An automated double-grip manipulator

Abstract

The present invention discloses an automated double-clamp manipulator, wherein a swing arm mechanism comprises a first vertical mounting plate, a swing arm, a rotating shaft, and a second vertical mounting plate. A shaft hole extending left and right is provided on the first vertical mounting plate, the rotating shaft passes through the shaft hole and is fixed to the shaft hole by a bearing assembly. The middle portion of the swing arm is fixedly sleeved on the left end of the rotating shaft, and the second vertical mounting plate is connected to the right end of the rotating shaft. When the cylinder rod of the first cylinder is extended or retracted, the swing arm can be driven to rotate back and forth, thereby driving the rotating shaft to rotate, and further driving the second vertical mounting plate to rotate. The clamping mechanism comprises two clamping jaw assemblies and a clamping jaw driving assembly. The two clamping jaw assemblies are fixed on the second vertical mounting plate. When the second vertical mounting plate rotates back and forth, the clamping jaw assemblies can be driven to face downward in turn. When the clamping jaw assemblies are in a downward position, the clamping jaw driving assembly can drive the clamping jaw assemblies to open or close. The present invention effectively improves work efficiency, has an ingenious structural design, can achieve fully automated control, and is conducive to the vigorous promotion and application of the manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of clamps, and in particular to an automated double-clamp manipulator. Background Art

[0002] A manipulator is a mechanical device that uses mechanical structure design and electrical program control to achieve the function of replacing humans. In the structure of the manipulator, the gripper is the final action-executing component. When the manipulator moves to the specified position, the gripper, like a human finger, completes the clamping or loosening action to achieve operations such as picking up and placing, and processing external parts. Most manipulator heads are usually only equipped with one gripper tool, which only uses one gripper tool to clamp external parts back and forth. This is inefficient and requires a long working time. At present, some manipulators have two gripper tools installed on their heads. Each gripper tool includes two clamping blocks, and each clamping block requires a cylinder. Two gripper tools require four cylinders, which are complex in structure and costly, making them unsuitable for vigorous promotion and application of manipulators. Summary of the Invention

[0003] In response to the problems existing in the above-mentioned prior art, the present invention aims to provide an automated double-grip manipulator with two clamping jaw assemblies, which can improve work efficiency, and can realize the change of the position of the two clamping jaw assemblies through a cylinder, and can realize the opening and closing of the clamping jaw assembly at a specified position through a clamping jaw drive assembly.

[0004] In order to achieve the above-mentioned purpose, the present invention proposes an automated double-clamp manipulator, including a swing arm mechanism and a clamping claw mechanism, the swing arm mechanism including a first vertical mounting plate, a swing arm, a rotating shaft and a second vertical mounting plate, an axial hole extending left and right is provided on the first vertical mounting plate, the rotating shaft passes through the axial hole and is fixed to the axial hole through a bearing assembly in its middle portion, the middle portion of the swing arm is fixedly sleeved on the left end of the rotating shaft, the second vertical mounting plate is connected to the right end of the rotating shaft, a first cylinder is fixedly provided on the upper end of the first vertical mounting plate through a door-type mounting seat, the cylinder rod of the first cylinder is hinged to one end of the swing arm, and the cylinder rod of the first cylinder can drive the swing arm to rotate back and forth when it is extended and retracted, thereby driving the rotating shaft to rotate back and forth, and further driving the second vertical mounting plate to rotate back and forth;

[0005] The clamping mechanism includes two clamping jaw assemblies and a clamping jaw driving assembly. The two clamping jaw assemblies are respectively fixed on the right end surface of the second vertical mounting plate in a downward and rearward direction. When the second vertical mounting plate rotates back and forth, the clamping jaw assemblies can be driven to move downward in turn. When the clamping jaw assemblies are in the downward position, the clamping jaw driving assembly can drive the clamping jaw assemblies to open or close.

