Cantilevered robot device and its application in automatic labeler

Abstract

The application discloses a cantilever manipulator device and application thereof to an automatic code sticking machine, and relates to the technical field of manipulators. The cantilever manipulator device solves the problems that the angle adjustment operation of the grasped material is not convenient enough, it is difficult to carry out multi-angle rotary adjustment and operation on the specific position of the material, the use environment is relatively 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 grasping mechanism. The back surface of the horizontal moving assembly is provided with the suspension support through screw installation, and the front surface of the horizontal moving assembly is provided with the concave frame body through screw installation. In the application, the grasped material can be driven to carry out telescopic movement and rotation in X, Y and Z directions, the position of subsequent code sticking equipment is adjusted and the code sticking equipment is approached, code sticking operation is carried out on the same position of each group of materials, the subsequent detection and other operations are more convenient, and more efficient code sticking operation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a cantilever mechanical hand device and its application in an automatic code sticking machine. BACKGROUND

[0002] A cantilever mechanical hand is an automatic operating device that can imitate the functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. Compared with the traditional operation of workers grabbing materials by operating tools, it can replace human labor to realize the mechanization and automation of production and operate in a harmful environment to protect personal safety. The cantilever mechanical hand is commonly used for material grabbing, carrying and code sticking operations.

[0003] The existing Chinese patent application with the publication number CN113927581A discloses a mechanical cantilever arm capable of effectively protecting clamped products, which comprises a base, a support and a bracket. The support is fixed on the base, and the bracket is arranged on the support and has a reverse "L" shape. The application also comprises a suspension bracket arranged on the left side of the vertical end of the bracket, a pulling mechanism arranged between the suspension bracket and the bracket, a suspension seat fixed on the left side of the suspension bracket, an arm force seat arranged on the lower side of the suspension seat and having a reverse "U" shape, and a clamping arm mechanism arranged on the lower side of the arm force seat. The application can perform more stable clamping operation on the to-be-grabbed objects, so that the products are less likely to fall during the clamping process, and the clamping efficiency of the products is improved.

[0004] However, the cantilever mechanical hand has the following defects in specific use:

[0005] 1. The existing cantilever mechanical hand needs to move and adjust the angle of the grabbed material to facilitate the operation on the specific position of the material when grabbing the material for subsequent operation. However, the traditional scheme is not convenient for angle adjustment of the grabbed material in actual operation, and it is difficult to perform multi-angle rotation adjustment operation, making it difficult to operate on the specific position of the material, and the use environment is limited and the operation precision is low.

[0006] 2. In the process of grabbing the material by the existing cantilever mechanical hand, the part that grabs the material is generally away from each shaft end, and the grabbed material needs to bear a large weight during movement, which may cause errors during continuous operation, affecting the precision of the grabbed material during movement and the normal operation of subsequent code sticking. SUMMARY

[0007] The present application aims to provide a cantilever manipulator device and its application in an automatic code sticking machine to solve the problems mentioned in the background.

[0008] To achieve the above-mentioned application purposes, the present application adopts the following technical solutions:

[0009] The present application 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. The back of the horizontal moving assembly is provided with the suspension support through screw installation. The front of the horizontal moving assembly is provided with the concave frame body through screw installation. The side of the concave frame body is provided with the multi-angle mechanical grabbing mechanism. The multi-angle mechanical grabbing mechanism grabs materials,

[0010] The multi-angle mechanical grabbing mechanism comprises:

[0011] A longitudinal moving assembly is installed on the side of the concave frame body, and a horizontal deflection assembly is installed on the top of the longitudinal moving assembly. A movable frame body is installed on the bottom of the horizontal deflection assembly, and the movable frame body is rotationally connected to the side of the longitudinal moving assembly.

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

[0013] As a preferred scheme of the present application, the horizontal moving assembly comprises:

[0014] A horizontal sliding rail is installed on the side of the suspension support, and the horizontal sliding rail is provided with two groups. The outer sides of the two groups of horizontal sliding rails are provided with horizontal electric sliding blocks.

[0015] The sides of the multiple groups of horizontal electric sliding blocks are provided with the concave frame body through screw installation.

[0016] As a preferred scheme of the present application, the longitudinal moving assembly comprises:

[0017] A triangular support is installed on the side of the concave frame body through screw installation, and the triangular support is provided with two groups. A side installation rod is installed on the side of the concave frame body through screw installation between the two groups of triangular supports.

