阅读说明：本技术 新型开箱用机器人 (Novel unpacking robot ) 是由 陈磊 刘彧 梁福顺 郭凯 张伟 贾海旺 畅显龙 李桢柏 武海燕 于 2021-07-20 设计创作，主要内容包括：一种新型开箱用机器人,包括：具有至少五个旋转自由度的机械臂,于机械臂的末端设置有能够进行砂箱开箱作业的工具头,工具头至少包括有能够对砂箱内的型砂进行钻铣的钻铣工具以及能够搬运砂箱的搬运抓手。本发明中,机械臂具有至少五个旋转自由度,能够完美模拟人手臂进行自由活动,在机械臂上设置有工具头,工具头具有多种结构形式,工具头可拆卸地安装在机械臂上,可以根据不同的开箱操作由机械臂自动更换工具头。还包括重载变位机,可以同时罗列承载多个砂箱,由重载变位机改变砂箱的角度,配合机械臂完成砂箱开箱操作。本发明具有结构简单、实用性强、动作方便灵活,极大减轻了工人劳动强度等优点。(A novel robot for unpacking includes: the sand box opening device comprises a mechanical arm with at least five rotational degrees of freedom, wherein a tool head capable of performing sand box opening operation is arranged at the tail end of the mechanical arm, and the tool head at least comprises a drilling and milling tool capable of drilling and milling the molding sand in the sand box and a carrying hand capable of carrying the sand box. According to the invention, the mechanical arm has at least five rotational degrees of freedom, so that the free movement of the human arm can be perfectly simulated, the tool head is arranged on the mechanical arm and has various structural forms, the tool head is detachably arranged on the mechanical arm, and the tool head can be automatically replaced by the mechanical arm according to different box opening operations. Still include the heavy-duty machine of shifting, can list simultaneously and bear a plurality of sand boxes, change the angle of sand box by the heavy-duty machine of shifting, cooperate the arm to accomplish the sand box operation of unpacking. The invention has the advantages of simple structure, strong practicability, convenient and flexible action, great reduction of labor intensity of workers and the like.)

1. The utility model provides a novel robot is used in unpacking which characterized in that includes:

the mechanical arm is provided with at least five rotational degrees of freedom, the tail end of the mechanical arm is provided with a tool head capable of performing the unpacking operation of the sand box, all the rotational degrees of freedom of the mechanical arm at least comprise a rotational degree of freedom with a rotational vector parallel to a Z axis, a rotational degree of freedom with a rotational vector parallel to an X axis and a rotational degree of freedom with a rotational vector parallel to a Y axis, the rotational degrees of freedom with two rotational vectors parallel are taken as the same group of rotational degrees of freedom, the mechanical arm at least comprises two groups of the same group of rotational degrees of freedom, and in all the same group of rotational degrees of freedom, at least two groups of the rotational degrees of freedom of the same group are perpendicular to each other;

the tool head at least comprises a drilling and milling tool capable of drilling and milling the molding sand in the sand box and a carrying hand capable of carrying the sand box.

2. The novel unpacking robot of claim 1,

the sand box positioning device is characterized by also comprising a heavy-load displacement device for bearing a plurality of sand boxes, wherein the sand boxes can be sequentially arranged on the heavy-load displacement device in a row and driven to rotate by the heavy-load displacement device;

the heavy-load displacement device is arranged in the maximum arm spread range of the mechanical arm.

3. The novel unpacking robot of claim 1,

the mechanical arm is characterized by also comprising a base, wherein the top surface of the base is a plane, and one end of the mechanical arm is arranged on the top surface of the base through a rotary joint;

a first rotational degree of freedom is formed by a rotational joint provided between the robot arm and the base.

4. The novel unpacking robot of claim 3,

the mounting seat can be fixed on the ground and used for fixedly mounting the base.

5. The novel unpacking robot of claim 4,

the mounting seat is of a metal framework structure.

6. The novel unpacking robot of claim 1,

the mechanical arm is characterized by further comprising a quick-change frame for placing a tool head, wherein the quick-change frame is arranged in the maximum arm spread range of the mechanical arm.

