A 90° manipulator mechanism for fully automatic labeling machines

Abstract

The present invention discloses a 90° manipulator mechanism for a fully automatic labeling machine, comprising a fixed bracket, a fixed module is installed on one side of the fixed bracket, a rotating module is arranged on the fixed module, the rotating module comprises a rotating shaft, a mechanical arm is installed on the rotating shaft, the mechanical arm comprises a first rectangular arm and a second rectangular arm perpendicular to each other, a grabbing module is arranged at one end of the first rectangular arm and the second rectangular arm away from the rotating shaft, the grabbing module is used for grabbing / putting down a grinding wheel, the 90° manipulator mechanism of the present invention controls the forward rotation and reverse rotation of the mechanical arm through a servo motor, the lifting and lowering of the lifting cylinder and the negative pressure suction cup realize automatic material picking and automatic material dropping at the same time, which not only improves the automation level of the equipment, but also greatly reduces the production cost and improves the production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of grinding wheel labeling, and in particular to a 90-degree manipulator mechanism for a full-automatic labeling machine. Background Art

[0002] Resin grinding wheel refers to a type of grinding wheel made of resin as a binder, mainly including cutting discs, cymbal grinding wheels for grinding, heavy-duty grinding wheels, polishing wheels, etc. Resin grinding wheel cutting discs have the advantages of fast cutting speed, high cutting size accuracy, smooth cutting surface, good self-sharpening, simple production, and short process cycle, so they are widely used in metal and non-metal grooving and cutting processing.

[0003] The resin grinding wheel cutting disc is thin. If the cutting disc is in too tight contact with the flange of the cutting machine during installation and use, it is easy to damage the strength of the cutting disc; if the cutting disc is in too loose contact with the flange of the cutting machine, it is easy to cause slippage between the cutting disc and the flange, which affects the safety of the cutting disc. Based on the above considerations, most grinding wheel manufacturers will apply paper pads and rubber pads to the ring holes of each cutting disc to buffer the assembly force between the cutting disc and the flange of the cutting machine to maximize the user's safety. However, most of the existing twenty-station paper pad equipment requires manual loading and unloading of materials, or replenishment and removal of materials at regular intervals. The process is cumbersome and greatly increases the labor intensity of the staff. Summary of the invention

[0004] In view of the above problems, the present invention proposes a 90° manipulator mechanism for a fully automatic labeling machine, which mainly solves the problems in the background technology.

[0005] The present invention proposes a 90° manipulator mechanism for a fully automatic labeling machine, comprising a fixed bracket, a fixed module is installed on one side of the fixed bracket, a rotating module is arranged on the fixed module, the rotating module comprises a rotating shaft, a mechanical arm is installed on the rotating shaft, the mechanical arm comprises a first rectangular arm and a second rectangular arm perpendicular to each other, a grabbing module is arranged at one end of the first rectangular arm and the second rectangular arm away from the rotating shaft, and the grabbing module is used to grab / put down a grinding wheel.

[0006] A further improvement is that a four-station turntable is arranged above the fixed bracket, and the four-station turntable is a circular turntable, which is evenly divided into four stations, and each station is respectively provided with a number of positioning core rods. The four-station turntable is connected to a drive motor, and the drive motor drives the four-station turntable to rotate 90° counterclockwise at a fixed time interval.

[0007] A further improvement is that the fixing module includes a support frame, a support rod and a support seat, one end of the support frame is fixedly installed on one side of the fixing bracket, four support rods are fixedly arranged on the other end of the support frame, and the support seat is fixedly installed on the top end of the support rod.

[0008] A further improvement is that the rotating module also includes a servo motor, which is arranged below the supporting base. The supporting base has a through hole, and the output shaft of the servo motor passes through the through hole and is fixedly connected to the rotating shaft, and the rotating shaft is fixedly connected to the robotic arm.

[0009] A further improvement is that the grabbing module includes a lifting cylinder, a material picking tray and a negative pressure suction cup, the fixed end of the lifting cylinder is fixedly installed under the first rectangular arm and the second rectangular arm respectively, the lifting end of the lifting cylinder is fixedly installed on the material picking tray, a plurality of negative pressure suction cups are arranged on the material picking tray, the air hole of the negative pressure suction cup is connected to an air source, and the air hole of the lifting cylinder is connected to the air source.

