CN111642888A

CN111642888A - Device for measurement, automatic positioning, material taking, smearing and attaching

Info

Publication number: CN111642888A
Application number: CN202010515409.2A
Authority: CN
Inventors: 鲁永雪
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-09
Filing date: 2020-06-09
Publication date: 2020-09-11

Abstract

A device integrating measurement, automatic positioning, material taking, smearing and attaching. Comprises a frame, and a manipulator device, a storage device, a transfer device, a jig device and an elbow device which are arranged on the frame. The manipulator device can move in three directions of X \ Y \ Z axis, automatically detect and operate at standard position above the transfer and the jig. The material tray can be transferred from the storage device to the position below the movable end of the manipulator by transferring. The mechanical hand device on the frame can be provided with one set or 4 sets, and the 4 sets can realize the change from single operation to multiple operation. The invention can not only automatically detect, but also absorb materials in all directions, so that the materials can reach the standard position quickly, the operation is simple and convenient, the positioning precision and the stability are high, health reference suggestions are provided, and the occurrence of disease infection is prevented.

Description

Device for measurement, automatic positioning, material taking, smearing and attaching

Technical Field

The invention relates to a device for measuring, automatically positioning, taking materials, smearing and attaching. More specifically, the device for detecting and positioning the fingernails, automatically taking materials, smearing, pasting and evaluating health.

Background

In the nail art, a manicurist is used to maintain and beautify the nails of a customer. The time consuming of the nail art is long, the eye fatigue is easy to occur, the position of the attached ornament must be carefully designed not to be eye-catching, or the adhered part will shift. At present, no equipment for full-automatic detection, smearing, attaching and health evaluation of the fingernails is available in the market.

Disclosure of Invention

The invention aims to provide a device for measuring, automatically positioning, taking materials, smearing, attaching and evaluating health.

The technical solution of the invention is as follows:

a device for measuring, automatically positioning, taking materials, smearing, attaching and evaluating health. Comprises a manipulator device, a storage device, a transfer device, a jig device and an elbow device.

The manipulator device comprises a three-axis manipulator and a device installed on the three-axis manipulator. The three-axis manipulator comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm. The X-axis mechanical arm is arranged on the supporting table, and the Y-axis mechanical arm is arranged on the X-axis mechanical arm. The Z-axis mechanical arm is arranged on the Y-axis mechanical arm. The device is mounted on a Z-axis mechanical arm. The X-axis mechanical arm can drive the Y-axis mechanical arm to slide along the X-axis direction. The Y-axis mechanical arm can drive the Z-axis mechanical arm to slide along the Y-axis direction. The Z-axis robot arm is slidable along the Z-axis direction by the drive device. The device comprises a pneumatic gripping clamp, a vacuum suction pen and a CCD.

The storage device comprises a single-shaft mechanical arm, a material module and a positioning device. The mounting part is arranged on the support table through the tooth hole, and the single-shaft mechanical arm is arranged on the mounting part. The fixed plate is being installed through the tooth hole to the expansion end of unipolar arm, cuts the position of adjusting the installation through locating hole and location on the fixed plate, places the material module above the backup pad. The upper part and the lower part of the mounting part are respectively provided with an inductor. The positioning device is arranged on two sides of the mounting part through the tooth holes. The supporting frame and the positioning cylinder are installed on the bottom plate, a piston rod of the positioning cylinder is fixedly connected with the positioning plate through a positioning hole, the universal wheel is installed in the center of the bottom of the positioning plate to support the positioning plate and move the positioning plate under the lubricating effect, the installation position of the positioning device is adjusted through the positioning hole and the positioning chip of the bottom plate, and the position of the material tray is positioned through the cylinder and the positioning plate. The throttle valve of the cylinder can adjust the vacuum. The material module is formed by classifying and assembling a material disc, injection, a tool pen and an ornament. The tool pen is a tool pen which is uniformly called as a tool pen and comprises all tools for carrying out secondary processing on the nail. The ornaments are all the stickers for processing the nails for the third time, which are called as the ornaments.

