Cosmetic product case packing machine adaptive gripping mechanical arm

Abstract

The utility model relates to mechanical engineering technical field discloses cosmetic packing machine self -adaptation clamping mechanical arm, including base, support and fixed shell, the right side of support is provided with clamping mechanism, the bottom of base is provided with mounting seat, the bottom of base is provided with fixed establishment, the right end of base is provided with telescopic mechanism, the right side of fixed shell is provided with steering mechanism, the top of mounting seat is provided with reinforcing mechanism, the clamping mechanism includes servo motor, the front side fixed connection of servo motor is in the back of support, the output fixed connection of servo motor has gear no.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, and in particular to an adaptive gripping robotic arm for cosmetics packing machines. Background Technology

[0002] A cosmetics case packing machine is a piece of equipment used on cosmetics production lines. It can accurately pack cosmetics into boxes using a conveyor belt and robotic arms. At the same time, thanks to its flexible structure and control, the cosmetics case packing machine can accurately handle cosmetics with regular shapes, effectively solving the problem of damage to products caused by traditional robotic arms.

[0003] The adaptive gripping robotic arm of the cosmetics packing machine integrates sensing and driving devices. It can automatically identify and adjust the gripping method through a biomimetic flexible structure or modular grippers, accurately grasp cosmetics with irregular bottle shapes, and avoid damaging the products, thus greatly improving packing efficiency.

[0004] Although adaptive gripping robotic arms in cosmetic packing machines can quickly pack cosmetics, the fixed grippers or simple elastic structures of these arms can only accommodate cosmetics with regular shapes. They struggle to handle irregular polygonal shapes or soft packaging products with textured surfaces, leading to problems such as insufficient gripping or injury. Existing solutions involve designing structures with soft knuckles and finger linkages, using spring struts for gripping, and equipping them with detachable fingers. A gear linkage mechanism changes the relative position of the fingers, allowing for quick switching between three-finger centering and six-finger enveloping gripping modes. However, while adaptive robotic grippers can adapt to various shapes and sizes, they still cannot perfectly fit extremely irregular or special-material cosmetic packaging. Furthermore, the detachment of fingers and mode switching are not convenient or quick enough, affecting packing efficiency. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an adaptive gripping robotic arm for cosmetic packing machines, which aims to improve the problem that existing adaptive robotic arms cannot perfectly adapt to cosmetic packaging with extreme irregular shapes or special materials.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive gripping robotic arm for a cosmetics packing machine, comprising a base, a support, and a fixed shell. A gripping mechanism is provided on the right side of the support, a mounting base is provided at the bottom of the base, a fixing mechanism is provided at the bottom of the base, a telescopic mechanism is provided at the right end of the base, a steering mechanism is provided on the right side of the fixed shell, and a reinforcing mechanism is provided at the top of the mounting base. The gripping mechanism includes a servo motor, the front side of which is fixedly connected to the rear side of the support. A gear is fixedly connected to the output end of the servo motor. A bidirectional lead screw is rotatably connected to the inner wall of the support. A gear is fixedly connected to the top of the outer wall of the bidirectional lead screw. Grippers are threaded to the upper and lower ends of the outer wall of the bidirectional lead screw. Placement grooves are provided on adjacent sides of the two grippers. Micro airbags are fixedly connected to the inner walls of the two placement grooves. An inflation component is provided on the right side of the inner wall of the fixed shell.

[0007] As a further description of the above technical solution:

[0008] The fixing mechanism includes an electromagnetic plate, the top of which is fixedly connected to the bottom of the base. The top of the mounting base has a fixing groove, and the bottom of the inner wall of the fixing groove is fixedly connected to a magnetic plate. The bottom of the base is fixedly connected to multiple dovetail tenons, and the top of the mounting base has multiple dovetail grooves.

[0009] As a further description of the above technical solution:

[0010] The telescopic mechanism includes a liquid storage tank, the front side of which is fixedly connected to the rear side of the base. A hydraulic pump is fixedly connected to the top of the liquid storage tank, and an infusion pipe is connected to the top of the hydraulic pump. A hydraulic cylinder is fixedly connected to the right side of the base.