[0018] A longitudinal frame is installed on the side of the side installation rod through screw installation and is arranged on the side of the triangular support. One end of the longitudinal frame is provided with a first motor, and the output end of the first motor is connected with a longitudinal reciprocating screw rod which is rotationally connected inside the longitudinal frame.

[0019] The first motor extends to the inner side of the concave frame body.

[0020] The longitudinal slider is connected to the outer side of the longitudinal reciprocating wire rod through a ball bearing and is slidingly connected to the inner side of the longitudinal frame.

[0021] The center of the side of the longitudinal slider is outwardly convex and forms a concave body, the outer side of the concave body is movably connected to an inner convex block, and the inner convex block is installed at the inner wall of the movable frame body.

[0022] The top of the longitudinal frame is provided with a horizontal deflection assembly.

[0023] The horizontal deflection assembly comprises:

[0024] A guide rod is installed at the top of the longitudinal frame and extends to the outer side of the longitudinal frame, the outer side of the guide rod is slidingly connected to a sliding support, and the sliding support is slidingly connected to the top of the longitudinal frame.

[0025] A telescopic cylinder is installed at one side of the top of the sliding support and has an output end penetrating through the sliding support, and the output end of the telescopic cylinder is connected to a push rod.

[0026] A movable seat is installed at the bottom of the push rod by a screw and is arranged vertically opposite to the push rod, and the bottom of the movable seat is rotatably connected to an electric telescopic rod.

[0027] The electric telescopic rod is installed at the top of the movable frame body and is located at the side of the longitudinal slider.

[0028] The vertical moving assembly comprises:

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

[0030] The vertical reciprocating wire rod is rotatably connected to the inner side of the vertical frame.

[0031] A vertical slider is connected to the outer side of the vertical reciprocating wire rod through a ball bearing and is slidingly connected to the inner side of the vertical frame, and the side of the vertical slider is provided with a mounting plate through a screw.

[0032] The side of the mounting plate is provided with a rotary clamping assembly through a screw.

[0033] The rotary clamping assembly comprises:

[0034] Supporting seats are mounted on the side of the mounting plate by screws, and the supporting seats are provided with two groups, and the sides of the two groups of supporting seats are mounted with side baffles by screws;

[0035] Edge blocks are mounted at the center of the side of the side baffle, and the edge blocks are provided with two groups, and the two groups of edge blocks are rotatably connected with movable blocks,

[0036] The bottom of the movable block is mounted with a threaded grabbing structure through a vertical rotating structure, and the threaded grabbing structure grabs and fixes the material;

[0037] A connecting shaft is mounted at the center of the side of the movable block and extends to the side of a group of edge blocks, and 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 of the edge block;

[0038] A third motor is mounted on the side of the mounting plate and located on the inner side 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.

[0039] As a preferred scheme of the present application, the vertical rotating structure comprises:

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

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

[0042] The DC motor is mounted on the outer side of the movable block through a motor seat at the bottom.

[0043] As a preferred scheme of the present application, the threaded grabbing structure comprises:

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

[0045] Threaded moving blocks are threadedly connected on the outside of the threaded shaft, and the threaded moving blocks are provided with two groups, the top of the threaded moving blocks extends to the inside of the sliding part, the sliding part is opened in the inside of the grabbing frame,

[0046] Wherein, the bottom of the threaded moving block is rotationally connected with a grabbing component, the side of the grabbing component is provided with a material.

[0047] The application provides the application of the cantilever manipulator device on the automatic code sticking machine.

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

[0049] 1. In the cantilever manipulator device and its application on the automatic code sticking machine, when the material is grabbed and subsequent code sticking operations are performed, the horizontal electric sliding block, the longitudinal reciprocating screw rod, the telescopic cylinder, the vertical reciprocating screw rod, the movable block and the rotating shaft can be operated to drive the structure for grabbing the material or the grabbed material to move in the horizontal direction, move in the longitudinal direction, rotate in the horizontal direction, move in the vertical direction, rotate in the horizontal direction and rotate in the vertical direction, drive the grabbed material to move and rotate in the X, Y and Z directions, and adjust and approach the code sticking equipment according to the position of the subsequent code sticking equipment, so that the same position of each group of materials can be code stuck, the subsequent detection operation is more convenient, and more efficient code sticking operation is realized.

