A double chuck rotatable robot and its gripping method

Abstract

The application relates to the technical field of mechanical hands, in particular to a double-clamping-head rotatable mechanical hand and a clamping method thereof, which comprises a water storage part, a driving mechanism and a clamping head mechanism, the water storage part is installed on a driving shaft of the driving mechanism, the clamping head mechanism is installed on the water storage part, the clamping head mechanism is controlled to run by a program to clamp and transport workpieces, and the application is characterized in that the application further comprises: a counterweight mechanism installed on the water storage part; a heat dissipation mechanism installed on the driving mechanism and dissipating heat along with the counterweight mechanism; the counterweight mechanism comprises a pulling assembly, a counterweight assembly, a one-way assembly, a water return assembly and a lifting plate; and the pulling assembly is installed in the water storage part. The application drives a peristaltic rod to rotate, then the peristaltic rod extrudes a hose, due to the three-head design of the peristaltic rod, the peristaltic rod can push water in the hose into the water storage part, so that the weight of a counterweight box is adjusted according to the extension distance of a telescopic part, and the situation that the center of gravity deviates due to the long distance of a moving part is avoided.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a dual-gripper rotatable robotic arm and its gripping method. Background Technology

[0002] Robotic arms are one of the most commonly used devices in industry. They are generally controlled by programmed instructions. A dual-gripper robotic arm can hold two workpieces at a time and transport them.

[0003] Chinese patent CN10638054B discloses a robotic arm, belonging to the field of robotic arm technology, which solves the problem of unstable structure in current robotic arms. The robotic arm includes a forearm and a lead screw mounted on the forearm, and a working shaft passing through the forearm and parallel to the lead screw. A connecting member is axially fixed to the upper end of the working shaft, and the connecting member is connected to the lead screw. The forearm has a base, the lead screw is disposed within the base, and a second connecting member is fixed to the base. The working shaft passes through the second connecting member. In the aforementioned prior art, the second connecting member between the lead screw and the working shaft makes the operation of the working shaft more stable.

[0004] However, industrial production environments are complex, and there are many types of workpieces that need to be clamped, including some heavy workpieces. Furthermore, the dual-clamp assembly needs to clamp two workpieces at a time, which results in a large load on the robot arm. The robot arm may also need to extend a certain distance, which causes the center of gravity to shift when the robot arm is clamping the workpiece. This may lead to tilting and breakage of the support rod of the robot arm's gripper and the bottom mounting point of the robot arm under long-term use. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the background art by proposing a dual-gripper rotatable manipulator and its gripping method.

[0006] The technical solution of this invention: A dual-clamp rotatable manipulator, comprising a water storage section, a drive mechanism, and a clamping mechanism. The water storage section is mounted on the drive shaft of the drive mechanism, and the clamping mechanism is mounted on the water storage section. The clamping mechanism clamps and transports workpieces under program control. The invention is characterized by further comprising: a counterweight mechanism mounted on the water storage section; a heat dissipation mechanism mounted on the drive mechanism and dissipating heat along with the counterweight mechanism; the counterweight mechanism includes a pulling component, a counterweight component, a one-way component, a water return component, and a lifting plate; the pulling component is mounted inside the water storage section, and the lifting plate is mounted on the pulling component. The pulling component changes the height of the lifting plate within the water storage section along with the clamping mechanism; the counterweight component is mounted on the water storage section, and the water extraction end extracts and stores water from the water storage section according to the height of the lifting plate; the one-way component is mounted inside the water storage section; the water return component is mounted on the one-way component and rotates with the one-way component; the clamping mechanism moves to change the height of the lifting plate within the water storage section, and the counterweight component extracts a fixed amount of water from the water storage section for counterweighting according to the height of the lifting plate.

[0007] Preferably, the pulling assembly includes an elastic element and a pull rope; the two ends of the elastic element are respectively connected to the top of the water storage section and the lifting plate; the two ends of the pull rope are respectively connected to the clamping mechanism and the lifting plate.

