Double-mechanical-arm mechanism

Abstract

The utility model relates to the technical field of material clamping equipment, in particular to a double-mechanical-arm mechanism which comprises a supporting connecting frame, the top of the left side of an inner cavity of the supporting connecting frame is movably connected with a threaded shaft through a movable bearing, and guide shafts are transversely arranged at the bottoms of the two sides of the inner cavity of the supporting connecting frame. A first fixing mechanism is arranged on the front side of the supporting connecting frame, a second fixing mechanism is arranged at the bottom of the first fixing mechanism, a distance adjusting mechanism is arranged on the left side of the second fixing mechanism, and the first fixing mechanism comprises a top supporting plate. According to the double-mechanical-arm mechanism, the distance can be adjusted through the distance adjusting mechanism, the function of adaptation according to the material size is achieved, and therefore the overall equipment applicability is improved, a second fixing plate is driven to move downwards in a threaded transmission mode in the distance adjusting mechanism, limiting is conducted in the secondary process through a limiting plate, and the overall equipment adaptability is improved. And the second fixing plate and the threaded rod are prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of material clamping equipment, in particular to a double mechanical arm mechanism. Background Art

[0002] Material gripping robot is an automated equipment, mainly used for material handling and assembly in industrial production lines. According to the different finger movement modes, it can be divided into rotary type and translation type; according to the different clamping modes, it can be divided into internal support type and external clamping type; according to the structural characteristics, it can be divided into pneumatic type, electric type, hydraulic type and their combined clamping mechanisms.

[0003] After checking, the publication (announcement) number: CN213034616U discloses a dual-arm mechanism, which discloses "a dual-arm mechanism, relating to the technical field of feeding devices, comprising a guide rail, the upper and lower surfaces of which are provided with slide grooves, the left side of the guide rail is fixedly connected with a left plate, the right side of the guide rail is fixedly connected with a right plate, a movable block is arranged on the guide rail, a groove is arranged on the back of the movable block, the upper and lower inner walls of the groove are fixedly connected with sliders, and a threaded hole is arranged on the movable block," and other technical effects;

[0004] However, when the above-mentioned dual robotic arm mechanism is in use, it is usually only a single suction cup adsorption link, so that when clamping materials, the fixing effect is relatively general, and it is impossible to improve the fixing effect of its main body through the dual methods of suction cup adsorption and airbag fixation, and it is usually not convenient to adjust the distance between the two main clamping parts, resulting in that its overall scope of application may be affected to a certain extent.

[0005] In order to solve the above problems, a dual robotic arm mechanism is proposed in the present application. Utility Model Content

[0006] In order to solve the problems raised in the above background technology, the utility model provides a dual-arm mechanism, which has the characteristics of being adsorbed by a suction cup and fixed by an air bag, and the distance between adjacent fixed parts is easy to adjust.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a dual-arm mechanism, comprising a support connecting frame, the top of the left side of the inner cavity of the support connecting frame is movably connected with a threaded shaft through a movable bearing, and the bottom of both sides of the inner cavity of the support connecting frame are laterally provided with guide shafts, characterized in that: a first fixing mechanism is provided on the front side of the support connecting frame, a second fixing mechanism is provided on the bottom of the first fixing mechanism, and a spacing adjustment mechanism is provided on the left side of the second fixing mechanism;

[0008] The first fixing mechanism includes a top support plate, a vacuum suction cup is arranged at the bottom of the top support plate, upper connecting pieces are welded on both sides of the top support plate, a micro air pump is connected to the right side of the top of the top support plate by bolts, and a second connecting hose is connected to the rear side of the micro air pump;

[0009] The second fixing mechanism comprises a bottom supporting plate, an inflatable airbag is arranged on the top of the bottom supporting plate, and lower connecting pieces are welded on opposite sides of the two bottom supporting plates.

[0010] As a preferred dual-arm mechanism of the utility model, a transmission guide sleeve is welded to the bottom of the bottom support plate and the rear side of the upper connecting piece, and the inner wall of the transmission guide sleeve is threadedly connected to the connection between the surface of the threaded shaft.

[0011] As a preferred dual robotic arm mechanism of the utility model, the spacing adjustment mechanism includes a first fixed plate and a second fixed plate, the left side of the first fixed plate is welded to the upper connecting piece, the left side of the second fixed plate is welded to the lower connecting piece, the inner wall of the first fixed plate is movably connected with a threaded rod through a connecting bearing, the top fixed sleeve of the threaded rod is provided with an anti-slip knob, the bottom of the threaded rod penetrates to the bottom of the second fixed plate and is welded with a limiting plate, and the surface of the threaded rod is threadedly connected to the connection between the inner wall of the second fixed plate.

