Cantilever manipulator device and application thereof on automatic code pasting machine

Abstract

The invention discloses a cantilever manipulator device and application of the cantilever manipulator device on an automatic code pasting machine, relates to the technical field of manipulators, and solves the problems that the angle adjustment operation of material grabbing is not convenient enough, multi-angle rotation adjustment and operation on specific positions of materials are difficult to carry out, the use environment is limited, and the operation precision is low. The cantilever manipulator device comprises a suspension support, a horizontal moving assembly, a concave frame body and a multi-angle mechanical grabbing mechanism, the suspension support is installed on the back face of the horizontal moving assembly through screws, and the concave frame body is installed on the front face of the horizontal moving assembly through screws. According to the invention, the grabbed materials can be driven to telescopically move and rotate in the X, Y and Z directions, the materials can be adjusted according to the position of subsequent code pasting equipment and get close to the code pasting equipment, code pasting operation is carried out on the same position of each group of materials, subsequent detection and other operations are more convenient, and more efficient code pasting operation is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a cantilever manipulator device and application thereof in an automatic labeling machine. Background Art

[0002] Cantilever manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, move objects or operate tools according to a fixed procedure. Compared with the traditional operation of workers grabbing materials by operating tools, it can replace the heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Among them, cantilever manipulators are often used for material grabbing and handling and coding operations.

[0003] The existing Chinese patent application with publication number CN113927581A discloses a mechanized suspended mechanical arm that can effectively protect and clamp products, including a base, a support and a bracket, wherein the base is fixed with a support, the support is provided with a bracket, and the bracket is an inverted "L" shaped structure; it also includes a suspension frame, the suspension frame is provided on the left side of the vertical end of the bracket; a pulling mechanism, the pulling mechanism is provided between the suspension frame and the bracket; a suspension seat, the suspension seat is fixed to the left side of the suspension frame; an arm force seat, the arm force seat is provided on the lower side of the suspension seat, and the arm force seat is an inverted "U" shaped structure; a clamping arm mechanism, the clamping arm mechanism is provided on the lower side of the arm force seat, and the clamping arm mechanism includes; this invention can perform a more stable clamping operation on the object to be grasped, so that the product is not easy to fall during the clamping process, thereby improving the clamping efficiency of the product.

[0004] However, the cantilever manipulator has the following defects when used:

[0005] 1. When the existing cantilever manipulator grabs the material for subsequent operation, it needs to drive the grabbed material to move and adjust the angle to facilitate the operation at the specific position of the material. However, in actual operation, the traditional solution is not convenient enough to adjust the angle of the grabbed material, and it is difficult to perform multi-angle rotation adjustment operations, and it is difficult to operate at the specific position of the material. The use environment is relatively limited and the operation accuracy is low;

[0006] 2. In the process of grabbing materials, the existing cantilever manipulator usually grabs the material far away from the ends of each shaft. It needs to bear a lot of weight when grabbing materials, which may easily lead to errors in continuous operation, affecting the accuracy of grabbing materials and the normal operation of subsequent coding operations. Summary of the invention

[0007] The object of the present invention is to provide a cantilever robot device and its application in an automatic labeling machine to solve the problems raised in the above background technology.

[0008] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0009] The present invention provides a cantilever manipulator device, comprising a suspension support, a horizontal moving component, a concave frame and a multi-angle mechanical grasping mechanism, wherein the suspension support is installed on the back of the horizontal moving component by screws, the concave frame is installed on the front of the horizontal moving component by screws, and the multi-angle mechanical grasping mechanism is installed on the side of the concave frame, and the multi-angle mechanical grasping mechanism grasps the material.

[0010] Wherein, the multi-angle mechanical grasping mechanism includes:

[0011] A longitudinal moving assembly, the longitudinal moving assembly is mounted on the side of the concave frame, and a horizontal deflection assembly is mounted on the top, a movable frame is mounted on the bottom of the horizontal deflection assembly, and the movable frame is rotatably connected to the side of the longitudinal moving assembly; and

[0012] A vertical moving component is installed on the side of the movable frame, and a rotating clamping component is installed on the side. The rotating clamping component grabs the material and drives the grabbed material to rotate in the longitudinal and vertical directions.

[0013] As a preferred solution of the present invention, the horizontal moving assembly includes:

[0014] A horizontal slide rail, wherein the horizontal slide rail is installed on the side of the suspension support, and two groups of the horizontal slide rails are provided, and the outer sides of the two groups of the horizontal slide rails are both provided with horizontal electric sliders,

[0015] Wherein, the sides of the multiple groups of horizontal electric sliders are mounted with concave frames by means of screws.