[0006] The downward-facing clamping jaw assembly includes a guide block, a third vertical mounting plate, two transmission blocks and two clamping jaws, a first pin shaft is provided between the upper end of the third vertical mounting plate and the second vertical mounting plate, the guide block is slidably sleeved on the first pin shaft left and right, the middle portion of the lower end of the third vertical mounting plate is connected to the second vertical mounting plate by a transverse connecting plate, a second pin shaft is respectively provided between the two sides of the lower end of the third vertical mounting plate and the second vertical mounting plate, the two transmission blocks are rotatably sleeved on the two second pin shafts, and two arc-shaped guide grooves are horizontally provided on both sides of the bottom surface of the guide block, and the spacing between the two arc-shaped guide grooves is gradually increased from left to right. The two transmission blocks are gradually reduced in size, and the tops of the two transmission blocks are each provided with a connecting head that matches the arc-shaped guide groove. The connecting heads of the two transmission blocks are respectively movably embedded in the two arc-shaped guide grooves, and the two clamping claws are respectively fixed to the bottoms of the two transmission blocks, one in front and one behind. When the guide block moves to the left, the tops of the two transmission blocks are brought together, and the bottoms of the two transmission blocks are opened under the action of the second pin shaft, thereby driving the two clamping claws to open. When the guide block moves to the right, the tops of the two transmission blocks are opened, and the bottoms of the two transmission blocks are brought together under the action of the second pin shaft, thereby driving the two clamping claws to close and clamp. The structure of the clamping claw assembly facing backward is the same as that of the clamping claw assembly facing downward.

[0007] The second vertical mounting plate is in the shape of a "7", the right end of the rotating shaft is connected to the inflection point of the "7", the two clamping jaw assemblies are respectively fixed on both sides of the "7", and the spacing distance between the two clamping jaw assemblies and the inflection point is the same.

[0008] In the above scheme: the clamping claw drive assembly includes a "7"-shaped mounting frame, the end of the horizontal section of the mounting frame is fixed on the right end face of the first vertical mounting plate, the vertical section of the mounting frame is located to the right of the third vertical mounting plate, and a second cylinder is fixed on the vertical section of the mounting frame, the cylinder rod of the second cylinder is facing left, and a push rod is connected to the cylinder rod, the push rod is facing the right end face of the guide block, and a spring is arranged between the guide block and the second vertical mounting plate; when the cylinder rod of the second cylinder extends to the left, it can drive the push rod to push the guide block to move left, and the spring is compressed. When the cylinder rod of the second cylinder retracts to the right and drives the push rod to retract, the restoring force of the spring can drive the guide block to move right.

[0009] In the above scheme: a limit block is provided on the left end face of the first vertical mounting plate for limiting the back-and-forth rotation range of the swing arm. When the swing arm abuts against one of the limit blocks, one clamping jaw assembly is directed downward; when the swing arm abuts against the other limit block, the other clamping jaw assembly is directed downward.

[0010] In the above solution, there are two first pins, which are spaced apart and arranged one in front of the other; there are two springs, which are arranged one above and one below between the two first pins.

[0011] In the above solution: the shaft hole is located at the lower end of the first vertical mounting plate, and the cylinder rod of the first cylinder faces downward.

[0012] The beneficial effects of the present invention are:

[0013] 1. The manipulator is equipped with two gripper assemblies, which can transport the workpiece by the two gripper assemblies, effectively improving the work efficiency and shortening the working time compared with single-claw handling.

[0014] 2. The position switching of the two gripping jaws is achieved through the cooperation of the cylinder, rotating shaft and bearing assembly. Then, through the cooperation of the pin shaft, guide block and two transmission blocks, only one driving force is needed to drive the guide block to move, so that the two gripping jaws can be opened or closed under the lever principle. The structure is ingenious and does not require each gripping jaw to be equipped with a driving assembly. The driving cost is low, and the two gripping jaws have high synchronization, which is not prone to clamping failures. The whole process is automated and is conducive to the promotion and application of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 yes Figure 1 Schematic diagram from another angle.

[0017] Figure 3 It is a structural diagram of the clamping mechanism.

[0018] Figure 4 It is a structural diagram of the gripper assembly.

[0019] Figure 5 This is a bottom view of the guide block.

[0020] Figure 6 It is a structural diagram of the transmission block. DETAILED DESCRIPTION

[0021] like Figure 1 —6 shows an automated double-gripper manipulator, which is mainly composed of a swing arm mechanism and a clamping claw mechanism.