[0012] As a preferred dual-robotic arm mechanism of the utility model, a telescopic guide rod is welded to the left side of the lower connecting member, a connecting plate is welded to the top of the telescopic guide rod, and the right side of the connecting plate is welded to the left side of the upper connecting member.

[0013] As a preferred dual-robotic arm mechanism of the utility model, universal joints are welded on both sides of the rear side of the support connecting frame, and damping contact pads are hot-melt-connected to the top of the lower connecting piece and the bottom of the upper connecting piece.

[0014] As a preferred dual-mechanical arm mechanism of the utility model, the second connecting hose is connected to the inflatable airbag at a side away from the micro air pump, and the bottom of the inflatable airbag is hot-melt connected to the top of the bottom support plate.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The dual-arm mechanism can adjust the spacing through the spacing adjustment mechanism, which plays a role of adapting according to the material size, thereby improving the overall applicability of the equipment. In the spacing adjustment mechanism, the second fixed plate is driven downward by thread transmission, and the limiting plate is used to limit the position during the process to prevent the second fixed plate from falling off from the threaded rod.

[0017] 2. The dual-arm mechanism can, through the first fixing mechanism, inflate the bottom airbag by circulating gas while the vacuum suction cup is adsorbing, so that the bottom of the clamped material can be limited by expansion and limiting, thereby ensuring the fixed limiting effect of its main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It is a three-dimensional schematic diagram of the local structure of the utility model;

[0020] Figure 2 The three-dimensional rear view of the local structure of the utility model is shown in FIG. Figure 1 ;

[0021] Figure 3 The three-dimensional rear view of the local structure of the utility model is shown in FIG. Figure 2 ;

[0022] Figure 4 It is a three-dimensional axonometric diagram of the local structure of the utility model;

[0023] Figure 5 For this utility model Figure 4 A is an enlarged view of the middle image.

[0024] In the figure:

[0025] 1. Support connecting frame; 2. Spacing adjustment mechanism; 201. Anti-skid knob; 202. First fixing plate; 203. Second fixing plate; 204. Threaded rod; 205. Limiting plate; 3. Second fixing mechanism; 301. Lower connecting piece; 302. Bottom supporting plate; 303. Inflatable airbag; 304. Transmission guide sleeve; 4. First fixing mechanism; 401. Upper connecting piece; 402. Top supporting plate; 403. Vacuum suction cup; 404. First connecting hose; 405. Micro air pump; 406. Second connecting hose; 5. Threaded shaft; 6. Connecting plate; 7. Telescopic guide rod; 8. Guide shaft. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Example 1

[0028] like Figure 1-Figure 5 As shown;

[0029] In order to solve the problems raised in the above background technology, the utility model provides a land management equipment for desertified areas, which has the characteristics of reclamation, sowing and watering, optimizing the seed growth environment, increasing the seed survival rate and improving the land management efficiency.

[0030] A dual-arm mechanism comprises a support connecting frame 1, wherein the top of the left side of the inner cavity of the support connecting frame 1 is movably connected with a threaded shaft 5 through a movable bearing, and guide shafts 8 are transversely arranged at the bottom of both sides of the inner cavity of the support connecting frame 1.

[0031] After checking, the publication (announcement) number: CN213034616U discloses a dual-arm mechanism, which discloses "a dual-arm mechanism, relating to the technical field of feeding devices, including a guide rail, the upper and lower surfaces of the guide rail are provided with slide grooves, the left side of the guide rail is fixedly connected to a left plate, the right side of the guide rail is fixedly connected to a right plate, a movable block is provided on the guide rail, a groove is provided on the back of the movable block, the upper and lower inner walls of the groove are fixedly connected to sliders, and a threaded hole is provided on the movable block," and other technical effects;

[0032] However, when the above-mentioned dual robotic arm mechanism is in use, it is usually only a single suction cup adsorption link, so that when clamping the material, the fixing effect is relatively general, and it is impossible to improve the fixing effect of its main body through the dual methods of suction cup adsorption and airbag fixation, and it is usually not convenient to adjust the distance between the two main clamping parts, resulting in its overall scope of application may be affected to a certain extent. Combined with actual use, this problem is obviously a real problem that is difficult to solve. In view of this, in order to solve this technical problem, a first fixing mechanism 4 and a second fixing mechanism 3 are added to the present application document.