[0016] As a preferred embodiment of the present invention, the longitudinal moving assembly comprises:

[0017] A triangular bracket, wherein the triangular bracket is mounted on the side of the concave frame body by screws, and two groups of the triangular brackets are provided, and a side mounting rod mounted on the side of the concave frame body by screws is provided between the two groups of the triangular brackets;

[0018] A longitudinal frame, the longitudinal frame is mounted on the side of the side mounting rod by screws and is arranged on the side of the triangular bracket, a first motor is mounted on one end of the longitudinal frame, and an output end of the first motor is connected to a longitudinal reciprocating screw rod rotatably connected to the inside of the longitudinal frame,

[0019] Wherein, the first motor extends to the inner side of the concave frame;

[0020] A longitudinal slider is connected to the outer side of the longitudinal reciprocating screw rod through a ball bearing and is slidably connected to the inside of the longitudinal frame.

[0021] As a preferred solution of the present invention, the center of the side of the longitudinal slider bulges outward and forms an inner concave body, and the outer side of the inner concave body is movably connected with an inner convex block, and the inner convex block is installed on the inner wall of the movable frame.

[0022] Wherein, a horizontal deflection assembly is installed on the top of the longitudinal frame.

[0023] As a preferred solution of the present invention, the horizontal deflection assembly includes:

[0024] A guide rod, the guide rod is installed on the top of the longitudinal frame and extends to the outside of the longitudinal frame, the outside of the guide rod is slidably connected to a sliding bracket, and the sliding bracket is slidably connected to the top of the longitudinal frame;

[0025] A telescopic cylinder, wherein the telescopic cylinder is installed on one side of the top of the sliding bracket, and an output end thereof penetrates through the sliding bracket, and a push rod is connected to the output end of the telescopic cylinder;

[0026] The movable seat is installed at the bottom of the push rod by screws and is arranged vertically relative to the push rod. The bottom of the movable seat is rotatably connected to an electric telescopic rod.

[0027] Wherein, the electric telescopic rod is installed on the top of the movable frame and is located on the side of the longitudinal sliding block.

[0028] As a preferred solution of the present invention, the vertical moving assembly includes:

[0029] A vertical frame is installed on the side of the movable frame, and a second motor is installed on the top, and the output end of the second motor is connected to a vertical reciprocating screw rod.

[0030] Wherein, the vertical reciprocating screw rod is rotatably connected to the inside of the vertical frame;

[0031] A vertical slider is connected to the outside of the vertical reciprocating screw rod through a ball bearing and is slidably connected to the inside of the vertical frame. A mounting plate is installed on the side of the vertical slider through screws.

[0032] Wherein, a rotating clamping assembly is mounted on the side surface of the mounting plate by means of screws.

[0033] As a preferred embodiment of the present invention, the rotary clamping assembly comprises:

[0034] A support seat, the support seat is mounted on the side of the mounting plate by screws, and the support seat is provided in two groups, and the side of the two groups of support seats are mounted with side baffles by screws;

[0035] An edge block is installed at the center of the edge of the side baffle, and the edge block is provided in two groups, and a movable block is rotatably connected between the two groups of edge blocks.

[0036] Wherein, a threaded grabbing structure is installed at the bottom of the movable block through a vertical rotating structure, and the threaded grabbing structure grabs and fixes the material;

[0037] A coupling shaft, the coupling shaft is installed at the center of the side of the movable block and extends to the side of a group of the edge blocks, the outer side of the coupling shaft is connected to a first transmission belt through a synchronous wheel, and the first transmission belt is movably connected to the side of the edge block;

[0038] The third motor is installed on the side of the mounting plate and is located on the inner side of the two groups of support seats. The output end of the third motor is connected to the first transmission belt through a synchronous wheel.

[0039] As a preferred solution of the present invention, the vertical rotating structure includes:

[0040] A middle notch, the middle notch is opened at the center of the bottom of the movable block, and a rotating shaft is rotatably connected inside the notch, the bottom of the rotating shaft extends to the bottom of the movable block, and a grabbing frame is installed, and the grabbing frame is movably connected to the bottom of the movable block;

[0041] A second transmission belt, the second transmission belt is connected to the outside of the rotating shaft through a synchronous wheel arranged on the inner side and extends to the outside of the movable block, and the inner side of the second transmission belt is connected to the output end of the DC motor through the synchronous wheel,

[0042] Wherein, the DC motor is installed on the outer side of the movable block through the motor seat at the bottom.