[0011] As a further description of the above technical solution:

[0012] The steering mechanism includes a stepper motor. The front side of the stepper motor is fixedly connected to the rear side of the fixed housing. The output end of the stepper motor passes through the rear side of the fixed housing and is fixedly connected to a rotating shaft. A rotating motor is fixedly connected to the right end of the outer wall of the rotating shaft.

[0013] As a further description of the above technical solution:

[0014] The reinforcement mechanism includes multiple bolts, the outer walls of which are threaded to the top of the mounting base. Multiple threaded grooves are provided on the bottom of the base and the top of the mounting base. Nuts are threaded to the bottom of the outer walls of the multiple bolts.

[0015] As a further description of the above technical solution:

[0016] The inflation assembly includes an air storage tank, the left side of which is fixedly connected to the left side of the inner wall of the fixed shell, and the right side of which is fixedly connected to an air pump, with an air delivery pipe connected to the top of the air pump.

[0017] As a further description of the above technical solution:

[0018] Ventilation holes are provided on the front and rear sides of both brackets, and the multiple ventilation holes are symmetrically distributed.

[0019] As a further description of the above technical solution:

[0020] The right side of the infusion tube is connected to the top of the hydraulic cylinder, and the right side of the hydraulic cylinder is connected to the left side of the fixed shell.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, by starting the servo motor, gear one drives gear two and the bidirectional lead screw to rotate, thereby causing the two clamping blocks to move in opposite directions, so that the two clamping blocks can clamp the cosmetics. At the same time, the air pump is started to extract the air in the air storage tank and transport it to the micro airbag through the air delivery pipe, so that the two micro airbags can clamp cosmetics of different shapes and avoid damage to the cosmetics, improve packaging efficiency and product safety, reduce the breakage rate during packing, and improve the adaptability of the device.

[0023] 2. In this utility model, a horizontal constraint is formed by sliding the dovetail tenon into the dovetail groove. Then, the magnetic field generated by activating the electromagnetic plate forms a magnetic connection with the magnetic plate. Through the combination of mechanical limiting and magnetic attraction, a stable support is generated in both the horizontal and vertical directions. Finally, the bolt is inserted into the corresponding threaded groove and the connection strength is reinforced with a nut. This not only ensures the stability and reliability of the robotic arm during operation, but also allows for quick replacement of parts, thus improving production efficiency. Attached Figure Description

[0024] Figure 1 This is a perspective view of the adaptive gripping robotic arm for the cosmetics packing machine proposed in this utility model.

[0025] Figure 2 This is a front view of the adaptive gripping robotic arm for the cosmetics packing machine proposed in this utility model.

[0026] Figure 3 This is a top view of the adaptive gripping robotic arm for the cosmetics packing machine proposed in this utility model;

[0027] Figure 4 This is a cross-sectional view of the support frame of the adaptive gripping robotic arm for the cosmetics packing machine proposed in this utility model.

[0028] Figure 5This is an exploded view of the electromagnetic plate of the adaptive gripping robotic arm of the cosmetics packing machine proposed in this utility model.

[0029] Legend:

[0030] 1. Base; 2. Bracket; 3. Fixing shell; 4. Clamping mechanism; 401. Servo motor; 402. Gear 1; 403. Two-way lead screw; 404. Gear 2; 405. Clamping block; 406. Mounting slot; 407. Miniature airbag; 408. Vent hole; 409. Inflation assembly; 4091. Air tank; 4092. Air pump; 4093. Air supply pipe; 5. Mounting base; 6. Fixing mechanism; 01. Electromagnetic plate; 602. Fixing groove; 603. Magnetic plate; 604. Dovetail tenon; 605. Dovetail groove; 7. Telescopic mechanism; 701. Liquid storage tank; 702. Hydraulic pump; 703. Infusion pipe; 704. Hydraulic cylinder; 8. Steering mechanism; 801. Stepper motor; 802. Rotating shaft; 803. Rotating motor; 9. Reinforcing mechanism; 901. Threaded groove; 902. Bolt; 903. Nut. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figure 2 , Figure 3 and Figure 4This utility model provides an embodiment of an adaptive gripping robotic arm for a cosmetics packing machine, comprising a base 1, a support 2, and a fixed shell 3. A gripping mechanism 4 is provided on the right side of the support 2, a mounting base 5 is provided at the bottom of the base 1, a fixing mechanism 6 is provided at the bottom of the base 1, a telescopic mechanism 7 is provided at the right end of the base 1, a steering mechanism 8 is provided on the right side of the fixed shell 3, and a reinforcing mechanism 9 is provided at the top of the mounting base 5. The gripping mechanism 4 includes a servo motor 401, which provides power for the gripping action of two gripping blocks 405. The front side of the servo motor 401 is fixedly connected to the rear side of the support 2. A gear 402 is fixedly connected to the output end of the servo motor 401. A bidirectional lead screw 403 is rotatably connected to the inner wall of the support 2, enabling the two gripping blocks 405 to move in opposite directions. A gear 404 is fixedly connected to the top of the outer wall of the bidirectional lead screw 403. Gears 402 and 404 are used to transmit the power of the servo motor 401. The outer wall of the device is threaded with clamping blocks 405 at both the upper and lower ends. The clamping blocks 405 are used to clamp the cosmetics. Each adjacent side of the two clamping blocks 405 has a placement groove 406, which provides space for the micro airbags 407. The inner walls of both placement grooves 406 are fixedly connected to the micro airbags 407, which protect the cosmetics and allow the device to adapt to cosmetics of different shapes. An inflation assembly 409 is located on the right side of the inner wall of the fixed shell 3. The component 409 is used to inflate the micro airbag 407. The inflation component 409 includes an air storage box 4091, which is used to store compressed gas. The left side of the air storage box 4091 is fixedly connected to the left side of the inner wall of the fixed shell 3. The right side of the air storage box 4091 is fixedly connected to an air pump 4092, which is used to draw compressed air. The top of the air pump 4092 is connected to an air delivery pipe 4093, through which the drawn compressed air is transmitted to the micro airbag 407.

[0033] Specifically, the servo motor 401 is started, and the output shaft of the motor drives the gear 402 to rotate. Through meshing, the gear 404 and the bidirectional lead screw 403 rotate synchronously. Since the threads at the upper and lower ends of the bidirectional lead screw 403 are opposite, the two clamping blocks 405 move in opposite directions along the outer wall of the lead screw. When the clamping block 405 moves close to the cosmetic, the air pump 4092 draws compressed gas from the air storage box 4091 and delivers it to the placement groove 406 of the clamping block 405 through the air supply pipe 4093. After the micro airbag 407 is inflated, for regular cylindrical bottles, the airbag fits the cylindrical surface evenly. For irregularly shaped bottles or containers with concave and convex textures, the airbag fills the gaps through deformation to form a wrap. At the same time, the flexible cushioning effect of the airbag can prevent the clamping from damaging the bottle.

[0034] Reference Figure 1 , Figure 2 and Figure 5The fixing mechanism 6 includes an electromagnetic plate 601, the top of which is fixedly connected to the bottom of the base 1. The top of the mounting base 5 has a fixing groove 602, which provides space for the electromagnetic plate 601 and the magnetic plate 603. The bottom of the inner wall of the fixing groove 602 is fixedly connected to the magnetic plate 603. The electromagnetic plate 603 is attracted to the magnetic plate 603 by the magnetic attraction generated when the electromagnetic plate 601 is activated. The bottom of the base 1 is fixedly connected to multiple dovetail tenons 604, and the top of the mounting base 5 has multiple dovetail grooves 605 and multiple dovetail tenons 604. The sliding connection between the mounting base 5 and the base 1 and the multiple dovetail grooves 605 provides guidance for fixing the mounting base 5. The reinforcing mechanism 9 includes multiple bolts 902, the outer walls of which are threaded to the top of the mounting base 5. Multiple threaded grooves 901 are provided at the bottom of the base 1 and the top of the mounting base 5. Nuts 903 are threaded to the bottom of the outer walls of the multiple bolts 902. By threading the multiple bolts 902 to the inner walls of the threaded grooves 901 and threading the nuts 903 to the bottom of the outer walls, the connection between the base 1 and the mounting base 5 is reinforced.

