Grabbing manipulator for automobile cosmetic mirror production

Abstract

The invention discloses a grabbing manipulator for automobile cosmetic mirror production, and relates to the technical field of grabbing manipulators. The grabbing manipulator comprises a grabbing manipulator body, a grabbing hand is fixedly installed at the upper end of the grabbing manipulator body, a long-strip-shaped through opening is formed in the lower end of the grabbing hand, fixing blocks are fixed to the front end and the rear end of the interior of the grabbing hand correspondingly, axis rods are movably connected into the fixing blocks in a sleeved mode, and a round sleeve block is fixed between the axis rods; a connecting pipe is movably connected into the round sleeve block in a sleeved mode, the lower end of the connecting pipe penetrates through the long-strip-shaped through opening and fixedly communicates with a negative pressure suction cup, a bent pipe is fixedly connected to the upper end of the connecting pipe, the bent pipe communicates with an external air suction pump through a hose, and a pull rod assembly installed in the grabbing hand is fixedly connected to the upper end of the pull block. The negative pressure suction cup is pulled or pushed to rotate through the pull rod assembly, so that the negative pressure suction cup can suck and grab a plane automobile cosmetic mirror, a concave face automobile cosmetic mirror and a convex face automobile cosmetic mirror respectively.

Description

Technical Field

[0001] The present invention relates to the technical field of grabbing manipulators, in particular to a grabbing manipulator for producing automobile cosmetic mirrors. Background Art

[0002] Car makeup mirrors usually come in a variety of styles and shapes, including curved designs. The design of curved car makeup mirrors is mainly to adapt to different car interior spaces, while providing a wider-angle reflection, making it easier for drivers or passengers to apply makeup or tidy up their appearance in the car. Mirrors of this design can usually better cover the facial area, especially for models with more compact interior space. Curved mirrors can provide a more comfortable user experience.

[0003] A Chinese patent (application number: CN202410804607.9) discloses a glass picking and placing robot and a method of use. The key points of its technical solution are: a glass picking and placing robot, including a grabbing robot body and a grabbing part provided on the movable end of the grabbing robot body, the grabbing part including: an outer shell, a plurality of partition plates provided in the outer shell, and a plurality of negative pressure suction cups provided on the partition plates; a plug-in rod provided between every two adjacent partition plates, and an air bag provided on the plug-in rod; when grabbing, it can ensure that the middle layer of glass plate will not slide, and the combination of fixed claws, air bags and negative pressure suction cups is arranged and can work together to ensure that the multi-layer glass plate will not fall out of the outer shell due to weight problems, and can achieve a good grabbing effect. Even when the negative pressure suction cup loses its strength later, the position of the multi-layer glass plate can be stabilized. Compared with the robot in the prior art, the present application can solve the problem of difficulty in grabbing multi-layer stacked glass plates.

[0004] This patent and the prior art have the following technical problems in actual use: 1. Car vanity mirrors also have concave designs. Concave mirrors typically magnify reflected images, which is very helpful for seeing details and adjusting makeup while applying makeup. However, existing gripping robots can only grasp flat mirrors or glass surfaces through suction. Otherwise, the gripper is prone to falling due to the loose connection between the gripper's negative pressure suction cup and the mirror being grasped. Therefore, improvements are needed.

[0005] 2. Similarly, car makeup mirrors also have convex designs, although they are not as common as concave mirrors. Convex mirrors are usually used to provide a wider viewing angle. Although they do not magnify the image like concave mirrors, they can provide users with a larger reflection range. Existing grasping robots can generally only absorb and grasp flat mirrors or glass, so they need to be improved. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems and provide a grabbing robot for producing automobile cosmetic mirrors.

[0007] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions: A grabbing robot for producing automobile makeup mirrors comprises a grabbing robot body, a grabbing hand fixedly mounted on the upper end of the grabbing robot body, a long through opening provided inside the lower end of the grabbing hand, fixed blocks fixed to the front and rear ends of the grabbing hand respectively, an internal movably sleeved axis rod of the fixed block, a circular sleeve block fixed between the axis rods, a connecting pipe movably sleeved inside the circular sleeve block, the lower end of the connecting pipe passes through the long through opening and is fixedly connected to a negative pressure suction cup, the upper end of the connecting pipe is fixedly connected to a bent pipe, the bent pipe is connected to an external suction pump through a hose, a pulling block is fixedly sleeved on the outer surface of the upper end of the bent pipe, the upper end of the pulling block is fixedly connected to a pulling rod assembly installed in the grabbing hand, the pulling rod assembly pulls the bent pipe and the connecting pipe and the negative pressure suction cup around the axis of the axis rod through the pulling block to rotate and move up and down.

