Double-station manipulator

Abstract

The invention discloses a double-station manipulator, and belongs to the technical field of carrying, the double-station manipulator comprises a mounting frame, a horizontal moving structure is arranged on the mounting frame, the horizontal moving structure is in sliding fit with the mounting frame, a carrying turnover structure is arranged on the horizontal moving structure, and the carrying turnover structure is rotatably connected with the horizontal moving structure; two carrying ends are arranged on the carrying turnover structure, each carrying end is provided with a carrying clamping structure, the carrying clamping structures are rotationally connected with the carrying ends, and two rows of clamping pieces are arranged on the carrying clamping structures. According to the double-station mechanical arm, in the cargo carrying process, cargos of different shapes can be carried, so that the applicability of the mechanical arm is improved in the cargo carrying process of the double-station mechanical arm.

Description

Technical Field

[0001] The invention belongs to the field of handling technology, and in particular relates to a double-station manipulator. Background Art

[0002] With the continuous expansion of industrial production scale and the increasing requirements for production efficiency and product quality stability, traditional manual operation methods can no longer meet the needs of modern industrial production. Industrial automation has become an inevitable trend, and the dual-station manipulator, as a key component of the automated production system, can efficiently and accurately complete various repetitive and high-intensity tasks.

[0003] In many production scenarios, the single-station operation mode often leads to bottlenecks in the production process, limiting the improvement of overall production efficiency. The dual-station manipulator can operate two stations at the same time, greatly reducing the waiting time in the production process, achieving continuous production, and thus significantly improving production efficiency. For example, in the electronic product manufacturing industry, the dual-station manipulator can assemble parts at one station while testing products at another station, greatly speeding up the production rhythm.

[0004] However, the existing handling robot can only handle a single cargo during the process of handling cargo. When conveying cargo on different conveyor lines, the shape of the handling robot cannot be adjusted according to the different cargoes, and different robots cannot be replaced for different cargoes. Summary of the invention

[0005] The embodiment of the present invention provides a dual-station robot to solve the problems in the prior art.

[0006] The embodiment of the present invention adopts the following technical scheme: a double-station manipulator includes a mounting frame, a horizontal moving structure is provided on the mounting frame, the horizontal moving structure and the mounting frame are slidably matched, the horizontal moving structure is provided with a transport and flipping structure, and the transport and flipping structure are rotatably connected to the horizontal moving structure; two transport ends are provided on the transport and flipping structure, each of the transport ends is provided with a transport clamping structure, the transport clamping structure is rotatably connected to the transport end, and two rows of clamping members are provided on the transport clamping structure.

[0007] Furthermore, the horizontal moving structure includes a moving cylinder, a moving plate and four moving rods. The moving cylinder is arranged on a mounting frame, and the four moving rods are arranged on the moving plate. The moving rods are slidably matched with the mounting frame.

[0008] Furthermore, the transport and flipping structure includes a driving two-way cylinder and two rotating parts. A mounting plate is provided on the movable plate. The driving two-way cylinder is horizontally arranged at the middle position of the movable plate. The two rotating parts are respectively rotatably connected to the mounting plate, and the two rotating parts are respectively connected to the telescopic ends of the driving two-way cylinder.

[0009] Furthermore, each of the rotating parts includes a moving frame, a moving tooth plate, a moving gear, a rotating shaft and a rotating seat. Three sliding sleeves arranged at equal intervals are provided on the side wall of the mounting plate. The moving frame is slidably connected in the three sliding sleeves. The moving tooth plate is located on the moving frame, and the rotating seat is located on the moving plate. Both ends of the rotating shaft are respectively rotatably connected to the rotating seat and the moving plate. The moving gear is located at one end of the rotating shaft, and the moving gear is meshed with the moving tooth plate.

[0010] Furthermore, the carrying and clamping structure includes a driving motor, a rotating plate body, a rotating plate, two mounting supports, two connecting plates and two sliding support rods, the two sliding support rods are symmetrically arranged on the rotating plate body, the driving motor is arranged in the rotating plate body, the rotating plate body is connected to the other end of the rotating shaft, the rotating plate body is rotatably connected to the rotating seat, the middle position of the rotating plate is connected to the main shaft of the driving motor, the two mounting supports are symmetrically arranged on the two sliding support rods, the two ends of the mounting supports are respectively slidably connected to the two sliding support rods, one end of the connecting plate is hinged to the rotating plate, and the other end of the connecting plate is hinged to the mounting support.