[0035] Specifically, align the dovetail tenon 604 with the dovetail groove 605, and slide the base 1 along the direction of the dovetail groove 605 until the electromagnetic plate 601 is fully embedded in the fixing groove 602 of the mounting base 5. Activate the electromagnetic plate 601 to generate a magnetic field and form a magnetic circuit connection with it. Combined with the sliding connection between the dovetail tenon 604 and the dovetail groove 605, the horizontal displacement of the base 1 is restricted, while the electromagnetic attraction ensures vertical stability. Then, screw multiple bolts 902 into the threaded grooves 901 aligned with the base 1 and the mounting base 5, tighten the bolts 902 with tools, and screw nuts 903 into the protruding ends of the bolts 902 for fixation. The bolts 902 and nuts 903 further strengthen the connection between the base 1 and the mounting base 5, ensuring installation stability and enabling quick replacement of parts.

[0036] Reference Figure 1 , Figure 2 and Figure 3The telescopic mechanism 7 includes a reservoir 701 for storing hydraulic oil. The reservoir 701 is fixedly connected to the rear side of the base 1 at its front. A hydraulic pump 702 is fixedly connected to the top of the reservoir 701 to draw hydraulic oil. A delivery pipe 703 is connected to the top of the hydraulic pump 702 to guide the drawn hydraulic oil. A hydraulic cylinder 704 is fixedly connected to the right side of the base 1 to move the fixed shell 3 left and right. The steering mechanism 8 includes a stepper motor 801 to provide power for the rotation of the rotating shaft 802. The front side of the stepper motor 801 is fixedly connected to... The output end of the stepper motor 801 is connected to the rear side of the fixed housing 3 and is fixedly connected to the rotating shaft 802. The rotating shaft 802 is used to transmit power. The right end of the outer wall of the rotating shaft 802 is fixedly connected to the rotating motor 803. The rotation of the bracket 2 is achieved by the rotating motor 803. Vent holes 408 are opened on the front and rear sides of the two brackets 2. The vent holes 408 are used to allow the air supply pipe 4093 to pass through the bracket 2, which facilitates the inflation and deflation of the micro airbag 407. The multiple vent holes 408 are symmetrically distributed. The right side of the infusion pipe 703 is connected to the top of the hydraulic cylinder 704. The right side of the hydraulic cylinder 704 is connected to the left side of the fixed housing 3.

[0037] Specifically, when the telescopic mechanism 7 needs to operate, the hydraulic pump 702 is started to extract the hydraulic oil from the reservoir 701 and deliver it to the hydraulic cylinder 704 through the delivery pipe 703. After the high-pressure hydraulic oil enters the hydraulic cylinder 704, it pushes the piston to move, which in turn drives the fixed shell 3 connected to the right side of the hydraulic cylinder 704 to move left and right, realizing the telescopic movement of the entire robotic arm and adjusting the horizontal length of the device. When the steering mechanism 8 needs to work, the stepper motor 801 is started to drive the rotating shaft 802 to rotate, so that the rotating motor 803 at the right end of the rotating shaft 802 rotates up and down. At the same time, the rotating motor 803 can drive the drive bracket 2 to rotate, changing the orientation of the robotic arm and realizing the multi-angle steering of the bracket 2 to meet the gripping needs of cosmetics in different positions. The symmetrically distributed ventilation holes 408 on the bracket 2 provide a channel for the air delivery pipe 4093, ensuring that the compressed air extracted by the air pump 4092 can be smoothly delivered to the micro airbag 407, ensuring the normal inflation and deflation of the gripping mechanism 4.

[0038] Working principle: When the robotic arm is ready to grasp the cosmetic, the servo motor 401 is started and the power is transmitted to the bidirectional lead screw 403 through the meshing connection of gear 1 402 and gear 2 404. Since the threads at the upper and lower ends of the bidirectional lead screw 403 are opposite, the lead screw rotates. The two clamping blocks 405 installed on the lead screw move in opposite directions in sync, thereby quickly adjusting the spacing to fit the size of the cosmetic. When the clamping block 405 moves close to the cosmetic, the air pump 4092 draws compressed gas from the air storage tank 4091 and delivers it to the micro airbag 407 through the air supply pipe 4093, causing the micro airbag 407 to inflate. For regular cylindrical bottles, the inflated airbag fits evenly against the cylindrical surface. For irregularly shaped bottles or containers with textured surfaces, the airbag automatically fills the gaps due to its flexibility. At the same time, the soft micro airbag 407 can act as a buffer to prevent excessive clamping force from damaging the bottle, thus protecting glass or soft-packaged cosmetics.

