CN210500309U

CN210500309U - Six-shaft double-head manipulator

Info

Publication number: CN210500309U
Application number: CN201921340370.4U
Authority: CN
Inventors: 曹阳; 张萌
Original assignee: Funem Intelligent Technology (harbin) Co Ltd
Current assignee: Funem Intelligent Technology (harbin) Co Ltd
Priority date: 2019-08-18
Filing date: 2019-08-18
Publication date: 2020-05-12
Anticipated expiration: 2029-08-18

Abstract

The utility model discloses a six-shaft double-head manipulator, which comprises an execution end connecting piece with a flange and clamp assemblies symmetrically arranged at two ends of the execution end connecting piece; the clamp assembly comprises a mounting plate arranged at the end part of the execution end connecting piece, two clamping jaw fixing pieces and clamping jaws symmetrically arranged at the middle part of the lower side surface of the mounting plate, and two sets of cylinder fixing pieces and cylinders symmetrically arranged at two ends of the mounting plate, wherein the telescopic ends of the cylinders are connected to the outer sides of the middle sections of the clamping jaws through rotating connecting pieces in a matched mode. The utility model discloses a double-end setting can be fine be used for the equal great cylindric material centre gripping of gas pitcher isovolumetric, and rotatable cylinder setting makes the swing range of clamping jaw bigger in order to adapt to more material centre gripping and the centre gripping of size more firm, has that the structure sets up rationally, installation convenient to use and location centre gripping precision and efficient advantage, uses widely and has greatly improved production efficiency and product quality.

Description

Six-shaft double-head manipulator

Technical Field

The utility model relates to an industrial robot technical field, in particular to six double-end manipulators.

Background

The manipulator is very common in the electronics and automobile manufacturing industry, and the cooperation industrial robot uses, has greatly improved production efficiency and product quality.

The existing industrial robot manipulator is generally of a single-head structure, and a single head of the manipulator is provided with a plurality of clamping jaws, for example, two clamping jaws which are symmetrical are used for clamping a sheet-shaped or cylindrical object, or a plurality of clamping jaws which are enclosed are used for grabbing a round or other unshaped object. However, for cylindrical articles with large sizes, such as gas tanks and the like, the conventional single-head manipulator is difficult to stably clamp, and the structure is complicated, so that the clamping efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a six-axis double-head manipulator, which comprises an execution end connecting piece, a flange which is arranged in the middle of the execution end connecting piece and is used for connecting an industrial robot, and clamp assemblies which are symmetrically arranged at two ends of the execution end connecting piece;

anchor clamps subassembly is in including setting up the mounting panel of execution end connecting piece tip, the symmetry sets up two clamping jaw mountings at mounting panel downside middle part and respectively by the clamping jaw of round pin installation is changeed in the clamping jaw mounting cooperation to and the symmetry sets up two sets of cylinder mountings at mounting panel both ends and respectively by the cylinder of round pin installation is changeed in the cylinder mounting cooperation, the flexible end of cylinder is changeed the round pin through the rotating connection piece cooperation and is connected to the middle section outside of clamping jaw.

And the inner side surface of the clamping jaw is also provided with a flexible cushion block.

Wherein the clamping jaw fixing part is arranged on the lower side surface of the mounting plate through an adjustable sliding block so as to adjust the distance between the two clamping jaws to adapt to more workpiece sizes.

Optionally, the end of the clamping jaw is further provided with a telescopic part, and the length of the clamping jaw is further adjusted to adapt to more sizes of workpieces through the telescopic part.

And the inner side surface of the telescopic part is provided with a flexible cushion block.

Through the technical scheme, the utility model discloses following beneficial effect has: this manipulator cooperation supplied materials transfer chain sensor detects when using and remains the processing material, the robot passes through flange and execution end connecting piece and drives the anchor clamps subassembly and move to the material position, the anchor clamps subassembly snatchs the material and carries out material manufacturing procedure, its double-end setting can be fine be used for the great cylindric material centre gripping of gas pitcher isovolumn, and rotatable cylinder setting makes the swing range of clamping jaw bigger and the centre gripping more firm, it sets up rationally to have the structure, installation convenient to use and location centre gripping precision and efficient advantage, the use widely has greatly improved production efficiency and product quality.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic view of a three-dimensional structure of a six-axis double-head manipulator disclosed in an embodiment of the present invention;

figure 2 is a schematic view of a jaw assembly with open jaws according to an embodiment of the present invention;

fig. 3 is a schematic view of a jaw assembly in a closed state according to an embodiment of the present invention.