[0008] Furthermore, the pulling rod assembly includes a first convex groove and a second convex groove, and the interiors of the first convex groove and the second convex groove are movably sleeved with convex groove rods, the outer surface of the convex groove rod is fixedly connected to a hinge block, the other end of the hinge block is hinged to a connecting block, and the other end of the connecting block is fixedly connected to the pulling block.

[0009] Furthermore, the number of the second convex grooves is four, and the four second convex grooves are respectively located at both ends of the first convex groove and are symmetrically arranged, and the first convex groove and the second convex groove respectively correspond to the axial rod one by one.

[0010] Furthermore, the outer surface of the pull rod assembly is respectively provided with an arc concave surface and a circular surface and an arc convex surface. The arc concave surface and the arc convex surface are located at both ends of the upper end of the circular surface and are symmetrically arranged. The arc convex surface gradually protrudes toward the first convex groove, and the arc concave surface gradually concave toward the first convex groove.

[0011] Furthermore, the second convex groove is divided into a first deflected groove portion, a circular groove portion and a second deflected groove portion.

[0012] Furthermore, the circular groove portion is parallel to the first convex groove channel, the circular groove portion is located directly above the axial rod, and the circular groove portion is located within the circular surface.

[0013] Furthermore, the groove of the first deflected groove portion gradually inclines toward the first convex groove, and the first deflected groove portion is located within the arc convex surface.

[0014] Furthermore, the groove of the second deflected groove portion gradually moves away from the first convex groove, and the second deflected groove portion is located in the arc concave surface.

[0015] Furthermore, a driving motor is fixedly mounted on the side of the grabber, and the other end of the output shaft of the driving motor is transmission-connected to a pulling rod assembly.

[0016] The beneficial effects of the present invention are as follows: 1. In the present invention, when the pulling rod assembly is fixed, the bent pipe positions the connecting pipe and the negative pressure suction cup through the circular sleeve block, the axial rod and the fixed block, so that the negative pressure suction cup can correspond one-to-one with the outer surface of the flat car makeup mirror, thereby making the negative pressure suction cup better fit on the flat car makeup mirror, so that the suction pump can tightly adsorb the flat car makeup mirror through the negative pressure suction cup, and the gripping robot body transports it to another place, thereby achieving the purpose of tightly adsorbing, gripping and transporting the flat car makeup mirror.

[0017] 2. In the present invention, when the pulling rod assembly pulls the bent pipe downward in sequence through the pulling block and gradually tilts toward the middle of the grabbing hand, the bent pipe drives the negative pressure suction cup to rotate with the axial rod as the axis through the circular sleeve block and the connecting pipe, so that the negative pressure suction cup can gradually tilt and correspond one-to-one with the outer surface of the concave car makeup mirror, thereby making the negative pressure suction cup better fit on the concave car makeup mirror, so that the suction pump can tightly adsorb the concave car makeup mirror through the negative pressure suction cup, and be transported to another place by the grabbing robot body, thereby achieving the purpose of tightly adsorbing, grabbing and transporting the concave car makeup mirror.

[0018] 3. In the present invention, when the pulling rod assembly pulls the bent pipe upward in sequence through the pulling block and gradually tilts toward the left and right ends of the grabbing arm, the bent pipe drives the negative pressure suction cup to rotate with the axial rod as the axis through the circular sleeve block and the connecting pipe, so that the negative pressure suction cup can gradually tilt and correspond one-to-one with the outer surface of the convex automobile makeup mirror, thereby making the negative pressure suction cup better fit on the convex automobile makeup mirror, so that the suction pump can tightly adsorb the convex automobile makeup mirror through the negative pressure suction cup and be transported to another place by the grabbing robot body, thereby achieving the purpose of tightly adsorbing, grasping and transporting the convex automobile makeup mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the present invention; Figure 2 is a schematic diagram of the gripper of the present invention; Figure 3 Schematic diagram of the negative pressure suction cup of the present invention; Figure 4 is a side view of the pull rod assembly of the present invention; Figure 5 It is a front view schematic diagram of the pulling assembly of the present invention; Figure 6 This invention Figure 2 A partial enlarged schematic diagram in the middle; Figure 7 This invention Figure 4 A partial enlarged schematic diagram of point B in the middle.