7. The novel unpacking robot of claim 3,

the mechanical arm comprises a first shaft piece, a second shaft piece, a third shaft piece, a fourth shaft piece, a fifth shaft piece and a sixth shaft piece;

the first shaft element is arranged on the base through a rotary joint;

the first shaft member, the second shaft member, the third shaft member, the fourth shaft member, the fifth shaft member, and the sixth shaft member are connected in sequence by a rotary joint;

and the sixth shaft is provided with a quick assembly.

8. The novel unpacking robot of claim 7,

the sixth shaft part is of a two-section structure;

the sixth shaft element comprises a butt joint section and an installation section, the butt joint section is used for being connected with the fifth shaft element through a rotary joint, the butt joint section is fixedly connected with the installation section through a flange structure, and the installation section is provided with the quick assembly.

9. The novel unpacking robot of claim 7,

the first shaft piece is a horizontal structural piece;

the second shaft part is of a support arm structure;

the third shaft piece is of a round shaft structure or a round table-shaped structure;

the fourth shaft piece is of a U-shaped structure;

the fifth shaft part is of a T-shaped structure.

10. The novel unpacking robot of claim 7,

the quick assembly is a sucker device, and the tool head is fixed in a magnetic adsorption or negative pressure adsorption mode;

preferably, the fast-assembling subassembly passes through the magnetic force absorption mode and fixes the tool head.

Technical Field

The invention relates to the technical field of sand casting intelligent unpacking equipment, in particular to a novel unpacking robot.

Background

In sand casting, unpacking the sand mold is a very heavy and dangerous procedure, and in the prior art, the unpacking is usually performed manually by a technician, so that not only the sand casting efficiency is influenced, but also the danger of the sand casting work is increased.

In order to solve the problems, technicians develop a box opening robot, in the sand mold casting process, the box opening operation is mainly replaced by the technician, the labor intensity of the technician can be effectively reduced when the box opening robot is put into use, and the box opening danger is reduced.

However, the unpacking robot actually put into production is not only small in type but also low in degree of freedom, and can only perform simple operations, and only provides an auxiliary operation in the sand mold unpacking operation, and thus cannot achieve true fully automatic and mechanized sand mold unpacking.

Disclosure of Invention

Problem (A)

In summary, it is an urgent need to solve the problems of the art to provide a novel unpacking robot capable of realizing full-automatic mechanical sand mould unpacking.

(II) technical scheme

The invention provides a novel unpacking robot, which comprises:

the mechanical arm is provided with at least five rotational degrees of freedom, the tail end of the mechanical arm is provided with a tool head capable of performing the unpacking operation of the sand box, all the rotational degrees of freedom of the mechanical arm at least comprise a rotational degree of freedom with a rotational vector parallel to a Z axis, a rotational degree of freedom with a rotational vector parallel to an X axis and a rotational degree of freedom with a rotational vector parallel to a Y axis, the rotational degrees of freedom with two rotational vectors parallel are taken as the same group of rotational degrees of freedom, the mechanical arm at least comprises two groups of the same group of rotational degrees of freedom, and in all the same group of rotational degrees of freedom, at least two groups of the rotational degrees of freedom of the same group are perpendicular to each other;

the tool head at least comprises a drilling and milling tool capable of drilling and milling the molding sand in the sand box and a carrying hand capable of carrying the sand box.

Preferably, the novel box opening robot provided by the invention further comprises a heavy-load deflection device for bearing a plurality of sand boxes, and the sand boxes can be sequentially arranged on the heavy-load deflection device in a row and can be driven to rotate by the heavy-load deflection device; the heavy-load displacement device is arranged in the maximum arm spread range of the mechanical arm.

Preferably, the novel box opening robot provided by the invention further comprises a base, the top surface of the base is a plane, and one end of the mechanical arm is mounted on the top surface of the base through a rotary joint; a first rotational degree of freedom is formed by a rotational joint provided between the robot arm and the base. .

Preferably, the novel robot for opening the box provided by the invention further comprises a mounting seat, and the mounting seat can be fixed on the ground and is used for fixing and mounting the base.

Preferably, in the novel robot for opening the box provided by the invention, the mounting seat is of a metal framework structure.