[0011] Furthermore, the mounting support is provided with a plurality of plug-in holes arranged at equal intervals, and each of the plug-in holes is provided with a plug-in screw threadedly connected thereto.

[0012] Furthermore, the clamping member includes a plurality of first sockets inserted into the plug holes, the first sockets are provided with first connecting holes matched with the plug screws, and the bottom of the first sockets is provided with a vertically arranged first clamping rod.

[0013] Furthermore, the clamping member includes a plurality of second sockets inserted into the plug holes, the second sockets are provided with second connecting holes matched with the plug screws, and the bottom of the second sockets is provided with an arc-shaped second clamping rod.

[0014] Furthermore, a downward pressing cylinder is provided on the rotating plate body, and a downward pressing circular plate is provided on the telescopic end of the downward pressing cylinder.

[0015] Furthermore, the clamping member includes a plurality of third sockets inserted into the plug-in holes, the third sockets are provided with a third connecting hole matched with the plug-in screw, a vertically arranged third clamping rod is provided at the bottom of the second socket, a connecting frame is provided between the plurality of third clamping rods, a driving cylinder is provided on the connecting frame, each of the third clamping rods is provided with a sliding groove and a sliding rod is provided in the sliding groove, each of the sliding grooves is provided with a slide plate slidably matched with the sliding rod, a downward pressing round rod disk is provided at the bottom of the slide plate, and a connecting plate is provided between the plurality of slide plates, and the connecting plate is connected to the telescopic end of the driving cylinder.

[0016] At least one of the above technical solutions adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0017] Firstly, the present invention can realize the transportation of goods of different shapes during the process of transporting goods, so as to improve the applicability of the double-station manipulator during the process of transporting goods.

[0018] Secondly, when the transport position is flipped and adjusted, the present invention drives the two-way cylinder to work and drive the two mobile frames to move horizontally in the corresponding sliding sleeves on the side walls of the mounting plate. The movement of the two mobile frames drives the two mobile tooth plates to move to both sides respectively. The movement of the two mobile tooth plates drives the two mobile gears to rotate respectively, which can drive the two rotating shafts to rotate on the mounting plate and the corresponding rotating seat. The rotation of the rotating shaft will drive the rotating plate to rotate, which will drive the position of the clamped goods to be flipped and rotated, so as to optimize the transport path, adapt to the needs of different workstations, and facilitate assembly and processing; it can adapt to the transport of goods of different shapes and sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0021] Figure 2 It is a front view of the present invention;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the horizontal moving structure in the present invention;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the transport and flipping structure in the present invention;

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the transport and clamping structure of the present invention;

[0025] Figure 6 It is a three-dimensional structural schematic diagram of the first embodiment of the clamping member in the present invention;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the second embodiment of the clamping member in the present invention;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the clamping member of the third embodiment of the present invention;

[0028] Fig. 9 It is a partial three-dimensional structural schematic diagram of the third embodiment of the clamping member in the present invention;

[0029] Reference numerals

[0030] Mounting frame 1, horizontal moving structure 2, moving cylinder 21, moving plate 22, moving rod 23, mounting plate 24, handling flip structure 3, handling end 30, driving two-way cylinder 31, moving frame 32, moving tooth plate 33, moving gear 34, rotating shaft 35, rotating seat 36, sliding sleeve 37, handling clamping structure 4, driving motor 41, rotating plate 42, rotating plate 43, mounting support 44, connecting plate 45, sliding support rod 46, plug Connecting hole 47, plug-in screw 48, clamping piece 5, first plug-in seat 50, first connecting hole 501, first clamping rod 502, second plug-in seat 51, second connecting hole 511, second clamping rod 512, third plug-in seat 52, third connecting hole 521, third clamping rod 522, driving cylinder 523, slide groove 524, slide rod 525, slide plate 526, pressing round rod disk 527, interconnecting plate 528, pressing cylinder 6, pressing circular plate 61. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] Reference Figures 1 to 9As shown, an embodiment of the present invention provides a dual-station manipulator, including a mounting frame 1, a horizontal moving structure 2 is provided on the mounting frame 1, and the horizontal moving structure 2 is slidably matched with the mounting frame 1, and a transport and flipping structure 3 is provided on the horizontal moving structure 2, and the transport and flipping structure 3 is rotatably connected to the horizontal moving structure 2; two transport ends 30 are provided on the transport and flipping structure 3, and each of the transport ends 30 is provided with a transport clamping structure 4, and the transport clamping structure 4 is rotatably connected to the transport end 30, and the transport clamping structure 4 is provided with two rows of clamping members 5.