[0008] Preferably, the counterweight assembly includes a pressure sensor, a water pump, a telescopic tube, a rectangular tube, and a counterweight box; the pressure sensor is installed on the clamping end of the chuck mechanism and is electrically connected to the water pump; the water pump is installed on the lifting plate, with the input end of the water pump passing through the lifting plate and facing the bottom of the water storage section; the two ends of the telescopic tube are respectively connected to the output end of the water pump and the rectangular tube; the counterweight box is installed on the water storage section and is located in the opposite direction to the chuck mechanism; the rectangular tube is installed inside the counterweight box and its bottom end is located at the bottom of the inner cavity of the counterweight box.

[0009] Preferably, the one-way component includes a rack, a gear, a ratchet ring, a mounting plate, a peristaltic rod, and a one-way unit; the rack is mounted on the lifting plate; the gear is mounted inside the water storage section and meshes with the rack; the ratchet ring is mounted on the gear and fitted onto the peristaltic rod; the mounting plate is mounted inside the water storage section, and the peristaltic rod is rotatably connected inside the mounting plate; the one-way unit is mounted on the peristaltic rod and engages with the ratchet ring.

[0010] Preferably, the unidirectional unit includes a cylinder, a coil spring, and a push plate; the cylinder is installed inside the peristaltic rod, and the coil spring is installed inside the cylinder; the central axis of the push plate passes through the cylinder and is connected to the middle of the coil spring.

[0011] Preferably, the water return assembly includes a limiting member, a water return pipe, and a hose; the limiting member is mounted on the mounting plate; the two ends of the water return pipe are respectively connected to the hose and the counterweight assembly; the bottom of the hose faces the bottom of the water storage section; the peristaltic rod squeezes the hose to rotate, pushing the water in the counterweight assembly back into the water storage section.

[0012] Preferably, the drive mechanism includes a support base and a drive device; the drive device is installed inside the support base, and the output shaft of the drive device is connected to the water storage section.

[0013] Preferably, the chuck mechanism includes a telescopic part, a moving part, a driving part, and a gripper; the telescopic part is mounted on the water storage part, the moving part is mounted on the driving end of the telescopic part, the driving part is mounted on the moving part, the gripper is mounted on the output end of the driving part, and a pressure sensor is mounted on the gripper; the gripper is used to hold the workpiece.

[0014] Preferably, the heat dissipation mechanism includes a wind deflector, a movable slot, a movable rod, a float plate, a connecting rod, a connector, a guide ring, a lifting rod, and a pull rope; the wind deflector is installed on the side of the support base; the movable slot is opened in the gripper, and the movable rod is sleeved in the movable slot; the float plate is sleeved on the surface of the rectangular tube and rises and falls with the water level in the counterweight box; the two ends of the connecting rod are respectively connected to the float plate and the connector; the guide ring is connected to the outside of the lifting rod; the lifting rod is installed on the side of the support base and sleeved with the movable rod.

[0015] This invention further provides a gripping method using a dual-gripper rotatable robotic arm, comprising the following steps:

[0016] S1. The telescopic part drives the moving part to move to the workpiece position, and then the gripper clamps the workpiece. The gripper can be driven by the drive part to lift and lower the gripper to clamp workpieces of different heights.

[0017] S2. The longer the telescopic part extends, the greater the distance the pulling component moves with the moving part, and the lower the height of the lifting plate in the water storage section. Then the counterweight component draws out the water in the water storage section and temporarily stores it. At this time, the counterweight component increases its weight.

[0018] S3. When the moving part is clamping the workpiece, the telescopic part is shortened, and the one-way component drives the water return component to return the water in the counterweight component to the water storage part.

[0019] S4. When the counterweight component is balancing, the heat dissipation mechanism will drive the mechanism to ventilate and dissipate heat.

