CN119115893B - Cantilever robotic arm and its application in automatic labeling machines - Google Patents
Cantilever robotic arm and its application in automatic labeling machinesInfo
- Publication number
- CN119115893B CN119115893B CN202411344848.6A CN202411344848A CN119115893B CN 119115893 B CN119115893 B CN 119115893B CN 202411344848 A CN202411344848 A CN 202411344848A CN 119115893 B CN119115893 B CN 119115893B
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- Prior art keywords
- frame
- longitudinal
- vertical
- motor
- movable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了悬臂机械手装置及其在自动贴码机上的应用，涉及机械手技术领域，解决了对抓取物料的角度调节作业不够方便，难以进行多角度的旋转调节和对物料的特定位置进行作业，使用环境较为局限且作业精度低的问题。该悬臂机械手装置，包括悬挂支座、水平移动组件、凹形架体和多角度机械抓取机构，水平移动组件的背面通过螺钉安装有悬挂支座，水平移动组件的正面通过螺钉安装有凹形架体。在本发明中，可带动抓取的物料进行X、Y和Z方向的伸缩移动以及旋转，根据后续贴码设备的位置进行调节并靠近贴码设备，对每组物料的同一位置进行贴码作业，保证在后续检测等操作时更加的方便，实现更为高效的贴码作业。
This invention discloses a cantilevered manipulator device and its application in an automatic labeling machine, belonging to the field of manipulator technology. It solves the problems of inconvenient angle adjustment for material gripping, difficulty in multi-angle rotation adjustment and operation at specific material positions, limited operating environments, and low operational accuracy. The cantilevered manipulator device includes a suspension support, a horizontal movement component, a concave frame, and a multi-angle mechanical gripping mechanism. The suspension support is screwed to the back of the horizontal movement component, and the concave frame is screwed to the front of the horizontal movement component. In this invention, the gripped material can be moved and rotated in the X, Y, and Z directions. It adjusts and moves closer to the labeling equipment according to its position, performing labeling operations on the same position for each group of materials, ensuring greater convenience and efficiency in subsequent inspection and other operations.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a cantilever manipulator device and application thereof to an automatic code pasting machine.
Background
The cantilever manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed procedures, and compared with the traditional operation that a worker grabs materials through the operating tools, the cantilever manipulator can replace heavy labor of the worker to realize mechanization and automation of production and can operate under harmful environments to protect personal safety. The cantilever manipulator is commonly used for material grabbing, carrying, stacking and other operations.
The invention discloses a Chinese patent application with the publication number of CN113927581A, which discloses a mechanical suspension type mechanical arm capable of effectively protecting and clamping a product, and comprises a base, a support, a suspension bracket, a pulling mechanism, an arm strength seat, a clamping arm mechanism and a clamping arm mechanism, wherein the support is fixed on the base, the support is arranged on the support and is in an inverted L-shaped structure, the suspension bracket is arranged on the left side of the vertical end in the support, the pulling mechanism is arranged between the suspension bracket and the support, the suspension seat is fixed on the left side of the suspension bracket, the arm strength seat is arranged on the lower side of the suspension seat, the arm strength seat is in an inverted U-shaped structure, and the clamping arm mechanism is arranged on the lower side of the arm strength seat and comprises the clamping arm mechanism.
However, the cantilever manipulator has the following drawbacks in specific use:
1. when the existing cantilever manipulator grabs materials to carry out subsequent operation, the grabbed materials need to be driven to move and adjust angles, and the operation on the specific positions of the materials is convenient. However, in the conventional scheme, during actual operation, the angle adjustment operation for grabbing the materials is inconvenient, multi-angle rotation adjustment operation is difficult to perform, the operation for specific positions of the materials is difficult to perform, the use environment is limited, and the operation precision is low;
2. the existing cantilever manipulator is in the process of grabbing the material, the part grabbing the material is generally far away from each shaft end, the grabbing material needs to bear great weight in the process of moving, and errors are easily caused in continuous operation, so that the accuracy of grabbing the material in moving and the normal operation of follow-up code pasting and other operations are affected.