The transfer device comprises a single-shaft mechanical arm and a magnetic coupling type rodless cylinder arranged at the movable end. The piston steel cylinder of the magnetic coupling type rodless cylinder is provided with a movable sliding block, and the top of the piston steel cylinder is provided with a tooth socket by a positioning hole and a positioning cutter. The edge of one side of the movable sliding block is embedded with a magnet, the corresponding surface of the movable sliding block is provided with a magnetic groove, and the two ends of the movable sliding block are embedded with magnetic switches. The air hole is arranged at the upper end of the fixed baffle plate, and the fine adjustment stroke screw rods are arranged at the two ends of the fixed baffle plate.

The jig device is arranged on the machine frame.

The finger separating device, the hand pillow, the hand pad and the light source line are embedded in a plane groove of the jig device, and the light is embedded in a groove in the top of the finger separating device. The bottom is provided with a side-posture cylinder of a manipulator accessory. The bottom is fixed on the rack cabinet by a positioning rope. The rolling rod penetrates through the rack positioning hole and the gear positioning hole and is fixed by the positioning pin.

The elbow device is characterized in that the support table is bowl-shaped, is fixed on the support frame through the positioning hole and the positioning pin, is connected with the fixed support and is fixed on the rack through the positioning hole.

The mechanical arm device, the storage device and the mechanical arm arranged on the transfer device are controlled by the controller, and multi-directional movement can be realized. Two through holes are formed in the pneumatic gripping clamp, the vacuum suction pen and the side-posture cylinder of the mechanical arm accessory, and vacuum enters the side-posture cylinder through the through holes.

The material module is assembled by a material box, an injection, a tool pen and ornaments according to classification.

Drawings

Fig. 1 is a perspective view of the frame of the present invention.

Fig. 2 is a plan view of the rack, the storage device, the transfer device, the jig device, the elbow device, and the 1 set of robot device according to the present invention.

Fig. 3 is a top view of the rack, the storage device, the transfer device, the jig device, the elbow device, and the 4 sets of manipulator devices according to the present invention.

Fig. 4-is the front view of the invention.

Fig. 5 is a perspective view of the robot apparatus of the present invention.

Fig. 6 is a perspective exploded view of the robot apparatus of the present invention.

Figure 7-is the perspective view of the gripper of the present invention.

Fig. 8 is a schematic view of the structure of the gripper of the present invention.

FIG. 9 is a perspective view of the suction pen device of the present invention.

FIG. 10 is a cross-sectional view of a suction pen of the present invention.

FIG. 11 is a perspective view of a robotic arm of the storage device of the present invention.

Fig. 12 is a schematic perspective view of the storage device of the present invention.

Fig. 13 is a perspective view of the material module 2 according to the present invention.

Fig. 14 is a perspective view of the material module 3 according to the present invention.

Fig. 15 is a perspective view of the material module 1 according to the present invention.

FIG. 16 is the cross section of injection of the present invention.

Fig. 17 is a perspective view of the material module 4 according to the present invention.

Fig. 18 is a schematic structural diagram of the material module 4 according to the present invention.

Fig. 19 is a perspective view of the transfer device of the present invention.

Fig. 20 is a perspective view of the jig device of the present invention.

Figure 21 is a perspective view of the elbow device of the present invention.

Fig. 22-is a cross-sectional view of the tool pen of the present invention.

Detailed Description

The following describes an embodiment of an apparatus integrating detection, automatic positioning, material taking, smearing, attaching, and health assessment, with reference to the accompanying drawings.

As shown in fig. 1 to 22, an apparatus integrating detection, automatic positioning, material taking, smearing, attaching and health evaluation comprises a robot apparatus 101, a storage apparatus 777, a transferring apparatus 888, a jig apparatus 999 and an elbow apparatus 111.