Preferably, the novel box-opening robot provided by the invention further comprises a quick-change frame for placing a tool head, and the quick-change frame is arranged within the maximum arm extension range of the mechanical arm.

Preferably, in the novel box-opening robot provided by the invention, the mechanical arm comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft and a sixth shaft; the first shaft element is arranged on the base through a rotary joint; the first shaft member, the second shaft member, the third shaft member, the fourth shaft member, the fifth shaft member, and the sixth shaft member are connected in sequence by a rotary joint; and the sixth shaft is provided with a quick assembly.

Preferably, in the novel robot for opening the box provided by the invention, the sixth shaft has a two-segment structure; the sixth shaft element comprises a butt joint section and an installation section, the butt joint section is used for being connected with the fifth shaft element through a rotary joint, the butt joint section is fixedly connected with the installation section through a flange structure, and the installation section is provided with the quick assembly.

Preferably, in the novel robot for opening the box provided by the invention, the first shaft element is a horizontal structural element; the second shaft part is of a support arm structure; the third shaft piece is of a round shaft structure or a round table-shaped structure; the fourth shaft piece is of a U-shaped structure; the fifth shaft part is of a T-shaped structure.

Preferably, in the novel robot for unpacking provided by the invention, the quick assembly is a sucker device, and the tool head is fixed in a magnetic adsorption or negative pressure adsorption mode.

Preferably, in the novel robot for unpacking provided by the invention, the quick assembly fixes the tool head in a magnetic adsorption mode.

(III) advantageous effects

The invention provides a novel unpacking robot, which comprises: the mechanical arm is provided with at least five rotational degrees of freedom, the tail end of the mechanical arm is provided with a tool head capable of performing the unpacking operation of the sand box, all the rotational degrees of freedom of the mechanical arm at least comprise a rotational degree of freedom with a rotational vector parallel to a Z axis, a rotational degree of freedom with a rotational vector parallel to an X axis and a rotational degree of freedom with a rotational vector parallel to a Y axis, the rotational degrees of freedom with two rotational vectors parallel are taken as the same group of rotational degrees of freedom, the mechanical arm at least comprises two groups of the same group of rotational degrees of freedom, and in all the same group of rotational degrees of freedom, at least two groups of the rotational degrees of freedom of the same group are perpendicular to each other; the tool head at least comprises a drilling and milling tool capable of drilling and milling the molding sand in the sand box and a carrying hand capable of carrying the sand box. The novel unpacking robot provided by the invention is divided into two main parts, one part is a mechanical arm which has at least five rotational degrees of freedom and can perfectly simulate the free movement of the human arm, the mechanical arm is provided with a tool head which has various structural forms, the tool head is detachably arranged on the mechanical arm, the tool head can be automatically replaced by the mechanical arm according to different unpacking operations, the other part is a heavy-load positioner which can simultaneously load a plurality of sand boxes in a row, the angle of the sand boxes is changed by the heavy-load positioner, and the unpacking operation of the sand boxes is completed by matching with the mechanical arm. The invention has compact structure and flexible action. Through the structural design, the invention has the beneficial effects that: the multi-process unpacking operation can be completed, one machine is multi-position, the working stroke range is large, the requirements of sand boxes with different sizes can be met, the unpacking efficiency is greatly improved, and the practicability is high. The invention has the advantages of simple structure, strong practicability, convenient and flexible action, great reduction of labor intensity of workers and the like.

Drawings

FIG. 1 is a schematic structural diagram of a novel unpacking robot according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a tool head as a drilling and milling tool according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the tool head for carrying the gripper according to the embodiment of the present invention.

In fig. 1 to 3, the correspondence between the part names and the reference numbers is:

the device comprises a mounting seat 1, a base 2, a first shaft part 3, a second shaft part 4, a third shaft part 5, a fourth shaft part 6, a fifth shaft part 7, a sixth shaft part 8, a drilling and milling tool 9, a sand box 10, a heavy-duty positioner 11, a carrying gripper 12, a quick-change frame 13, a first connecting flange 14, a connecting arm 15, a high-speed electric spindle 16, a drilling and milling head 17, a second connecting flange 18 and a gripper structure 19.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a novel unpacking robot according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a tool head as a drilling and milling tool according to an embodiment of the present invention; fig. 3 is a schematic structural view of the tool head for carrying the gripper according to the embodiment of the present invention.