[0043] As a preferred embodiment of the present invention, the thread grabbing structure comprises:

[0044] A fourth motor, wherein the fourth motor is installed on one side of the grabbing frame, and an output end of the fourth motor is connected to a threaded shaft, wherein two groups of the threaded shafts are provided, and the two groups of the threaded shafts are fixedly connected, and the two groups of the threaded shafts are rotatably connected to the inner side of the grabbing frame;

[0045] A threaded moving block, the threaded moving block is threadedly connected to the outside of the threaded shaft, and the threaded moving block is provided in two groups, the top of the threaded moving block extends to the inside of the sliding part, and the sliding part is opened inside the grabbing frame,

[0046] Wherein, the bottom of the threaded moving block is rotatably connected with a grabbing component, and the side of the grabbing component grabs and fixes materials.

[0047] The invention provides application of a cantilever manipulator device on an automatic labeling machine.

[0048] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0049] 1. In the cantilever manipulator device and its application in the automatic labeling machine, when the material is grabbed and the subsequent labeling operations are performed, the structure for grabbing the material or the grabbed material can be driven to move horizontally, longitudinally, rotate horizontally, move vertically, rotate horizontally and rotate vertically through the operation of the horizontal electric slider, the longitudinal reciprocating screw, the telescopic cylinder, the vertical reciprocating screw, the movable block and the rotating shaft, respectively, and the grabbed material can be driven to perform telescopic movement and rotation in the X, Y and Z directions. It can be adjusted according to the position of the subsequent labeling equipment and approach the labeling equipment, and the labeling operation can be performed on the same position of each group of materials, so as to ensure more convenience in subsequent inspection operations and achieve more efficient labeling operations;

[0050] 2. In the cantilever manipulator device and its application in the automatic labeling machine, when it is necessary to drive the material or the structure for grabbing the material to rotate horizontally, the movable frame needs to rotate on the side of the longitudinal slider. At this time, through the design of the inner concave body on the side of the longitudinal slider and the inner convex block on the inner side of the movable frame, on the one hand, the stability and firmness of the two during rotation can be guaranteed, and on the other hand, the horizontal rotation method occupies a small space and has a low cost (set at the top of the longitudinal frame). At the same time, parts such as the telescopic cylinder that rotates horizontally will move synchronously with the longitudinal movement of the longitudinal slider, which is convenient for horizontal rotation adjustment operations at different longitudinal positions;

[0051] 3. In the cantilever manipulator device and its application in the automatic labeling machine, the longitudinal frame for longitudinal movement is installed on the side of the concave frame through the triangular bracket and the side mounting rod set on the back. At this time, the design of installing the longitudinal frame at multiple points can ensure that the structure set on the side of the longitudinal frame (vertical moving component and rotating clamping component) and the grasped materials will not be offset or even broken due to the force generated during operation. At the same time, the vertical frame set in the vertical direction is assembled through a movable frame. Through the structural design of the movable frame, the left and right sides and the bottom of the vertical frame can be assembled and fixed respectively, ensuring that the side structure of the vertical frame (rotating clamping component) and the grasped materials will not be damaged due to multiple operations during operation, thereby improving the safety and service life of the operation;

[0052] 4. In the cantilever manipulator device and its application in the automatic labeling machine, in the process of grabbing materials, the two sets of threaded shafts and threaded moving blocks connected by threads can, on the one hand, clamp and fix the materials that are resisted by the grabbing components on the inside of the threaded moving block, and on the other hand, the threaded connection design has a self-locking function, which cooperates with the sliding of the threaded moving block inside the sliding part to ensure the stability and firmness of the material grabbing and fixing. At the same time, in the process of grabbing and rotating the material at multiple angles, the grabbing components that rotate and connect to the inside of the threaded moving block can cooperate with the weight of the material itself to ensure that the center of gravity is always in a vertical state, ensuring that the material will not have problems such as oblique labeling during subsequent labeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0054] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0056] Figure 2 It is a schematic structural diagram of the overall side view of the present invention;

[0057] Figure 3 It is a schematic structural diagram of the overall main view of the present invention;

[0058] Figure 4 It is a schematic diagram of the structure of the present invention as a whole viewed from above;

[0059] Figure 5 It is a structural schematic diagram of the connection between the concave frame and the multi-angle mechanical grasping mechanism of the present invention;

[0060] Figure 6 It is a structural schematic diagram of the connection between the horizontal moving assembly and the side mounting rod of the present invention;