The robot apparatus 101, which is a three-axis vertical type, includes a three-axis robot 123 and an apparatus 120 installed on the three-axis robot. The three-axis manipulator includes an X-axis manipulator 197, a Y-axis manipulator 198, and a Z-axis manipulator 199. The X-axis robot 197 is mounted on the robot mount support 606, and the Y-axis robot 198 is mounted on the X-axis robot 197. Z-axis robot 199 is mounted to Y-axis robot 198. The apparatus 120 is mounted on a Z-axis robotic arm 199. The X-axis robot arm 197 is capable of driving the Y-axis robot arm 198 to slide in the X-axis direction. Y-axis robotic arm 198 can drive Z-axis robotic arm 199 to slide along the Y-axis direction. The Z-axis mechanical arm 199 is slidable in the Z-axis direction by the driving device 120. The device 120 includes a pneumatic gripper 456 and a vacuum wand 55 and CCD 121. The manipulator is controlled by the controller, and can realize multi-azimuth removal. The top of the pneumatic gripper 456 is a gripper cylinder 401, the piston rod 402 of the pneumatic gripper is fixedly connected with the connecting rod 405, and the bottom of the connecting rod 405 is spiral and is rotatably fixed with the top of the discharging cylinder 407. The link 405 has gears that are connected to the connecting block 406 and the bottom plate 417. Above the bottom plate 417 is placed a spring 404, outside of which is a shield 410. The base plate 417 is connected to the attachment block 406 and the gripper 414. The bottom of the gripping clamp 414 is provided with a sensor 411, an alarm 412 and a scooping spoon 415, and the center of the scooping spoon 415 is provided with a hole 416. The top of the vacuum suction pen 55 is provided with a cylinder 501, a piston rod 501 of the cylinder 501 is rotationally fixed with a thread 511 of a suction pen outer cylinder 503, and the suction pen outer cylinder 503 is rotationally fixed with a thread 512 of a suction pen inner cylinder 504. The suction pen inner barrel 504 is connected to an inner barrel fitting 505 and an inner barrel vacuum hose 507. And through the wand outer barrel 503. The wand outer barrel 503 is connected to an outer barrel fitting 506 and an outer barrel vacuum hose 508. The cylinder 501 is fixed to the third transmission member 55 by a cylinder fixing bolt 510.

The storage device 777 is mounted on the storage device support table 603. Comprises a single-shaft mechanical arm 719 and a material module and positioning device 713 arranged on the single-shaft mechanical arm 719. The single-axis robot 719 comprises a driving body 701, a coupling 702, a first transmission 710, a second transmission 704, a third transmission 705, a transmission bracket 711, guide rails 703 on both sides, a T-shaped slide block 706 on the top, a fixing plate 707 on the top, and a supporting plate 708 on the fixing plate 707. The material module is placed on the support plate 708. Inductors 709 are mounted on either side of the mounting member. The positioning device 713 is installed at both sides of the supporting plate 708. The material module is formed by classifying and assembling material boxes, injection, tool pens and ornaments. The bottom of the positioning device 713 is a bottom plate 717, a support frame 718 is installed on the bottom of the positioning device, a positioning cylinder 714 is installed at the top of the support frame 718, and the material tray placed on the support plate 708 is positioned through the positioning cylinder 714 and the positioning plate 715. The bottom center of the positioning plate 715 is provided with a universal wheel 716 to support and move lubrication. The material module is composed of a material disc 727, a material disc 720, a material disc 723, a material disc 744, an injection 732, a tool pen 721 and an ornament 726 in a classified manner. The tool pen 721 includes all tools for performing the secondary processing on the nail, and is collectively called the tool pen 721. The ornament 726 is an ornament 726 that is a collective name of all the attached articles that are used for processing the nail three times.

The transfer apparatus 888 includes a single-axis robot 819 and a take-off cylinder 818 mounted on the single-axis robot 819. The single-axis robot 819 is capable of driving movement of the take-off cylinder 818. The take-off cylinder 818 may drive the mouthpiece 816 vertically toward the single-axis robot arm 819. The single-axis robot 819 comprises a drive body 801, which is connected to a coupling 802, to a first transmission 804, passes through a spindle support 803, and has guide rails 813 on both sides, on which a second transmission 816 is mounted, and on which a third transmission 817 is mounted. On which is mounted a bracket 808 for a cylinder 818. Stop blocks 809 are provided at both ends. In the middle of which is mounted a guide bar 805 and a piston steel cylinder 814. A magnet 815 is embedded in one edge of the moving slider 807, a magnetic slot is installed in the corresponding surface, and a magnetic switch 812 is embedded in both ends. The dental insert 816 is fixed on the movable sliding block 809 through the screw 806. The air hole 815 is located at the upper end of the fixed baffle 810, and the fine adjustment screw 812 is installed at the two ends of the fixed baffle 809.

