A gripping device for an eyebrow pencil part

Abstract

The application discloses a kind of grabbing devices for eyebrow pencil parts, it is related to the field of pick-and-place machine, it includes support, rotating assembly and clamping assembly, rotating assembly is arranged on support, rotating assembly includes rotating plate, rotating arm and rotating drive part, rotating arm is rotatably installed on support along one end of length direction, rotating drive part is installed on support, rotating drive part drives rotating arm to rotate, rotating plate is rotatably installed on one end of rotating arm away from support;Clamping assembly is fixedly installed on rotating plate, and is used to clamp eyebrow pencil parts.The application is realized by adopting single drive source cooperation rotating arm and the structure of self-adapting fine adjustment rotating plate, the quick, stable transfer of clamping assembly between station, simple structure, low cost, while ensuring the effect of flexible adaptation and stable clamping of posture in the process of grabbing.

Description

Technical Field

[0001] This application relates to the technical field of gripping and releasing devices, and in particular to a gripping device for eyebrow pencil parts. Background Technology

[0002] In modern industrial automated production, especially in the field of cosmetic assembly, such as the assembly of eyebrow pencils, it is often necessary to automatically grasp, transfer, and place small parts of the eyebrow pencil (such as the lead, cap, and barrel). Devices that perform such tasks are usually called pick-and-place devices or handling robots.

[0003] In most existing robotic arms, the posture and position of the end effector gripper are often coupled during spatial movements. That is, the gripper's orientation changes with its position during movement, making it difficult to maintain a stable grip when grasping eyebrow pencil parts, potentially causing the parts to fall off, shift, or be damaged. Furthermore, eyebrow pencil parts are typically small, irregularly shaped, and may have smooth or fragile surfaces, placing higher demands on the gripper's adaptability and precision. Current technologies usually place servo motors at each joint, using multi-axis linkage control to precisely adjust the end effector's posture. While this method improves grasping and releasing accuracy, it also introduces problems such as structural complexity, high manufacturing costs, and complex control systems, limiting its widespread application in cost-sensitive industries like cosmetics manufacturing. Another common type of robotic arm uses a combination of multiple linear modules, cylinders, or electric cylinders. For example, a vertical motor achieves lifting, and a horizontal motor achieves translation. While this approach achieves automation to some extent, it also has inherent drawbacks: it requires multiple drive sources and their corresponding control systems, resulting in high costs. Furthermore, the control logic is complex, requiring coordination of the timing of actions of each drive element, making it difficult to meet the high-efficiency and high-precision grasping requirements of eyebrow pencil parts. Utility Model Content

[0004] In view of the above-mentioned prior art, in order to solve the problem of how to reduce the structural complexity and manufacturing cost of the robot while ensuring the stability of the gripper's motion posture, this application provides a gripping device for eyebrow pencil parts.

[0005] This application provides a gripping device for eyebrow pencil parts, which adopts the following technical solution: A gripping device for eyebrow pencil parts includes a support, a rotating assembly, and a clamping assembly. The rotating assembly is mounted on the support and includes a rotating plate, a rotating arm, and a rotating drive. One end of the rotating arm along its length is rotatably mounted on the support. The rotating drive is mounted on the support and drives the rotating arm to rotate. The rotating plate is rotatably mounted on the end of the rotating arm away from the support. The clamping assembly is fixedly mounted on the rotating plate and is used to clamp the eyebrow pencil parts.

[0006] By adopting the above technical solution, a large range of swinging motion of the clamping assembly between two workstations can be achieved by driving the rotating arm to rotate horizontally with a single rotary drive component. Simultaneously, the rotating plate and the end of the rotating arm are rotatably connected, allowing the clamping assembly to adaptively fine-tune its angle when contacting the eyebrow pencil part, ensuring stable clamping. This structure requires only one main drive source to complete the core translational movement, simplifying the structure, reducing costs, and ensuring adaptability of the end-effector's posture.

[0007] Preferably, the bracket is provided with a support plate, the rotary drive is fixedly installed on one side of the support plate, the rotating arm is located on the side of the support plate away from the rotary drive, the output end of the rotary drive passes through the support plate, and the end of the rotating arm away from the rotary plate is connected to the output end of the rotary drive.

