Double-gripper manipulator device

Abstract

The utility model provides a double-gripper manipulator device which comprises a clamping jaw assembly, a mechanical arm and a base, the mechanical arm is arranged on the base, and the clamping jaw assembly is movably installed at the tail end of the mechanical arm. The clamping jaw assembly comprises a bottom plate and a plurality of clamping jaw units, the bottom plate is connected with the tail end of the mechanical arm through a flange, and the clamping jaw units are arranged at the bottom of the bottom plate in at least two rows; the clamping jaw unit comprises two clamping finger blocks and a clamping jaw air cylinder, and a force arm connected with the clamping finger blocks is arranged on the clamping jaw air cylinder. The automatic feeding and discharging device can replace manual work to complete feeding and discharging work of multiple sets of workpieces at a time, and therefore production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a two-handed claw manipulator device. Background Art

[0002] The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, especially for automated loading and unloading of connecting rods in batch processing, which can reduce the labor intensity of workers and improve production efficiency.

[0003] However, in the automated processing of connecting rods, each processing requires taking the connecting rod from the creeping raceway and placing it on the broaching machine for processing, and then taking the processed connecting rod from the broaching machine and placing it on the raceway. The loading and unloading process takes a long time and the manual efficiency is limited.

[0004] Therefore, there is an urgent need for a two-handed claw robot device to solve the problem of long loading and unloading time and low efficiency in the above-mentioned automated processing of connecting rods. Utility Model Content

[0005] In view of the deficiencies of the prior art, the utility model proposes a two-handed claw manipulator device, which can replace manual labor to complete the loading and unloading of multiple groups of workpieces at one time, thereby improving production efficiency.

[0006] The technical solution of the utility model is achieved in this way:

[0007] A two-handed claw manipulator device comprises a claw assembly, a mechanical arm and a base, wherein the mechanical arm is arranged on the base, and the claw assembly is movably mounted on the end of the mechanical arm;

[0008] The clamping jaw assembly comprises a bottom plate and a plurality of clamping jaw units, wherein the bottom plate is connected to the end of the mechanical arm through a flange, and the clamping jaw units are arranged in at least two rows at the bottom of the bottom plate;

[0009] The clamping jaw unit comprises two clamping finger blocks and a clamping jaw cylinder, and the clamping jaw cylinder is provided with a force arm connected with the clamping finger blocks.

[0010] As a preferred embodiment, the clamping jaw unit is further provided with a sensing unit, and the sensing unit is arranged between the two clamping finger blocks.

[0011] As a preferred embodiment, the sensing unit includes a workpiece sensing seat, a workpiece pressure plate, a spring-loaded guide shaft connecting the workpiece sensing seat and the workpiece pressure plate, and a spring sleeved on the spring-loaded guide shaft.

[0012] As a preferred embodiment, the workpiece sensing seat is connected to the bottom plate and close to the clamping finger block, and a sensor for being triggered by pressing the workpiece pressure plate is arranged at the bottom of the workpiece sensing seat.

[0013] As a preferred embodiment, the clamping jaw cylinder and the workpiece sensing seat are both installed on the bottom of the base plate by bolt connection.

[0014] As a preferred implementation, the clamping finger block is installed on the force arm by bolt connection.

[0015] As a preferred embodiment, a clamping portion is provided at the end of the clamping finger block, an inclined surface for adapting to a workpiece is provided on the clamping portion, and a "cross"-shaped groove is formed at the inner concave portion of the clamping portion.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] The utility model can complete the loading and unloading operations of multiple groups of workpieces at one time by arranging at least two rows of bottom clamping jaw units arranged on the bottom plate to clamp the workpieces, and the clamping finger blocks driven by the clamping jaw cylinders can meet the clamping operations of workpieces of different sizes. It can not only replace manual labor, but also reduce the loading and unloading operation time, and effectively improve the production efficiency of the connecting rod processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 This is a structural schematic diagram of a two-handed claw manipulator device of the utility model;

[0020] Figure 2 This is a structural schematic diagram of a gripper assembly in a two-hand gripper manipulator device of the utility model;

[0021] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0022] Figure 4 for Figure 2 The enlarged view of point B in the middle;

[0023] Figure 5 for Figure 2 A schematic diagram of the structure from another perspective;

[0024] Figure 6 for Figure 5 Enlarged view of point C in the middle.

[0025] Figure ID:

[0026] 1-gripper assembly, 2-mechanical arm, 3-base, 4-flange, 5-sensor, 6-clamping part, 7-inclined surface, 8-workpiece;

[0027] 11- bottom plate;

[0028] 12-gripper unit, 121-finger block, 122-gripper cylinder, 123-force arm;

[0029] 13-sensing unit, 131-workpiece sensing seat, 132-workpiece pressure plate, 133-pressure spring guide shaft, 134-spring. DETAILED DESCRIPTION

[0030] 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 of 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.