The fixture device 916 is mounted on the frame 666, the fixture gear 909 is disposed in the fixture groove 605, and the manipulator accessory side-pose cylinder 910 is disposed in the cylinder cabinet 604. The finger separator, hand pillow, hand pad, light source, and cylinder with bottom gear synchronously disposed in the groove of the tool device 666. The bottom of the jig 916 is a manipulator accessory side-posture cylinder 910, the side surface of the jig is provided with two vacuum holes 912, and the periphery of the bottom of the jig is fixed on the rack 1 through bolts. A gear aligning rod 915 is arranged on one side of the upper part, one side of a piston rod 913 is in a gear shape 914 and corresponds to a tool gear 909 in an intersecting manner, and a roller 908 penetrates through the gear 915 and the tool gear 909 to be arranged in a groove of the frame 1, and the outer surface of the roller is fixed by bolts 917. The top of the jig 916 is provided with a groove 918, a hand pad 905, a hand pillow 904 and a finger divider 903 are arranged in the groove, a light source line 902 is arranged in the groove at the periphery, the light 901 is connected, and the light 901 is arranged in the groove at the top of the finger divider 903.

The elbow device 111 is installed on the frame 666, the support platform 101 is bowl-shaped, the bottom of the bowl-shaped elbow device is fixed on the support frame 102 by bolts 105, the bowl-shaped elbow device is connected with the fixing support 103 by bolts 104, and the bowl-shaped elbow device is rotationally fixed in the frame by screws 105.

The bottom of the material tray 720 is flat, and a groove 760 is formed in the material tray for accommodating the tool pen 721.

The bottom of the material tray 723 is flat, a fixing frame 724 and a silica gel support frame 725 are arranged on the material tray, and a decoration 726 is arranged on the material tray.

The bottom of the material tray 744 is flat, the upper surface is provided with a concave tide 761, a bracket 745 is arranged, and the upper surface can be provided with an ornament

The material tray 727 is composed of two parts, an upper cover 759 and a bottom cover 728, a cavity is arranged in the middle for containing water sample liquid, injection 732 is evenly inserted into the top of the upper cover, and injection holes 731 which are communicated with the cavity are arranged.

The injection 732 is installed by the following steps: the spring 739 is placed in the inner cylinder 736, the screw-shaped lower section 740 of the refill penetrates through the spring 739 and the inner cylinder 736 and is pressed against the inner cylinder wall, the top circle diameter is provided with a bolt hole, the screw-shaped lower section 740 of the refill is connected with the middle section 738 of the refill in a clockwise rotating manner, the sealing ring 737 penetrates through the middle section 738 of the refill to be in contact with the inner cylinder wall to achieve the air blocking effect, the bottom of the upper section 735 of the refill is provided with a bolt hole, and the screw-shaped. The lower section 740 of the refill passes through the inner wall hole of the outer cylinder 734, and the top of the outer cylinder 734 is provided with a sealing cover 737 to achieve the sealing effect. The top of the inner cylinder is not provided with a sealing cover 737 and is hollow, and when the feeding device is operated, a piston rod of the cylinder pushes the pen core to move downwards and upwards to open and close the discharging.

The tool pen 755 and the pen container 757 are hollow, the cavity 756 reaches the top from the two thirds position of the bottom, and the bottom is provided with a seal and a halation pen made of foam 758. There is also a magnet-containing magnet tool pen 755.

The ornament is made of various materials with different specifications and shapes, and has the function of beautifying the appearance after being pasted.