[0008] By adopting the above technical solution, the support plate provides a stable mounting base for the rotary drive component and the rotating arm, and directly transmits the output of the drive component to the rotating arm. The transmission path is short, the structure is compact, and the rigidity is good.

[0009] Preferably, the rotary drive component is one of a rotary cylinder, a rotary motor, or a rotary hydraulic cylinder.

[0010] By adopting the above technical solutions, a variety of common rotary drive methods are provided for selection. Appropriate drive components can be flexibly selected according to different requirements for accuracy, speed, power source and control method in actual application scenarios, thereby enhancing the versatility of the equipment.

[0011] Preferably, a roller is provided between the rotating arm and the support plate. The rotating roller is rotatably mounted on the side of the rotating arm away from the rotating plate. A sliding hole is provided on the support plate. The sliding hole is opened along an arc-shaped path adapted to the rotation trajectory of the rotating arm around the output end of the drive component. The rotating roller is rolled within the sliding hole.

[0012] By adopting the above technical solution, the cooperation between the rotating roller and the arc-shaped sliding hole effectively supports and guides the far end of the rotating arm, improves the rigidity and stability of the rotating arm during movement, prevents it from sagging or swaying due to overhang, and thus ensures the positioning accuracy of the clamping assembly.

[0013] Preferably, the clamping assembly is located at the end of the rotating plate away from the rotating arm. The clamping assembly includes a clamping drive and a gripper. The clamping drive is fixedly mounted on the rotating plate and drives the gripper to perform opening and closing actions.

[0014] By adopting the above technical solution, the clamping component is set at the end of the rotating plate away from the rotating arm, which can increase the working radius of the clamping component and expand the range of picking up and placing eyebrow pencil parts. The clamping drive directly drives the opening and closing of the gripper, which can realize the rapid gripping and release of eyebrow pencil parts. Moreover, the integrated design of the clamping drive and the gripper makes the clamping component compact, reduces the space occupied, and facilitates maintenance and replacement, thereby improving the working efficiency and reliability of the robot.

[0015] Preferably, the gripper includes two opposing gripping fingers, and the gripping drive is a gripping cylinder, which drives the two gripping fingers to open and close synchronously.

[0016] By adopting the above technical solution, the clamp cylinder drives the two clamping fingers to open and close synchronously, which can ensure that the clamping claw applies a uniform clamping force to the eyebrow pencil parts and avoid the eyebrow pencil parts from shifting or being damaged due to uneven clamping force. The relatively set clamping fingers can adapt to eyebrow pencil parts of different shapes and sizes, enhancing the clamping versatility. In addition, the clamp cylinder responds quickly and moves stably, which can meet the needs of high-frequency picking and placing operations, further improving the clamping accuracy and operational stability of the robot arm.

[0017] Preferably, the rotating plate and the rotating arm are connected by a hinge shaft.

[0018] By adopting the above technical solution, the hinge shaft connection allows the rotating plate and its clamping components to swing freely within a certain angle relative to the rotating arm. This floating design enables the clamping components to automatically adjust to the optimal clamping angle when contacting the eyebrow pencil parts, effectively compensating for positional errors and improving the gripping tolerance and stability.

[0019] In summary, this application includes at least one of the following beneficial technical effects: 1. By using a single rotary drive component in conjunction with a rotating arm and a rotary plate with adjustable angle, the clamping assembly can be quickly and stably transferred between workstations. It requires only one main drive source, has a simple structure, low manufacturing cost, and ensures the adaptability of the gripper posture. 2. The rotary drive can be a rotary motor, a pneumatic cylinder, or a hydraulic cylinder. The grippers are compatible with various eyebrow pencil parts sizes, which can meet the operational needs of different industries and expand the application range of the robotic arm. 3. The guide fit between the rotating roller and the arc-shaped sliding hole reduces the movement deviation of the rotating arm; the clamp cylinder drives the clamp fingers to open and close synchronously to ensure uniform clamping force; the hinge design of the rotating plate enables adaptive posture adjustment, and the multi-structure collaboration improves the stability and positioning accuracy of picking up and placing eyebrow pencil parts. Attached Figure Description

[0020] Figure 1 This is a front view structural diagram of the present invention; Figure 2 This is a schematic diagram of the rear view structure of this utility model; Figure 3 This utility model is a three-dimensional diagram showing the rotating component and the clamping component.