[0033] More specifically:

[0034] like Figure 1-Figure 5 As shown;

[0035] Combining the above:

[0036] A dual-arm mechanism comprises a support connecting frame 1, a threaded shaft 5 is movably connected to the top of the left side of the inner cavity of the support connecting frame 1 through a movable bearing, guide shafts 8 are transversely arranged at the bottom of both sides of the inner cavity of the support connecting frame 1, a first fixing mechanism 4 is arranged at the front side of the support connecting frame 1, a second fixing mechanism 3 is arranged at the bottom of the first fixing mechanism 4, and a spacing adjustment mechanism 2 is arranged on the left side of the second fixing mechanism 3;

[0037] The first fixing mechanism 4 includes a top support plate 402, a vacuum suction cup 403 is arranged at the bottom of the top support plate 402, upper connecting pieces 401 are welded on both sides of the top support plate 402, a micro air pump 405 is connected to the right side of the top of the top support plate 402 by bolts, and a second connecting hose 406 is connected to the rear side of the micro air pump 405;

[0038] The second fixing mechanism 3 comprises a bottom supporting plate 302 , an inflatable airbag 303 is arranged on the top of the bottom supporting plate 302 , and lower connecting members 301 are welded on opposite sides of the two bottom supporting plates 302 .

[0039] In the present embodiment: the dual robotic arm mechanism can adjust the spacing through the spacing adjustment mechanism 2, which plays a role of adapting according to the material size, thereby improving the overall applicability of the equipment. In the spacing adjustment mechanism 2, the second fixed plate 203 is driven to move downward by threaded transmission, and the limiting plate 205 is used to limit the position during the process to prevent the second fixed plate 203 and the threaded rod 204 from falling off. When the utility model is in use, the first fixing mechanism 4 can circulate gas through the vacuum suction cup 403 while the bottom inflatable airbag 303 is adsorbed, so that it limits the bottom of the clamped material by expansion limitation, so as to ensure the fixed limiting effect of its main body.

[0040] Going further:

[0041] In an optional embodiment: a transmission guide sleeve 304 is welded to the bottom of the bottom support plate 302 and the rear side of the upper connecting member 401 , and the inner wall of the transmission guide sleeve 304 is threadedly connected to the connection between the surface of the threaded shaft 5 .

[0042] In this embodiment: the staff can drive the threaded shaft 5 through the external structure, so that it drives the transmission guide sleeve 304 to move through the thread transmission, thereby completing the driving of the two component bodies.

[0043] Going further:

[0044] In an optional embodiment: the spacing adjustment mechanism 2 includes a first fixing plate 202 and a second fixing plate 203, the left side of the first fixing plate 202 is welded to the upper connecting piece 401, the left side of the second fixing plate 203 is welded to the lower connecting piece 301, the inner wall of the first fixing plate 202 is movably connected with a threaded rod 204 through a connecting bearing, the top fixed sleeve of the threaded rod 204 is provided with an anti-slip knob 201, the bottom of the threaded rod 204 penetrates to the bottom of the second fixing plate 203 and is welded with a limiting plate 205, and the surface of the threaded rod 204 is threadedly connected to the connection between the inner wall of the second fixing plate 203;

[0045] Going further:

[0046] In this embodiment: the spacing can be adjusted by the spacing adjustment mechanism 2, which plays a role in adapting according to the material size, thereby improving the overall applicability of the equipment. In the spacing adjustment mechanism 2, the second fixed plate 203 is driven downward by threaded transmission, and the limiting plate 205 is used to limit the position during the process to prevent the second fixed plate 203 and the threaded rod 204 from falling off.

[0047] In an optional embodiment: a telescopic guide rod 7 is welded to the left side of the lower connecting member 301 , a connecting plate 6 is welded to the top of the telescopic guide rod 7 , and the right side of the connecting plate 6 is welded to the left side of the upper connecting member 401 .

[0048] In this embodiment, the telescopic guide rod 7 guides the upper connecting member 401 and the lower connecting member 301 when the distance between them changes, thereby ensuring the movement stability between them.

[0049] Going a step further:

[0050] In an optional embodiment: universal joints are welded on both sides of the rear side of the support connecting frame 1, and damping contact pads are hot-melt-connected to the top of the lower connecting member 301 and the bottom of the upper connecting member 401.

