CN217046410U

CN217046410U - Double-arm feeding and discharging manipulator

Info

Publication number: CN217046410U
Application number: CN202220901803.4U
Authority: CN
Inventors: 马新强
Original assignee: Shenzhen Lide Robot Co ltd
Current assignee: Shenzhen Lide Robot Co ltd
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-07-26
Anticipated expiration: 2032-04-19

Abstract

The utility model discloses a feeding mechanical arm on both arms, including arrangement seat and centre gripping subassembly, the arrangement seat right side is connected with the support arm, just support arm surface mounting has the slide rail, slide rail surface both sides sliding connection has the manipulator main part, just slide rail mid-mounting has the anticollision subassembly that prevents two manipulator main parts and hit mutually, is used for centre gripping article the centre gripping unit mount in manipulator main part bottom, just the centre gripping subassembly includes electric telescopic handle, holding frame, spacing sucking disc, reset spring, expansion frame and anti-skidding guide pulley. This unloading manipulator in both arms adopts the setting of mutually supporting between a plurality of subassemblies, not only can stabilize centre gripping article, can carry out spacing promotion to article after centre gripping article simultaneously to the stability of article centre gripping material loading, utilizes the anticollision subassembly that sets up simultaneously, and the condition that the manipulator bumps can be avoided to multiple crashproof measure, further promotes the stability of this equipment during operation.

Description

Double-arm feeding and discharging manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a feeding mechanical arm on both arms.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, the advantages of the human and the manipulator machines are combined in structure and performance, the manipulator is used for realizing the grabbing and feeding and discharging processes of materials, and the processing efficiency is improved.

When the double-arm feeding and discharging manipulator on the market is used, articles are adsorbed only through the sucker singly, the stability of clamping and feeding cannot be guaranteed, the materials fall off easily in the feeding process, and the articles are damaged to influence the use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a feeding mechanical arm in both arms to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a double-arm feeding and discharging manipulator comprises a placing seat and a clamping assembly, wherein the right side of the placing seat is connected with a support arm, a slide rail is arranged on the surface of the support arm, the manipulator main bodies are connected on two sides of the surface of the slide rail in a sliding way, an anti-collision assembly for preventing the two manipulator main bodies from colliding is arranged in the middle of the slide rail, the clamping component for clamping articles is arranged at the bottom of the manipulator main body and comprises an electric telescopic rod, a clamping frame, a limiting sucker, a return spring, an expansion frame and an anti-skidding guide wheel, the output end of the electric telescopic rod is connected with the clamping frame, the middle part of the clamping frame is provided with the limiting sucker, the two sides of the clamping frame are embedded with the return springs, and one end of the return spring, which is far away from the clamping frame, is connected with the expanding frame, and the inner side below the expanding frame is movably connected with the anti-skidding guide wheel.

Furthermore, the surface of the manipulator main body is provided with a hydraulic telescopic rod, and the bottom of the hydraulic telescopic rod is connected with an installation support.

Furthermore, the anti-collision assembly comprises a middle support, an elastic telescopic rod, a flexible protection block and a connecting frame, the elastic telescopic rod is embedded in the middle support, one end, far away from the middle support, of the elastic telescopic rod is connected with the flexible protection block, and the connecting frame is installed at the top of the flexible protection block.

Furthermore, the flexible protection blocks are elastically connected with the middle support through the elastic telescopic rods, and the elastic telescopic rods are symmetrically distributed around the center of the middle support.

Furthermore, the anti-collision assembly further comprises positive magnets, the positive magnets are respectively embedded into the surface of the middle support and the surface of the connecting frame, and the positive magnets are of rectangular structures.

Furthermore, the clamping component further comprises a miniature telescopic rod and a limiting rack, the miniature telescopic rod is connected to the two sides of the bottom of the clamping frame, and the output end of the miniature telescopic rod is connected with the limiting rack.

Furthermore, the limiting rack is meshed with the anti-skid guide wheel and is connected with the clamping frame in a sliding mode.

The utility model provides a feeding mechanical arm in both arms possesses following beneficial effect:

1. this unloading manipulator on both arms adopts the setting of mutually supporting between a plurality of subassemblies, not only can stabilize centre gripping article, can carry out spacing promotion to article after centre gripping article simultaneously to the stability of article centre gripping material loading, utilizes the anticollision subassembly that sets up simultaneously, and multiple anticollision measure can avoid measuring the condition that the manipulator bumps, further promotes the stability of this equipment during operation.

2. The utility model discloses a mutually supporting between erection support and the hydraulic telescoping rod sets up, utilizes hydraulic telescoping rod can promote the manipulator main part at the slide rail surface at the uniform velocity slip, and then can the lifting means stability of unloading on.

3. The utility model discloses a mutually supporting between manipulator main part and the anticollision subassembly sets up, puts when sliding to the central point of slide rail at two manipulator main parts all, and the manipulator main part is at first protected the piece contact with the flexibility and is makeed the flexible piece of protecting to extrude the effect of elasticity telescopic link and then reach the unloading to be provided with link and positive pole magnetite in the top that the piece was protected in the flexibility, and well support surface is provided with a set ofly equally, utilizes the purpose that mutual repulsion between the magnetite of the same sex reaches the anticollision once more.