[0050] 2. In the cantilever manipulator device and its application on the automatic code sticking machine, when the material or the structure for grabbing the material needs to be rotated in the horizontal direction, the movable frame body needs to be rotated on the side of the longitudinal sliding block. At this time, through the design of the longitudinal sliding block side inner recess and the movable frame body inner side inner block, on the one hand, the stability and firmness during rotation can be ensured, and on the other hand, the horizontal rotation mode occupies small space and has low cost (arranged on the top of the longitudinal frame). The telescopic cylinder and other parts that rotate in the horizontal direction can move synchronously with the longitudinal movement of the longitudinal sliding block, so that the horizontal rotation adjustment operation can be conveniently performed at different longitudinal positions.

[0051] 3. In the application of cantilever robotic arms and automatic labeling machines, the longitudinal frame for vertical movement is mounted on the side of the concave frame via a triangular bracket on the back and side mounting rods. This multi-point mounting design of the longitudinal frame ensures that the structures on the side of the longitudinal frame (vertical movement components and rotary clamping components) and the gripped material will not shift or break due to the forces generated during operation. Simultaneously, the vertically positioned frame is assembled using a movable frame. The movable frame's structural design allows for separate assembly and fixation of the left and right sides and the bottom of the vertical frame, ensuring that the side structure of the vertical frame (rotary clamping components) and the gripped material will not be damaged by repeated operation, thus improving operational safety and service life.

[0052] 4. In the application of cantilever robotic arms and automatic labeling machines, during the material gripping process, two sets of threaded shafts and threaded moving blocks connected by threads can clamp and fix the material against the gripping component inside the threaded moving block. Furthermore, the threaded connection design has a self-locking function, which, combined with the sliding of the threaded moving block within the sliding part, ensures the stability and firmness of the material gripping and fixing. Simultaneously, during material gripping and multi-angle rotation, the gripping component rotatably connected inside the threaded moving block, along with the weight of the material itself, ensures that the center of gravity remains vertical, preventing problems such as slanted labeling during subsequent labeling. Attached Figure Description

[0053] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0054] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

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

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

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

[0058] Figure 4 is the overall structure of the application from the top view;

[0059] Figure 5 is the structure of the connection between the concave frame and the multi-angle mechanical grabbing mechanism of the application;

[0060] Figure 6 is the structure of the connection between the horizontal moving assembly and the side mounting rod of the application;

[0061] Figure 7 is the structure of the connection between the concave frame and the longitudinal moving assembly of the application;

[0062] Figure 8 is the structure of the connection between the concave frame and the longitudinal moving assembly of the application; Figure 7 is the structure of the connection between the concave frame and the longitudinal moving assembly of the application;

[0063] Figure 9 is the structure of the connection between the longitudinal sliding block and the movable frame body of the application;

[0064] Figure 10 is the structure of the connection between the movable frame body and the vertical moving assembly and the rotating clamping assembly of the application;

[0065] Figure 11 is the structure of the rotating clamping assembly of the application;

[0066] Figure 12 is the structure of the connection between the shaped movable block and the vertical rotating structure and the threaded grabbing structure of the application;

[0067] In the figure:

[0068] 10, hanging support;

[0069] 20, horizontal moving assembly; 200, concave frame; 201, horizontal sliding rail; 202, horizontal electric sliding block;

[0070] 30, multi-angle mechanical grabbing mechanism;

[0071] 40, longitudinal moving assembly; 401, triangular support; 402, side mounting rod; 403, longitudinal frame; 404, first motor; 405, longitudinal reciprocating screw rod; 406, longitudinal sliding block; 4061, inner recess body; 4062, inner protruding block;

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

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

[0074] 70, rotating clamping assembly; 701, support 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 grabbing structure; 7061, fourth motor; 7062, threaded shaft; 7063, threaded moving block; 7064, sliding part; 7065, grabbing part;

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

[0078] In order to enable persons skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should belong to the scope of protection of the present application.