[0020] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects:

[0021] According to the set program, the telescopic unit extends and retracts to change the distance between the gripper and the water storage section, and the drive unit is activated to raise and lower the gripper. The gripper then clamps the workpiece, and at this time, the workpiece is pressed against the pressure sensor, triggering the water pump to start. The longer the telescopic unit extends, the greater the amplitude of the pull rope pulled by the moving part, and the lower the height of the lifting plate within the water storage section, allowing the water pump to extract more water. This water is then transported to the counterweight box through the telescopic pipe and rectangular pipe, thereby increasing the weight of the counterweight box. While the gripper is clamping the workpiece, the telescopic unit drives the gripper to extend... When the telescopic part retracts and the moving part moves closer to the water storage part, the pull rope is released. At this time, the lifting plate rises due to the elasticity of the elastic element, which in turn drives the rack to rise, thereby driving the gear and ratchet ring to rotate. The ratchet ring then drives the push plate that is engaged with it to move, thereby driving the peristaltic rod to rotate. The peristaltic rod then squeezes the hose. Due to the three-head design of the peristaltic rod, it can push the water in the hose into the water storage part. This allows the weight of the counterweight box to be adjusted according to the extension distance of the telescopic part, avoiding the situation where the center of gravity shifts due to the long distance of the moving part.

[0022] Furthermore, when the telescopic part shortens during the workpiece clamping process, the water in the counterweight box can flow back to the water storage part according to the shortening range of the telescopic part. This avoids the situation where the counterweight box is still too heavy when the distance between the moving part and the water storage part shortens and the center of gravity is close to the water storage part during workpiece clamping and handling. Thus, the counterweight ratio can be adaptively adjusted during workpiece clamping.

[0023] Furthermore, when the counterweight box is filled with water, the float plate rises due to buoyancy, indicating that the drive equipment needs to run. Therefore, the float plate drives the connecting parts and guide ring to rise, which in turn drives the lifting rod to rise. Then, through the connection between the lifting rod and the moving rod, the wind deflector is flipped upward, changing from an inclined state to a horizontal state. This allows external air to be blown into the support base through the wind deflector, dissipating heat from the drive equipment. This ensures that heat dissipation only occurs during operation, avoiding the ventilation holes from being open for a long time, which would cause excessive external dust to enter and accumulate on the surface of the drive equipment, affecting its heat dissipation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the water storage section proposed in this invention;

[0026] Figure 3 This is a schematic diagram of the counterweight box proposed in this invention;

[0027] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0028] Figure 5This is a schematic diagram of the elastic element proposed in this invention;

[0029] Figure 6 For the present invention Figure 5 Enlarged view of point B in the middle;

[0030] Figure 7 For the present invention Figure 5 Enlarged view of point C in the middle;

[0031] Figure 8 This is a schematic diagram of the ratchet ring proposed in this invention;

[0032] Figure 9 This is a schematic diagram of the peristaltic rod proposed in this invention;

[0033] Figure 10 For the present invention Figure 9 Enlarged view of point D;

[0034] Reference numerals: 1. Support base; 2. Drive device; 3. Water storage section; 4. Telescopic section; 5. Moving section; 6. Drive section; 7. Gripper; 8. Pull rope; 9. Pressure sensor; 10. Elastic element; 11. Lifting plate; 12. Water pump; 13. Telescopic pipe; 14. Rectangular tube; 15. Counterweight box; 16. Rack; 17. Gear; 18. Ratchet ring; 19. Mounting plate; 20. Limiting element; 21. Peristaltic rod; 22. Cylinder; 23. Coil spring; 24. Push plate; 25. Return water pipe; 26. Hose; 27. Wind deflector; 28. Moving groove; 29. ​​Moving rod; 30. Floating plate; 31. Connecting rod; 32. Connector; 33. Guide groove ring; 34. Lifting rod. Detailed Implementation