[0020] Figure numerals: 1. grabbing robot body; 2. grabbing hand; 3. long strip opening; 4. fixing block; 5. axial rod; 6. circular sleeve block; 7. connecting pipe; 8. negative pressure suction cup; 9. bent pipe; 10. pulling block; 11. pulling rod assembly; 1101. first convex groove; 1102. second convex groove; 11021. first biased groove part; 11022. circular groove part; 11023. second biased groove part; 1103. convex groove rod; 1104. hinge block; 1105. connecting block; 1106. arc concave surface; 1107. circular surface; 1108. arc convex surface; 12. driving motor. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] Example 1, as Figure 1-Figure 7 As shown, a grabbing robot for producing automobile makeup mirrors includes a grabbing robot body 1, a grabbing hand 2 is fixedly installed on the upper end of the grabbing robot body 1, a long through-hole 3 is opened inside the lower end of the grabbing hand 2, and fixed blocks 4 are respectively fixed to the front and rear ends of the inside of the grabbing hand 2, and the interior of the fixed block 4 is movably sleeved with an axial rod 5, and a circular sleeve block 6 is fixed between the axial rods 5. A connecting pipe 7 is movably sleeved inside the circular sleeve block 6, and the lower end of the connecting pipe 7 passes through the long through-hole 3 and is fixedly connected to a negative pressure suction cup 8. The upper end of the connecting pipe 7 is fixedly connected to a bent pipe 9, and the bent pipe 9 is connected to an external suction pump through a hose. The outer surface of the upper end of the bent pipe 9 is fixedly sleeved with a pulling block 10, and the upper end of the pulling block 10 is fixedly connected to a pulling rod assembly 11 installed in the grabbing hand 2. The pulling rod assembly 11 pulls the bent pipe 9, the connecting pipe 7 and the negative pressure suction cup 8 around the axis of the axial rod 5 through the pulling block 10 to rotate and move up and down; The pulling rod assembly 11 includes a first convex groove 1101 and a second convex groove 1102. The interior of the first convex groove 1101 and the second convex groove 1102 are movably sleeved with a convex groove rod 1103. The outer surface of the convex groove rod 1103 is fixedly connected to a hinge block 1104. The other end of the hinge block 1104 is hinged to a connecting block 1105. The other end of the connecting block 1105 is fixedly connected to the pulling block 10.

[0023] When the pulling rod assembly 11 is fixed, the first convex groove 1101 and the second convex groove 1102 position the pulling block 10 through the convex groove rod 1103 and the hinge block 1104 and the connecting block 1105, so that the pulling block 10 positions the negative pressure suction cup 8 through the bent pipe 9 and the connecting pipe 7. At the same time, since the fixing block 4 positions the connecting pipe 7 through the axial rod 5 and the circular sleeve block 6, the two positioning methods can fix the negative pressure suction cup 8, so that the bottom surface of the negative pressure suction cup 8 corresponds one to one with the flat car makeup mirror. , so that the negative pressure suction cup 8 can better fit on the flat car makeup mirror, so that the suction pump can absorb the gas inside the bent pipe 9 through the hose, and then the bent pipe 9 allows the negative pressure suction cup 8 to tightly absorb the flat car makeup mirror through the connecting pipe 7, and then by starting the grasping robot body 1, the grasping robot body 1 can transport the absorbed and grasped flat car makeup mirror to another place for subsequent processing through the grasping hand 2 as a whole, thereby achieving the purpose of tightly adsorbing, grasping and transporting the flat car makeup mirror.