The three-axis manipulator 101 device is arranged on the right side of the rack, the storage device 777 is arranged on the left side of the rack, the transfer 888 is arranged on the central area of the rear view plane of the rack, the jig 916 is arranged on the central area of the rack and is arranged at the center of the elbow 111, and the elbow 111 is arranged on the edge of the central area of the front view plane. The ampoules 732, the tool pens 755 and the decorations 726 are all placed in the material tray in a classified manner.

Before starting up, the injection 732, the tool pen 755 and the ornament 726 are put into the

material trays

727, 720, 723 and 744 in a classified manner and put on the storage support table 708 in a classified manner.

The machine starts and the storage device 777 moves the single axis robot 719 down, the positioning cylinder 714 and positioning plate 715 position the tray on the support table 708, and the single axis robot 719 moves up to the home position. The single axis robotic arm 819 for transferring 888 returns to the home position. The three-axis manipulator 123 of the manipulator device 101 returns to the original position, and the X-axis manipulator 197 drives the CCD121 on the device 120 to move to the detection position above the jig finger separator.

The handle is extended into the jig platform, the fingers pass through the finger divider 903, the first joint of each finger is placed on the finger divider 903, the palm is placed on the hand pillow 904, and the wrist is placed on the hand pad 905. The elbow is placed on the support platform 105, and the fixed support 103 is adjusted and adjusted along the clockwise direction and the anticlockwise direction, so that the support frame 102 drives the support platform 105 to slightly move along the left-right direction.

The CCD121 then starts recognition detection, giving a smear line. The robotic arm 719 of the storage device 777 moves upward to the picking position to maintain the support table 708 at a level parallel to the dental socket 816. The robotic arm 819 of the transfer 888 moves to the left to the material taking position, the material taking cylinder 818 drives the tooth socket 816 to extend to the bottom of the material tray, the robotic arm of the storage device 777 moves downwards, and the tooth socket 816 extends back to enable the material tray to be moved to the waiting position. The three-axis manipulator 123 moves to a waiting position at the upper end of the material tray, a piston rod 402 of the gripping cylinder 401 pushes outwards, a gear drives a connecting block 406, a gripping clamp 414 and a digging spoon 415, the gripping clamp 414 and the digging spoon 415 are opened in tension, a piston rod of the discharging cylinder 407 and a pen core of the injection are in parallel visual relation, the Z-axis manipulator 199 moves downwards to a gripping position, the gripping cylinder 401 is closed, the gripping clamp 414 and the digging spoon 415 are retracted in tension, and the blocking block 418 clamps the injection 727. The Z-axis mechanical arm 199 moves upwards to a waiting position, the three-axis mechanical arm moves to a smearing position at the upper end of the finger separator, the piston rod 409 of the discharging cylinder 407 pushes downwards until colliding with the upper pen core section 735 of the injection 732, the upper pen core section 735 is forced to drive the middle pen core section 738 downwards, the middle pen core section 738 is forced to drive the lower pen core section 740 to slide out downwards from the inner cylinder sealing wall pipe, the water sample smearing product is contacted with the inlet hole, and the water sample smearing product enters the inlet hole and overflows from the outlet hole. And coating according to the coating line. After the operation is finished, the discharging cylinder 407 is closed, and the spring drives the lower section of the pen core and the stop block to rebound upwards, so that the inlet hole enters the inner cylinder sealing wall pipe, and the water sample daubing product is prevented from flowing in. The movement of the three-axis robot 123 to another application line performs application step by step according to this step, and the light sources are sequentially turned on according to the number of applications. Then the three-axis robot 123 moves to a waiting position at the upper end of the tray. The Z-axis mechanical arm 199 moves downwards to a grabbing position, the injection is placed back to the material tray, the piston rod of the grabbing clamp cylinder 401 pushes downwards, the gear drives the grabbing clamp 414 and the small digging spoon 415 to be opened in tension, the Z-axis mechanical arm 199 moves upwards to a waiting position, the piston rod 402 of the grabbing clamp cylinder 401 pushes back inwards, and the three-axis mechanical arm 123 returns to the waiting position above the material tray. The tray is moved to the pickup position by extending the mouthpiece 816, the arm 719 of the storage device 777 is moved upward to the pickup position to keep the support plate 708 at a level parallel to the mouthpiece 816, the mouthpiece 816 is extended back, the tray is transferred to the support plate 708, and the arm 719 of the storage device 777 is moved downward to the home position.