[0021] Reference numerals: 1. Bracket; 2. Rotating assembly; 21. Rotating plate; 22. Rotating arm; 221. Slide groove; 23. Rotation drive component; 3. Clamping assembly; 31. Clamping drive component; 32. Gripper; 4. Support plate; 41. Sliding hole; 5. Slider; 6. Spring; 7. Rotating roller. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0023] This application discloses a gripping device for eyebrow pencil parts.

[0024] Reference Figure 1 and Figure 2 A gripping device for eyebrow pencil parts includes a bracket 1, a rotating assembly 2, and a clamping assembly 3. A support plate 4 is vertically mounted on the bracket 1. The rotating assembly 2 is mounted on the support plate 4 and includes a rotating plate 21, a rotating arm 22, and a rotating drive component 23. The rotating drive component 23 is a rotary motor, which is fixedly mounted on one side of the support plate 4. The rotating arm 22 is located on the side of the support plate 4 away from the rotary motor. The output end of the rotary motor passes through the support plate 4. One end of the rotating arm 22 along its length is fixedly connected to the output end of the rotary motor and is rotatably mounted on the support plate 4 by the drive motor. The rotating plate 21 is connected to the end of the rotating arm 22 away from the support plate 4 via a hinge shaft. The clamping assembly 3 is fixedly mounted on the end of the rotating plate 21 away from the rotating arm 22 and is used to grip or place eyebrow pencil parts.

[0025] Specifically, the clamping assembly 3 includes a clamping drive 31 and a gripper 32. The clamping drive 31 is a clamping cylinder, which is fixedly installed at the end of the rotating plate 21 away from the rotating plate. The gripper 32 includes two opposing gripping fingers, which are installed at the output end of the clamping cylinder.

[0026] When picking up or placing an eyebrow pencil part, the rotary motor starts according to the command, driving the rotating arm 22 to rotate in the horizontal plane, thereby precisely swinging the entire clamping assembly 3 to directly above the eyebrow pencil part to be picked up; then, the clamp cylinder is activated, driving the two clamping fingers to close synchronously, thereby stably clamping the eyebrow pencil part; next, the rotary motor drives the rotating arm 22 again, causing the clamping assembly 3 with the eyebrow pencil part to rotate together, smoothly transferring the eyebrow pencil part to the target placement position; finally, the clamp cylinder controls the two clamping fingers to open synchronously, releasing the eyebrow pencil part to the designated position, completing one picking and placing operation cycle.

[0027] Reference Figure 3Specifically, the rotating arm 22 has a groove 221 along its length on the side opposite to the rotating plate 21. A slider 5 is slidably installed in the groove 221, and two springs 6 are also installed in the groove 221. The slider 5 is located between the two springs 6, with one end of the spring 6 fixedly connected to the slider 5 and the other end of the spring 6 fixedly connected to the side wall inside the groove 221. The support plate 4 has a U-shaped sliding hole 41, and a rotating roller 7 is rotatably installed on the slider 5, and the rotating roller 7 is rolled within the sliding hole 41.

[0028] When the rotary motor drives the rotating arm 22 to rotate, the rotating roller 7 fixed on the slider 5 rolls along the inner wall of the U-shaped sliding hole 41 on the support plate 4. Since the sliding hole 41 is U-shaped, when the rotating arm 22 swings from its initial position to both sides, the roller is forced to move radially within the sliding hole 41, thereby pushing the slider 5 to slide within the groove 221 of the rotating arm 22 and compressing one side of the spring 6, while the other side of the spring 6 extends accordingly. During this process, the compressed spring 6 accumulates energy, acting as a buffer and vibration absorber, effectively reducing the impact and vibration during the starting, stopping, and reversing of the rotating arm 22, making the entire rotational motion smoother and more precise. When rotation is required, the compressed spring 6 releases energy, assisting in pushing the slider 5 and roller back to their original positions, providing a smooth reset force for the clamping assembly 3, ensuring the accuracy of the robot's repetitive positioning.