[0010] A further improvement is that the position of the negative pressure suction cup corresponds exactly to the outer peripheral position of the positioning core rod, and the number of the negative pressure suction cups on each of the material taking trays is not less than 12.

[0011] A further improvement is that it also includes a positioning module, which includes a positioning rod, one end of which is fixedly mounted on the material picking tray, and through holes are correspondingly opened on the first rectangular arm and the second rectangular arm. The positioning rod passes through the through holes respectively and can slide up and down on the through holes.

[0012] A further improvement is that the material of the robotic arm is aviation aluminum.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The 90° manipulator mechanism of the present invention controls the forward and reverse rotation of the manipulator arm through a servo motor, and the lifting and lowering of the lifting cylinder and the negative pressure suction cup realize automatic material picking and automatic material dropping at the same time, which not only improves the automation level of the equipment, but also greatly reduces the production cost and improves the production efficiency;

[0015] 2. The present invention adopts a positioning module to assist in the positioning of the material taking tray, so as to avoid the positioning deviation of the material taking tray when the mechanical arm is running at high speed and the lifting cylinder is constantly lifting, thereby improving the accuracy of taking and dropping materials, contributing to the orderly operation of the automatic labeling machine and improving production efficiency;

[0016] 3. The mechanical arm of the present invention is made of aviation aluminum, which can reduce the weight of mechanical parts while ensuring the rigidity of the mechanical arm, avoid overshoot of the rotating module when running at high speed, and improve positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 It is a front structural schematic diagram of an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of a top view structure of an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the overall structure of a labeling machine according to one embodiment of the present invention;

[0022] Among them: 1. Four-station turntable; 2. Positioning core rod; 3. Support frame; 4. Support rod; 5. Support seat; 6. Servo motor; 7. Rotating axis; 801. First rectangular arm; 802. Second rectangular arm; 9. Lifting cylinder; 10. Pick-up tray; 11. Negative pressure suction cup; 12. Positioning rod; 100. Fixed bracket; 1001. 90° manipulator mechanism; 1002. Grinding wheel feeding mechanism; 1003. Glue dispensing mechanism; 1004. Labeling mechanism; 1005. Heating mechanism. DETAILED DESCRIPTION

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be said that the internal connection of two components is connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments.

[0024] Reference Figure 1-4The present invention discloses a 90° manipulator mechanism for a fully automatic labeling machine, comprising a fixed bracket, a fixed module is installed on one side of the fixed bracket, a rotating module is arranged on the fixed module, the rotating module comprises a rotating shaft 7, a mechanical arm is installed on the rotating shaft 7, the mechanical arm comprises a first rectangular arm 801 and a second rectangular arm 802 which are perpendicular to each other, and a grabbing module is arranged at one end of the first rectangular arm 801 and the second rectangular arm 802 away from the rotating shaft 7, and the grabbing module is used to grab / put down a grinding wheel.

[0025] As a preferred solution of the present invention, a four-station turntable 1 is arranged above the fixed bracket, and the four-station turntable 1 is a circular turntable, which is divided into four stations, and each station is respectively provided with a plurality of positioning core rods 2. A driving motor is arranged at the driving end of the four-station turntable 1, and the driving motor drives the four-station turntable 1 to rotate 90° counterclockwise at a fixed time interval.

[0026] As a preferred solution of the present invention, the fixing module includes a support frame 3, a support rod 4 and a support seat 5, one end of the support frame 3 is fixedly installed on one side of the fixing bracket, and four support rods 4 are fixedly arranged on the other end of the support frame 3, and the support seat 5 is fixedly installed on the top of the support rod 4.

[0027] As a preferred solution of the present invention, the rotation module also includes a servo motor 6, which is arranged below the support base 5. The support base 5 has a through hole. The output shaft of the servo motor 6 passes through the through hole and is fixedly connected to the rotating shaft 7. The rotating shaft 7 is fixedly connected to the robotic arm.

