Double-arm feeding and discharging manipulator

Abstract

The invention provides a double-arm feeding and discharging manipulator, and belongs to a manipulator. The double-arm feeding and discharging manipulator comprises a base, wherein two manipulator bodies which are the same are arranged on the base in parallel; each manipulator body comprises a fixed arm, a first rotating arm, a second rotating arm and a manipulator gripper connected to the second rotating arm; each manipulator gripper comprises a support, a hollow rotating shaft, an upper cover plate and a lower cover plate; each support is connected with the corresponding second rotating arm; each hollow rotating shaft is rotatably connected with the corresponding support through a first oil-free lining; each upper cover plate and the corresponding lower cover plate are connected with an end of the corresponding hollow rotating shaft together; two arc-shaped clamping fingers which are clamped on side surfaces of a sheet disc-shaped workpiece are hinged to a position between each upper cover plate and the corresponding lower cover plate; each two arc-shaped clamping fingers are connected with a corresponding first driving mechanism which is used for driving the two arc-shaped clamping fingers to open and close; and each support is provided with a second driving mechanism which drives the corresponding hollow rotating shaft to rotate. In a feeding and discharging process of sheet disc-shaped workpieces, precision of the upper surfaces and the lower surfaces of the sheet disc-shaped workpieces cannot be affected, furthermore, overturning action can be finished, and feeding and discharging can be implemented simultaneously.

Description

[0001] Technical field: [0002] The invention relates to a manipulator, in particular to a dual-arm loading and unloading manipulator. [0003] Background technique: [0004] With the development of science and technology, in order to improve the quality and production efficiency of workpieces, manipulators are gradually used in industrial production to replace manual operations. At present, the same manipulator is usually used to perform both loading and unloading operations on workpieces. The loading and unloading work of the workpiece cannot be carried out at the same time, and the loading and unloading efficiency is low; in addition, when performing automatic loading and unloading on some thin-plate disc-shaped workpieces, a manipulator with a suction cup is usually used to suck on the thin-plate disc-shaped workpiece or a three-plate The manipulator of the gripper grips from above to carry out loading and unloading work, but this method can only realize the parallel movem...

AI Technical Summary

Problems solved by technology

[0004] With the development of science and technology, in order to improve the quality and production efficiency of workpieces, manipulators are gradually used in industrial production to replace manual operations. At present, the same manipulator is usually used to perform both loading and unloading operations on workpieces. The loading and unloading work of the workpiece cannot be carried out at the same time, and the loading and unloading efficiency is low; in addition, when performing automatic loading and unloading of some thin-plate disc-shaped workpieces, a manipulator with a suction cup is usually used to suck on the thin-plate disc-shaped workpiece or a three-plate The manipulator of the gripper grips from above to carry out the loading and unloading work, but this method can only realize the parallel movement of the thin disc-shaped workpiece, and cannot realize the action of turning the thin disc-shaped workpiece by 180° during the loading and unloading process , and when the precision of the upper and lower surfaces of the thin plate disc-shaped workpiece is high, using a suction cup to suck on the thin plate disc-shaped workpiece will affect the accuracy of the thin plate disc-shaped workpiece

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