Disclosure of Invention
The present invention is directed to a cantilever manipulator device and an application thereof in an automatic code sticking machine, so as to solve the problems set forth in the background art.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
The invention provides a cantilever manipulator device, which comprises a suspension support, a horizontal moving assembly, a concave frame body and a multi-angle mechanical grabbing mechanism, wherein the suspension support is arranged on the back surface of the horizontal moving assembly through a screw, the concave frame body is arranged on the front surface of the horizontal moving assembly through a screw, the multi-angle mechanical grabbing mechanism is arranged on the side surface of the concave frame body, the multi-angle mechanical grabbing mechanism grabs materials,
Wherein, multi-angle machinery snatchs mechanism including:
The longitudinal moving assembly is arranged on the side surface of the concave frame body, the top of the longitudinal moving assembly is provided with a horizontal deflection assembly, the bottom of the horizontal deflection assembly is provided with a movable frame body which is rotationally connected with the side surface of the longitudinal moving assembly, and
The vertical moving assembly is arranged on the side face of the movable frame body, the rotary clamping assembly grabs materials and drives the grabbed materials to rotate in the longitudinal direction and the vertical direction.
As a preferred embodiment of the present invention, the horizontal moving assembly includes:
the horizontal sliding rail is arranged on the side surface of the hanging support, two groups of horizontal sliding rails are arranged, the outer sides of the two groups of horizontal sliding rails are provided with horizontal electric sliding blocks,
The side surfaces of the plurality of groups of horizontal electric sliding blocks are provided with concave frame bodies through screws.
As a preferred aspect of the present invention, the longitudinal moving assembly includes:
the triangular supports are arranged on the side surfaces of the concave frame body through screws, two groups of triangular supports are arranged, and side mounting rods which are arranged on the side surfaces of the concave frame body through screws are arranged between the two groups of triangular supports;
The longitudinal frame is arranged on the side surface of the side mounting rod through a screw and is arranged on the side surface of the triangular bracket, one end of the longitudinal frame is provided with a first motor, the output end of the first motor is connected with a longitudinal reciprocating screw rod which is rotationally connected inside the longitudinal frame,
Wherein the first motor extends to the inner side of the concave frame body;
the longitudinal sliding block is connected to the outer side of the longitudinal reciprocating screw rod through a ball, and is connected to the inside of the longitudinal frame in a sliding mode.
As a preferable scheme of the invention, the center of the side surface of the longitudinal sliding block is outwards protruded to form an indent, the outside of the indent is movably connected with an inner bump, the inner bump is arranged at the inner wall of the movable frame body,
Wherein a horizontal deflection assembly is mounted on top of the longitudinal frame.
As a preferred embodiment of the present invention, the horizontal deflection unit includes:
the guide rod is arranged at the top of the longitudinal frame and extends to the outer side of the longitudinal frame, a sliding support is connected to the outer side of the guide rod in a sliding mode, and the sliding support is connected to the top of the longitudinal frame in a sliding mode;
The telescopic cylinder is arranged on one side of the top of the sliding support, the output end of the telescopic cylinder penetrates through the sliding support, and the output end of the telescopic cylinder is connected with a pushing rod;
the movable seat is arranged at the bottom of the pushing rod through a screw and is vertically arranged relative to the pushing rod, the bottom of the movable seat is rotationally connected with an electric telescopic rod,
The electric telescopic rod is arranged at the top of the movable frame body and is positioned on the side face of the longitudinal sliding block.
As a preferred embodiment of the present invention, the vertical moving assembly includes:
the vertical frame is arranged on the side surface of the movable frame body, the top of the vertical frame is provided with a second motor, the output end of the second motor is connected with a vertical reciprocating screw rod,
Wherein the vertical reciprocating screw rod is rotationally connected to the inside of the vertical frame;
the vertical sliding block is connected to the outer side of the vertical reciprocating screw rod through a ball and is connected to the inside of the vertical frame in a sliding manner, the side surface of the vertical sliding block is provided with a mounting plate through a screw,
The side face of the mounting plate is provided with a rotary clamping assembly through a screw.
