the working unit 40 more precise.

[0070] The bottom surface of the slide rail section 212 is perpendicular to the axis of the mounting rod section 211. By setting the bottom surface of the slide rail section 212 to be perpendicular to the axis of the mounting rod section 211, when debugging the working unit 40, the rotation angle parameters of the mounting rod section 211 can be calculated using geometric operations based on the rotation angle parameters of the slide rail section 212, and then the rotation angle parameters of the working unit 40 can be calculated.

[0071] The base 11 includes a head 111, a neck 112 and a body 113, the head 111 and the body 113 are integrally connected through the neck 112, the upper end of the head 111 is provided with a connecting groove 12 that can be connected to an external structure, the mounting rod section 211 is rotatably connected to the head 111, and the first driving mechanism 16 is provided on the body 113; by providing a base 11 composed of the head 111, the neck 112 and the body 113, and providing a connecting groove 12 on the head 111, the first rotating device 10 can be conveniently installed and fixed to the external structure; the mounting rod section 211 is rotatably connected to the head 111, and the first driving mechanism 16 is provided on the body 113, so that the structural space of each part of the base 11 is rationally utilized, the layout is reasonable, the structure is compact, and the space occupied is small.

[0072] The upper end of the body 113 is higher than the upper end of the head 111, and the lower end of the body 113 is higher than the lower end of the head 111. An installation space 114 is formed between the upper end surface of the head 111, the neck 112 and the side surface of the body 113, and the opening of the connecting groove 12 faces the installation space 114. By providing the installation space 114, the installation space 114 can be used to install and fix the first rotating device 10 to the external structure. The installation space 114 is an open structure, and the first rotating device 10 can be installed along the X-axis direction, or along the Y-axis direction or the Z-axis direction, to achieve multi-directional installation and more convenient installation; an avoidance space 115 is formed between the lower end surface of the head 111, the neck 112 and the lower surface of the body 113. By providing the avoidance space 115, the connecting module 20 can be extended upward into the avoidance space 115, so that the rotation angle of the working head is larger, the working range is wider, and the applicability is better.

[0073] A calibration sensor 15 that can calibrate the position of the working unit 40 is provided at the lower end of the body 113. The calibration sensor 15 is connected to a calibration unit (not shown). When the sensing head 151 at the lower end of the calibration sensor 15 detects that the distance between the sensing head 151 and the upper surface of the connection module 20 meets the preset distance, the calibration unit can calibrate the current coordinates of the working unit 40 to the origin position, wherein the preset distance range is 2mm to 3mm. Specifically, the preset distance is the distance between the sensing head 151 and the upper surface of the second movable part 24. For example, when the sensing head 151 detects that the distance between the upper surface of the second movable part 24 and the sensing head 151 is 2mm, the calibration unit can calibrate the current coordinates of the working unit 40 to the origin position.

[0074] The second rotating device 32 includes a connecting shaft 33 and a second driving mechanism 34. The axial direction of the connecting shaft 33 is parallel to the Z axis. The fixing seat 30 is provided with a mounting seat 31. The connecting shaft 33 can be rotatably mounted on the mounting seat 31. The second driving mechanism 34 is a motor. The lower end of the connecting shaft 33 is connected to the connecting groove 12 on the base 11. During movement, the second driving mechanism 34 drives the connecting shaft 33 to rotate. The rotation of the connecting shaft 33 can drive the base 11 to rotate, thereby driving the working unit 40 to rotate around the connecting shaft 33, wherein the range of rotation of the working unit 40 around the connecting shaft 33 is 0°~230°; by setting the second rotating device 32, the degree of freedom of rotation of the working unit 40 around the Z axis is increased, the working range is larger, and the applicability is better.