[0035] Example 1, as Figures 1-10 As shown, the present invention proposes a dual-clamp rotatable manipulator, comprising a water storage section 3, a drive mechanism, and a clamping mechanism. The water storage section 3 is mounted on the drive shaft of the drive mechanism, and the clamping mechanism is mounted on the water storage section 3. The clamping mechanism clamps and transports workpieces under program control. The invention is characterized by further comprising: a counterweight mechanism mounted on the water storage section 3; and a heat dissipation mechanism mounted on the drive mechanism and dissipating heat along with the counterweight mechanism. The counterweight mechanism includes a pulling component, a counterweight assembly, a one-way component, a water return component, and a lifting plate 11. The pulling component is mounted on... Inside the water storage section 3, the lifting plate 11 is mounted on the pulling assembly, which changes the height of the lifting plate 11 within the water storage section 3 along with the clamping mechanism; the counterweight assembly is mounted on the water storage section 3, and the pumping end draws water from the water storage section 3 according to the height of the lifting plate 11 for storage; the one-way assembly is mounted inside the water storage section 3; the return water assembly is mounted on the one-way assembly and rotates with the one-way assembly; the clamping mechanism moves to change the height of the lifting plate 11 within the water storage section 3, and the counterweight assembly draws out a fixed amount of water from the water storage section 3 for counterweighting according to the height of the lifting plate 11.

[0036] The pulling assembly includes an elastic element 10 and a pull rope 8. The two ends of the elastic element 10 are respectively connected to the top of the water storage section 3 and the lifting plate 11. The two ends of the pull rope 8 are respectively connected to the clamping mechanism and the lifting plate 11. The water storage section 3 is filled with water. When the telescopic part 4 extends and moves the moving part 5 away from the water storage section 3, it pulls the pull rope 8. The longer the distance between the moving part 5 and the water storage section 3, the greater the drop of the lifting plate 11 in the water storage section 3, so that the height of the lifting plate 11 in the water storage section 3 is lower. When the pressure sensor 9 is triggered, the water pump 12 starts and can pump out all the water in the water storage section 3 above the lifting plate 11. The water below the lifting plate 11 cannot be pumped in because the input end of the water pump 12 cannot be contacted. The elastic element 10 consists of a spring and a telescopic rod, with the spring sleeved on the outside of the telescopic rod.

[0037] The counterweight assembly includes a pressure sensor 9, a water pump 12, a telescopic tube 13, a rectangular tube 14, and a counterweight box 15. The pressure sensor 9 is mounted on the clamping end of the chuck mechanism and is electrically connected to the water pump 12. The water pump 12 is mounted on the lifting plate 11, with its input end penetrating the lifting plate 11 and facing the bottom of the water storage section 3. The two ends of the telescopic tube 13 are respectively connected to the output end of the water pump 12 and the rectangular tube 14. The counterweight box 15 is mounted on the water storage section 3 and located in the opposite direction to the chuck mechanism. The rectangular tube 14... 4 is installed inside the counterweight box 15 with its bottom end located at the bottom of the inner cavity of the counterweight box 15; when the gripper 7 grips the workpiece, the pressure sensor 9 is triggered, and the water pump 12 is started to draw out the water in the water storage section 3, thereby transporting the water to the counterweight box 15 through the telescopic pipe 13 and the rectangular pipe 14. The counterweight box 15 is located on the top of the water storage section 3 away from the moving part 5. The farther the moving part 5 is from the water storage section 3, the more the center of gravity shifts towards the moving part 5, so that the weight passing through the counterweight box 15 is heavier, so that the weight on both sides above the water storage section 3 is balanced.

[0038] The one-way assembly includes a rack 16, a gear 17, a ratchet ring 18, a mounting plate 19, a peristaltic rod 21, and a one-way unit. The rack 16 is mounted on the lifting plate 11. The gear 17 is mounted inside the water storage section 3 and meshes with the rack 16. The ratchet ring 18 is mounted on the gear 17 and fitted onto the peristaltic rod 21. The mounting plate 19 is mounted inside the water storage section 3, and the peristaltic rod 21 is rotatably connected to the mounting plate 19. The one-way unit is mounted on the peristaltic rod 21 and engages with the ratchet ring 18. When the rack 16 descends, it represents an increase in the distance between the moving section 5 and the water storage section 3, and the center of gravity shifts towards the moving section 5, so the ratchet ring 18 cannot drive the peristaltic rod 21 to rotate. When the rack 16 rises, it represents a decrease in the distance between the moving section 5 and the water storage section 3, and the gear 17 can drive the peristaltic rod 21 to rotate through the ratchet ring 18.