[0061] Figure 7 It is a schematic structural diagram of the connection between the concave frame and the longitudinal moving assembly of the present invention;

[0062] Figure 8 The present invention Figure 7 A schematic diagram of the structure of the enlarged area in the middle A;

[0063] Fig. 9 It is a schematic diagram of the structure of the longitudinal sliding block and the movable frame connected with each other in the present invention;

[0064] Fig.10 It is a schematic diagram of the structure in which the movable frame of the present invention is connected via a vertical moving assembly and a rotating clamping assembly;

[0065] Fig.11 It is a schematic structural diagram of the rotary clamping assembly of the present invention;

[0066] Fig.12 It is a structural schematic diagram of the present invention in which the forming movable block is connected via a vertical rotating structure and a threaded grasping structure;

[0067] In the figure:

[0068] 10. Suspension support;

[0069] 20. Horizontal moving assembly; 200. Concave frame; 201. Horizontal slide rail; 202. Horizontal electric slide;

[0070] 30. Multi-angle mechanical grasping mechanism;

[0071] 40, longitudinal moving assembly; 401, triangular bracket; 402, side mounting rod; 403, longitudinal frame; 404, first motor; 405, longitudinal reciprocating screw rod; 406, longitudinal slider; 4061, inner concave body; 4062, inner convex block;

[0072] 50, horizontal deflection assembly; 500, movable frame; 501, guide rod; 5011, sliding bracket; 502, telescopic cylinder; 503, push rod; 504, movable seat; 505, electric telescopic rod;

[0073] 60, vertical moving assembly; 601, vertical frame; 602, second motor; 603, vertical reciprocating screw rod; 604, vertical slider; 605, mounting plate;

[0074] 70, rotating clamping assembly; 701, supporting seat; 702, side baffle; 703, edge block; 704, movable block;

[0075] 705, vertical rotating structure; 7051, middle notch; 7052, rotating shaft; 7053, grabbing frame; 7054, second transmission belt; 7055, DC motor; 7056, motor seat;

[0076] 706, threaded gripping structure; 7061, fourth motor; 7062, threaded shaft; 7063, threaded moving block; 7064, sliding part; 7065, gripping component;

[0077] 707, connecting shaft; 708, first transmission belt; 709, third motor. DETAILED DESCRIPTION

[0078] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0079] See also Figure 1-Figure 12 The cantilever manipulator device includes a suspension support 10, a horizontal moving component 20, a concave frame 200 and a multi-angle mechanical grasping mechanism 30. The suspension support 10 is installed on the back of the horizontal moving component 20 by screws, and the concave frame 200 is installed on the front of the horizontal moving component 20 by screws. The multi-angle mechanical grasping mechanism 30 is installed on the side of the concave frame 200. The multi-angle mechanical grasping mechanism 30 grasps the material, wherein the multi-angle mechanical grasping mechanism 30 includes a longitudinal moving component 40. The longitudinal moving component 40 is installed on the side of the concave frame 200, and a horizontal deflection component 50 is installed on the top, a movable frame 500 is installed at the bottom of the horizontal deflection component 50, and the movable frame 500 is rotatably connected to the side of the longitudinal moving component 40; and a vertical moving component 60, the vertical moving component 60 is installed on the side of the movable frame 500, and a rotating clamping component 70 is installed on the side, the rotating clamping component 70 grabs the material and drives the grabbed material to rotate in the longitudinal and vertical directions.

[0080] The above working principle: during the process of grabbing materials, the horizontal moving component 20 can drive the rotating clamping component 70 of the grabbed materials and the grabbed materials to move horizontally; the longitudinal moving component 40 can drive the rotating clamping component 70 of the grabbed materials and the grabbed materials to move longitudinally; the horizontal deflection component 50 can drive the rotating clamping component 70 of the grabbed materials and the grabbed materials to rotate horizontally; the vertical moving component 60 can drive the rotating clamping component 70 of the grabbed materials and the grabbed materials to move vertically; the rotating clamping component 70 can drive the grab materials to rotate vertically and longitudinally, realizing the five-axis material grabbing operation, ensuring that the subsequent grabbed logistics are in the same position when the code is attached, so as to facilitate the subsequent detection equipment to detect the code. At the same time, the five-axis structure is tightly connected to each other during assembly, and no errors or other problems will occur during continuous operation.

[0081] Specific reference Figure 6 The horizontal moving assembly 20 includes a horizontal slide rail 201, which is installed on the side of the suspension support 10, and there are two groups of horizontal slide rails 201. The outer sides of the two groups of horizontal slide rails 201 are each provided with a horizontal electric slider 202, wherein the sides of the multiple groups of horizontal electric sliders 202 are installed with a concave frame 200 by screws.