As a preferred aspect of the present invention, the rotary clamping assembly includes:
the support seats are arranged on the side surfaces of the mounting plate through screws, two groups of support seats are arranged, and side baffles are arranged on the side surfaces of the two groups of support seats through screws;
the edge blocks are arranged at the center of the edge of the side baffle, two groups of edge blocks are arranged, movable blocks are rotationally connected between the two groups of edge blocks,
The bottom of the movable block is provided with a threaded grabbing structure through a vertical rotating structure, and the threaded grabbing structure grabs and fixes materials;
the connecting shaft is arranged at the center of the side surface of the movable block and extends to the side surface of one group of edge blocks, the outer side of the connecting shaft is connected with a first transmission belt through a synchronous wheel, and the first transmission belt is movably connected to the side surface of the edge block;
The third motor is arranged on the side face of the mounting plate and positioned on the inner sides of the two groups of supporting seats, and the output end of the third motor is connected with a first transmission belt through a synchronous wheel.
As a preferred embodiment of the present invention, the vertical rotation structure includes:
The middle notch is formed in the center of the bottom of the movable block, a rotating shaft is connected to the middle notch in a rotating mode, the bottom of the rotating shaft extends to the lower portion of the movable block, a grabbing frame is arranged, and the grabbing frame is movably connected to the bottom of the movable block;
the second transmission belt is connected with the outer side of the rotating shaft through a synchronizing wheel arranged at the inner side and extends to the outer side of the movable block, the inner side of the second transmission belt is connected with the output end of the direct current motor through the synchronizing wheel,
The direct current motor is arranged on the outer side of the movable block through a motor seat at the bottom.
As a preferred embodiment of the present invention, the thread grabbing structure includes:
The fourth motor is arranged on one side of the grabbing frame, the output end of the fourth motor is connected with a threaded shaft rod, two groups of threaded shaft rods are arranged, the two groups of threaded shaft rods are fixedly connected, and the two groups of threaded shaft rods are rotatably connected to the inner side of the grabbing frame;
The thread moving block is in threaded connection with the outer side of the thread shaft rod, two groups of thread moving blocks are arranged, the top of the thread moving block extends to the inside of the sliding part, the sliding part is arranged in the grabbing frame,
The bottom of the thread moving block is rotationally connected with a grabbing component, and the side face of the grabbing component grabs and is fixed with materials.
The invention provides application of a cantilever manipulator device to an automatic code sticking machine.
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. In the cantilever manipulator device and the application of the cantilever manipulator device on an automatic code pasting machine, when the materials are grabbed, the subsequent code pasting operation and the like are carried out, the structure for grabbing the materials or the grabbed materials are driven to respectively carry out horizontal movement, longitudinal movement, horizontal rotation, vertical movement, horizontal rotation and vertical rotation by the operation of a horizontal electric sliding block, a longitudinal reciprocating screw rod, a telescopic cylinder, a vertical reciprocating screw rod, a movable block and a rotating shaft, the grabbed materials are driven to carry out telescopic movement and rotation in X, Y and Z directions, the position of the subsequent code pasting equipment can be adjusted and the materials are close to the code pasting equipment, the code pasting operation is carried out on the same position of each group of materials, the convenience in the subsequent detection operation and the like is ensured, and the more efficient code pasting operation is realized;