[0028] As a preferred embodiment of the present invention, the grabbing module includes a lifting cylinder 9, a feeding tray 10 and a negative pressure suction cup 11. The fixed ends of the lifting cylinder 9 are fixedly installed below the first rectangular arm 801 and below the second rectangular arm 802 respectively. The lifting ends of the lifting cylinder 9 are fixedly installed with the feeding tray 10. A plurality of negative pressure suction cups 11 are arranged on the feeding tray 10. The air holes of the negative pressure suction cups 11 are connected to an air source, and the air holes of the lifting cylinder 9 are connected to the air source.

[0029] As a preferred solution of the present invention, the position of the negative pressure suction cup 11 corresponds exactly to the outer peripheral position of the positioning core rod 2, and the number of the negative pressure suction cups 11 on each of the material taking trays 10 is not less than 12.

[0030] As a preferred solution of the present invention, it also includes a positioning module, which includes a positioning rod 12, one end of which is fixedly mounted on the material picking tray 10, and through holes are correspondingly opened on the first rectangular arm 801 and the second rectangular arm 802, and the positioning rod 12 passes through the through holes respectively and can slide up and down on the through holes.

[0031] As a preferred solution of the present invention, the material of the robotic arm is aviation aluminum. The use of aviation aluminum can reduce the mass of mechanical parts while ensuring the rigidity of the robotic arm, avoid overshoot of the rotating module during high-speed operation, and improve positioning accuracy.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The 90° manipulator mechanism of the present invention controls the forward and reverse rotation of the manipulator arm through a servo motor, and the lifting and lowering of the lifting cylinder and the negative pressure suction cup realize automatic material picking and automatic material dropping at the same time, which not only improves the automation level of the equipment, but also greatly reduces the production cost and improves the production efficiency;

[0034] 2. The present invention adopts a positioning module to assist in the positioning of the material taking tray, so as to avoid the positioning deviation of the material taking tray when the mechanical arm is running at high speed and the lifting cylinder is constantly lifting, thereby improving the accuracy of taking and dropping materials, contributing to the orderly operation of the automatic labeling machine and improving production efficiency;

[0035] 3. The mechanical arm of the present invention is made of aviation aluminum, which can reduce the weight of mechanical parts while ensuring the rigidity of the mechanical arm, avoid overshoot of the rotating module when running at high speed, and improve positioning accuracy.

[0036] Embodiment 1:

[0037] Now, a specific description of the 90° manipulator mechanism of the present invention is made in combination with the fully automatic four-station labeling machine, as follows:

[0038] A fully automatic four-station labeling machine comprises a fixed bracket 100, a support bracket 3 is arranged on the upper right side of the fixed bracket 100, and a 90° manipulator mechanism 1001 is arranged on the upper end of the support bracket 3; a second support bracket is arranged on the upper left side of the fixed bracket 100, and a glue dispensing mechanism 1003 is arranged on the upper end of the second support bracket; a third support bracket is arranged on the lower left side of the fixed bracket 100, and a labeling mechanism 1004 is arranged above the third support bracket; a fourth support bracket is arranged on the lower right side of the fixed bracket 100, and a heating mechanism is arranged above the fourth support bracket; and also comprises a feeding mechanism, the feeding mechanism comprising a grinding wheel feeding mechanism 1002 and a paper pad feeding mechanism, the grinding wheel feeding mechanism 1002 is arranged on the left side of the 90° manipulator mechanism 1001, the paper pad feeding mechanism is arranged below the labeling mechanism 1004, and a four-station turntable 1 is arranged above the fixed bracket 100.

[0039] Specifically, the four-station turntable 1 is a circular turntable, which is divided into the first station, the second station, the third station and the fourth station according to the upper right, upper left, lower left and lower right directions. Four positioning core rods 2 are respectively provided on each station. A driving motor is provided under the four-station turntable 1, and the driving motor drives the four-station turntable 1 to rotate 90° counterclockwise at a fixed time interval.

[0040] More specifically, a fixed bracket 100 is also installed below the four-station turntable 1, and four supporting feet are arranged at the lower end of the fixed bracket 100, and the supporting feet are respectively provided with self-locking universal wheels, which provide the mobility of the four-station labeling machine and improve the practicality of the present invention.

[0041] More specifically, the four-station turntable 1 is divided into the first, second, third and fourth stations, which correspond to the 90° manipulator mechanism 1001, the dispensing mechanism 1003, the labeling mechanism 1004 and the heating mechanism respectively. When each station rotates to the bottom of each mechanism, the corresponding mechanism will react and perform corresponding actions to ensure the continuous operation of the labeling machine, which can greatly improve production efficiency.