[0039] The one-way unit includes a cylinder 22, a coil spring 23, and a push plate 24. The cylinder 22 is installed inside the peristaltic rod 21, and the coil spring 23 is installed inside the cylinder 22. The central axis of the push plate 24 passes through the cylinder 22 and is connected to the middle of the coil spring 23. When the rack 16 rises, the meshing of the rack 16 with the gear 17 drives the ratchet ring 18 to rotate. The slot of the ratchet ring 18 contacts the push plate 24, pushing the push plate 24 to move, thereby driving the peristaltic rod 21 to rotate. When the rack 16 descends, the ratchet ring 18 rotates, and the inclined surface of the ratchet ring 18 contacts the push plate 24. At this time, due to the elasticity of the coil spring 23, the push plate 24 rotates. The angle of the moving plate 24 is offset, and it is misaligned with the ratchet ring 18, so it cannot drive the peristaltic rod 21 to rotate. The peristaltic rod 21 has a mounting groove, and the pushing plate 24 is installed in the mounting groove. When the pushing plate 24 contacts the inclined surface of the ratchet ring 18, the pushing plate 24 is squeezed and moves downward into the mounting groove. At this time, there is a downward space in the mounting groove for the pushing plate 24 to descend. When the pushing plate 24 contacts the slot of the ratchet ring 18, the pushing plate 24 is lifted outward of the peristaltic rod 21. However, due to the angle setting of the mounting groove, the pushing plate 24 is blocked, so that the ratchet ring 18 can drive the peristaltic rod 21 to rotate through the pushing plate 24.

[0040] The water return assembly includes a limiting member 20, a water return pipe 25, and a hose 26. The limiting member 20 is mounted on the mounting plate 19. The two ends of the water return pipe 25 are connected to the hose 26 and the counterweight assembly, respectively. The bottom of the hose 26 faces the bottom of the water storage section 3. The peristaltic rod 21 squeezes the hose 26 to rotate, pushing the water in the counterweight assembly back into the water storage section 3. The peristaltic rod 21 has three protruding squeezing heads. When the peristaltic rod 21 rotates, two of the three squeezing heads always squeeze the hose 26, so that the water in the counterweight box 15 enters the hose 26 along the water return pipe 25, and then the squeezing heads push the water in the hose 26 back into the water storage section 3.

[0041] The drive mechanism includes a support base 1 and a drive device 2; the drive device 2 is installed inside the support base 1, and the output shaft of the drive device 2 is connected to the water storage part 3. When the gripper 7 clamps and transports the workpiece, the drive device 2 is started to drive the water storage part 3 to rotate, thereby enabling the workpiece to be transported to other positions; the drive device 2 is a motor.

[0042] Example 2, as Figures 1-4As shown, the present invention proposes a dual-gripper rotatable manipulator and its gripping method. Compared with Embodiment 1, the gripping mechanism in this embodiment includes a telescopic part 4, a moving part 5, a driving part 6, and grippers 7. The telescopic part 4 is mounted on the water storage part 3, the moving part 5 is mounted on the driving end of the telescopic part 4, the driving part 6 is mounted on the moving part 5, and the grippers 7 are mounted on the output end of the driving part 6. A pressure sensor 9 is mounted on the grippers 7. The grippers 7 are used to grip the workpiece. The driving part 6 consists of a second motor, a lifting frame, a lead screw, and a round rod. The second motor is mounted on the top of the moving part 5, the lead screw is mounted on the output shaft of the second motor, and the round rod is mounted inside the moving part 5. The lifting frame is threaded onto the surface of the lead screw and sleeved onto the surface of the round rod. The driving part 6 can also be a cylinder, which is mounted on the moving part 5. Its output shaft is connected to the grippers 7, driving the grippers 7 to rise and fall. There are two grippers 7, which are respectively located on both sides of the output end of the driving part 6.