[0022] The swing arm mechanism includes a first vertical mounting plate 1, a swing arm 2, a rotating shaft 3, and a second vertical mounting plate 4. The first vertical mounting plate 1 is provided with a shaft hole extending left and right. The rotating shaft 3 passes through the shaft hole and is fixed to the shaft hole at its center by a bearing assembly. The middle portion of the swing arm 2 is fixedly sleeved on the left end of the rotating shaft 3, and the second vertical mounting plate 4 is connected to the right end of the rotating shaft 3. A first cylinder 5 is fixedly mounted on the upper end of the first vertical mounting plate 1 via a door-shaped mounting seat 22. The cylinder rod of the first cylinder 5 is hinged to one end of the swing arm 2. When the cylinder rod of the first cylinder 5 is extended or retracted, it can drive the swing arm 2 to rotate back and forth, thereby driving the rotating shaft 3 to rotate back and forth, and further driving the second vertical mounting plate 4 to rotate back and forth.

[0023] The clamping mechanism includes two clamping jaw assemblies 6 and a clamping jaw drive assembly 7. The two clamping jaw assemblies 6 are fixed to the right end surface of the second vertical mounting plate 4, facing downward and backward respectively. When the second vertical mounting plate 4 rotates back and forth, it can drive the clamping jaw assemblies 6 to move downward in turn. When the clamping jaw assemblies 6 are in the downward position, the clamping jaw drive assembly 7 can drive the clamping jaw assemblies 6 to open or close.

[0024] The downward-facing clamping jaw assembly 6 includes a guide block 8, a third vertical mounting plate 9, two transmission blocks 10, and two clamping jaws 11. A first pin 12 is disposed between the upper end of the third vertical mounting plate 9 and the second vertical mounting plate 4. The guide block 8 slides left and right on this first pin 12. A transverse connecting plate 13 connects the lower middle portion of the third vertical mounting plate 9 to the second vertical mounting plate 4. Second pins 14 are located between the lower ends of the third vertical mounting plate 9 and the second vertical mounting plate 4 on either side. The two transmission blocks 10 are rotatably mounted on these second pins 14. Two arc-shaped guide grooves 15 are horizontally provided on both sides of the bottom surface of the guide block 8. The spacing distance between the two arc-shaped guide grooves 15 gradually decreases from left to right. The tops of the two transmission blocks 10 are provided with connectors 16 that match the arc-shaped guide grooves 15. The connectors 16 of the two transmission blocks 10 are movably embedded in the two arc-shaped guide grooves 15, and the two clamping jaws 11 are fixed to the bottom of the two transmission blocks 10, one before and one after.

[0025] When the guide block 8 moves left, the tops of the two transmission blocks 10 move closer, and the bottoms of the two transmission blocks 10 open under the action of the second pin 14, thereby driving the two clamping jaws 11 to open. When the guide block 8 moves right, the tops of the two transmission blocks 10 open, and the bottoms of the two transmission blocks 10 move closer under the action of the second pin 14, thereby driving the two clamping jaws 11 to close and clamp. Through the cooperation of the guide block 8 and the two transmission blocks 10, only a single driving force is required to drive the guide block 8, and the opening and closing of the two clamping jaws 11 is achieved through the principle of leverage. This has an ingenious structure and low driving cost.

[0026] The rearward-facing clamping jaw assembly 6 has the same structure as the downward-facing clamping jaw assembly 6 .

[0027] The second vertical mounting plate 4 is in the shape of a "7", the right end of the rotating shaft 3 is connected to the inflection point of the "7", and the two clamping jaw assemblies 6 are respectively fixed on both sides of the "7", and the spacing distance between the two clamping jaw assemblies 6 and the inflection point is the same to ensure that after the two clamping jaw assemblies 6 are switched to the specified position, they can both correspond to the position of the clamping jaw drive assembly 7.

[0028] The gripper drive assembly 7 includes a "7"-shaped mounting frame 17. The end of the horizontal section of the mounting frame 17 is fixed to the right end face of the first vertical mounting plate 1, and the vertical section of the mounting frame 17 is located to the right of the third vertical mounting plate 9. A second cylinder 18 is fixed to the vertical section of the mounting frame 17. The cylinder rod of the second cylinder 18 is directed to the left, and a push rod 19 is connected to the cylinder rod. The push rod 19 faces the right end face of the guide block 8. A spring 20 is provided between the guide block 8 and the second vertical mounting plate 4. When the cylinder rod of the second cylinder 18 extends to the left, it can drive the push rod 19 to push the guide block 8 to the left, and the spring 20 is compressed. When the cylinder rod of the second cylinder 18 retracts to the right and drives the push rod 19 to retract, the restoring force of the spring 20 can drive the guide block 8 to the right. Through the cooperation of the first cylinder 5 and the second cylinder 18, the position switching of the clamping jaw assembly 6 and the opening and closing of the clamping jaw assembly 6 at the specified position can be quickly realized. There is no need to separately arrange a cylinder for each clamping jaw 11 in the clamping jaw assembly 6. The cost is low and it is conducive to the vigorous promotion and application of the robot.