[0042] More specifically, positioning mandrels 2 are provided on four workstations on the four-workstation turntable 1. The number of the positioning mandrels 2 is 4, which are provided at the four vertices of a rectangle. The positioning mandrels 2 are used to place grinding wheels. Preferably, the positioning mandrel 2 can be used as the center of a circle, and a plurality of positioning sliders can be provided at equal diameters of the positioning mandrel 2 to assist the positioning mandrel 2 in accurately positioning the grinding wheel, thereby improving the positioning accuracy and facilitating the next process.

[0043] Specifically, the specific structure of the 90° manipulator mechanism 1001 is as described above, and will not be repeated here. More specifically, the grinding wheel feeding mechanism 1002 should be placed on the left side of the 90° manipulator mechanism 1001 and directly below a rectangular arm of the manipulator arm, so as to facilitate the lowering of the material taking tray, and the negative pressure suction cup adsorbs the grinding wheel and delivers it to the four-station turntable 1. Preferably, a discharge conveyor belt is provided on the right side of the 90° manipulator mechanism 1001, directly below a rectangular arm of the manipulator arm, and directly opposite the grinding wheel feeding mechanism 1002. The discharge conveyor belt rotates at a fixed time interval and slowly transfers the stacked grinding wheels to the next process equipment. It can be understood that the rotation mode of the manipulator arm of the 90° manipulator mechanism 1001 should be counterclockwise rotation, and turn to clockwise rotation after accumulating 180° rotation, and turn to counterclockwise rotation again after accumulating 180° clockwise rotation, and repeat the cycle.

[0044] Specifically, a second support rod is installed above the second support frame, one end of the second support seat is installed above the second support rod, and a glue dispensing mechanism 1003 is provided at the other end of the second support seat. The glue dispensing mechanism 1003 includes a second lifting cylinder, a glue dispensing seat, a glue dispensing cylinder and a glue dispensing head. The fixed end of the second lifting cylinder is fixedly installed below the second support seat, and the lifting end of the second lifting cylinder is fixedly installed on the glue dispensing seat. Four glue dispensing cylinders are fixedly installed below the glue dispensing seat. The positions of the glue dispensing cylinders correspond one-to-one to the position of the positioning core rod 2 on the second workstation, and a glue dispensing head is provided at the glue dispensing end of each glue dispensing cylinder.

[0045] Specifically, each of the glue discharging cylinders is provided with three glue discharging heads, and the three glue discharging heads are arranged at the glue discharging end of the glue discharging cylinder at three equal parts corresponding to the center hole of the paper pad. A throttle valve is arranged at the connection between the glue discharging cylinder and the glue discharging head, and a hose pressure regulating valve is arranged on the connecting hose between the glue discharging cylinder and the glue source.

[0046] Specifically, a third support rod is installed above the third support frame, and a third support seat is installed above the third support rod. A labeling mechanism 1004 is arranged below the third support seat, and the labeling mechanism 1004 comprises a guide rail, a third lifting cylinder and a telescopic cylinder. The guide rail is fixedly installed below the third support seat, and a baffle is arranged at one end of the guide rail close to the four-station turntable 1, and a buffer block is installed on the baffle. A mounting base is arranged at one end of the guide rail away from the four-station turntable 1, and the telescopic cylinder is fixedly installed on the mounting base. The telescopic rod of the telescopic cylinder is fixedly connected to the third lifting cylinder, and the fixed end of the third lifting cylinder is slidably connected to the guide rail. A second material picking tray is fixedly installed at the lifting end of the third lifting cylinder, and a plurality of second negative pressure suction cups are arranged below the second material picking tray corresponding to the position of the positioning core rod 2 on the third station, and the air vent of the second negative pressure suction cup is connected to an air source.

[0047] More specifically, the paper pad loading mechanism should be placed below the labeling mechanism 1004 and directly below the lifting cylinder when it moves to the leftmost end, so as to facilitate the lowering of the material picking tray, the negative pressure suction cup to absorb the paper pad, and send it to the four-station turntable 1.