[0043] Example 3, as Figures 1-3 , Figure 5 and Figure 6 As shown, the present invention proposes a dual-clamp rotatable manipulator and its gripping method. Compared with Embodiment 2, the heat dissipation mechanism of this embodiment includes a baffle plate 27, a movable groove 28, a movable rod 29, a floating plate 30, a connecting rod 31, a connector 32, a guide ring 33, a lifting rod 34, and a pull rope 8. The baffle plate 27 is installed on the side of the support base 1. The movable groove 28 is opened in the gripper 7, and the movable rod 29 is sleeved in the movable groove 28. The floating plate 30 is sleeved on the surface of the rectangular tube 14 and rises and falls with the water level in the counterweight box 15. The two ends of the connecting rod 31 are respectively connected to the floating plate 30 and the connector 32. The guide ring 33 is connected to the outside of the lifting rod 34. The lifting rod 34 is installed on the side of the support base 1 and sleeved with the movable rod 29. When the drive device 2 is not in use, the baffle plate 27 is in an inclined state, thereby dissipating heat from the support base. The base 1 is sealed to prevent air from passing through it, thus preventing ventilation. When the connecting rod 31 rises due to the buoyancy of the float plate 30, it drives the connecting piece 32 to rise. The connecting piece 32 then rises by fitting onto the guide ring 33, which in turn drives the guide ring 33 to rise. Since the connecting piece 32 is fitted onto the guide ring 33, it can rotate along the guide ring 33. This allows the water storage part 3 to rotate, and the counterweight box 15 to rotate, which in turn drives the connecting rod 31 to rise. When the lifting rod 34 rises, it drives the moving rod 29 to rise. Since the moving rod 29 is fitted into the moving groove 28, the angle of the moving groove 28 changes from an inclined state to a horizontal state. The float plate 30 is positioned and guided by the rectangular tube 14.

[0044] Example 4, as Figures 1-10 As shown, the present invention proposes a gripping method using a dual-gripper rotatable manipulator, employing the dual-gripper rotatable manipulator described in Embodiment 2, comprising the following steps:

[0045] S1. The telescopic part 4 drives the moving part 5 to move to the workpiece position, and then the gripper 7 clamps the workpiece. The gripper 7 can be driven by the drive part 6 to lift and lower the workpiece to clamp different heights.

[0046] S2. The longer the extension distance of the telescopic part 4, the greater the movement distance of the pulling component with the moving part 5, and the lower the height of the lifting plate 11 in the water storage part 3. Then the counterweight component draws out the water in the water storage part 3 and temporarily stores it. At this time, the counterweight component increases its weight.

[0047] S3. When the moving part 5 is clamping the workpiece, the telescopic part 4 is shortened, and the one-way component drives the water return component to return the water in the counterweight component to the water storage part 3.

[0048] S4. When the counterweight component is balancing, the heat dissipation mechanism will drive the mechanism to ventilate and dissipate heat.

[0049] In summary, according to the set program, the drive device 2 is started to control the rotation of the water storage part 3. Then, the distance between the water storage part 3 and the moving part 5 is changed by the telescopic part 4. Next, the drive unit 6 is started to change the height of the gripper 7. Then, the workpiece is clamped by the gripper 7. At this time, the pressure sensor 9 contacts the workpiece and triggers the water pump 12 to run. When the moving part 5 changes the distance through the telescopic part 4, the moving part 5 pulls the pull rope 8. The farther the moving part 5 is from the water storage part 3, the greater the pull of the pull rope 8, which makes the lifting plate 11 descend more. At the same time, the elastic element 10 is stretched. When the lifting plate 11 descends, the height of the water pump 12 is changed. Then, the water in the inner cavity of the water storage part 3 is extracted by the water pump 12 and transported to the counterweight box 15 along the telescopic pipe 13 and the rectangular pipe 14. The water pump 12 extracts the water level line in the inner cavity of the water storage part 3 to below the lifting plate 11. Then, the weight of the counterweight box 15 increases, so that the gravity of the top of the water storage part 3 is balanced.