[0029] The implementation principle of this application embodiment is as follows: the support 1 and the support plate 4 form a fixed support base for the robot arm, the rotating component 2 is used to adjust the spatial position of the clamping component 3, and the clamping component 3 is combined to complete the gripping and release of the eyebrow pencil parts. The three work together to achieve automated picking and placing operations.

[0030] In the specific operation, the rotary motor acts as the rotation drive source, and its output directly drives the rotating arm 22 to rotate around the support plate 4, enabling the clamping assembly 3 to adjust its position in the horizontal plane. When the rotating arm 22 rotates, the rotating roller 7 on the slider 5 rolls along the U-shaped sliding hole 41, constraining the movement path of the rotating arm 22 through the arc trajectory of the sliding hole 41. At the same time, the slider 5 slides in the groove 221 and compresses or stretches the spring 6, using the elastic deformation of the spring 6 to absorb the impact energy during the rotation process and reduce vibration. In the clamping assembly 3, the clamp cylinder acts as the clamping drive component 31, realizing the gripping and release of the eyebrow pencil part by driving the opening and closing of the two clamping fingers. When the rotating arm 22 sends the clamping assembly 3 to the gripping position, the clamp cylinder drives the clamping fingers to close and grip the eyebrow pencil part; after being transferred to the target position, the clamp cylinder drives the clamping fingers to open and release the eyebrow pencil part, completing one pick-and-place cycle. The entire mechanism, through the coordination of mechanical structures (the guiding and limiting of the sliding hole 41 and the roller, and the buffering and vibration absorption of the spring 6) and the driving of power components (the rotation drive of the rotary motor and the clamping drive of the clamp cylinder), achieves the smooth gripping, precise transfer and reliable release of eyebrow pencil parts, ensuring the stability and repeatability of the picking and placing operation.

[0031] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gripping device for eyebrow pencil parts, characterized in that, The device includes a support (1), a rotating assembly (2), and a clamping assembly (3). The rotating assembly (2) is mounted on the support (1) and includes a rotating plate (21), a rotating arm (22), and a rotating drive (23). One end of the rotating arm (22) is rotatably mounted on the support (1) along its length. The rotating drive (23) is mounted on the support (1) and drives the rotating arm (22) to rotate. The rotating plate (21) is rotatably mounted on the end of the rotating arm (22) away from the support (1). The clamping assembly (3) is fixedly mounted on the rotating plate (21) and is used to clamp eyebrow pencil parts.

2. The gripping device for eyebrow pencil parts according to claim 1, characterized in that, The bracket (1) is provided with a support plate (4), the rotary drive (23) is fixedly installed on one side of the support plate (4), the rotating arm (22) is located on the side of the support plate (4) away from the rotary drive (23), the output end of the rotary drive (23) is provided through the support plate (4), and the end of the rotating arm (22) away from the rotating plate (21) is connected to the output end of the rotary drive (23).

3. The gripping device for eyebrow pencil parts according to claim 2, characterized in that, The rotary drive component (23) is one of a rotary cylinder, a rotary motor, or a rotary hydraulic cylinder.

4. The gripping device for eyebrow pencil parts according to claim 2, characterized in that, A rotating roller (7) is provided between the rotating arm (22) and the support plate (4). The rotating roller (7) is rotatably mounted on the side of the rotating arm (22) away from the rotating plate (21). A sliding hole (41) is provided on the support plate (4). The sliding hole (41) is opened along an arc path adapted to the rotation trajectory of the rotating arm (22) around the output end of the drive component. The rotating roller (7) is rolled in the sliding hole (41).

5. A gripping device for eyebrow pencil parts according to claim 1, characterized in that, The clamping assembly (3) is located at the end of the rotating plate (21) away from the rotating arm (22). The clamping assembly (3) includes a clamping drive (31) and a gripper (32). The clamping drive (31) is fixedly installed on the rotating plate (21). The clamping drive (31) drives the gripper (32) to perform opening and closing actions.

6. The gripping device for eyebrow pencil parts according to claim 5, characterized in that, The gripper (32) includes two oppositely arranged gripping fingers, and the gripping drive (31) is a gripping cylinder, which drives the two gripping fingers to open and close synchronously.

7. A gripping device for eyebrow pencil parts according to any one of claims 1 to 6, characterized in that, The rotating plate (21) and the rotating arm (22) are connected by a hinge shaft.

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