[0048] Specifically, a fourth support rod is installed above the fourth support frame, and a fourth support seat is installed above the fourth support rod. A heating mechanism is arranged on the fourth support seat, and the heating mechanism includes a power supply and a far-infrared heating wire reel. The power supply is installed at the upper end of the fourth support seat and is used to supply power to the far-infrared heating wire reel. The far-infrared heating wire reel is arranged directly below the power supply. The far-infrared heating wire reel is divided into four heating zones corresponding to the position of the positioning core rod 2 on the fourth workstation, and is used to dry the glue on the grinding wheel.

[0049] Specifically, the grinding wheel loading mechanism 1002 includes a pneumatic dividing plate, a first driving rod, a second driving rod, a receiving tray and a receiving rod. The pneumatic dividing plate is provided with no less than 4 loading areas, and 4 receiving rods are provided on the loading area corresponding to the position of the first negative pressure suction cup. The 4 receiving rods are also penetrated by the receiving tray, and the receiving tray can slide up and down on the receiving rods. The receiving tray is used to hold the grinding wheel. The first driving rod and the second driving rod are respectively provided at both ends of the receiving tray. The first driving rod and the second driving rod are provided with stepper motors, and the stepper motors are used to control the rise / fall of the receiving tray.

[0050] Specifically, the paper pad feeding mechanism includes a pneumatic dividing plate, a first driving rod, a second driving rod, a receiving tray and a receiving rod. The pneumatic dividing plate is provided with no less than 4 feeding areas. The 4 receiving rods are provided on the feeding area corresponding to the position of the second negative pressure suction cup. The 4 receiving rods are also penetrated by the receiving tray. The receiving tray can slide up and down on the receiving rods. The receiving tray is used to hold paper pads. The first driving rod and the second driving rod are respectively provided at both ends of the receiving tray. The first driving rod and the second driving rod are provided with stepper motors. The stepper motors are used to control the rise / fall of the receiving tray.

[0051] Its working process is:

[0052] Step 1: Pre-store the paper pad and the grinding wheel on the material tray, turn on the power, the pneumatic indexing plate rotates a loading area to the bottom of the material taking tray 10 of the 90° manipulator mechanism, and the stepping motor lifts the material tray along the driving rod to a specified height;

[0053] Step 2: A mechanical arm of the 90° mechanical arm mechanism is located directly above the loading area, and the lifting cylinder 9 drives the material picking tray 10 to descend to a specified height, and the negative pressure suction cup 11 adsorbs the grinding wheel and lifts the material picking tray 10, and the 90° mechanical arm mechanism rotates 90° to rotate the material picking tray 10 adsorbed with the grinding wheel to the first station of the four-station turntable 1;

[0054] Step 3: The negative pressure suction cup 11 puts down the grinding wheel, and the grinding wheel falls on the positioning core rod 2 on the first station, and the four-station turntable 1 rotates 90° counterclockwise to enter the working area of ​​the dispensing mechanism;

[0055] Step 4: The second lifting cylinder drives the glue discharging cylinder to descend to a specified height, and the glue discharging port simultaneously discharges glue to dispense glue to the grinding wheel;

[0056] Step 5: The second lifting cylinder drives the glue dispensing cylinder to rise, and the glue dispensing is completed. The four-station turntable rotates 90° counterclockwise to enter the working area of ​​the labeling mechanism;

[0057] Step 6: The telescopic rod of the telescopic cylinder contracts, driving the third lifting cylinder to move leftward, and the third lifting cylinder drives the second material taking tray to descend to a specified height. After the negative pressure suction cup absorbs the paper pad, the third lifting cylinder drives the second material taking tray to rise again;

[0058] Step 7: The telescopic rod of the telescopic cylinder is stretched to drive the third lifting cylinder to move rightward, and the third lifting cylinder drives the second material taking tray to descend to a specified height, and the negative pressure suction cup puts down the paper pad, and the paper pad is attached to the grinding wheel;

[0059] Step 8: The third lifting cylinder drives the second material-retrieving tray to rise again, and the four-station turntable continues to rotate 90° counterclockwise to enter the working area of ​​the heating mechanism;