[0075] like Figure 7-8 As shown, the second embodiment of the present invention is different from the above-mentioned first embodiment in that the first movable member 21 and the second movable member 24 are, in the second embodiment of the present invention, the first movable member 21 includes a connecting arm 26 and the mounting rod segment 211, the second movable member 24 is a connecting block 27, the connecting block 27 is rotatably connected to the connecting arm 26, specifically, the mounting rod segment 211 is connected to one end of the connecting arm 26, the other end of the connecting arm 26 is rotatably connected to the connecting block 27 through a first pin shaft 28, the movable rod 161 is rotatably connected to the connecting block 27 through a second pin shaft 29, the first pin shaft 2 8 and the axial direction of the second pin shaft 29 are parallel to the axial direction of the rotating shaft 14. Specifically, the connecting block 27 has a first connecting portion 271 and a second connecting portion 272, and the second connecting portion 272 extends toward the base 11 at one end away from the first connecting portion 271. An angle is formed between the first connecting portion 271 and the second connecting portion 272. Optimally, the angle of the angle is 90°. The connecting arm 26 is rotatably connected to the end of the first connecting portion 271 away from the second connecting portion 272, and the movable rod 161 is rotatably connected to the end of the second connecting portion 272 away from the first connecting portion 271.

[0076] like Figure 7 and Figure 9 As shown, the working unit 40 can also be a clamping head 50, the lower end of the clamping head 50 is provided with a clamping claw 52 for clamping the material, the upper end of the clamping head 50 is provided with a second mounting hole 51, and the clamping head 50 is mounted on the mounting rod segment 211 through the second mounting hole 51.

[0077] The working principle of the angle-adjustable working head 60 of the present invention is as follows:

[0078] When the first rotating device 10 is working, the driving unit 162 drives the movable rod 161 to move downward, and the movable rod 161 pushes the second movable member 24 to move downward, so that the second movable member 24 slides on the first movable member 21 away from the base 11. At the same time, the second movable member 24 drives the first movable member 21 to rotate downward, and the first movable member 21 drives the working unit 40 to rotate downward around the rotating shaft 14.

[0079] When the second rotating device 32 is working, the second driving mechanism 34 drives the connecting shaft 33 to rotate, and the connecting shaft 33 drives the base 11 to rotate, so that the first rotating device 10 rotates, thereby causing the working unit 40 to rotate around the connecting shaft 33 .

[0080] like Figure 10-11 As shown, 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 drive mechanism 74, and the angle-adjustable working head 60, wherein the conveying mechanism 72, the quick docking mechanism 73, the gantry-type drive mechanism 74, and the angle-adjustable working head 60 are all mounted on the universal frame mechanism 71;

[0081] 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.

[0082] The conveying mechanism 72 is mounted on the main head module 712 and is used to convey the workpiece;

[0083] The quick docking mechanism 73 is installed on the main head module 712. The quick docking mechanism 73 includes a docking seat 731 and several docking mechanisms docked with the docking seat 731. The docking mechanism includes a screw feeding module (not shown), a dispensing service module (not shown), a working 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 dispensing service module is used for glue weighing, glue height measurement, and glue cleaning. The working head cleaning module is used to clean the working unit 40. The visual inspection module 732 is used to perform visual inspection of the material.

[0084] In this embodiment, the gantry drive mechanism 74 is installed on the main head module 712. 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. The first X-axis crossbeam 75 is provided with a second drive module 751. The angle-adjustable work head 60 is slidably installed on the first X-axis crossbeam 75, and the second drive module 751 drives the angle-adjustable work head 60 to move along the X-axis direction.

[0085] like Figure 12 As shown, in another embodiment, two first X-axis crossbeams 75 can also be provided, and the two first X-axis crossbeams 75 are both slidably connected to the first Y-axis longitudinal beam 76 and the second Y-axis longitudinal beam 77, and the two first X-axis crossbeams 75 are both provided with an angle-adjustable working head 60.

[0086] like Figure 13-14 As shown, 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 drive mechanism 81 and the angle-adjustable working head 60, wherein the conveying mechanism 72, the quick docking mechanism 73, the side-hung drive mechanism 81 and the angle-adjustable working head 60 are all mounted on the universal frame mechanism 71;

[0087] Specifically, the universal rack mechanism 71 includes a rack module 711 and a main head module 712. The main head module 712 includes an Nth and an N+1th main head module 712 arranged in parallel. The Nth and N+1th main head modules 712 can be detachably mounted on the rack module 711, and the Nth and N+1th main head modules 712 are electrically connected to the rack module 711. Exemplarily, the main head module 712 includes a first main head module 713 and a second main head module 714 arranged in parallel.

[0088] It can be understood that the structural functions of the conveying mechanism 72 and the quick docking mechanism 73 on the side-hung intelligent platform system 80 are the same as those of the conveying mechanism 72 and the quick docking mechanism 73 on the gantry intelligent platform system 70, and will not be repeated here.