[0051] In this embodiment: the universal energy-saving connection is more convenient for supporting the connection between the connecting frame 1 and other driving structures, and the damping contact pad can provide a certain contact friction force when the upper connecting member 401 and the lower connecting member 301 are in contact.

[0052] Going a step further:

[0053] In an optional embodiment, the second connecting hose 406 is connected to the inflatable airbag 303 at one side away from the micro air pump 405, and the bottom of the inflatable airbag 303 is hot-melt-connected to the top of the bottom support plate 302.

[0054] In this embodiment, the inflatable airbag 303 can be stably connected to the bottom support plate 302 so that the inflatable airbag 303 can better fix and limit the material after being inflated.

[0055] The working principle and use process of the utility model are as follows: the staff first manually turns the anti-skid knob 201 according to the size of the material to be clamped in the future. The anti-skid knob 201 drives the second fixed plate 203 to move through the threaded transmission of the first fixed plate 202, thereby driving the lower connecting piece 301 to move downward, thereby completing the adjustment of applicability. In the process of clamping the material, the staff starts the micro air pump 405 through the external controller. The micro air pump 405 vacuum absorbs the vacuum suction cup 403 through the first connecting hose 404, thereby fixing the top of the material, and then the gas is sent to the inner cavity of the inflatable airbag 303 through the second connecting hose 406. After the inflatable airbag 303 is inflated, the bottom of the material is fixed for the second time, thereby improving the overall fixing effect of the material.

[0056] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A dual-arm mechanism, comprising a support and connection frame (1), wherein the top of the left side of the inner cavity of the support and connection frame (1) is movably connected to a threaded shaft (5) through a movable bearing, and guide shafts (8) are transversely arranged at the bottom of both sides of the inner cavity of the support and connection frame (1), characterized in that: A first fixing mechanism (4) is arranged on the front side of the supporting connection frame (1); a second fixing mechanism (3) is arranged at the bottom of the first fixing mechanism (4); and a spacing adjustment mechanism (2) is arranged on the left side of the second fixing mechanism (3); The first fixing mechanism (4) comprises a top support plate (402), a vacuum suction cup (403) is arranged at the bottom of the top support plate (402), upper connecting pieces (401) are welded on both sides of the top support plate (402), a micro air pump (405) is connected to the right side of the top of the top support plate (402) by bolts, and a second connecting hose (406) is connected to the rear side of the micro air pump (405); The second fixing mechanism (3) comprises a bottom support plate (302), an inflatable airbag (303) is arranged on the top of the bottom support plate (302), and lower connecting pieces (301) are welded on opposite sides of the two bottom support plates (302).

2. A dual-arm mechanism according to claim 1, characterized in that: A transmission guide sleeve (304) is welded to the bottom of the bottom support plate (302) and the rear side of the upper connecting piece (401), and the inner wall of the transmission guide sleeve (304) is threadedly connected to the connection point of the surface of the threaded shaft (5).

3. A dual-arm mechanism according to claim 1, characterized in that: The spacing adjustment mechanism (2) comprises a first fixing plate (202) and a second fixing plate (203), the left side of the first fixing plate (202) being welded to an upper connecting piece (401), and the left side of the second fixing plate (203) being welded to a lower connecting piece (301), the inner wall of the first fixing plate (202) being movably connected to a threaded rod (204) via a connecting bearing, the top fixing sleeve of the threaded rod (204) being provided with an anti-slip knob (201), the bottom of the threaded rod (204) penetrating to the bottom of the second fixing plate (203) and being welded to a limiting plate (205), and the surface of the threaded rod (204) being threadedly connected to the connection between the inner wall of the second fixing plate (203).

4. A dual-arm mechanism according to claim 1, characterized in that: A telescopic guide rod (7) is welded to the left side of the lower connecting member (301), a connecting plate (6) is welded to the top of the telescopic guide rod (7), and the right side of the connecting plate (6) is welded to the left side of the upper connecting member (401).

5. The dual-arm mechanism according to claim 1, characterized in that: Universal joints are welded on both sides of the rear side of the support connecting frame (1), and damping contact pads are hot-melt-connected to the top of the lower connecting piece (301) and the bottom of the upper connecting piece (401).

6. A dual-arm mechanism according to claim 1, characterized in that: The side of the second connecting hose (406) away from the micro air pump (405) is connected to the inflatable airbag (303), and the bottom of the inflatable airbag (303) is hot-melt-connected to the top of the bottom support plate (302).

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