[0079] Please refer to Figures 1-12 The cantilever manipulator device comprises a suspension support 10, a horizontal moving assembly 20, a concave frame body 200 and a multi-angle mechanical grabbing mechanism 30. The back of the horizontal moving assembly 20 is provided with the suspension support 10 by screwing, the front of the horizontal moving assembly 20 is provided with the concave frame body 200 by screwing, and the side of the concave frame body 200 is provided with the multi-angle mechanical grabbing mechanism 30. The multi-angle mechanical grabbing mechanism 30 grabs materials, wherein the multi-angle mechanical grabbing mechanism 30 comprises a longitudinal moving assembly 40, the longitudinal moving assembly 40 is installed on the side of the concave frame body 200, and the top is provided with a horizontal deflection assembly 50, the bottom of the horizontal deflection assembly 50 is provided with a movable frame body 500, and the movable frame body 500 is rotationally connected to the side of the longitudinal moving assembly 40; and a vertical moving assembly 60, the vertical moving assembly 60 is installed on the side of the movable frame body 500, and the side is provided with a rotating clamping assembly 70, the rotating clamping assembly 70 grabs materials, and drives the grabbed materials to rotate in the longitudinal and vertical directions.

[0080] The working principle is as follows: during the process of grabbing the material, the horizontal moving assembly 20 can drive the rotary clamping assembly 70 for grabbing the material and the material after being grabbed to move horizontally; the longitudinal moving assembly 40 can drive the rotary clamping assembly 70 for grabbing the material and the material after being grabbed to move longitudinally; the horizontal deflection assembly 50 can drive the rotary clamping assembly 70 for grabbing the material and the material after being grabbed to rotate horizontally; the vertical moving assembly 60 can drive the rotary clamping assembly 70 for grabbing the material and the material after being grabbed to move vertically; and the rotary clamping assembly 70 can drive the material for grabbing to rotate vertically and longitudinally, so that the five-axis material grabbing operation is realized, the positions of the codes of each group of materials are consistent when the subsequent grabbed logistics is subjected to the code sticking operation, and then the detection operation of the subsequent detection equipment on the code sticking is facilitated. Meanwhile, the five-axis structure is closely connected during assembly, and errors and other problems do not occur during continuous operation.

[0081] With reference to the drawings Figure 6 The horizontal moving assembly 20 comprises horizontal sliding rails 201, the horizontal sliding rails 201 are installed on the side of the suspension support 10, and the horizontal sliding rails 201 are provided in two groups, and the outer sides of the two groups of horizontal sliding rails 201 are provided with horizontal electric sliding blocks 202, wherein the sides of the plurality of horizontal electric sliding blocks 202 are provided with concave frame bodies 200 through screws.

[0082] In the cantilever manipulator device, the concave frame body 200 can move vertically by sliding the horizontal electric sliding block 202 on the side of the horizontal sliding rail 201, so that the rotary clamping assembly 70 for grabbing the material and the material after being grabbed are driven to move horizontally, and the horizontal moving operation is realized.

[0083] With reference to the drawings Figure 7 The longitudinal moving assembly 40 comprises triangular supports 401, the triangular supports 401 are installed on the side of the concave frame body 200 through screws, and the triangular supports 401 are provided in two groups, and the two groups of triangular supports 401 are provided with side installation rods 402 installed on the side of the concave frame body 200 through screws; longitudinal frames 403, the longitudinal frames 403 are installed on the side of the side installation rods 402 through screws and on the side of the triangular supports 401, one end of the longitudinal frame 403 is provided with a first motor 404, and the output end of the first motor 404 is connected with a longitudinal reciprocating screw rod 405 rotatingly connected in the longitudinal frame 403, wherein the first motor 404 extends to the inner side of the concave frame body 200; longitudinal sliding blocks 406, the longitudinal sliding blocks 406 are connected on the outer side of the longitudinal reciprocating screw rod 405 through balls and slidingly connected in the longitudinal frame 403.

[0084] In the embodiment, the center of the side of the longitudinal slider 406 is outwardly convex, and forms a concave body 4061, and the outer side of the concave body 4061 movably connects an inner convex block 4062, and the inner convex block 4062 is installed at the inner wall of the movable frame body 500, wherein the top of the longitudinal frame 403 is provided with a horizontal deflection assembly 50, and the design of the inner convex block 4062 and the concave body 4061 can ensure the stability and firmness of the movable frame body 500 rotating at the side of the longitudinal slider 406, and the movable frame body 500 will not be deviated or dislocated after being rotated for many times.