[0039] Furthermore, the dovetail tenon 604 and the dovetail groove 605 mutually restrict each other through their own structure. After the dovetail tenon 604 is slid into the dovetail groove 605, the dovetail groove 605 exerts a horizontal constraint on the dovetail tenon 604, restricting the horizontal displacement of the base 1 and achieving initial positioning. Subsequently, the electromagnetic plate 601 is activated to generate a magnetic field, forming a magnetic connection with the magnetic plate 603, further enhancing the overall stability. The electromagnetic attraction force and the mechanical constraint force between the dovetail tenon 604 and the dovetail groove 605 work together to form a stable support. Finally, the bolt 902 is screwed into the threaded groove 901 aligned with the base 1 and the mounting seat 5, tightened, and then the nut 903 is screwed in. Through the fixing of the bolt 902 and the nut 903, the connection strength between the base 1 and the mounting seat 5 is strengthened, which not only ensures the stability of the robotic arm after installation, but also allows for quick replacement of parts when needed.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive gripping robotic arm for a cosmetics packing machine, comprising a base (1), a support (2), and a fixed shell (3), characterized in that: A clamping mechanism (4) is provided on the right side of the bracket (2), a mounting seat (5) is provided at the bottom of the base (1), a fixing mechanism (6) is provided at the bottom of the base (1), a telescopic mechanism (7) is provided at the right end of the base (1), a steering mechanism (8) is provided on the right side of the fixed shell (3), and a reinforcing mechanism (9) is provided at the top of the mounting seat (5). The clamping mechanism (4) includes a servo motor (401), the front side of which is fixedly connected to the rear side of the bracket (2). The output end of the servo motor (401) is fixedly connected to a gear one (402). The inner wall of the bracket (2) is rotatably connected to a bidirectional lead screw (403). The top of the outer wall of the bidirectional lead screw (403) is fixedly connected to a gear two (404). The upper and lower ends of the outer wall of the bidirectional lead screw (403) are threaded with clamping blocks (405). The adjacent sides of the two clamping blocks (405) are provided with placement grooves (406). The inner walls of the two placement grooves (406) are fixedly connected to micro airbags (407). An inflation component (409) is provided on the right side of the inner wall of the fixed shell (3).

2. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: The fixing mechanism (6) includes an electromagnetic plate (601), the top of which is fixedly connected to the bottom of the base (1). The top of the mounting base (5) is provided with a fixing groove (602), the bottom of the inner wall of the fixing groove (602) is fixedly connected with a magnetic plate (603), the bottom of the base (1) is fixedly connected with multiple dovetail tenons (604), and the top of the mounting base (5) is provided with multiple dovetail grooves (605).

3. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: The telescopic mechanism (7) includes a liquid storage tank (701), the front side of which is fixedly connected to the rear side of the base (1), a hydraulic pump (702) is fixedly connected to the top of the liquid storage tank (701), a delivery pipe (703) is connected to the top of the hydraulic pump (702), and a hydraulic cylinder (704) is fixedly connected to the right side of the base (1).

4. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: The steering mechanism (8) includes a stepper motor (801), the front side of which is fixedly connected to the rear side of the fixed housing (3). The output end of the stepper motor (801) passes through the rear side of the fixed housing (3) and is fixedly connected to a rotating shaft (802). A rotating motor (803) is fixedly connected to the right end of the outer wall of the rotating shaft (802).

5. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: The reinforcement mechanism (9) includes multiple bolts (902), the outer walls of which are threaded to the top of the mounting base (5). Multiple threaded grooves (901) are provided at the bottom of the base (1) and the top of the mounting base (5). Nuts (903) are threaded to the bottom of the outer walls of the multiple bolts (902).

6. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: The inflation assembly (409) includes an air storage tank (4091), the left side of which is fixedly connected to the left side of the inner wall of the fixed shell (3), and the right side of which is fixedly connected to an air pump (4092), and the top of the air pump (4092) is connected to an air supply pipe (4093).

7. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 1, characterized in that: Ventilation holes (408) are provided on the front and rear sides of both brackets (2), and the multiple ventilation holes (408) are symmetrically distributed.

8. The adaptive gripping robotic arm for a cosmetics packing machine according to claim 3, characterized in that: The right side of the infusion tube (703) is connected to the top of the hydraulic cylinder (704), and the right side of the hydraulic cylinder (704) is connected to the left side of the fixed shell (3).

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