[0034] The mounting frame 1 can be installed and connected to a four-axis robot arm in the prior art. During the process of transporting different types of goods, different types of grippers 5 can be rotated to meet the needs of transporting different types of goods.

[0035] Specifically, the horizontal moving structure 2 includes a moving cylinder 21 , a moving plate 22 and four moving rods 23 . The moving cylinder 21 is arranged on the mounting frame 1 . The four moving rods 23 are arranged on the moving plate 22 . The moving rods 23 are slidably matched with the mounting frame 1 .

[0036] In the process of transporting goods, the mobile cylinder 21 can drive the mobile plate 22 to slide on the mounting frame 1 through the four mobile rods 23. After the goods are transported, the position distance of the goods transported at the two workstations can be adjusted by the mobile cylinder 21.

[0037] Specifically, the transport and flipping structure 3 includes a driving two-way cylinder 31 and two rotating parts. The movable plate 22 is provided with a mounting plate 24. The driving two-way cylinder 31 is horizontally arranged at the middle position of the movable plate 22. The two rotating parts are respectively rotatably connected to the mounting plate 24, and the two rotating parts are respectively connected to the telescopic ends of the driving two-way cylinder 31; each of the rotating parts includes a movable frame 32, a movable tooth plate 33, a movable gear 34, a rotating shaft 35 and a rotating seat 36. Three sliding sleeves 37 arranged at equal intervals are provided on the side wall of the mounting plate 24. The movable frame 32 is slidably connected in the three sliding sleeves 37. The movable tooth plate 33 is located on the movable frame 32, and the rotating seat 36 is located on the movable plate 22. The two ends of the rotating shaft 35 are respectively rotatably connected to the rotating seat 36 and the movable plate 22. The movable gear 34 is located at one end of the rotating shaft 35, and the movable gear 34 is meshed with the movable tooth plate 33.

[0038] When the transport position is flipped and adjusted, the two-way cylinder 31 is driven to work and drive the two mobile frames 32 to move horizontally in the corresponding sliding sleeves 37 on the side walls of the mounting plate 24. The movement of the two mobile frames 32 drives the two mobile toothed plates 33 to move to both sides respectively. The movement of the two mobile toothed plates 33 drives the two mobile gears 34 to rotate respectively, which can drive the two rotating shafts 35 to rotate on the mounting plate 24 and the corresponding rotating seat 36. The rotation of the rotating shaft 35 will drive the rotating plate 42 to rotate, which will drive the position of the clamped goods to flip and rotate;

[0039] The transport path can be optimized: In some space-constrained environments, the posture of the goods can be adjusted by flipping or rotating them so that they can pass through narrow passages or bypass obstacles at a more appropriate angle, thereby shortening the transport path and improving transport efficiency.

[0040] Adapt to different workstation requirements: Different processing or assembly stations may have specific requirements for the orientation of the goods. The robot can flip and rotate the goods to directly adjust the goods to the required posture without additional adjustment operations at the station, saving time and improving the overall operating efficiency of the production line.

[0041] Specifically, the carrying and clamping structure 4 includes a driving motor 41, a rotating plate body 42, a rotating plate 43, two mounting supports 44, two connecting plates 45 and two sliding support rods 46. The two sliding support rods 46 are symmetrically arranged on the rotating plate body 42. The driving motor 41 is arranged in the rotating plate body 42. The rotating plate body 42 is connected to the other end of the rotating shaft 35. The rotating plate body 42 is rotatably connected to the rotating seat 36. The middle position of the rotating plate 43 is connected to the main shaft of the driving motor 41. The two mounting supports 44 are symmetrically arranged on the two sliding support rods 46. The two ends of the mounting supports 44 are respectively slidably connected to the two sliding support rods 46. One end of the connecting plate 45 is hinged to the rotating plate 43, and the other end of the connecting plate 45 is hinged to the mounting support 44.

[0042] In the process of clamping the goods, the driving motor 41 drives the rotating plate 43 to rotate. The rotation of the rotating plate 43 will drive the two connecting plates 45 to rotate, thereby driving the two mounting supports 44 to slide on the two sliding support rods 46, thereby driving the positions of the two mounting supports 44 to move closer or farther, so as to clamp the goods.

[0043] Specifically, the mounting support 44 is provided with a plurality of equally spaced plug-in holes 47 , and each of the plug-in holes 47 is provided with a plug-in screw 48 threadably connected thereto.