[0082] In the cantilever manipulator device of the present invention, after grabbing the material or completing the grabbing, the horizontal electric slider 202 can slide on the side of the horizontal slide rail 201, so that the concave frame 200 can be telescopically moved in the horizontal direction, thereby realizing the operation of driving the rotating clamping assembly 70 for grabbing the material and the horizontal movement of the grabbed material, thereby realizing the horizontal movement operation.

[0083] Specific reference Figure 7 The longitudinal moving component 40 includes a triangular bracket 401, which is installed on the side of the concave frame 200 by screws, and there are two groups of triangular brackets 401, and a side mounting rod 402 installed on the side of the concave frame 200 by screws is provided between the two groups of triangular brackets 401; a longitudinal frame 403, which is installed on the side of the side mounting rod 402 by screws and is arranged on the side of the triangular bracket 401, and a first motor 404 is installed at one end of the longitudinal frame 403, and the output end of the first motor 404 is connected to a longitudinal reciprocating screw rod 405 rotatably connected to the inside of the longitudinal frame 403, wherein the first motor 404 extends to the inner side of the concave frame 200; a longitudinal slider 406, which is connected to the outer side of the longitudinal reciprocating screw rod 405 by a ball bearing, and is slidably connected to the inside of the longitudinal frame 403.

[0084] In this embodiment, the center of the side of the longitudinal slider 406 protrudes outward and forms an inner concave body 4061. The outer side of the inner concave body 4061 is movably connected with an inner convex block 4062. The inner convex block 4062 is installed on the inner wall of the movable frame 500, wherein a horizontal deflection assembly 50 is installed on the top of the longitudinal frame 403. The design of the inner convex block 4062 and the inner concave body 4061 can ensure the stability and firmness of the movable frame 500 when rotating on the side of the longitudinal slider 406, and will not cause displacement or dislocation due to multiple rotations.

[0085] In the cantilever manipulator device of the present invention, the longitudinal frame 403 is installed on the side of the concave frame 200 through the side mounting rod 402 installed on the back, and the triangular brackets 401 arranged on the upper and lower sides of the side mounting rod 402 can improve the stability and firmness of the assembly of the longitudinal frame 403, and will not be offset due to multiple grasping and moving. When it is necessary to drive the rotating clamping assembly 70 for grasping the material and the grasped material to move longitudinally, starting the first motor 404 to operate can make the longitudinal reciprocating screw 405 connected to its output end rotate, and make the longitudinal slider 406 connected to the outer side of the longitudinal reciprocating screw 405 through the ball bearing to telescopically move, so as to realize the operation of longitudinal movement.

[0086] Specific reference Figure 7 , Figure 8 and Fig. 9 The horizontal deflection assembly 50 includes a guide rod 501, which is installed on the top of the longitudinal frame 403 and extends to the outside of the longitudinal frame 403. The outside of the guide rod 501 is slidably connected to a sliding bracket 5011, and the sliding bracket 5011 is slidably connected to the top of the longitudinal frame 403; a telescopic cylinder 502, which is installed on one side of the top of the sliding bracket 5011, and the output end passes through the sliding bracket 5011, and the output end of the telescopic cylinder 502 is connected to the pushing rod 503; a movable seat 504, which is installed on the bottom of the pushing rod 503 by screws and is arranged vertically relative to the pushing rod 503. The bottom of the movable seat 504 is rotatably connected to an electric telescopic rod 505, wherein the electric telescopic rod 505 is installed on the top of the movable frame 500 and is located on the side of the longitudinal slider 406.

[0087] In the cantilever manipulator device of the present invention, when it is necessary to drive the rotating clamping assembly 70 for grabbing materials and the grabbed materials to rotate horizontally, the telescopic cylinder 502 is started to operate, which can drive the push rod 503 and the movable seat 504 connected to its output end to perform telescopic movement (in the longitudinal direction). When the movable seat 504 is telescopically moved, the movable frame 500 connected to its bottom through the electric telescopic rod 505 can be rotated to achieve longitudinal rotation operation. At the same time, during the rotation process, the electric telescopic rod 505 itself can operate to adjust the distance between the movable seat 504 and the movable frame 500 to ensure that the movable frame 500 can rotate normally.