The invention provides a novel unpacking robot which is used for realizing automatic sand mould unpacking operation in a sand mould casting process.

In the present invention, the basic structure of the novel unpacking robot is as follows: the mechanical arm is provided with at least five rotational degrees of freedom, the tail end of the mechanical arm is provided with a tool head capable of opening the flask, all the rotational degrees of freedom of the mechanical arm at least comprise a rotational degree of freedom with a rotational vector parallel to a Z axis, a rotational degree of freedom with a rotational vector parallel to an X axis and a rotational degree of freedom with a rotational vector parallel to a Y axis, the rotational degrees of freedom with two rotational vectors parallel are taken as the same group of rotational degrees of freedom, the mechanical arm at least comprises two groups of the same group of rotational degrees of freedom, and at least two groups of the rotational degrees of freedom of the same group are perpendicular to each other in all the same group of rotational degrees of freedom; the tool head at least comprises a drilling and milling tool capable of drilling and milling the molding sand in the sand box and a carrying hand capable of carrying the sand box.

In order to realize the simulation of the human arm, the number of degrees of freedom of the human arm is firstly analyzed, the human body is taken as a basis (which is equivalent to a base for installing the mechanical arm in the invention), the shoulder joint of the arm connected with the human body comprises two rotational degrees of freedom, the elbow joint of the arm comprises one rotational degree of freedom, and the wrist joint of the arm comprises two rotational degrees of freedom. Therefore, if a free movement of the hand in space is achieved, at least five rotational degrees of freedom should be included for the robot.

Based on the above analysis, the novel unpacking robot provided by the present invention should include at least five shafts (in a preferred embodiment of the present invention, six shafts are provided in total) to construct five rotational degrees of freedom.

Specifically, the mechanical arm provided by the invention comprises a first shaft element, a second shaft element, a third shaft element, a fourth shaft element, a fifth shaft element and a sixth shaft element. The six shaft pieces are sequentially connected end to end, and the shaft pieces are connected through rotary joints.

For the convenience of structural description, the mechanical arm provided by the invention constructs a Cartesian coordinate system based on the base in a static state, and sets: the axis perpendicular to the top surface of the base is a Z axis, and an X axis and a Y axis are distributed on a plane parallel to the top surface of the base, wherein the X axis is a transverse axis, and the Y axis is a longitudinal axis. The first shaft piece is rotatably installed on the base through a rotating joint, the rotating vector of the first shaft piece is parallel to the Z axis, the second shaft piece is rotatably installed on the first shaft piece through the rotating joint, the rotating vector of the second shaft piece is parallel to the Y axis, the third shaft piece is rotatably installed on the second shaft piece through the rotating joint, the rotating vector of the third shaft piece is parallel to the Y axis, the fourth shaft piece is rotatably installed on the third shaft piece through the rotating joint, the rotating vector of the fourth shaft piece is parallel to the X axis, the fifth shaft piece is rotatably installed on the fourth shaft piece through the rotating joint, the rotating vector of the fifth shaft piece is parallel to the Y axis, the sixth shaft piece is rotatably installed on the fifth shaft piece through the rotating joint, and the rotating vector of the sixth shaft piece is parallel to the X axis.

Further, the sixth shaft piece is two segmentation structures, including butt joint section and installation section, the butt joint section is used for being connected with fifth shaft piece, and the butt joint section passes through flange structure fixed connection with the installation section, and the installation section is provided with the fast-assembling subassembly for the operation of difference is carried out to the sand box to the change tool head. In the invention, the quick assembly can be a magnetic sucker, a negative pressure sucker or a claw and chuck structure.

In the structural design, the mechanical arm can rotate around the X axis, the Y axis and the Z axis through the plurality of shaft parts, so that the tool head can be positioned at any position in space.

In the present invention, the present invention is not particularly limited with respect to the specific shape of the shaft member (specifically, the first shaft member to the sixth shaft member), but a rigid material is required as a manufacturing material, and stable and reliable connection with the upstream and downstream members thereof is required as a design criterion.