[0024] Example 2, as Figure 4 and Figure 5 As shown, the number of the second convex grooves 1102 is four, and the four second convex grooves 1102 are respectively located at both ends of the first convex groove 1101 and are symmetrically arranged. The first convex groove 1101 and the second convex groove 1102 correspond to the axial rod 5 one by one, and the outer surface of the pull rod assembly 11 is respectively provided with an arc concave surface 1106, a circular surface 1107 and an arc convex surface 1108. The arc concave surface 1106 and the arc convex surface 1108 are located at both ends of the upper end of the circular surface 1107 and are symmetrically arranged. The arc convex surface 1108 gradually moves toward the first convex groove 11 01 protrusion, the arc concave surface 1106 is gradually concave toward the first convex groove 1101, the second convex groove 1102 is divided into a first biased groove portion 11021, a circular groove portion 11022 and a second biased groove portion 11023. The circular groove portion 11022 is parallel to the groove of the first convex groove 1101, and the circular groove portion 11022 is located directly above the axial rod 5. The circular groove portion 11022 is located in the circular surface 1107, and the groove of the first biased groove portion 11021 is gradually inclined toward the first convex groove 1101, and the first biased groove portion 11021 is located in the arc convex surface 1108.

[0025] By rotating the pull rod assembly 11, when the pull rod assembly 11 drives the arc convex surface 1108 to rotate downward, the pull rod assembly 11 causes the convex groove rod 1103 to move downward through the arc convex surface 1108, the second convex groove 1102 and the first convex groove 1101, and then the convex groove rod 1103 drives the pulling block 10 to move downward through the hinge block 1104 and the connecting block 1105, so that the pulling block 10 pushes the connecting pipe 7 to move downward along the inner wall of the circular sleeve block 6 through the bend pipe 9, and then the connecting pipe 7 pushes the negative pressure suction cup 8 to fit with the concave car makeup mirror. At this time, since the arc convex surface 1108 gradually protrudes toward the first convex groove 1101, the negative pressure suction cup 8 corresponding to the first convex groove 1101 will fit with the lowest end of the concave car makeup mirror. At the same time, since the groove of the first biased groove part 11021 gradually It is tilted toward the first convex groove 1101, so that the first biased groove part 11021 pushes the bend 9 to gradually tilt toward the middle of the grabbing hand 2 through the convex groove rod 1103 and the hinge block 1104 and the connecting block 1105, so that the bend 9 pushes the negative pressure suction cup 8 to rotate around the axis of the axial rod 5 through the connecting pipe 7 and the circular sleeve block 6, so that the negative pressure suction cup 8 can fit with the concave surface of the concave car makeup mirror, so that the suction pump absorbs the gas inside the bend 9 through the hose, and then the bend 9 allows the negative pressure suction cup 8 to tightly absorb the concave car makeup mirror through the connecting pipe 7, and then by starting the grabbing manipulator body 1, the grabbing manipulator body 1 transports the adsorbed and grasped concave car makeup mirror to another place for subsequent processing through the grabbing hand 2 as a whole, thereby achieving the purpose of tightly adsorbing, grasping and transporting the concave car makeup mirror.

[0026] Example 3, as Figure 2 and Figure 5 As shown, the groove of the second biased groove portion 11023 gradually moves away from the first convex groove 1101, and the second biased groove portion 11023 is located in the arc concave surface 1106. The side of the grabber 2 is fixedly installed with a drive motor 12, and the other end of the output shaft of the drive motor 12 is transmission-connected to the pull rod assembly 11.

[0027] By starting the driving motor 12 to drive the pulling rod assembly 11 to rotate, when the pulling rod assembly 11 drives the arc concave surface 1106 to rotate downward, the second convex groove 1102 and the first convex groove 1101 drive the pulling block 10 to move upward through the convex groove rod 1103 and the hinge block 1104 and the connecting block 1105, and then the pulling block 10 pulls the connecting pipe 7 along the inner wall of the circular sleeve block 6 through the bend pipe 9. At this time, since the arc concave surface 1106 gradually concave toward the first convex groove 1101, the negative pressure suction cup 8 corresponding to the first convex groove 1101 will fit with the uppermost end of the convex car makeup mirror. At the same time, since the groove of the second biased groove part 11023 gradually moves away from the first convex groove 1101, the second biased groove part 11023 is passed through the first convex groove 1101. The convex groove rod 1103, the hinge block 1104 and the connecting block 1105 pull the bent pipe 9 to gradually tilt toward the left and right ends of the grabbing hand 2, so that the bent pipe 9 pulls the negative pressure suction cup 8 to rotate around the axis of the axis rod 5 through the connecting pipe 7 and the circular sleeve block 6, so that the negative pressure suction cup 8 can fit with the convex surface of the convex car makeup mirror, so that the suction pump absorbs the gas inside the bent pipe 9 through the hose, and then the bent pipe 9 allows the negative pressure suction cup 8 to tightly absorb the convex car makeup mirror through the connecting pipe 7, and then by starting the grabbing manipulator body 1, the grabbing manipulator body 1 can transport the adsorbed and grasped convex car makeup mirror to another place for subsequent processing through the grabbing hand 2 as a whole, thereby achieving the purpose of tightly adsorbing, grasping and transporting the convex car makeup mirror.