[0060] Step 9: After staying in the working area of ​​the heating mechanism for a preset time, the four-station turntable continues to rotate 90° counterclockwise and returns to the working area of ​​the 90° manipulator mechanism;

[0061] Step 10: The servo motor of the 90° manipulator mechanism controls the manipulator arm to rotate 90°, and the first lifting cylinder drives the material picking tray to descend, one of the first material picking trays descends and absorbs the grinding wheel that has been labeled, and the other first material picking tray absorbs the grinding wheel in the loading area of ​​the grinding wheel loading mechanism;

[0062] Step 11: the lifting cylinder 9 drives the picking tray 10 to rise again, and the servo motor 6 drives the robot arm to rotate 90° counterclockwise again, wherein the picking tray 10 that adsorbs the grinding wheel that has completed labeling releases the grinding wheel and puts the grinding wheel into the discharge conveyor, wherein the picking tray 10 that adsorbs the grinding wheel that has not completed labeling also releases the grinding wheel, and returns to step 3, thereby completing the first round of automatic picking and automatic dropping.

[0063] In the figure, the description of the positional relationship is only for illustrative purposes and should not be understood as a limitation on this patent; obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A 90° manipulator mechanism for a fully automatic labeling machine, characterized in that: It comprises a fixed bracket, a fixed module is installed on one side of the fixed bracket, a rotating module is arranged on the fixed module, the rotating module comprises a rotating shaft (7), a mechanical arm is installed on the rotating shaft (7), the mechanical arm comprises a first rectangular arm (801) and a second rectangular arm (802) which are perpendicular to each other, and a gripping module is arranged at one end of the first rectangular arm (801) and the second rectangular arm (802) which are away from the rotating shaft (7), and the gripping module is used to grip / put down the grinding wheel; The grabbing module comprises a lifting cylinder (9), a material picking tray (10) and a negative pressure suction cup (11); the fixed end of the lifting cylinder (9) is fixedly mounted below the first rectangular arm (801) and below the second rectangular arm (802), respectively; the lifting end of the lifting cylinder (9) is fixedly mounted on the material picking tray (10); a plurality of negative pressure suction cups (11) are arranged on the material picking tray (10); the air vent of the negative pressure suction cup (11) is connected to an air source; and the air vent of the lifting cylinder (9) is connected to the air source; A four-station turntable (1) is arranged above the fixed bracket, the four-station turntable (1) is a circular turntable, the circular turntable is evenly divided into four stations, and each station is respectively provided with no less than four positioning mandrels (2); The positions of the negative pressure suction cups (11) correspond exactly to the peripheral positions of the positioning core rods (2), and the number of the negative pressure suction cups (11) on each of the material taking trays (10) is not less than 12.

2. The 90° manipulator mechanism for a fully automatic labeling machine according to claim 1, characterized in that: The four-station turntable (1) is connected to a driving motor, and the driving motor drives the four-station turntable (1) to rotate 90° counterclockwise at fixed time intervals.

3. The 90° manipulator mechanism for a fully automatic labeling machine according to claim 2, characterized in that: The fixing module comprises a support frame (3), a support rod (4) and a support seat (5); one end of the support frame (3) is fixedly mounted on one side of the fixing bracket; four support rods (4) are fixedly arranged on the other end of the support frame (3); and the support seat (5) is fixedly mounted on the top end of the support rod (4).

4. The 90° manipulator mechanism for a fully automatic labeling machine according to claim 3, characterized in that: The rotating module further comprises a servo motor (6), wherein the servo motor (6) is arranged below the supporting base (5), wherein the supporting base (5) is provided with a through hole, wherein an output shaft of the servo motor (6) passes through the through hole and is fixedly connected to the rotating shaft (7), and the rotating shaft (7) is fixedly connected to the robotic arm.

5. The 90° manipulator mechanism for a fully automatic labeling machine according to claim 1, characterized in that: It also includes a positioning module, which includes a positioning rod (12), one end of which is fixedly mounted on the material picking tray (10), and through holes are correspondingly opened on the first rectangular arm (801) and the second rectangular arm (802), and the positioning rod (12) passes through the through holes respectively and can slide up and down on the through holes.

6. The 90° manipulator mechanism for a fully automatic labeling machine according to claim 1, characterized in that: The material of the mechanical arm is aviation aluminum.

Images