According to the CCD identification detection, the line is decorated. The robotic arm 719 of the storage device 777 moves upward to the picking position to maintain the support table 708 at a level parallel to the dental socket 816. The robotic arm 819 of the transfer 888 moves to the left to the material taking position, the material taking cylinder 818 drives the tooth socket 816 to extend to the bottom of the material tray, the robotic arm of the storage device 777 moves downwards, and the tooth socket 816 extends back to enable the material tray to be moved to the waiting position. The triaxial manipulator 123 moves to the waiting position of material dish upper end, the piston rod of suction pen cylinder outwards promotes, Z axle arm 199 moves down and snatchs the position, the piston rod is compelled to drive the suction pen downwards, the urceolus of suction pen slides with the chamber wall friction of instrument pen, suction pen inner tube bottom is parallel direct-view state with the chamber bottom, the laminating of suction pen urceolus and chamber wall, the instrument pen is held to the urceolus, Z axle arm 199 rebound is to waiting position, the instrument pen is upwards taken out perpendicularly from the material dish. And modifying according to a modification line. After the operation is completed, the three-axis manipulator 123 sequentially performs the independent operation according to the decoration line, and the light sources are sequentially turned on according to the number of decoration. Then the three-axis robot 123 moves to a waiting position at the upper end of the tray. The Z-axis mechanical arm 199 moves downwards to a grabbing position, the tool pen is placed back into the material tray, the piston rod of the grabbing clamp cylinder 401 pushes downwards, the gear drives the grabbing clamp 414 and the digging spoon 415 to be opened in tension, the Z-axis mechanical arm 199 moves upwards to a waiting position, the piston rod 402 of the grabbing clamp cylinder 401 pushes back inwards, and the three-axis mechanical arm 123 returns to the waiting position above the material tray. The tray is moved to the pick position by extending the mouthpiece 816, the arm 719 of the storage device 777 is moved up to the pick position so that the support 708 is at a level parallel to the mouthpiece 816, the mouthpiece 816 is extended back, the tray is transferred to the support 708, and the arm 719 of the storage device 777 is moved down to the home position.

And (4) according to the CCD identification detection, giving an application line. The robotic arm 719 of the storage device 777 moves upward to the take-out position to maintain the support plate 708 at a level parallel to the dental socket 816. The material taking cylinder 818 drives the tooth insert 816 to extend to the bottom of the material tray, the mechanical arm of the storage device 777 moves downwards, and the tooth insert 816 extends back to enable the material tray to be moved to the waiting position. The three-axis manipulator 123 moves to a waiting position at the upper end of the material tray, a piston rod 402 of the clamping cylinder 401 pushes outwards, a gear drives a connecting block 406, a clamping jaw 414 and a digging spoon 415, the clamping jaw 414 and the digging spoon 415 are opened in tension, and the Z-axis manipulator 199 moves downwards to a digging position, so that the digging spoon 415 is in parallel alignment with the upper end of the supporting frame. The gripper cylinder 401 is closed, the piston rod 402 of the gripper cylinder 401 pushes inward, the gear drives the gripper 414 and the scooping spoon 415 to retract under tension, the scooping spoon is closed at the root of the support frame, and the support frame is wrapped in the hole 416. The Z-axis robot 199 moves up to the waiting position, the support 725 slides out of the hole 416, and the ornaments 726 are placed in the scoop 416 parallel down the support. The triaxial manipulator 123 moves to the application position of the upper end of the finger-separating device, the piston rod 402 of the gripping cylinder 401 pushes outwards, the gear drives the connecting block 406 and the gripping clamp 414 and the digging spoon 415, the gripping clamp 414 and the digging spoon 415 are opened in tension, the ornament vertically falls downwards at the application position, the lamp arranged on the finger-separating device corresponding to the application position is turned on, after the operation is completed, the triaxial manipulator 123 operates according to the steps in sequence, and the lamp source is turned on in sequence according to the number of the application. Then the robot 123 moves to a waiting position at the upper end of the tray. The tray is moved to the pickup position by extending the mouthpiece 816, the arm 719 of the storage device 777 is moved upward to the pickup position to keep the support plate 708 at a level parallel to the mouthpiece 816, the mouthpiece 816 is extended back, the tray is transferred to the support plate 708, and the arm 719 of the storage device 777 is moved downward to the home position.