[0089] It can be understood that the number of the side-hung drive mechanisms 81 is the same as the number of the main head modules 712 , and the side-hung drive mechanisms 81 are installed on the main head modules 712 ;

[0090] The side-suspended drive 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 drive 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 drive module 821. The angle-adjustable work head 60 is slidably mounted on the second X-axis crossbeam 82, and the fourth drive module 821 drives the angle-adjustable work head 60 to move along the X-axis direction.

[0091] To sum up, the present invention is provided with a first rotating device 10, a second rotating device 32, and a working unit 40. The second rotating device 32 drives the first rotating device 10 to rotate. The first rotating device 10 includes a base 11, a first driving mechanism 16, and a connecting module 20. The connecting module 20 includes a first movable part 21 and a second movable part 24 that are movably connected. The working unit 40 is connected to the first movable part 21. The first driving mechanism 16 drives the second movable part 24 to slide on the first movable part 21, while the second movable part 24 drives the first movable part 21 to rotate, thereby realizing automatic adjustment of the angle of the working head, so that the tilt position of the product can be operated without adjusting the product angle. It has a wide range of applications and good applicability. At the same time, the connecting module 20 converts the linear driving mode of the first driving mechanism 16 into a rotational motion of the working unit 40. The first driving mechanism 16 can be installed in the upper and lower directions of the base 11 to avoid other structures in the lateral direction of the base 11, and can prevent the base 11 from colliding with other external structures when rotating. The layout is reasonable and compact.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made to the above embodiments based on the technical practice of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An angle-adjustable working head, characterized in that: It includes a first rotating device, a second rotating device, and a working unit, wherein the second rotating device drives the first rotating device to rotate, and the first rotating device includes a base, a first driving mechanism, and a connecting module; The connecting module includes a first movable member and a second movable member, wherein the first movable member is rotatably connected to the base, and the second movable member is slidably mounted on the first movable member; The working unit is connected to the first movable member, and the first driving mechanism drives the second movable member to slide on the first movable member, while the second movable member drives the first movable member to rotate; The first movable member is a T-shaped structural member, which includes a mounting rod section and a slide rail section. The slide rail section is connected to the middle portion of the mounting rod section. The upper end of the mounting rod section is rotatably connected to the base via a rotating shaft. The working unit is connected to the lower end of the mounting rod section. A slide rail is installed on the slide rail section. The second movable member is slidably connected to the slide rail. The second movable member is a stacked member, which includes a rotating member and a slider. The rotating member is fixedly mounted on the slider. The slider slides on the slide rail section. The slider is slidably connected to the slide rail. The extension direction of the slide rail is perpendicular to the axis direction of the rotating shaft. The first driving mechanism includes a movable rod and a driving unit for driving the movable rod to move, one end of the movable rod is rotatably connected to the rotating member via a pin, the axis direction of the pin is parallel to the axis direction of the rotating shaft, and the distance h1 between the rotating shaft and the slide rail is greater than the distance h2 between the pin and the slide rail; The rotating member is provided with a first protrusion and a second protrusion, a groove is formed between the first protrusion and the second protrusion, one end of the movable rod extends into the groove, and the movable rod is rotatably connected to the first protrusion and the second protrusion through the pin.

2. The angle-adjustable working head according to claim 1, characterized in that: One end of the slide rail section is provided with a mounting slot, the mounting rod section is installed in the mounting slot, a positioning structure is provided between the slide rail section and the mounting rod section, and the positioning structure limits the installation position of the mounting rod section and the slide rail section.

3. The angle-adjustable working head according to claim 1, characterized in that: The working unit is a material suction head or a material clamping head.

4. The angle-adjustable working head according to any one of claims 1 to 3, characterized in that: The second rotating device includes a connecting shaft and a second driving mechanism. One end of the connecting shaft is connected to the base. The second driving mechanism drives the connecting shaft to rotate, so that the connecting shaft drives the first rotating device to rotate.

5. An intelligent platform system, characterized in that: The invention comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a gantry drive mechanism and an angle-adjustable working head as claimed in any one of claims 1 to 4.

6. An intelligent platform system, characterized in that: The invention comprises a universal frame mechanism, a conveying mechanism, a quick docking mechanism, a side-hanging drive mechanism and an angle-adjustable working head as claimed in any one of claims 1 to 4.

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