[0050] When the gripper 7 is holding the workpiece, the distance between the telescopic part 4 and the moving part 5 and the water storage part 3 changes. If the distance to the water storage part 3 increases, water will continue to be pumped into the counterweight box 15 by the water pump 12 to increase the weight. If the moving part 5 moves towards the water storage part 3, the pull rope 8 is released, and the lifting plate 11 rises due to the elasticity of the elastic element 10, causing the height of the water pump 12 to change. At this time, the lifting plate 11 drives the rack 16 to rise. Through the meshing of the rack 16 and the gear 17, the gear 17 is driven to rotate. The gear 17 drives the ratchet ring 18 to rotate. Through the ratchet ring 18, the push plate 24 is driven to rotate. The push plate 24 drives the peristaltic rod 21 to rotate. The peristaltic rod 21 squeezes the water in the hose 26, extracts the water in the counterweight box 15, and sends it back to the water storage part 3. This achieves the reduction of water in the counterweight box 15 when the gripper 7 moves towards the water storage part 3 while holding the workpiece, thereby reducing the weight and ensuring that the gravity on both sides of the top of the water storage part 3 remains balanced.

[0051] When there is water inside the counterweight box 15, the float plate 30 floats upward. The float plate 30 drives the connecting rod 31 to rise, the connecting rod 31 drives the connecting piece 32 to rise, the connecting piece 32 drives the guide groove ring 33 to rise, and the guide groove ring 33 drives the lifting rod 34 to rise. The lifting rod 34 is sleeved on the moving rod 29, causing the moving rod 29 to rise. Then, the moving rod 29 is sleeved on the moving groove 28, so that during the process of the moving rod 29 rising, the angle of the wind deflector 27 changes from an inclined state to a horizontal state, thereby ventilating the support base 1 and dissipating heat from the drive device 2.

[0052] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A dual-clamp rotatable manipulator, comprising a water storage unit (3), a drive mechanism, and a clamping mechanism, wherein the water storage unit (3) is mounted on the drive shaft of the drive mechanism, and the clamping mechanism is mounted on the water storage unit (3), and the clamping mechanism clamps and transports workpieces under program-controlled operation, characterized in that, Also includes: The counterweight mechanism is installed on the water storage section (3); A heat dissipation mechanism, which is mounted on the drive mechanism and dissipates heat along with the counterweight mechanism; The counterweight mechanism includes a pulling component, a counterweight component, a one-way component, a return water component, and a lifting plate (11); the pulling component is installed inside the water storage section (3), the lifting plate (11) is installed on the pulling component, and the pulling component changes the height of the lifting plate (11) inside the water storage section (3) with the clamping mechanism; the counterweight component is installed on the water storage section (3), and the pumping end draws water from the water storage section (3) according to the height of the lifting plate (11) for storage; the one-way component is installed inside the water storage section (3); the return water component is installed on the one-way component and rotates with the one-way component; the clamping mechanism moves to change the height of the lifting plate (11) inside the water storage section (3), and the counterweight component draws out a fixed amount of water from the water storage section (3) for counterweighting according to the height of the lifting plate (11); The one-way assembly includes a rack (16), a gear (17), a ratchet ring (18), a mounting plate (19), a peristaltic rod (21), and a one-way unit; the rack (16) is mounted on the lifting plate (11); the gear (17) is mounted in the water storage section (3) and meshes with the rack (16); the ratchet ring (18) is mounted on the gear (17) and fitted onto the peristaltic rod (21); the mounting plate (19) is mounted in the water storage section (3), and the peristaltic rod (21) is rotatably connected to the mounting plate (19); the one-way unit is mounted on the peristaltic rod (21) and engages with the ratchet ring (18); The one-way unit includes a cylinder (22), a coil spring (23), and a push plate (24); the cylinder (22) is installed inside the peristaltic rod (21), and the coil spring (23) is installed inside the cylinder (22); the central axis of the push plate (24) passes through the cylinder (22) and is connected to the middle of the coil spring (23); The water return assembly includes a limiting member (20), a water return pipe (25), and a hose (26); the limiting member (20) is installed on the mounting plate (19); the two ends of the water return pipe (25) are connected to the hose (26) and the counterweight assembly respectively; the bottom of the hose (26) faces the bottom of the water storage section (3); the peristaltic rod (21) squeezes the hose (26) to rotate, pushing the water in the counterweight assembly back into the water storage section (3).