[0031] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", "fourth", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] See also Figures 1 to 6The utility model discloses a two-handed claw manipulator device, a two-handed claw manipulator device, comprising a gripper assembly 1, a mechanical arm 2 and a base 3, wherein the mechanical arm 2 is arranged on the base 3, and the gripper assembly 1 is movably mounted at the end of the mechanical arm 2;

[0034] The gripper assembly 1 includes a base plate 11 and a plurality of gripper units 12. The base plate 11 is connected to the end of the robot arm 2 via a flange 4. The gripper units 12 are arranged in at least two rows at the bottom of the base plate 11.

[0035] The clamping jaw unit 12 includes two clamping finger blocks 121 and a clamping jaw cylinder 122 . The clamping jaw cylinder 122 is provided with a force arm 123 connected to the clamping finger blocks 121 .

[0036] Specifically, the two-handed claw manipulator device can be installed at any workpiece processing position through the base 3 to assist in completing the automated process of loading and unloading. The robot arm 2 has multiple degrees of freedom and can flexibly adjust the position of the jaw assembly 1 to facilitate the jaw assembly 1 to grasp and place the workpiece. In particular, the robot arm 2 is connected to the jaw assembly 1 through a flange, which allows the jaw assembly 1 to achieve a 360° rotation, further improving the flexibility of the two-handed claw manipulator device in grasping the workpiece.

[0037] Furthermore, the clamping unit 12 corresponds to the loading and unloading of a workpiece. It can be understood that in order to improve the efficiency of loading and unloading, multiple clamping units 12 can be set to grab the workpieces 8 of the same batch on the peristaltic raceway, and the conveying state of the workpiece 8 on the raceway is multi-column conveying. Therefore, the number of rows of the clamping unit 12 can be set corresponding to the number of columns of the conveyed workpiece 8. For example, if the workpiece 8 is conveyed in two columns on the raceway, the clamping unit 12 can be set to two rows, and the number of clamping units 12 in each row can be set according to the number of workpieces in the same conveying batch, so as to complete the loading and unloading of multiple workpieces at one time, which can improve the efficiency of loading and unloading, and then improve the production efficiency of connecting rod processing.

[0038] Furthermore, a movable force arm 123 is provided on the clamping jaw cylinder 122, wherein the force arm 123 is clamped with the clamping finger block 121. The force arm 123 is driven by the clamping jaw cylinder 122 to move horizontally left and right, thereby driving the clamping finger block 121 to open and close, thereby achieving the effect of clamping and releasing the workpiece. It can adapt to workpieces of different sizes and improve the adaptability of the robot device to workpieces of different sizes.

[0039] As a preferred embodiment, the clamping jaw unit 12 is further provided with a sensing unit 13 , and the sensing unit 13 is arranged between the two clamping finger blocks 121 .

[0040] As a preferred embodiment, the sensing unit 13 includes a workpiece sensing seat 131 , a workpiece pressure plate 132 , a spring-loaded guide shaft 133 connecting the workpiece sensing seat 131 and the workpiece pressure plate 132 , and a spring 134 sleeved on the spring-loaded guide shaft 133 .

[0041] As a preferred embodiment, the workpiece sensing seat 131 is connected to the bottom plate 11 and close to the clamping finger block 121 , and a sensor 5 for being pressed and triggered by the workpiece pressing plate 132 is disposed at the bottom of the workpiece sensing seat 131 .

[0042] Specifically, the workpiece pressure plate 132 can be extended and retracted along the pressure spring guide shaft 133, and at the same time be reset by a spring 134 sleeved on the pressure spring guide shaft 133. When the clamping jaw unit 12 clamps the workpiece, the workpiece will lift up the workpiece pressure plate 132, and the workpiece pressure plate 132 will contact the sensor 5 set at the bottom of the workpiece sensing seat 131. The sensor 5 can return a signal to the controller to confirm that the workpiece has been grasped, which can achieve the effect of accurately grasping the workpiece to complete the loading and unloading work, avoid processing delays due to incomplete loading and unloading of the workpiece in the automation process, and improve the stability of automated production.

[0043] As a preferred embodiment, the clamping jaw cylinder 122 and the workpiece sensing seat 131 are both installed on the bottom of the base plate 11 by bolt connection.

[0044] As a preferred implementation, the clamping finger block 121 is installed on the force arm 123 by means of bolt connection.

[0045] It should be noted that bolt connection is one of the ways to fix the clamping jaw assembly 1. Those skilled in the art may also use connection methods including but not limited to clamping or welding.