2. In the cantilever manipulator device and the application of the cantilever manipulator device on an automatic code sticking machine, when a material is required to be driven or the structure for grabbing the material is required to rotate in the horizontal direction, the movable frame body is required to rotate on the side face of the longitudinal sliding block. At this time, through the design of the concave body on the side surface of the longitudinal sliding block and the convex block in the inner side of the movable frame body, on one hand, the stability and the firmness of the sliding block and the movable frame body during rotation can be ensured, and on the other hand, the horizontal rotation mode occupies small space and has low cost (arranged at the top of the longitudinal frame). Parts such as a telescopic cylinder which rotates horizontally can synchronously move along with the longitudinal movement of the longitudinal sliding block, so that the horizontal rotation adjusting operation can be conveniently carried out at different longitudinal positions;
3. In cantilever manipulator device and in the application of automatic sign indicating number machine on, carry out longitudinal movement's vertical frame is installed at concave frame side through the tripod and the side installation pole that set up in the back, through the design of the vertical frame of multiple spot installation this moment, can guarantee that the structure that the vertical frame side set up (vertical moving component and rotatory clamping assembly) and the material of snatching when carrying out the operation, can not take place the skew or even fracture scheduling problem because of the effort that produces when its operation. Meanwhile, the vertical frames arranged in the vertical direction are assembled through the movable frame body, the left side, the right side and the bottom of the vertical frames can be assembled and fixed respectively through the structural design of the movable frame body, the side face structure (rotary clamping assembly) of the vertical frames and the grabbed materials are guaranteed not to be damaged due to multiple operations when operated, and the safety and the service life of the operation are improved;
4. In cantilever manipulator device and in the application of automatic sign indicating number machine, snatch the in-process to the material, through two sets of screw thread axostylus axostyle and the screw thread movable block of threaded connection, can carry out the centre gripping to the material that the screw thread movable block inboard was contradicted through snatching the part on the one hand and fix, on the other hand screw thread connection's design possesses the auto-lock function, cooperates the screw thread movable block at the inside slip of sliding part, guarantees to snatch fixed stability and the fastness to the material. Simultaneously snatch and the rotatory in-process of multi-angle to the material, the inboard grabbing component who connects that rotates of screw thread movable block can cooperate the weight of material self to guarantee that focus is in vertical state all the time, guarantees that the material can not take place the slant when following paste the sign indicating number and paste a yard scheduling problem.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Furthermore, the terms "install," "set," "provided," "connected," and "sleeved" are to be construed broadly. For example, they may be fixedly connected, detachably connected, or of unitary construction, they may be mechanically or electrically connected, they may be directly connected, or they may be indirectly connected through intermediaries, or they may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall side view of the present invention;
FIG. 3 is a schematic view of the overall front view of the present invention;
FIG. 4 is a schematic view of the overall top view of the present invention;
FIG. 5 is a schematic view of the connection of the female frame and the multi-angle mechanical gripping mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the horizontal movement assembly and side mounting bar connection of the present invention;
FIG. 7 is a schematic view of the structure of the connection of the female frame and the longitudinal movement assembly of the present invention;
FIG. 8 is an enlarged schematic view of the structure of area A of FIG. 7 in accordance with the present invention;
FIG. 9 is a schematic view of the structure of the invention in which the longitudinal blocks and the movable frame are connected and exploded;
FIG. 10 is a schematic view of the structure of the movable frame of the present invention connected by a vertical movement assembly and a rotary clamping assembly;
FIG. 11 is a schematic view of the rotary clamping assembly of the present invention;
FIG. 12 is a schematic view of the structure of the present invention in which the molding movable block is connected by a vertical rotation structure and a screw grasping structure;
In the figure:
10. a hanging support;
20. a horizontal movement assembly; 200 parts of concave frames, 201 parts of horizontal sliding rails, 202 parts of horizontal electric sliding blocks;
30. a multi-angle mechanical grabbing mechanism;