[0029] Preferably, a stopper 21 is provided on the left end surface of the first vertical mounting plate 1 to limit the range of back-and-forth rotation of the swing arm 2. When the swing arm 2 abuts one of the stopper blocks 21, one clamping jaw assembly 6 faces downward, and when the swing arm 2 abuts the other stopper block 21, the other clamping jaw assembly 6 faces downward. The stopper blocks 21 act as a limiter, facilitating the rapid switching of the two clamping jaw assemblies 6 to a designated position.

[0030] Preferably, there are two first pins 12, which are spaced apart one in front of the other, and two springs 20, which are spaced apart one above the other between the two first pins 12. The first pins 12 and springs 20 are arranged reasonably to prevent interference between them.

[0031] Preferably, the shaft hole is located at the lower end of the first vertical mounting plate 1, and the cylinder rod of the first cylinder 5 faces downward, which has a simple structure and is easy to set up.

[0032] The working process of the present invention is:

[0033] The initial state of the manipulator before clamping the workpiece (dividing the two jaw assemblies 6 into the first jaw assembly and the second jaw assembly): the cylinder rod of the first cylinder 5 is retracted, the first jaw assembly is facing downward, the cylinder rod of the second cylinder 18 is extended, and the first jaw assembly is open; the second jaw assembly is facing backward, its spring is not compressed, and the second jaw assembly is closed.

[0034] Action Description:

[0035] The manipulator moves to the loading position, the first clamping jaw assembly points downward toward the workpiece, the cylinder rod of the second cylinder 18 retracts, and the spring 20 at the first clamping jaw assembly rebounds and pushes the guide block 8, so that the first clamping jaw assembly closes and clamps the workpiece; the manipulator moves up a short distance, the cylinder rod of the first cylinder 5 extends, pushing the swing arm 4 to rotate, so that the second clamping jaw assembly points downward, and the cylinder rod of the second cylinder 18 extends and pushes the guide block 8, so that the second clamping jaw assembly opens; the manipulator moves down to the workpiece position, the cylinder rod of the second cylinder 18 retracts, and the spring 20 at the second clamping jaw assembly rebounds and pushes the guide block 8, so that the second clamping jaw assembly closes and clamps the workpiece;

[0036] The manipulator moves to the unloading position, the cylinder rod of the second cylinder 18 extends to push the guide block 8, so that the second jaw assembly opens to unload the workpiece, and then the cylinder rod of the second cylinder 18 retracts, and the second jaw assembly closes; the cylinder rod of the first cylinder 5 retracts, pushing the swing arm 4 to rotate, so that the first jaw assembly points downward, and the cylinder rod of the second cylinder 18 extends to push the guide block 8, so that the first jaw assembly opens to unload the workpiece; the manipulator returns to the loading position and repeats the above actions to repeatedly load and unload workpieces.