[0085] In the cantilever manipulator device, the longitudinal frame 403 is installed at the side of the concave frame body 200 through the side mounting rod 402 installed at the back, and cooperates with the triangular support 401 arranged on the upper and lower sides of the side mounting rod 402, so that the stability and firmness of assembling the longitudinal frame 403 are improved, and the longitudinal frame 403 will not be deviated after being moved for many times. When the rotary clamping assembly 70 for driving the grabbed material and the grabbed material need to be longitudinally moved, the first motor 404 is started to operate, so that the output end of the longitudinal reciprocating lead screw 405 connected with the first motor 404 is rotated, and the longitudinal reciprocating lead screw 405 on the outer side is moved in and out through the longitudinal slider 406 connected with the ball, so that the longitudinal movement is realized.

[0086] With reference to Figure 7 , Figure 8 and Figure 9 , the horizontal deflection assembly 50 comprises a guide rod 501, the guide rod 501 is installed at the top of the longitudinal frame 403 and extends to the outer side of the longitudinal frame 403, the outer side of the guide rod 501 movably connects a sliding support 5011, and the sliding support 5011 is movably connected at the top of the longitudinal frame 403; a telescopic cylinder 502 is installed at one side of the top of the sliding support 5011, and the output end of the telescopic cylinder 502 penetrates the sliding support 5011, and the output end of the telescopic cylinder 502 is connected with a push rod 503; a movable seat 504 is installed at the bottom of the push rod 503 through a screw, and is arranged vertically opposite to the push rod 503, and the bottom of the movable seat 504 movably connects an electric telescopic rod 505, wherein the electric telescopic rod 505 is installed at the top of the movable frame body 500 and located at the side of the longitudinal slider 406.

[0087] In the cantilever manipulator device of the present application, when the rotating clamping assembly 70 for grabbing materials and the grabbed materials need to be rotated in the horizontal direction, the telescopic cylinder 502 is started to operate, which can drive the push rod 503 and the movable seat 504 connected to the output end of the telescopic cylinder 502 to move telescopically (in the longitudinal direction). When the movable seat 504 moves telescopically, the movable frame body 500 connected to the bottom of the movable seat 504 through the electric telescopic rod 505 can rotate, realizing longitudinal rotation operation. At the same time, the electric telescopic rod 505 can operate during rotation, adjusting the distance between the movable seat 504 and the movable frame body 500, so that the movable frame body 500 can normally rotate.

[0088] With reference to the drawings Figure 10 , the vertical moving assembly 60 comprises a vertical frame 601 installed on the side of the movable frame body 500, and a second motor 602 installed on the top of the vertical frame 601, and the output end of the second motor 602 is connected with a vertical reciprocating screw rod 603, wherein the vertical reciprocating screw rod 603 is rotatably connected inside the vertical frame 601; a vertical sliding block 604 is connected outside the vertical reciprocating screw rod 603 through a ball bearing, and is slidably connected inside the vertical frame 601, and the side of the vertical sliding block 604 is provided with a mounting plate 605 through a screw, wherein the side of the mounting plate 605 is provided with the rotating clamping assembly 70 through a screw.

[0089] In the cantilever manipulator device of the present application, when the rotating clamping assembly 70 for grabbing materials and the grabbed materials need to be rotated in the horizontal direction, the telescopic cylinder 502 is started to operate, which can drive the push rod 503 and the movable seat 504 connected to the output end of the telescopic cylinder 502 to move telescopically (in the longitudinal direction). When the movable seat 504 moves telescopically, the movable frame body 500 connected to the bottom of the movable seat 504 through the electric telescopic rod 505 can rotate, realizing longitudinal rotation operation. At the same time, the electric telescopic rod 505 can operate during rotation, adjusting the distance between the movable seat 504 and the movable frame body 500, so that the movable frame body 500 can normally rotate.

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

[0091] In the embodiment, the vertical rotating structure 705 comprises a middle notch 7051 formed at the center of the bottom of the movable block 704, and a rotating shaft 7052 is rotatably connected inside the middle notch 7051, the bottom of the rotating shaft 7052 extends below the movable block 704, and a grabbing frame 7053 is mounted thereon, and 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 rotating shaft 7052 through a synchronous wheel arranged 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 with the output end of a DC motor 7055 through a synchronous wheel, wherein the DC motor 7055 is mounted on the outer side of the movable block 704 through a motor seat 7056 arranged at the bottom.