In one embodiment of the invention:

1. the first shaft part adopts a horizontal component (the horizontal length is larger than the height of the horizontal component), the bottom end of the first shaft part is of a disc-shaped structure, the top surface of the base is of a disc-shaped structure (the diameter of the top surface of the base is the same as that of the bottom end of the first shaft part), and a rotary joint is arranged between the bottom surface of the first shaft part and the top surface of the base;

2. the second shaft part is of a support arm structure, rotary joints are respectively arranged at two ends of the second shaft part, the rotary vectors of the rotary joints respectively arranged at the two ends of the second shaft part are parallel to and are spatially vertical to the rotary vector of the rotary joint arranged on the first shaft part, and the bottom end of the second shaft part is connected with the outer edge part of the first shaft part through the rotary joints;

3. the main body of the third shaft part is of a cylindrical structure or a round table-shaped structure, a disc connecting structure is arranged at the head end of the third shaft part and is connected with a rotary joint on the second shaft part through the disc connecting structure, a rotary joint is arranged at the tail end of the third shaft part, and the rotary vector of the rotary joint is spatially vertical to that of the rotary joint arranged on the second shaft part;

4. the fourth shaft piece is of a U-shaped clamp structure, the head end of the fourth shaft piece is connected with the third shaft piece through a rotary joint, the tail end of the fourth shaft piece is of a U-shaped groove structure, a rotary joint is arranged in the U-shaped groove structure of the fourth shaft piece, and the rotary vector of the rotary joint is spatially perpendicular to the rotary vector of the rotary joint arranged on the third shaft piece;

5. the fifth shaft is of a T-shaped structure, the head end of the fifth shaft is provided with two coaxial support arms, the tail end of the fifth shaft is of a disc structure perpendicular to the support arms, the two support arms at the head end of the fifth shaft are installed in a U-shaped groove of the fourth shaft and are connected with the fourth shaft through rotary joints, the disc structure of the fifth shaft is provided with a rotary joint, and the rotary vector of the rotary joint is spatially perpendicular to the rotary vector of the rotary joint installed on the fourth shaft;

6. and the sixth shaft part is of a shaft structure, one end of the sixth shaft part is connected with a rotation vector on the fifth shaft part, and the other end of the sixth shaft part is of a sucking disc structure and is used for automatic installation and automatic replacement of the tool head.

Based on the structural design of the mechanical arm, the tail end of the sixth shaft element can be provided with a mounting plane, the mounting plane is provided with a linear driving device, and the quick assembly component is mounted through the linear driving device, so that the tool head can be directly driven by the linear driving device to move up and down in the height direction. Of course, the present invention may also realize the up-and-down movement of the tool head by programming the robot arm to move itself without providing the linear driving device. In an embodiment of the present invention, the linear driving device may be a screw rod system, the screw rod is driven by a motor to rotate, a nut is disposed on the screw rod, the nut is mounted on a sliding block, sliding rails are disposed on two sides of the screw rod, the sliding block is slidably engaged with the sliding rails, so that the sliding block can linearly move on the sliding rails by driving the screw rod to rotate, and the fast-assembly component is mounted on the sliding block.

The invention is also provided with the mounting seat and the base, and the mounting seat is made of metal materials, so that the mounting seat can be ensured to have higher structural strength, the gravity center of the whole robot can be reduced, the stability of the robot, particularly a mechanical arm, in the working process is improved, and the condition of overturning is avoided. Specifically, the mount pad is formed by the angle steel welding, and the mount pad adopts rectangular frame structure, perhaps the mount pad adopts polygon prism frame structure, is provided with the slice at the bottom of mount pad and fills up the foot for increase the stability of mount pad subaerial installation. And a reinforcing rib structure is vertically arranged between the sheet-shaped foot pad and the mounting seat and is used for increasing the connection strength between the sheet-shaped foot pad and the mounting seat. The base is of a round table-shaped structure and is used for mounting a first shaft (the first shaft adopts a horizontal structure).

In addition, the invention is also provided with a heavy-load displacement device and a quick-change frame in cooperation with the mechanical arm.