40. Longitudinal moving component, 401, a triangular bracket, 402, a side mounting rod, 403, a longitudinal frame, 404, a first motor, 405, a longitudinal reciprocating screw rod, 406, a longitudinal sliding block, 4061, an inner concave body, 4062 and an inner convex block;
50. Horizontal deflection component 500, movable frame, 501, guide rod 5011, sliding bracket 502, telescopic cylinder 503, pushing rod 504, movable seat 505, electric telescopic rod;
60. The device comprises a vertical moving component, a vertical frame, 602, a second motor, 603, a vertical reciprocating screw rod, 604, a vertical sliding block, 605 and a mounting plate;
70. the rotary clamping assembly comprises a rotary clamping assembly 701, a supporting seat 702, side baffles 703, edge blocks 704 and movable blocks;
705. The vertical rotary structure, 7051, a middle notch, 7052, a rotating shaft, 7053, a grabbing frame, 7054, a second transmission belt, 7055, a direct current motor, 7056 and a motor seat;
706. 7061, a fourth motor, 7062, a threaded shaft rod, 7063, a threaded moving block, 7064, a sliding part, 7065 and a grabbing component;
707. coupling shaft 708, first driving belt 709 and third motor.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
Referring to fig. 1 to 12, the cantilever manipulator device includes a suspension support 10, a horizontal moving assembly 20, a concave frame 200, and a multi-angle mechanical grabbing mechanism 30, wherein the suspension support 10 is mounted on the back of the horizontal moving assembly 20 by screws, the concave frame 200 is mounted on the front of the horizontal moving assembly 20 by screws, the multi-angle mechanical grabbing mechanism 30 is mounted on the side of the concave frame 200, the multi-angle mechanical grabbing mechanism 30 grabs materials, the multi-angle mechanical grabbing mechanism 30 includes a longitudinal moving assembly 40, the longitudinal moving assembly 40 is mounted on the side of the concave frame 200, the horizontal deflecting assembly 50 is mounted on the top, the movable frame 500 is mounted on the bottom of the horizontal deflecting assembly 50, the movable frame 500 is rotatably connected on the side of the longitudinal moving assembly 40, and the vertical moving assembly 60 is mounted on the side of the movable frame 500, and the rotary clamping assembly 70 is mounted on the side of the vertical moving assembly 60, and the rotary clamping assembly 70 grabs materials and drives the grabbed materials to rotate in the longitudinal and vertical directions.
The working principle of the automatic stacking machine is that in the process of grabbing materials, the horizontal moving assembly 20 can drive the rotary clamping assembly 70 for grabbing the materials and the materials after grabbing to move horizontally, the longitudinal moving assembly 40 can drive the rotary clamping assembly 70 for grabbing the materials and the materials after grabbing to move longitudinally, the horizontal deflecting assembly 50 can drive the rotary clamping assembly 70 for grabbing the materials and the materials after grabbing to rotate horizontally, the vertical moving assembly 60 can drive the rotary clamping assembly 70 for grabbing the materials and the materials after grabbing to stretch and retract vertically, the rotary clamping assembly 70 can drive the materials grabbing to rotate vertically and longitudinally, five-axis material grabbing operation is achieved, the fact that when the logistics of follow-up grabbing carry out stacking and other operations, the positions of each group of materials are consistent, and follow-up detection equipment is convenient to detect stacking. Meanwhile, the five-axis structure is tightly connected with each other during assembly, and the problems of errors and the like during continuous operation are avoided.
Referring specifically to fig. 6, the horizontal moving assembly 20 includes horizontal sliding rails 201, the horizontal sliding rails 201 are installed on the side surfaces of the suspension support 10, two groups of horizontal sliding rails 201 are provided, and horizontal electric sliding blocks 202 are disposed on the outer sides of the two groups of horizontal sliding rails 201, wherein concave frame bodies 200 are installed on the side surfaces of the groups of horizontal electric sliding blocks 202 through screws.
In the cantilever manipulator device, after the material is grabbed or is grabbed, the concave frame body 200 can stretch and retract in the horizontal direction by sliding the horizontal electric sliding block 202 on the side surface of the horizontal sliding rail 201, so that the operation of driving the rotary clamping assembly 70 for grabbing the material and the grabbed material to move in the horizontal direction is realized, and the operation of horizontal movement is realized.