[0044] In the process of clamping the goods, different clamping members 5 can be adjusted according to the shape of the goods. When the clamping member 5 is installed on the mounting bracket 44, the plug-in screw 48 can be rotated out, and then the clamping member 5 can be plugged into the plug-in hole 47. Thereafter, the plug-in screw 48 is rotated to fix the position of the clamping member 5. When replacing the clamping member 5, the plug-in screw 48 is taken out, and the clamping member 5 can be replaced by simply taking it out of the plug-in hole 47.

[0045] Embodiment 1:

[0046] Specifically, the clamping member 5 includes a plurality of first sockets 50 inserted into the insertion holes 47 , the first sockets 50 are provided with first connecting holes 501 cooperating with the insertion screws 48 , and the bottom of the first sockets 50 is provided with a vertically arranged first clamping rod 502 .

[0047] The first clamping rod 502 can clamp large rectangular goods and large cylindrical goods. When in use, the first connecting hole 501 on the first plug socket 50 can be fixed in the plug hole 47 through the plug screw 48.

[0048] Embodiment 2:

[0049] Specifically, the clamping member 5 includes a plurality of second sockets 51 inserted into the insertion holes 47 , the second sockets 51 are provided with second connecting holes 511 cooperating with the insertion screws 48 , and the bottom of the second sockets 51 is provided with an arc-shaped second clamping rod 512 .

[0050] The second clamping rod 512 can be used to carry the goods in the woven bag. When in use, the second connecting hole 511 on the second plug socket 51 can be fixed in the plug hole 47 through the plug screw 48.

[0051] Specifically, a pressing cylinder 6 is disposed on the rotating plate body 42 , and a pressing circular plate 61 is disposed on the telescopic end of the pressing cylinder 6 .

[0052] In the process of clamping and carrying the goods, when the first clamping rod 502 and the second clamping rod 512 are used to clamp the goods, the downward pressure cylinder 6 drives the downward pressure circular plate 61 to move downward, thereby fixing the top of the clamped goods to prevent the goods from tilting during the clamping process and affecting the handling of the goods.

[0053] Embodiment three:

[0054] Specifically, the clamping member 5 includes a plurality of third sockets 52 plugged into the plug-in holes 47, the third sockets 52 are provided with a third connecting hole 521 cooperating with the plug-in screw 48, a vertically arranged third clamping rod 522 is provided at the bottom of the second socket 51, a connecting frame is provided between the plurality of the third clamping rods 522, a driving cylinder 523 is provided on the connecting frame, each of the third clamping rods 522 is provided with a slide groove 524 and a sliding rod 525 is provided in the slide groove 524, each of the slide grooves 524 is provided with a slide plate 526 slidably cooperating with the sliding rod 525, a downward pressing round rod disk 527 is provided at the bottom of the slide plate 526, a connected interconnecting plate 528 is provided between the plurality of the slide plates 526, and the interconnecting plate 528 is connected to the telescopic end of the driving cylinder 523.

[0055] When in use, the third connecting hole 521 on the third socket 52 can be fixed in the plug hole 47 by the plug-in screw 48. In the process of transporting small goods or transporting several goods at a time, after the goods are clamped by the third clamping rod 522, the position of the interconnecting plate 528 can be driven to move downward by driving the cylinder 523, thereby driving the positions of several slides 526 to move downward, so that the slides 526 move downward on the slide rod 525. The downward movement of the slide 526 can drive the position of the pressing round rod plate 527 to move downward, and the top of the small goods can be clamped. In the process of transporting the goods, the position of the top of the small goods can be limited and fixed to prevent the goods from shaking during the transportation of the small goods, thereby affecting the transportation of the goods.

[0056] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A dual-station manipulator, characterized in that: The invention comprises a mounting frame (1), wherein a horizontal moving structure (2) is provided on the mounting frame (1), wherein the horizontal moving structure (2) and the mounting frame (1) are slidably matched, wherein a transport and flipping structure (3) is provided on the horizontal moving structure (2), and wherein the transport and flipping structure (3) and the horizontal moving structure (2) are rotationally connected. The transport and flip structure (3) is provided with two transport ends (30), and each of the transport ends (30) is provided with a transport clamping structure (4); The transporting and clamping structure (4) is rotatably connected to the transporting end (30), and two rows of clamping members (5) are provided on the transporting and clamping structure (4).