[0088] Specific reference Fig.10 The vertical moving component 60 includes a vertical frame 601, which is installed on the side of the movable frame 500 and a second motor 602 is installed on the top. The output end of the second motor 602 is connected to a vertical reciprocating screw rod 603, wherein the vertical reciprocating screw rod 603 is rotatably connected to the inside of the vertical frame 601; a vertical slider 604, which is connected to the outside of the vertical reciprocating screw rod 603 through a ball bearing and is slidably connected to the inside of the vertical frame 601. A mounting plate 605 is installed on the side of the vertical slider 604 by screws, wherein a rotating clamping component 70 is installed on the side of the mounting plate 605 by screws.

[0089] In the cantilever manipulator device of the present invention, when it is necessary to drive the rotating clamping assembly 70 for grabbing materials and the grabbed materials to move telescopically in the vertical direction, the second motor 602 is started to operate, and the vertical reciprocating screw rod 603 connected to the output end of the second motor 602 is driven to rotate, so that the vertical slider 604 connected to the outside of the vertical reciprocating screw rod 603 through the ball bearing can move telescopically, thereby driving the mounting plate 605 installed by screws on the side of the vertical slider 604 to move telescopically. The design of the movable frame 500 can improve the stability and firmness of the vertical frame 601 during assembly, and no problems such as offset will occur during continuous operation.

[0090] Specific reference Fig.10 , Fig.11 and Fig.12The rotating clamping assembly 70 includes a support seat 701, which is mounted on the side of the mounting plate 605 by screws, and the support seat 701 is provided with two groups, and the sides of the two groups of support seats 701 are installed with side baffles 702 by screws; an edge block 703, the edge block 703 is installed at the center of the edge of the side baffle 702, and the edge block 703 is provided with two groups, and a movable block 704 is rotatably connected between the two groups of edge blocks 703, wherein the bottom of the movable block 704 is installed with a threaded grasping structure 706 through a vertical rotating structure 705, and the thread The grabbing structure 706 grabs and fixes the material; the connecting shaft 707, the connecting shaft 707 is installed at the center of the side of the movable block 704, and extends to the side of a group of edge blocks 703, the outer side of the connecting shaft 707 is connected to the first transmission belt 708 through a synchronous wheel, and the first transmission belt 708 is movably connected to the side of the edge block 703; the third motor 709, the third motor 709 is installed on the side of the mounting plate 605, and is located on the inner side of the two groups of support seats 701, and the output end of the third motor 709 is connected to the first transmission belt 708 through a synchronous wheel.

[0091] In this embodiment, the vertical rotating structure 705 includes a central recess 7051, which is opened at the center of the bottom of the movable block 704 and is internally rotatably connected to a rotating shaft 7052, the bottom of the rotating shaft 7052 extends to the bottom of the movable block 704, and is installed with a grabbing frame 7053, which is movably connected to the bottom of the movable block 704; a second transmission belt 7054, which is connected to the outer side of the rotating shaft 7052 through a synchronous wheel arranged on the inner side and extends to the outer side of the movable block 704, the inner side of the second transmission belt 7054 is connected to the output end of the DC motor 7055 through the synchronous wheel, wherein the DC motor 7055 is installed on the outer side of the movable block 704 through the motor seat 7056 at the bottom.

[0092] In the above embodiment, when the grasped material needs to be driven to rotate (vertically), the DC motor 7055 is started to operate, driving the second transmission belt 7054 connected to the outer side of its output end through the synchronous wheel to move. When the second transmission belt 7054 moves, it will drive the rotating shaft 7052 connected to the inner side through the synchronous wheel to rotate, and make the grasping frame 7053 installed at the bottom of the rotating shaft 7052 rotate (360 degrees), and adjust the material grasping angle (vertically).

[0093] In addition, in the present embodiment, the threaded grabbing structure 706 includes a fourth motor 7061, which is installed on one side of the grabbing frame 7053, and the output end is connected to a threaded shaft 7062, and the threaded shaft 7062 is provided in two groups, and the two groups of threaded shafts 7062 are fixedly connected, and the two groups of threaded shafts 7062 are rotatably connected to the inner side of the grabbing frame 7053; a threaded moving block 7063, the threaded moving block 7063 is threadedly connected to the outer side of the threaded shaft 7062, and the threaded moving block 7063 is provided in two groups, the top of the threaded moving block 7063 extends to the interior of the sliding part 7064, and the sliding part 7064 is opened in the interior of the grabbing frame 7053, wherein the bottom of the threaded moving block 7063 is rotatably connected to a grabbing component 7065, and the side of the grabbing component 7065 grabs and fixes the material.