Referring specifically to fig. 7, the longitudinal moving assembly 40 includes a tripod 401, the tripod 401 is mounted on a side surface of the concave frame 200 by screws, the tripod 401 is provided with two groups, a side mounting bar 402 mounted on the side surface of the concave frame 200 by screws is disposed between the two groups of tripod 401, a longitudinal frame 403 is mounted on the side surface of the side mounting bar 402 by screws and is disposed on the side surface of the tripod 401, one end of the longitudinal frame 403 is mounted with a first motor 404, an output end of the first motor 404 is connected with a longitudinal reciprocating screw 405 rotatably connected inside the longitudinal frame 403, wherein the first motor 404 extends to the inside of the concave frame 200, and a longitudinal slider 406 is connected to the outside of the longitudinal reciprocating screw 405 by balls and is slidably connected inside the longitudinal frame 403.
In this embodiment, the center of the side surface of the longitudinal sliding block 406 protrudes outwards, and forms an indent 4061, the outside of the indent 4061 is movably connected with an inner bump 4062, the inner bump 4062 is mounted on the inner wall of the movable frame 500, where the top of the longitudinal frame 403 is mounted with the horizontal deflection assembly 50, and the design of the inner bump 4062 and the indent 4061 ensures the stability and fastness of the rotation of the movable frame 500 on the side surface of the longitudinal sliding block 406, and no offset or dislocation phenomenon occurs due to multiple rotations.
In the cantilever manipulator device of the invention, the longitudinal frame 403 is mounted on the side surface of the concave frame body 200 through the side mounting rod 402 mounted on the back surface, and the stability and the firmness of the assembly of the longitudinal frame 403 can be improved by matching the triangular brackets 401 arranged on the upper side and the lower side of the side mounting rod 402, and the deviation caused by multiple grabbing movements can not occur. When the rotary clamping assembly 70 for grabbing materials and the grabbed materials need to be driven to longitudinally move, the first motor 404 is started to operate, so that the longitudinal reciprocating screw rod 405 connected with the output end of the first motor rotates, and the outer side of the longitudinal reciprocating screw rod 405 is made to longitudinally move in a telescopic manner through the longitudinal sliding block 406 connected with the balls, so that the operation of longitudinal movement is realized.
Referring specifically to fig. 7, 8 and 9, the horizontal deflection assembly 50 includes a guide rod 501, the guide rod 501 is mounted on the top of the longitudinal frame 403 and extends to the outside of the longitudinal frame 403, a sliding bracket 5011 is slidably connected to the outside of the guide rod 501, the sliding bracket 5011 is slidably connected to the top of the longitudinal frame 403, a telescopic cylinder 502, the telescopic cylinder 502 is mounted on one side of the top of the sliding bracket 5011, and an output end of the telescopic cylinder 502 penetrates through the sliding bracket 5011, a pushing rod 503 is connected to the output end of the telescopic cylinder 502, a movable seat 504 is mounted on the bottom of the pushing rod 503 by a screw and is perpendicular to the pushing rod 503, and an electric telescopic rod 505 is rotatably connected to the bottom of the movable seat 504, wherein the electric telescopic rod 505 is mounted on the top of the movable frame 500 and is located on the side of the longitudinal slider 406.
In the cantilever manipulator device of the present invention, when the rotary clamping assembly 70 for grabbing materials and the grabbed materials are required to be driven to rotate in the horizontal direction, the telescopic cylinder 502 is started to operate, and the push rod 503 and the movable seat 504 connected with the output end of the telescopic cylinder can be driven to perform telescopic movement (in the longitudinal direction). When the movable base 504 is moved in a telescopic manner, the movable frame 500, the bottom of which is connected to the movable base by the electric telescopic rod 505, is rotatable, thereby realizing a longitudinal rotation operation. Meanwhile, the electric telescopic rod 505 can operate by itself in the rotating process, and the distance between the movable seat 504 and the movable frame 500 is adjusted, so that the movable frame 500 can rotate normally.