The figures in the drawings represent:

10. flange 20, actuator end connector 30, clamp assembly

31. Jaw mount 32, cylinder 321, rotating connector

33. Cylinder fixing member 331, rotating pin 34, clamping jaw

35. Flexible cushion block 36, mounting plate

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1:

referring to fig. 1, the present invention provides a six-axis double-head manipulator, which includes an actuating end connector 20, a flange 10 disposed in the middle of the actuating end connector 20 for connecting an industrial robot, and clamp assemblies 30 symmetrically disposed at both ends of the actuating end connector 20; the clamp assembly 30 comprises a mounting plate 36 arranged at the end part of the execution end connecting piece 20, two clamping jaw fixing pieces 31 symmetrically arranged in the middle of the lower side surface of the mounting plate 36, clamping jaws 34 respectively installed by the clamping jaw fixing pieces 31 in a matching way and rotating pins, two groups of cylinder fixing pieces 33 symmetrically arranged at the two ends of the mounting plate 36, and cylinders 32 respectively installed by the cylinder fixing pieces 33 in a matching way and rotating pins 331, wherein the telescopic ends of the cylinders 32 are connected to the outer sides of the middle sections of the clamping jaws 34 through rotating connecting pieces 321 in a matching way and rotating pins; the inner side of the jaw 34 is also provided with a flexible pad 35.

This manipulator cooperation supplied materials transfer chain sensor detects when using and remains the processing material, the robot drives anchor clamps subassembly 30 through flange 10 and execution end connecting piece 20 and moves to the material position (anchor clamps subassembly 30 is the open mode shown in fig. 2 this moment), anchor clamps subassembly 30's cylinder 32 drive clamping jaw 34 is promptly with the material in order to carry out follow-up material manufacturing procedure (like the closed condition shown in fig. 3), its double-end sets up the great cylindric material centre gripping of the equal volume gas pitcher that is used for that can be fine, and rotatable cylinder 32 sets up and makes clamping jaw 34's swing scope bigger and the centre gripping more firm, it sets up rationally to have a structure, installation convenient to use and location centre gripping precision and efficient advantage, high production efficiency and product quality have been greatly improved in the popularization and use.

Example 2:

based on the above embodiment 1, the jaw fixing member 31 is mounted on the lower side of the mounting plate 36 via an adjustable slider to adjust the spacing between the two jaws 34 to accommodate more workpiece sizes.

Example 3:

based on the above example 1: the end of the clamping jaw 34 is also provided with a telescopic part, the length of the clamping jaw 34 is further adjusted to adapt to more workpiece sizes through the telescopic part, and the inner side surface of the telescopic part is provided with a flexible cushion block.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A six-axis double-head manipulator is characterized by comprising an execution end connector (20), a flange (10) which is arranged in the middle of the execution end connector (20) and used for connecting an industrial robot, and clamp assemblies (30) which are symmetrically arranged at two ends of the execution end connector (20);

anchor clamps subassembly (30) are including setting up mounting panel (36) of execution end connecting piece (20) tip, the symmetry sets up two clamping jaw mounting (31) at mounting panel (36) downside middle part and respectively by clamping jaw mounting (31) cooperation commentaries on classics round pin installation clamping jaw (34), and the symmetry sets up two sets of cylinder mounting (33) at mounting panel (36) both ends and respectively by cylinder (32) of cylinder mounting (33) cooperation commentaries on classics round pin (331) installation, the flexible end of cylinder (32) is through swivel connected to of connecting piece (321) cooperation commentaries on classics round pin the middle section outside of clamping jaw (34).

2. Six-axis double-ended robot according to claim 1, characterized in that the inner side of the gripping jaws (34) is further provided with flexible pads (35).

3. The six-axis double-ended robot hand according to claim 1, wherein the jaw mount (31) is mounted on the underside of the mounting plate (36) by adjustable slides to adjust the spacing of the two jaws (34) to accommodate more workpiece sizes.

4. A six-axis double-ended robot hand according to claim 1 or 3, characterised in that the ends of the jaws (34) are also provided with telescopic sections by which the length of the jaws (34) can be further adjusted to accommodate more workpiece sizes.

5. Six-axis double-ended manipulator according to claim 4, characterized in that the inner side of the telescopic part is provided with flexible pads (35).