[0094] In the above embodiment, during the process of grabbing the material, the fourth motor 7061 is started to operate, so that the two sets of threaded shafts 7062 connected to the output end of the fourth motor 7061 can rotate. When the threaded shaft 7062 rotates, it will drive the threaded moving block 7063 connected to the outer thread to move telescopically (the threaded moving block 7063 moves in the opposite direction), so that the material 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 part 7064 can ensure the stability of the threaded moving block 7063 during telescopic movement, and will not cause problems such as deviation or shaking.

[0095] In the cantilever manipulator device of the present invention, when the material is rotated in the horizontal direction, the third motor 709 is started to operate, so that the first transmission belt 708 connected to the outer side of the output end of the third motor 709 through the synchronous wheel can move, and the connecting shaft 707 connected to the inner side of the first transmission belt 708 through the synchronous wheel can rotate. When the connecting shaft 707 rotates, it will drive the movable block 704 installed on the outer side thereof to rotate, so as to realize the operation of rotating the material in the horizontal direction.

[0096] See also Figure 1-Figure 12 The present invention also provides an application of a cantilever robot device in an automatic labeling machine.

[0097] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A cantilever manipulator device, comprising a suspension support (10), a horizontal moving assembly (20), a concave frame (200) and a multi-angle mechanical grasping mechanism (30), characterized in that: A suspension support (10) is installed on the back of the horizontal moving assembly (20) by means of screws, a concave frame (200) is installed on the front of the horizontal moving assembly (20) by means of screws, and a multi-angle mechanical grabbing mechanism (30) is installed on the side of the concave frame (200), and the multi-angle mechanical grabbing mechanism (30) grabs the material. Wherein, the multi-angle mechanical grasping mechanism (30) comprises: A longitudinal moving assembly (40), the longitudinal moving assembly (40) being mounted on a side of the concave frame (200), and having a horizontal deflection assembly (50) mounted on the top, a movable frame (500) being mounted on the bottom of the horizontal deflection assembly (50), and the movable frame (500) being rotatably connected to the side of the longitudinal moving assembly (40); and A vertical moving assembly (60) is installed on the side of the movable frame (500), and a rotating clamping assembly (70) is installed on the side. The rotating clamping assembly (70) grabs the material and drives the grabbed material to rotate in the longitudinal and vertical directions.

2. The cantilever manipulator device according to claim 1, characterized in that: The horizontal moving assembly (20) comprises: A horizontal slide rail (201), the horizontal slide rail (201) being installed on the side of the suspension support (10), and the horizontal slide rail (201) being provided with two groups, and the outer sides of the two groups of horizontal slide rails (201) are both provided with horizontal electric sliders (202), Wherein, the side surfaces of the plurality of groups of horizontal electric sliders (202) are mounted with concave frames (200) by means of screws.

3. The cantilever manipulator device according to claim 1, characterized in that: The longitudinal moving assembly (40) comprises: A triangular bracket (401), wherein the triangular bracket (401) is mounted on the side of the concave frame body (200) by means of screws, and two groups of the triangular bracket (401) are provided, and a side mounting rod (402) mounted on the side of the concave frame body (200) by means of screws is provided between the two groups of the triangular brackets (401); A longitudinal frame (403), the longitudinal frame (403) is mounted on the side of the side mounting rod (402) by means of screws and is arranged on the side of the triangular bracket (401), a first motor (404) is mounted on one end of the longitudinal frame (403), an output end of the first motor (404) is connected to a longitudinal reciprocating screw rod (405) rotatably connected to the interior of the longitudinal frame (403), Wherein, the first motor (404) extends to the inner side of the concave frame (200); A longitudinal slider (406), the longitudinal slider (406) is connected to the outside of the longitudinal reciprocating screw (405) through a ball bearing, and is slidably connected to the inside of the longitudinal frame (403).

4. The cantilever manipulator device according to claim 3, characterized in that: The center of the side surface of the longitudinal sliding block (406) protrudes outward and forms an inner concave body (4061). The outer side of the inner concave body (4061) is movably connected with an inner convex block (4062). The inner convex block (4062) is installed on the inner wall of the movable frame (500). Wherein, a horizontal deflection assembly (50) is installed on the top of the longitudinal frame (403).