After the 8 fingernails are detected, smeared, decorated and pasted, the manipulator accessory side posture air cylinder 910 is started, the piston rod 913 drives the jig gear 909 to enable the jig 907 to turn over horizontally by 90 degrees, and then the two fingernails are detected, smeared, decorated and pasted according to the previous steps. After closing, the piston rod 913 of the side-posture cylinder 910 of the robot assembly drives the jig gear 909 to make the jig 907 turn horizontally by 90 degrees and be flat on the rack 666.

The mechanical arms are controlled by the controller, and multi-directional movement can be realized.

All cylinders and suction pens are provided with two small through holes, and vacuum pressure can reach the cylinders and the suction pens to suck used tools, ornaments and injections. The tool, the decoration and the injection can be moved and used.

Claims

1. A device integrating detection, automatic positioning, material taking, smearing, attaching and health evaluation comprises a manipulator device, a storage device, a transfer device, a jig device and an elbow device.

2. The robot device of claim 1, in the form of a three-axis upright comprising a three-axis robot and a device mounted on the three-axis robot. The three-axis manipulator comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm. The X-axis mechanical arm is arranged on the mechanical arm device supporting table, and the Y-axis mechanical arm is arranged on the X-axis mechanical arm. The Z-axis mechanical arm is arranged on the Y-axis mechanical arm. The device is arranged on the Z-axis mechanical arm. The X-axis mechanical arm can drive the Y-axis mechanical arm to slide along the X-axis direction. The Y-axis mechanical arm can drive the Z-axis mechanical arm to slide along the Y-axis direction. The Z-axis robot arm is slidable along the Z-axis direction by the drive device. The device comprises a pneumatic gripping clamp, a vacuum suction pen and a CCD. The manipulator is controlled by the controller, and can realize multi-azimuth removal. The top of the pneumatic gripping clamp is provided with a gripping cylinder, a piston rod of the pneumatic gripping clamp is fixedly connected with a connecting rod, and the bottom of the connecting rod is spiral and is rotationally fixed with the top of the discharging cylinder. The connecting rod is provided with a gear, and the gear is connected with the connecting block and the bottom plate. The spring is arranged above the bottom plate, and the protective cover is arranged outside the bottom plate. The bottom plate is connected with the connecting block and the gripping clamp. The bottom of the gripping clamp is provided with a sensor and an alarm, and a digging spoon, the center of which is provided with a hole. The top of the vacuum suction pen is provided with a cylinder, a piston rod of the cylinder is rotationally fixed with the thread of the outer suction pen cylinder, and the outer suction pen cylinder is rotationally fixed with the thread of the inner suction pen cylinder. The suction pen inner cylinder is connected with an inner cylinder joint and an inner cylinder vacuum hose. And passes through the outer barrel of the suction pen. The outer cylinder of the suction pen is connected with an outer cylinder connector and an outer cylinder vacuum hose. The cylinder is fixed on the third transmission piece by the cylinder fixing bolt.

3. The storage device of claim 1 mounted on a storage device support platform. The material module comprises a single-shaft mechanical arm, and a material module and a positioning device which are arranged on the single-shaft mechanical arm. The single-shaft mechanical arm comprises a driving body, a coupler is connected with the driving body, a first transmission piece, a second transmission piece and a third transmission piece are connected with the coupling, the driving support penetrates through the transmission support, guide rails are arranged on two sides of the transmission support, a T-shaped sliding block is connected to the upper side of the transmission support, a fixing plate is connected to the upper side of the transmission support, and a supporting plate is connected to the. The material module is placed on the supporting plate. Inductors are arranged on two sides of the mounting piece. The positioning devices are arranged on two sides of the supporting plate. The material module is formed by classifying and assembling material boxes, injection, tool pens and ornaments. The bottom of the positioning device is a bottom plate, a support frame is arranged on the bottom plate, a positioning cylinder is arranged at the top of the support frame, and a material tray arranged on the support plate is positioned through the positioning cylinder and a positioning plate. The bottom center of the positioning plate is provided with a universal wheel to achieve the supporting and moving lubricating effects. The material module is formed by classifying a material disc, injection, a tool pen and ornaments. Wherein, the tool pen is a tool pen which is commonly called as a tool pen and comprises all tools for carrying out secondary processing on the nail. The ornaments are all stickers for processing the nails for three times, which are called as ornaments.