Referring specifically to fig. 10, the vertical moving assembly 60 includes a vertical frame 601, the vertical frame 601 is mounted on a side surface of the movable frame 500, a second motor 602 is mounted on the top of the vertical frame, an output end of the second motor 602 is connected with a vertical reciprocating screw 603, the vertical reciprocating screw 603 is rotatably connected inside the vertical frame 601, a vertical slider 604, the vertical slider 604 is connected to an outer side of the vertical reciprocating screw 603 through balls and is slidably connected inside the vertical frame 601, a mounting plate 605 is mounted on a side surface of the vertical slider 604 through a screw, and a rotary clamping assembly 70 is mounted on a side surface of the mounting plate 605 through the screw.
In the cantilever manipulator device, when the rotary clamping assembly 70 for grabbing materials and the grabbed materials are required to be driven to perform telescopic movement in the vertical direction, the second motor 602 is started to operate, and the vertical reciprocating screw rod 603 connected with the output end of the second motor 602 is driven to rotate, so that the outer side of the vertical reciprocating screw rod 603 can perform telescopic movement through the vertical sliding block 604 connected with the ball, and further the side surface of the vertical sliding block 604 is driven to perform telescopic movement through the mounting plate 605 mounted by the screw. The design of the movable frame 500 can improve stability and firmness when the vertical frame 601 is assembled, and the movable frame can not deviate when continuously operating.
Referring specifically to fig. 10, 11 and 12, the rotary clamping assembly 70 includes a support base 701, wherein the support base 701 is mounted on a side surface of a mounting plate 605 by screws, the support base 701 is provided with two groups, side plates 702 are mounted on the side surfaces of the two groups of support base 701 by screws, edge blocks 703 are mounted at the center of the edges of the side plates 702, the edge blocks 703 are provided with two groups, a movable block 704 is rotatably connected between the two groups of edge blocks 703, a threaded grabbing structure 706 is mounted on the bottom of the movable block 704 by a vertical rotating structure 705, the threaded grabbing structure 706 grabs and fixes materials, a connecting shaft 707 is mounted at the center of the side surfaces of the movable block 704 and extends to the side surfaces of one group of edge blocks 703, the outer side of the connecting shaft 707 is connected with a first transmission belt 708 by a synchronizing wheel, the first transmission belt 708 is movably connected to the side surfaces of the edge blocks 703, a third motor 709 is mounted on the side surfaces of the mounting plate 605 and is located on the inner sides of the two groups of support base 703, and the output end of the third motor 709 is connected with the first transmission belt 708 by the synchronizing wheel.
In this embodiment, the vertical rotation structure 705 includes a middle notch 7051, the middle notch 7051 is opened at the center of the bottom of the movable block 704, and is rotatably connected with a rotation shaft 7052, the bottom of the rotation shaft 7052 extends to the lower side of the movable block 704, and is provided with a grabbing frame 7053, the grabbing frame 7053 is movably connected to the bottom of the movable block 704, a second transmission belt 7054 is connected to the outer side of the rotation shaft 7052 through a synchronizing wheel disposed on the inner side and extends to the outer side of the movable block 704, and the inner side of the second transmission belt 7054 is connected to the output end of a direct current motor 7055 through a synchronizing wheel, wherein the direct current motor 7055 is installed on the outer side of the movable block 704 through a motor seat 7056 on the bottom.
In the above embodiment, when the grabbed material needs to be driven to rotate (in the vertical direction), the dc motor 7055 is started to operate, so as to drive the second driving belt 7054 connected to the outer side of the output end thereof through the synchronizing wheel to move. And when the second transmission belt 7054 moves, the inner side of the second transmission belt 7054 drives the rotating shaft 7052 connected through the synchronous wheel to rotate, so that the grabbing frame 7053 arranged at the bottom of the rotating shaft 7052 can rotate (360 degrees), and the grabbing angle (vertical direction) of the materials is adjusted in the direction.