2. The dual-gripper rotatable manipulator according to claim 1, characterized in that, The pulling assembly includes an elastic element (10) and a pull rope (8); the two ends of the elastic element (10) are respectively connected to the top of the water storage section (3) and the lifting plate (11); the two ends of the pull rope (8) are respectively connected to the clamping mechanism and the lifting plate (11).

3. The dual-gripper rotatable robotic arm according to claim 1, characterized in that, The counterweight assembly includes a pressure sensor (9), a water pump (12), a telescopic tube (13), a rectangular tube (14), and a counterweight box (15). The pressure sensor (9) is installed on the clamping end of the chuck mechanism and is electrically connected to the water pump (12). The water pump (12) is installed on the lifting plate (11) and the input end of the water pump (12) passes through the lifting plate (11) and faces the bottom of the water storage part (3). The two ends of the telescopic tube (13) are respectively connected to the output end of the water pump (12) and the rectangular tube (14). The counterweight box (15) is installed on the water storage part (3) and is located in the opposite direction of the chuck mechanism. The rectangular tube (14) is installed inside the counterweight box (15) and its bottom end is located at the bottom of the inner cavity of the counterweight box (15).

4. A dual-gripper rotatable robotic arm according to claim 3, characterized in that, The drive mechanism includes a support base (1) and a drive device (2); the drive device (2) is installed inside the support base (1), and the output shaft of the drive device (2) is connected to the water storage part (3).

5. A dual-gripper rotatable robotic arm according to claim 3, characterized in that, The chuck mechanism includes a telescopic part (4), a moving part (5), a driving part (6), and a gripper (7); the telescopic part (4) is mounted on the water storage part (3), the moving part (5) is mounted on the driving end of the telescopic part (4), the driving part (6) is mounted on the moving part (5), the gripper (7) is mounted on the output end of the driving part (6), and the pressure sensor (9) is mounted on the gripper (7); the gripper (7) is used to clamp the workpiece.

6. A dual-gripper rotatable robotic arm according to claim 4, characterized in that, The heat dissipation mechanism includes a baffle plate (27), a moving groove (28), a moving rod (29), a floating plate (30), a connecting rod (31), a connector (32), a guide ring (33), a lifting rod (34), and a pull rope (8); the baffle plate (27) is installed on the side of the support base (1); the moving groove (28) is opened in the gripper (7), and the moving rod (29) is sleeved in the moving groove (28); the floating plate (30) is fitted on the surface of the rectangular tube (14) and rises and falls with the water level in the counterweight box (15); the two ends of the connecting rod (31) are connected to the floating plate (30) and the connector (32) respectively; the guide ring (33) is connected to the outside of the lifting rod (34); the lifting rod (34) is installed on the side of the support base (1) and sleeved with the moving rod (29).

7. A gripping method using a dual-gripper rotatable robotic arm, employing the dual-gripper rotatable robotic arm as described in claim 5, characterized in that... Includes the following steps: S1. The telescopic part (4) drives the moving part (5) to move to the workpiece position, and then the gripper (7) clamps the workpiece. The gripper (7) can be driven by the driving part (6) to lift and clamp workpieces of different heights. S2. The longer the extension distance of the telescopic part (4), the greater the movement distance of the pulling component with the moving part (5), and the lower the height of the lifting plate (11) in the water storage part (3). Then the counterweight component will draw out the water in the water storage part (3) and temporarily store it. At this time, the counterweight component will increase its weight. S3. When the moving part (5) is clamping the workpiece, the telescopic part (4) is shortened, and the one-way component drives the water return component to return the water in the counterweight component to the water storage part (3). S4. When the counterweight component is balancing, the heat dissipation mechanism will drive the mechanism to ventilate and dissipate heat.

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