[0046] As a preferred embodiment, a clamping portion 6 is provided at the end of the clamping finger block 121 , and a slope 7 for adapting to a workpiece is provided on the clamping portion 6 , and a cross-shaped groove is formed in the inner concave portion of the clamping portion 6 .

[0047] Specifically, the inclined surface 7 can adapt to the shape of the workpiece surface to ensure that the finger block 121 on the clamping jaw unit 12 can be tightly attached to the workpiece surface to prevent the workpiece from loosening during the clamping process. The "X"-shaped groove can reduce the contact area between the finger block 121 and the workpiece, thereby minimizing the wear of the workpiece caused by the finger block 121 during the clamping process.

[0048] The working principle of the utility model is as follows: a two-handed claw manipulator device is fixedly installed beside the peristaltic raceway corresponding to the processing connecting rod workpiece through a base 3, and the direction of the manipulator device grabbing the workpiece is adjusted by rotating the manipulator arm 2. When multiple workpieces 8 are conveyed on the peristaltic raceway, the manipulator arm 2 controls the clamping claw assembly 1 to move above the workpiece 8, and the clamping claw unit 12 drives the clamping finger block 121 to close through the force arm 123 on the clamping claw cylinder 122. The clamping portion 6 at the end of the clamping finger block 121 is clamped by the inclined surface 7. During the clamping process, the workpiece pressure plate 132 on the induction unit 13 is lifted up by the workpiece 8 to contact the sensor 5, and the sensor 5 feedbacks the confirmation signal that the gripper unit 13 has taken the workpiece 8. When all the gripper units 13 feedback the confirmation signal, the robot arm 2 moves the gripper assembly 1 to the processing area, and the force arm 123 of the gripper cylinder 122 drives the clamping finger block 121 to release the workpiece. After the workpiece is placed in the processing area for processing, the gripper assembly 1 re-grips the processed workpiece through the clamping finger block 121 and puts it back into the creeping raceway, completing the processing of the automatic connecting rod workpiece. It can replace manual work to complete the automatic loading and unloading of the connecting rod workpiece. The loading and unloading process takes a short time, and the improved loading and unloading efficiency is conducive to improving the production efficiency of the connecting rod workpiece processing.

[0049] The utility model can complete the loading and unloading operations of multiple groups of workpieces at one time by arranging at least two rows of bottom clamping jaw units arranged on the bottom plate to clamp the workpieces, and the clamping finger blocks driven by the clamping jaw cylinders can meet the clamping operations of workpieces of different sizes. It can not only replace manual labor, but also reduce the loading and unloading operation time, and effectively improve the production efficiency of the connecting rod processing process.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-handed claw manipulator device, characterized in that: It comprises a clamping jaw assembly (1), a mechanical arm (2) and a base (3), wherein the mechanical arm (2) is arranged on the base (3), and the clamping jaw assembly (1) is movably mounted on the end of the mechanical arm (2); The clamping jaw assembly (1) comprises a base plate (11) and a plurality of clamping jaw units (12), wherein the base plate (11) is connected to the end of the mechanical arm (2) via a flange (4), and the clamping jaw units (12) are arranged in at least two rows at the bottom of the base plate (11); The clamping jaw unit (12) comprises two clamping finger blocks (121) and a clamping jaw cylinder (122), and the clamping jaw cylinder (122) is provided with a force arm (123) connected to the clamping finger blocks (121).

2. The two-handed claw manipulator device according to claim 1, characterized in that: The clamping jaw unit (12) is further provided with a sensing unit (13), and the sensing unit (13) is arranged between the two clamping finger blocks (121).

3. The two-handed claw manipulator device according to claim 2, characterized in that: The induction unit (13) comprises a workpiece induction seat (131), a workpiece pressure plate (132), a spring-loaded guide shaft (133) connecting the workpiece induction seat (131) and the workpiece pressure plate (132), and a spring (134) sleeved on the spring-loaded guide shaft (133).

4. The two-handed claw manipulator device according to claim 3, characterized in that: The workpiece sensing seat (131) is connected to the bottom plate (11) and is close to the clamping finger block (121). A sensor (5) for triggering by pressing the workpiece pressing plate (132) is arranged at the bottom of the workpiece sensing seat (131).

5. The two-handed claw manipulator device according to claim 3, characterized in that: The clamping jaw cylinder (122) and the workpiece sensing seat (131) are both installed on the bottom of the base plate (11) by means of bolt connection.

6. The two-handed claw manipulator device according to claim 1, characterized in that: The clamping finger block (121) is installed on the force arm (123) by means of bolt connection.

7. The two-handed claw manipulator device according to claim 1, characterized in that: A clamping portion (6) is provided at the end of the clamping finger block (121), an inclined surface (7) for adapting to a workpiece is provided on the clamping portion (6), and a "cross"-shaped groove is formed at the inner concave portion of the clamping portion (6).

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