[0092] In the above embodiment, when the grabbed material needs to be rotated (vertically), the DC motor 7055 is started to operate, and the output end of the DC motor 7055 drives the second transmission belt 7054 connected with the synchronous wheel to move. When the second transmission belt 7054 moves, the rotating shaft 7052 connected with the synchronous wheel on the inner side of the second transmission belt 7054 rotates, and the grabbing frame 7053 mounted at the bottom of the rotating shaft 7052 can rotate (360 degrees) to adjust the angle of the material grabbing (vertically).

[0093] In addition, in the embodiment, the threaded grabbing structure 706 comprises a fourth motor 7061 mounted on one side of the grabbing frame 7053, and a threaded shaft 7062 connected to the output end of the fourth motor 7061, the threaded shaft 7062 is provided with 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 is threadedly connected to the outer side of the threaded shaft 7062, and the threaded moving block 7063 is provided with 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 in the inside of the grabbing frame 7053, wherein the bottom of the threaded moving block 7063 is rotatably connected with a grabbing component 7065, and the side of the grabbing component 7065 is provided with a 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 groups of threaded shafts 7062 connected to the output end of the fourth motor 7061 can be rotated. When the threaded shaft 7062 rotates, the threaded moving block 7063 threadedly connected to the outer side of the threaded shaft 7062 can be moved (the moving direction of the threaded moving block 7063 is opposite), so that the material fixed by the grabbing component 7065 in the inside 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 the telescopic movement, and the problems such as deviation or shaking do not occur.

[0095] In the cantilever manipulator device of the application, 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 can be moved, and the connecting shaft 707 connected to the inside of the first transmission belt 708 can be rotated. When the connecting shaft 707 rotates, the movable block 704 mounted on the outer side of the connecting shaft 707 can be rotated, so that the operation of rotating the material in the horizontal direction is realized.

[0096] Please refer to Figures 1-12 The application also provides an application of the cantilever manipulator device on the automatic code sticking machine.

[0097] The above is only a preferred specific embodiment of the application, but the protection scope of the application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the application within the technical range disclosed by the application, which should be covered in the protection scope of the application.