2. A dual-station manipulator according to claim 1, characterized in that: The horizontal moving structure (2) comprises a moving cylinder (21), a moving plate (22) and four moving rods (23); the moving cylinder (21) is arranged on a mounting frame (1); the four moving rods (23) are arranged on the moving plate (22); and the moving rods (23) are slidably matched with the mounting frame (1).

3. A dual-station manipulator according to claim 2, characterized in that: The transport and flipping structure (3) comprises a driving bidirectional cylinder (31) and two rotating parts. A mounting plate (24) is provided on the moving plate (22). The driving bidirectional cylinder (31) is horizontally arranged at the middle position of the moving plate (22). The two rotating parts are respectively rotatably connected to the mounting plate (24). The two rotating parts are respectively connected to the telescopic ends of the driving bidirectional cylinder (31).

4. A dual-station manipulator according to claim 3, characterized in that: Each of the rotating parts comprises a moving frame (32), a moving tooth plate (33), a moving gear (34), a rotating shaft (35) and a rotating seat (36); three sliding sleeves (37) arranged at equal intervals are provided on the side wall of the mounting plate (24); the moving frame (32) is slidably connected in the three sliding sleeves (37); the moving tooth plate (33) is located on the moving frame (32); the rotating seat (36) is located on the moving plate (22); the two ends of the rotating shaft (35) are rotatably connected to the rotating seat (36) and the moving plate (22) respectively; the moving gear (34) is located at one end of the rotating shaft (35); and the moving gear (34) is meshed with the moving tooth plate (33).

5. A dual-station robot according to claim 4, characterized in that: The transporting and clamping structure (4) comprises a driving motor (41), a rotating plate body (42), a rotating plate (43), two mounting supports (44), two connecting plates (45) and two sliding support rods (46), wherein the two sliding support rods (46) are symmetrically arranged on the rotating plate body (42), the driving motor (41) is arranged in the rotating plate body (42), the rotating plate body (42) is connected to the other end of the rotating shaft (35), the rotating plate body (42) is rotatably connected to the rotating seat (36), the middle position of the rotating plate (43) is connected to the main shaft of the driving motor (41), the two mounting supports (44) are symmetrically arranged on the two sliding support rods (46), the two ends of the mounting supports (44) are respectively slidably connected to the two sliding support rods (46), one end of the connecting plate (45) is hinged to the rotating plate (43), and the other end of the connecting plate (45) is hinged to the mounting support (44).

6. A dual-station robot according to claim 5, characterized in that: The mounting support (44) is provided with a plurality of insertion holes (47) arranged at equal intervals, and each of the insertion holes (47) is provided with an insertion screw (48) threadedly connected thereto.

7. A dual-station robot according to claim 6, characterized in that: The clamping member (5) comprises a plurality of first plug-in sockets (50) plugged into the plug-in holes (47), wherein the first plug-in sockets (50) are provided with first connecting holes (501) matched with the plug-in screws (48), and the bottom of the first plug-in sockets (50) is provided with a vertically arranged first clamping rod (502).

8. A dual-station robot according to claim 6, characterized in that: The clamping member (5) comprises a plurality of second plug-in sockets (51) plugged into the plug-in holes (47), the second plug-in sockets (51) are provided with second connecting holes (511) matched with the plug-in screws (48), and the bottom of the second plug-in sockets (51) is provided with an arc-shaped second clamping rod (512).

9. A dual-station manipulator according to claim 7 or 8, characterized in that: A downward pressing cylinder (6) is provided on the rotating plate body (42), and a downward pressing circular plate (61) is provided on the telescopic end of the downward pressing cylinder (6).

10. A dual-station robot according to claim 6, characterized in that: The clamping member (5) comprises a plurality of third sockets (52) inserted into the plug holes (47), wherein the third sockets (52) are provided with a third connecting hole (521) matched with the plug screw (48), and a vertically arranged third clamping rod (522) is provided at the bottom of the second socket (51), and a connecting frame is provided between the plurality of the third clamping rods (522), and a driving cylinder (523) is provided on the connecting frame, and each of the third clamping rods (522) is provided with a sliding groove (524) and a sliding rod (525) is provided in the sliding groove (524), and each of the sliding grooves (524) is provided with a slide plate (526) slidably matched with the sliding rod (525), and a downward pressing round rod disk (527) is provided at the bottom of the slide plate (526), ​​and an interconnecting plate (528) connected between the plurality of the slide plates (526), ​​and the interconnecting plate (528) is connected to the telescopic end of the driving cylinder (523).

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