In addition, in the embodiment, the screw grabbing structure 706 includes a fourth motor 7061, the fourth motor 7061 is installed at one side of the grabbing frame 7053, the output end is connected with a screw shaft 7062, the screw shaft 7062 is provided with two groups, the two groups of screw shafts 7062 are fixedly connected, the two groups of screw shafts 7062 are rotatably connected at the inner side of the grabbing frame 7053, the screw moving block 7063 is in screw connection with the outer side of the screw shaft 7062, the screw moving block 7063 is provided with two groups, the top of the screw moving block 7063 extends to the inside of the sliding part 7064, the sliding part 7064 is opened at the inside of the grabbing frame 7053, the bottom of the screw moving block 7063 is rotatably connected with a grabbing component 7065, and the side of the grabbing component 7065 grabs and is fixedly provided with materials.
In the above embodiment, in the process of grabbing the material, the fourth motor 7061 is started to operate, so that two sets of threaded shafts 7062 connected to the output end of the fourth motor 7061 can rotate. When the threaded shaft rod 7062 rotates, the threaded moving block 7063 in threaded connection with the outer side of the threaded shaft rod 7062 is driven to perform telescopic movement (the moving directions of the threaded moving block 7063 are opposite), so that the material which is clamped and fixed by the grabbing component 7065 on the inner side of the threaded moving block 7063 can be grabbed and fixed. The design of the sliding portion 7064 can ensure the stability of the screw moving block 7063 during telescopic movement, and the problems of offset, shaking and the like can not occur.
In the cantilever manipulator device, when a material rotates in the horizontal direction, the third motor 709 is started to operate, so that the outer side of the output end of the third motor 709 can move through the first transmission belt 708 connected with the synchronizing wheel, and the inner side of the first transmission belt 708 can rotate through the connecting shaft 707 connected with the synchronizing wheel. When the connecting shaft 707 rotates, the movable block 704 installed outside the connecting shaft is driven to rotate, so that the operation of rotating the material in the horizontal direction is realized.
Referring to fig. 1-12, the present invention further provides an application of the cantilever manipulator device in an automatic code sticking machine.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.
Claims (2)
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| CN202411344848.6A CN119115893B (en) | 2024-09-25 | 2024-09-25 | Cantilever robotic arm and its application in automatic labeling machines |
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| CN202411344848.6A CN119115893B (en) | 2024-09-25 | 2024-09-25 | Cantilever robotic arm and its application in automatic labeling machines |
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| CN119115893B true CN119115893B (en) | 2026-04-10 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204819563U (en) * | 2015-07-28 | 2015-12-02 | 深圳市创盈时代科技有限公司 | Multidirectional arm |
| CN110341954A (en) * | 2019-06-12 | 2019-10-18 | 西安交通大学 | A kind of free style multi-angle is used for carry-on mechanical arm |
| CN219114100U (en) * | 2022-09-28 | 2023-06-02 | 青岛金宁塑料模具有限公司 | Feeding and discharging manipulator for plastic mold production |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021100556A1 (en) * | 2021-01-13 | 2022-07-14 | P&L Gmbh & Co. Kg | Handling arrangement of a machine tool |
| CN218518655U (en) * | 2022-10-27 | 2023-02-24 | 李志远 | Telescopic manipulator |
| CN117774000B (en) * | 2024-02-27 | 2024-04-30 | 珠海市玛斯特智能装备有限公司 | Multi-dimensional telescopic adjustable mechanical gripper arm for operation of electroplating automation equipment |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204819563U (en) * | 2015-07-28 | 2015-12-02 | 深圳市创盈时代科技有限公司 | Multidirectional arm |
| CN110341954A (en) * | 2019-06-12 | 2019-10-18 | 西安交通大学 | A kind of free style multi-angle is used for carry-on mechanical arm |
| CN219114100U (en) * | 2022-09-28 | 2023-06-02 | 青岛金宁塑料模具有限公司 | Feeding and discharging manipulator for plastic mold production |
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