Claims

1. An automated dual-gripper manipulator, comprising a swing arm mechanism and a gripper mechanism, characterized in that: The swing arm mechanism comprises a first vertical mounting plate (1), a swing arm (2), a rotating shaft (3) and a second vertical mounting plate (4); a shaft hole extending leftward and rightward is provided on the first vertical mounting plate (1); the rotating shaft (3) passes through the shaft hole and is fixed to the shaft hole at its middle through a bearing assembly; the middle part of the swing arm (2) is fixedly sleeved on the left end of the rotating shaft (3); the second vertical mounting plate (4) is connected to the right end of the rotating shaft (3); a first cylinder (5) is fixedly provided on the upper end of the first vertical mounting plate (1) through a door-shaped mounting seat (22); a cylinder rod of the first cylinder (5) is hinged to one end of the swing arm (2); when the cylinder rod of the first cylinder (5) is extended or retracted, it can drive the swing arm (2) to rotate back and forth, thereby driving the rotating shaft (3) to rotate back and forth, and further driving the second vertical mounting plate (4) to rotate back and forth; The clamping mechanism comprises two clamping jaw assemblies (6) and a clamping jaw driving assembly (7), wherein the two clamping jaw assemblies (6) are fixed on the right end surface of the second vertical mounting plate (4) in a downward direction and a rearward direction respectively, and the second vertical mounting plate (4) can drive the clamping jaw assemblies (6) to move downward in turn when rotating back and forth, and when the clamping jaw assemblies (6) are in a downward direction position, the clamping jaw driving assembly (7) can drive the clamping jaw assemblies (6) to open or close; The downward-facing clamping jaw assembly (6) comprises a guide block (8), a third vertical mounting plate (9), two transmission blocks (10) and two clamping jaws (11). A first pin shaft (12) is provided between the upper end of the third vertical mounting plate (9) and the second vertical mounting plate (4). The guide block (8) is slidably sleeved on the first pin shaft (12) left and right. The middle part of the lower end of the third vertical mounting plate (9) is connected to the second vertical mounting plate (4) via a transverse connecting plate (13). Second pin shafts (14) are respectively provided between the two sides of the lower end of the third vertical mounting plate (9) and the second vertical mounting plate (4). The two transmission blocks (10) are rotatably sleeved on the two second pin shafts (14). Two arc-shaped guide grooves (15) are horizontally provided on both sides of the bottom surface of the guide block (8). The spacing between the two arc-shaped guide grooves (15) gradually increases from left to right. The two transmission blocks (10) are each provided with a connector (16) matching the arc-shaped guide groove (15) at the top, and the connectors (16) of the two transmission blocks (10) are respectively movably embedded in the two arc-shaped guide grooves (15). The two clamping claws (11) are respectively fixed to the bottom of the two transmission blocks (10) one in front and one in the back; when the guide block (8) moves to the left, the tops of the two transmission blocks (10) are brought together, and the bottoms of the two transmission blocks (10) are opened under the action of the second pin shaft (14), thereby driving the two clamping claws (11) to open; when the guide block (8) moves to the right, the tops of the two transmission blocks (10) are opened, and the bottoms of the two transmission blocks (10) are brought together under the action of the second pin shaft (14), thereby driving the two clamping claws (11) to come together and clamp; the clamping claw assembly (6) facing backward has the same structure as the clamping claw assembly (6) facing downward; The second vertical mounting plate (4) is in the shape of a "7", the right end of the rotating shaft (3) is connected to the inflection point of the "7", the two clamping jaw assemblies (6) are respectively fixed on the two sides of the "7", and the distance between the two clamping jaw assemblies (6) and the inflection point is the same; The clamping jaw drive assembly (7) includes a "7"-shaped mounting frame (17), the end of the horizontal section of the mounting frame (17) is fixed to the right end surface of the first vertical mounting plate (1), the vertical section of the mounting frame (17) is located to the right of the third vertical mounting plate (9), and a second cylinder (18) is fixed on the vertical section of the mounting frame (17), the cylinder rod of the second cylinder (18) is oriented to the left, and a push rod (19) is connected to the cylinder rod. The push rod (19) is opposite to the right end face of the guide block (8), and a spring (20) is provided between the guide block (8) and the second vertical mounting plate (4); when the cylinder rod of the second cylinder (18) extends to the left, it can drive the push rod (19) to push the guide block (8) to move left, and the spring (20) is compressed by force; when the cylinder rod of the second cylinder (18) retracts to the right and drives the push rod (19) to retract, the restoring force of the spring (20) can drive the guide block (8) to move right.

2. The automated dual-gripper manipulator according to claim 1, characterized in that: A limit block (21) for limiting the range of back-and-forth rotation of the swing arm (2) is provided on the left end surface of the first vertical mounting plate (1); when the swing arm (2) abuts against one of the limit blocks (21), one clamping jaw assembly (6) faces downward; and when the swing arm (2) abuts against the other limit block (21), the other clamping jaw assembly (6) faces downward.

3. The automated dual-gripper manipulator according to claim 1, characterized in that: There are two first pin shafts (12), and the two first pin shafts (12) are arranged one in front of the other at intervals. There are two springs (20), and the two springs (20) are arranged one above and one below between the two first pin shafts (12).

4. The automated dual-gripper manipulator according to claim 1, characterized in that: The shaft hole is located at the lower end of the first vertical mounting plate (1), and the cylinder rod of the first cylinder (5) faces downward.

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