[0028] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripping manipulator for producing automobile cosmetic mirrors, comprising a gripping manipulator body (1), characterized in that: The upper end of the grabbing manipulator body (1) is fixedly mounted with a grabbing hand (2), the lower end of the grabbing hand (2) is provided with a long strip opening (3), the front and rear ends of the grabbing hand (2) are respectively fixed with fixed blocks (4), the interior of the fixed blocks (4) is movably sleeved with an axial rod (5), a circular sleeve block (6) is fixed between the axial rods (5), the interior of the circular sleeve block (6) is movably sleeved with a connecting pipe (7), the lower end of the connecting pipe (7) passes through the long strip opening (3) and is fixedly connected to a negative pressure Suction cup (8), the upper end of the connecting pipe (7) is fixedly connected with a curved pipe (9), the curved pipe (9) is connected to an external suction pump through a hose, the outer surface of the upper end of the curved pipe (9) is fixedly sleeved with a pulling block (10), the upper end of the pulling block (10) is fixedly connected with a pulling rod assembly (11) installed in the grabbing hand (2), and the pulling rod assembly (11) pulls the curved pipe (9) and the connecting pipe (7) and the negative pressure suction cup (8) through the pulling block (10) to rotate and move up and down around the axis of the axis rod (5).

2. A gripping manipulator for producing automobile vanity mirrors according to claim 1, characterized in that: The pulling rod assembly (11) comprises a first convex groove (1101) and a second convex groove (1102), wherein the interior of the first convex groove (1101) and the second convex groove (1102) are movably sleeved with a convex groove rod (1103), the outer surface of the convex groove rod (1103) is fixedly connected to a hinge block (1104), the other end of the hinge block (1104) is hinged to a connecting block (1105), and the other end of the connecting block (1105) is fixedly connected to the pulling block (10).

3. The gripping robot for producing automobile vanity mirrors according to claim 2, characterized in that: The number of the second convex grooves (1102) is four, and the four second convex grooves (1102) are respectively located at both ends of the first convex groove (1101) and are symmetrically arranged. The first convex groove (1101) and the second convex groove (1102) respectively correspond to the axial rod (5) one by one.

4. The gripping robot for producing automobile vanity mirrors according to claim 3, characterized in that: The outer surface of the pulling rod assembly (11) is respectively provided with an arc concave surface (1106), a circular surface (1107) and an arc convex surface (1108), wherein the arc concave surface (1106) and the arc convex surface (1108) are located at both ends of the upper end of the circular surface (1107) and are symmetrically arranged, wherein the arc convex surface (1108) gradually protrudes toward the first convex groove (1101), and the arc concave surface (1106) gradually concave toward the first convex groove (1101).

5. The gripping robot for producing automobile vanity mirrors according to claim 4, characterized in that: The second convex groove (1102) is divided into a first deflected groove portion (11021), a circular groove portion (11022), and a second deflected groove portion (11023).

6. The gripping robot for producing automobile cosmetic mirrors according to claim 5, characterized in that: The circular groove portion (11022) is parallel to the first convex groove (1101), the circular groove portion (11022) is located directly above the axial rod (5), and the circular groove portion (11022) is located within the circular surface (1107).

7. The gripping robot for producing automobile vanity mirrors according to claim 6, characterized in that: The groove of the first deflected groove portion (11021) gradually tilts toward the first convex groove (1101), and the first deflected groove portion (11021) is located within the arc convex surface (1108).

8. The gripping robot for producing automobile vanity mirrors according to claim 7, characterized in that: The groove of the second deflected groove portion (11023) gradually moves away from the first convex groove (1101), and the second deflected groove portion (11023) is located within the arc concave surface (1106).

9. The gripping robot for producing automobile vanity mirrors according to claim 1, characterized in that: A driving motor (12) is fixedly mounted on the side of the grabbing hand (2), and the other end of the output shaft of the driving motor (12) is drivingly connected to a pulling rod assembly (11).

Images