5. The cantilever manipulator device according to claim 4, characterized in that: The horizontal deflection assembly (50) comprises: A guide rod (501), the guide rod (501) being mounted on the top of the longitudinal frame (403) and extending to the outside of the longitudinal frame (403), the outside of the guide rod (501) being slidably connected to a sliding bracket (5011), and the sliding bracket (5011) being slidably connected to the top of the longitudinal frame (403); A telescopic cylinder (502), wherein the telescopic cylinder (502) is installed on one side of the top of the sliding bracket (5011), and an output end thereof is arranged to penetrate the sliding bracket (5011), and the output end of the telescopic cylinder (502) is connected to a push rod (503); A movable seat (504), the movable seat (504) is mounted on the bottom of the push rod (503) by means of screws and is arranged vertically relative to the push rod (503), and the bottom of the movable seat (504) is rotatably connected to an electric telescopic rod (505), The electric telescopic rod (505) is installed on the top of the movable frame (500) and is located on the side of the longitudinal sliding block (406).

6. The cantilever manipulator device according to claim 1, characterized in that: The vertical moving assembly (60) comprises: A vertical frame (601), the vertical frame (601) is installed on the side of the movable frame (500), and a second motor (602) is installed on the top, and the output end of the second motor (602) is connected to a vertical reciprocating screw rod (603), Wherein, the vertical reciprocating screw rod (603) is rotatably connected to the inside of the vertical frame (601); A vertical slider (604), the vertical slider (604) is connected to the outside of the vertical reciprocating screw (603) through a ball bearing, and is slidably connected to the inside of the vertical frame (601), and a mounting plate (605) is mounted on the side of the vertical slider (604) through screws, Wherein, a rotating clamping assembly (70) is mounted on the side surface of the mounting plate (605) by means of screws.

7. The cantilever manipulator device according to claim 6, characterized in that: The rotating clamping assembly (70) comprises: A support seat (701), the support seat (701) being mounted on the side of the mounting plate (605) by means of screws, and the support seat (701) being provided in two groups, and the side surfaces of the two groups of the support seats (701) being mounted with side baffles (702) by means of screws; An edge block (703) is installed at the center of the edge of the side baffle (702), and two groups of edge blocks (703) are provided, and a movable block (704) is rotatably connected between the two groups of edge blocks (703). Wherein, a threaded gripping structure (706) is installed at the bottom of the movable block (704) via a vertical rotating structure (705), and the threaded gripping structure (706) grips and fixes the material; A connecting shaft (707), the connecting shaft (707) is installed at the center of the side of the movable block (704) and extends to the side of a group of edge blocks (703), the outer side of the connecting shaft (707) is connected to a first transmission belt (708) through a synchronous wheel, and the first transmission belt (708) is movably connected to the side of the edge block (703); A third motor (709), the third motor (709) is mounted on the side of the mounting plate (605) and is located on the inner side of the two groups of support seats (701), and the output end of the third motor (709) is connected to the first transmission belt (708) via a synchronous wheel.

8. The cantilever manipulator device according to claim 7, characterized in that: The vertical rotating structure (705) comprises: a middle notch (7051), the middle notch (7051) being opened at the center of the bottom of the movable block (704), and having a rotating shaft (7052) rotatably connected thereto, the bottom of the rotating shaft (7052) extending to the bottom of the movable block (704), and having a grabbing frame (7053) installed thereon, the grabbing frame (7053) being movably connected to the bottom of the movable block (704); a second transmission belt (7054), the second transmission belt (7054) is connected to the outside of the rotating shaft (7052) through a synchronous wheel arranged on the inside, and extends to the outside of the movable block (704), the inside of the second transmission belt (7054) is connected to the output end of the DC motor (7055) through the synchronous wheel, Wherein, the DC motor (7055) is installed on the outside of the movable block (704) through the motor seat (7056) at the bottom.

9. The cantilever manipulator device according to claim 8, characterized in that: The thread grabbing structure (706) comprises: A fourth motor (7061), the fourth motor (7061) is installed on one side of the grabbing frame (7053), and the output end is connected to a threaded shaft (7062), the threaded shaft (7062) is provided in two groups, and the two groups of the threaded shaft (7062) are fixedly connected, and the two groups of the threaded shaft (7062) are rotatably connected to the inner side of the grabbing frame (7053); A threaded moving block (7063), wherein the threaded moving block (7063) is threadedly connected to the outside of the threaded shaft (7062), and the threaded moving block (7063) is provided in two groups, and the top of the threaded moving block (7063) extends to the inside of the sliding part (7064), and the sliding part (7064) is opened inside the grabbing frame (7053), The bottom of the threaded moving block (7063) is rotatably connected to a grabbing component (7065), and the side of the grabbing component (7065) grabs and fixes materials.

10. Application of the cantilever robot device according to any one of claims 1 to 9 in an automatic labeling machine.

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