The heavy-load shifting device comprises a shifting base, a rotating shaft is arranged on the shifting base, a shifting rotary table is arranged on the rotating shaft, a driving motor is socially arranged in the shifting base, the driving motor drives the rotating shaft to drive the shifting rotary table to rotate, sand boxes are sequentially arranged on the shifting rotary table in a row and can rotate along with the shifting rotary table, and therefore the sand boxes can be matched with a tool head to complete box opening operation.

The quick-change frame is a metal frame and is used for mounting a tool head, and the tool head comprises a carrying gripper and a drilling and milling tool.

Through the structural design, the novel unpacking robot provided by the invention is divided into two main parts, one part is a mechanical arm, the mechanical arm has at least five rotational degrees of freedom and can perfectly simulate the free movement of the human arm, the mechanical arm is provided with a tool head, the tool head has various structural forms, the tool head is detachably arranged on the mechanical arm, the tool head can be automatically replaced by the mechanical arm according to different unpacking operations, the other part is a heavy-load positioner which can simultaneously bear a plurality of sand boxes in a line manner, the angle of the sand boxes is changed by the heavy-load positioner, and the unpacking operation of the sand boxes is completed by matching with the mechanical arm. The invention has compact structure and flexible action.

Furthermore, the sixth shaft element of the mechanical arm is provided with a sucking disc and a connecting flange, the sucking disc can realize automatic conversion of a drilling and milling tool and a carrying gripper, and the connecting flange is used for fixing the wrist part and the tail end structure. The drilling and milling tool comprises a high-speed electric spindle, wherein a drilling and milling cutter is arranged at the tail end of the high-speed electric spindle, and molding sand is milled by the high-speed operation of the drilling and milling cutter.

Through the structural design, the invention has the beneficial effects that: the multi-process unpacking operation can be completed, one machine is multi-position, the working stroke range is large, the requirements of sand boxes with different sizes can be met, the unpacking efficiency is greatly improved, and the practicability is high. The invention has the advantages of simple structure, strong practicability, convenient and flexible action, great reduction of labor intensity of workers and the like.

In one embodiment of the present invention, the novel unpacking robot includes a robot body (i.e. a mechanical arm), a heavy duty positioner 11, and a quick change frame 13, wherein a terminal structure (i.e. a tool head) is mounted on the mechanical arm, and the terminal structure includes a drilling and milling tool 9 and a carrying gripper 12. The mounting base 1 is fixed subaerial, and base 2 is fixed on mounting base 1, and primary shaft spare 3 passes through rotary joint rotary mounting on base 2, and the lower extreme and the primary shaft spare 3 of secondary shaft spare 4 are connected, and the upper end and the third shaft spare 5 of secondary shaft spare 4 are connected, and third shaft spare 5 is connected with fourth shaft spare 6, and fourth shaft spare 6, fifth shaft spare 7 and sixth shaft spare 8 adopt rotary joint to connect in proper order. Because the range of the box opening stroke is large, the robot is provided with a heavy-load deflection 11. The sand boxes 10 are sequentially arranged on the heavy-duty positioner 11 in a row, and the rotary motion of the heavy-duty positioner 11 can ensure the rotary motion of the sand boxes 10, so that the drilling and milling tools only change in the height direction when the casting box opening robot drills and mills the molding sand, and the box opening work of the sand boxes with large height difference is ensured to be completed. After the drilling and milling work of the single-layer outer box molding sand is completed, the robot automatically places the drilling and milling tool 9 on the quick-change frame 13, the tail end tool is changed into the carrying hand grip 12, the outer box is carried out, the single-layer outer box unpacking work is completed, and then the unpacking work of the whole sand box is completed. And the sixth shaft element is provided with a sucker and a connecting flange, the sucker can realize automatic conversion between the high-speed electric spindle and the carrying gripper, and the connecting flange is used for fixing the wrist part and the tail end structure. The sixth shaft element comprises a first connecting flange 14 and a connecting arm 15 (i.e. a pair of stages), the drilling and milling tool consists of a high-speed electric spindle 16 and a drilling and milling head 17, and the handling hand 12 comprises a second connecting flange 18 and a hand structure 19.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.