Claims

1. A cantilevered manipulator device comprising a suspension support (10), a horizontal movement assembly (20), a concave frame body (200) and a multi-angle mechanical gripping mechanism (30), characterized in that: The back of the horizontal moving assembly (20) is provided with a hanging support (10) mounted by screws, the front of the horizontal moving assembly (20) is provided with a concave frame body (200) mounted by screws, the side of the concave frame body (200) is provided with a multi-angle mechanical grabbing mechanism (30), the multi-angle mechanical grabbing mechanism (30) grabs materials, The horizontal moving assembly (20) comprises: A horizontal sliding rail (201) is mounted on the side of the hanging support (10), and the horizontal sliding rail (201) is provided with two groups, and the outer sides of the two groups of horizontal sliding rails (201) are provided with horizontal electric sliding blocks (202), Wherein, the sides of the multiple horizontal electric sliding blocks (202) are provided with concave frame bodies (200) mounted by screws; Wherein, the multi-angle mechanical grabbing mechanism (30) comprises: A longitudinal moving assembly (40) is mounted on the side of the concave frame body (200), and a horizontal deflection assembly (50) is mounted on the top of the longitudinal moving assembly (40), the bottom of the horizontal deflection assembly (50) is provided with a movable frame body (500), and the movable frame body (500) is rotationally connected to the side of the longitudinal moving assembly (40); and A vertical moving assembly (60) is mounted on the side of the movable frame body (500), and a rotary clamping assembly (70) is mounted on the side of the vertical moving assembly (60), the rotary clamping assembly (70) grabs materials, and drives the grabbed materials to rotate in the longitudinal and vertical directions; The longitudinal moving assembly (40) comprises: A triangular support (401) is mounted on the side of the concave frame body (200) by screws, and the triangular support (401) is provided with two groups, and the two groups of triangular supports (401) are provided with a side mounting rod (402) mounted on the side of the concave frame body (200) by screws; A longitudinal frame (403) is mounted on the side of the side mounting rod (402) by screws, and is arranged on the side of the triangular support (401), one end of the longitudinal frame (403) is provided with a first motor (404), and the output end of the first motor (404) is connected with a longitudinal reciprocating screw rod (405) rotationally connected in the longitudinal frame (403), Wherein, the first motor (404) extends to the inside of the concave frame body (200); A longitudinal sliding block (406) is connected to the outside of the longitudinal reciprocating screw rod (405) by balls, and is slidingly connected in the longitudinal frame (403); The center of the side of the longitudinal sliding block (406) is outwardly protruded, and constitutes an inner recess (4061), the outer side of the inner recess (4061) is movably connected with an inner protrusion (4062), and the inner protrusion (4062) is mounted on the inner wall of the movable frame body (500), Wherein, the top of the longitudinal frame (403) is provided with a horizontal deflection assembly (50), and the horizontal deflection assembly (50) comprises: A guide rod (501) is installed at the top of the longitudinal frame (403) and extends to the outside of the longitudinal frame (403), and a sliding support (5011) is slidably connected to the outside of the guide rod (501) and slidably connected to the top of the longitudinal frame (403); A telescopic air cylinder (502) is installed on one side of the top of the sliding support (5011) and has an output end penetrating through the sliding support (5011), and the output end of the telescopic air cylinder (502) is connected with a push rod (503); A movable seat (504) is installed at the bottom of the push rod (503) by screws and is arranged vertically opposite to the push rod (503), and a motorized telescopic rod (505) is rotatably connected to the bottom of the movable seat (504), Wherein, the motorized telescopic rod (505) is installed at the top of the movable frame (500) and located at the side of the longitudinal sliding block (406); The vertical moving assembly (60) comprises: A vertical frame (601) is installed at the side of the movable frame (500) and has a second motor (602) installed at the top, and the output end of the second motor (602) is connected with a vertical reciprocating screw rod (603), Wherein, the vertical reciprocating screw rod (603) is rotatably connected inside the vertical frame (601); A vertical sliding block (604) is connected by balls outside the vertical reciprocating screw rod (603) and slidably connected inside the vertical frame (601), and the side of the vertical sliding block (604) is installed by screws with a mounting plate (605), Wherein, the side of the mounting plate (605) is installed by screws with a rotary clamping assembly (70); The rotary clamping assembly (70) comprises: A support seat (701) is installed by screws at the side of the mounting plate (605), and the support seat (701) is provided with two groups, and the side of the two groups of support seats (701) is installed by screws with a side baffle (702); An 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 the two groups of edge blocks (703) are rotatably connected with a movable block (704) therebetween, Wherein, the bottom of the movable block (704) is installed by vertical rotary structure (705) with a threaded grabbing structure (706), and the threaded grabbing structure (706) grabs and fixes the material; A connecting shaft (707) is installed at the center of the side of the movable block (704) and extends to the side of one group of edge blocks (703), and the outside of the connecting shaft (707) is connected by a synchronous wheel with a first transmission belt (708), and the first transmission belt (708) is movably connected to the side of the edge block (703); A third motor (709) is installed on the side of the mounting plate (605) and inside the two groups of support seats (701), and a first transmission belt (708) is connected to the output end of the third motor (709) through a synchronous wheel; The vertical rotating structure (705) comprises: A middle notch (7051) is arranged at the center of the bottom of the movable block (704), and a rotating shaft (7052) is rotatably connected inside the middle notch (7051), the bottom of the rotating shaft (7052) extends below the movable block (704), and a grabbing frame (7053) is installed on the bottom of the movable block (704); A 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 a DC motor (7055) through a synchronous wheel, Wherein, the DC motor (7055) is installed on the outside of the movable block (704) through a motor base (7056) at the bottom.

2. The cantilevered robot device of claim 1, wherein: The threaded grabbing structure (706) comprises: A fourth motor (7061) is installed on one side of the grabbing frame (7053), and a threaded shaft (7062) is connected to the output end of the fourth motor (7061), the threaded shaft (7062) is provided with two groups, and the two groups of threaded shafts (7062) are fixedly connected, the two groups of threaded shafts (7062) are rotatably connected to the inside of the grabbing frame (7053); A threaded moving block (7063) is threadedly connected to the outside of the threaded shaft (7062), and the threaded moving block (7063) is provided with two groups, the top of the threaded moving block (7063) extends to the inside of a sliding part (7064), and the sliding part (7064) is arranged in the inside of the grabbing frame (7053), Wherein, the bottom of the threaded moving block (7063) is rotatably connected with a grabbing component (7065), and the side of the grabbing component (7065) is provided with a material grabbing frame.

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