4. The transfer device of claim 1 including a single axis robot and a take-off cylinder mounted on the single axis robot. Unipolar arm can drive gets material cylinder and remove. Get material cylinder and can drive the tooth socket and be the vertical direction removal to unipolar arm. The single-shaft mechanical arm comprises a driving body, a coupler and a first transmission piece, wherein the driving body is connected with the coupler, the first transmission piece penetrates through the screw rod support, guide rails are arranged on two sides, a second transmission piece is arranged on the single-shaft mechanical arm, and a third transmission piece is arranged on the single-shaft mechanical arm. On which a bracket of the cylinder is mounted. The two ends are stop blocks. The middle is provided with a guide rod and a piston steel cylinder. The magnetic switch is connected with the movable sliding block, a magnet is embedded in the edge of one side, a magnetic groove is arranged on the corresponding surface of the movable sliding block, and magnetic switches are embedded in the two ends of the movable sliding block. The tooth socket is fixed on the movable sliding block through a screw. The air hole is arranged at the upper end of the fixed baffle plate, and the fine adjustment stroke screw rods are arranged at the two ends of the fixed baffle plate.

5. The jig device according to claim 1, wherein the jig gear is disposed in the jig groove, and the robot accessory side-position cylinder is disposed in the cylinder cabinet. The jig device comprises a finger divider, a hand pillow, a hand pad, a lamp source and a cylinder with a bottom gear synchronously applied in a groove. The bottom of the jig is a manipulator accessory side-posture cylinder, the side surface of the jig is provided with two vacuum holes, and the periphery of the bottom of the jig is fixed on a rack through bolts. A gear aligning rod is arranged on one side of the upper portion, one side of a piston rod is in a gear shape and is intersected with a jig gear, a rolling rod penetrates through the gear and the jig gear to the groove of the rack, and the outer surface of the rolling rod is fixed through a bolt. The top of the jig is provided with a groove, a hand cushion, a hand pillow and a finger divider are arranged in the groove, lamp source wires are arranged in the grooves at the periphery and are connected with lamps, and the lamps are arranged in the grooves at the top of the finger divider.

6. The elbow device of claim 1 wherein the support is bowl-shaped and the base is bolted to the support frame and the support is bolted to the mounting bracket and screwed into the frame.

7. The injection according to claim 2, wherein the injection is prepared by the steps of: the spring is placed in the inner tube, is screw form refill hypomere and passes spring and inner tube, pushes up on the inner tube wall, and top circle footpath has a bolt hole, clockwise swivelling joint refill middle section, and refill middle section and inner tube wall contact reach the air separation effect in the sealing washer is worn, and refill upper segment bottom has a bolt hole, clockwise swivelling joint refill middle section. The lower section of the refill penetrates through the inner wall hole of the outer barrel, and the top of the outer barrel is provided with a sealing cover to achieve the sealing effect. The top of the inner cylinder is not provided with a sealing cover and is hollow, and when the device is operated, a piston rod of the cylinder pushes the pen core to move downwards and upwards to open and close the discharging.

8. The tool pen as claimed in claim 3, wherein the pen container is hollow, the cavity extends from the bottom two thirds of the way to the top, and the bottom is provided with a stamp and a halation pen made of foam. There are also magnetic, magnet-containing tools pens.

9. The ornament according to claim 3 is an ornament of various shapes and materials, and has a function of beautifying the appearance after being applied.