4. The utility model discloses the setting of centre gripping subassembly, this centre gripping subassembly at first when contacting with article expand the frame earlier with article contact, utilize electric telescopic handle to promote the holding frame and reduce article and expand the mutual wearing and tearing between the frame with article contact anti-skidding guide pulley when article are snatched from the top, if the surface extrusion expansion frame of article when article size is too big and then promote the expansion frame to the inboard motion of the spacing rack atress of the both sides motion bottom when anti-skidding guide pulley motion of holding frame to the expansion frame, spacing rack holds up article from the below after spacing sucking disc adsorbs article, and then promote the fastness to the article centre gripping, and pull back spacing rack and then make anti-skidding guide pulley atress once more rotate by miniature telescopic link when the unloading, make things convenient for the unloading process.

Drawings

Fig. 1 is a schematic view of the overall structure of a dual-arm loading and unloading manipulator of the present invention;

fig. 2 is an enlarged schematic structural diagram of a part a in fig. 1 of a dual-arm loading and unloading manipulator of the present invention;

fig. 3 is a schematic view of the structure of the clamping assembly of the double-arm loading/unloading manipulator of the present invention.

In the figure: 1. a setting seat; 2. a support arm; 3. a slide rail; 4. a manipulator main body; 5. an anti-collision assembly; 501. a middle bracket; 502. an elastic telescopic rod; 503. a flexible guard block; 504. a connecting frame; 505. a positive pole magnet; 6. a clamping assembly; 601. an electric telescopic rod; 602. a clamping frame; 603. a limiting sucker; 604. a return spring; 605. expanding frames; 606. an anti-skid guide wheel; 607. a miniature telescopic rod; 608. a limit rack; 7. a hydraulic telescopic rod; 8. and (7) mounting a support.

Detailed Description

As shown in FIGS. 1-3, a dual-arm loading and unloading manipulator comprises a placing seat 1 and a clamping assembly 6, wherein the right side of the placing seat 1 is connected with a support arm 2, the surface of the support arm 2 is provided with a slide rail 3, the two sides of the surface of the slide rail 3 are slidably connected with manipulator bodies 4, the middle part of the slide rail 3 is provided with an anti-collision assembly 5 for preventing the two manipulator bodies 4 from colliding, the clamping assembly 6 for clamping articles is arranged at the bottom of the manipulator body 4, the clamping assembly 6 comprises an electric telescopic rod 601, a clamping frame 602, a limit suction cup 603, a return spring 604, an expanding frame 605 and an anti-slip guide wheel 606, the output end of the electric telescopic rod 601 is connected with the clamping frame 602, the middle part of the clamping frame 602 is provided with the limit suction cup 603, the two sides of the clamping frame 602 are embedded with the return spring 604, one end of the return spring 604 far away from the clamping frame 602 is connected with the expanding frame 605, the inner side below the expanding frame 605 is movably connected with the anti-slip guide wheel 606, the surface of the manipulator main body 4 is provided with a hydraulic telescopic rod 7, and the bottom of the hydraulic telescopic rod 7 is connected with an installation support 8;

the specific operation is as follows, through the mutually supporting setting between installing support 8 and hydraulic telescoping rod 7, utilize hydraulic telescoping rod 7 can promote manipulator main part 4 at the surface of support arm 2 along slide rail 3 at the uniform velocity slip, and then can lifting means go up the stability of unloading, manipulator main part 4 is equipped with two sets of unloading efficiency that can promote simultaneously altogether.

Referring to fig. 1-2, the anti-collision assembly 5 includes a middle support 501, an elastic telescopic rod 502, a flexible protection block 503 and a connection frame 504, wherein the elastic telescopic rod 502 is embedded in the middle support 501, one end of the elastic telescopic rod 502 far away from the middle support 501 is connected with the flexible protection block 503, the connection frame 504 is installed at the top of the flexible protection block 503, the flexible protection block 503 is elastically connected with the middle support 501 through the elastic telescopic rod 502, the elastic telescopic rod 502 is symmetrically distributed about the center position of the middle support 501, the anti-collision assembly 5 further includes positive magnets 505, the positive magnets 505 are respectively embedded in the surfaces of the middle support 501 and the connection frame 504, and the positive magnets 505 are rectangular;

the specific operation is as follows, through the mutually-matched arrangement between the manipulator main bodies 4 and the anti-collision assembly 5, when the two manipulator main bodies 4 slide towards the central position of the slide rail 3, the manipulator main bodies 4 firstly contact with the flexible protection blocks 503 to enable the flexible protection blocks 503 to extrude the elastic telescopic rod 502 to achieve the effect of unloading, the connecting frame 504 and the positive pole magnets 505 are arranged above the flexible protection blocks 503, the surface of the middle support 501 is also provided with the group of positive pole magnets 505, and the anti-collision purpose is achieved again by utilizing the mutual repulsion between the same-pole magnets.

Referring to fig. 1 and fig. 3, the clamping assembly 6 further includes a micro telescopic rod 607 and a limiting rack 608, the micro telescopic rod 607 is connected to two sides of the bottom of the clamping frame 602, the output end of the micro telescopic rod 607 is connected to the limiting rack 608, the limiting rack 608 is engaged with the anti-slip guide pulley 606, and the limiting rack 608 is slidably connected to the clamping frame 602;

through the setting of centre gripping subassembly 6, this centre gripping subassembly 6 at first the expansion frame 605 of both sides when contacting with article contact earlier with the article contact, anti-skidding guide pulley 606 and article contact reduce article and the mutual wearing and tearing between expansion frame 605 when utilizing electric telescopic handle 601 to promote holding frame 602 to snatch article from the top, the surface extrusion expansion frame 605 of article when if article size is too big and then promote expansion frame 605 to the both sides motion of holding frame 602 the inside motion of the spacing rack 608 atress to expansion frame 605 of bottom in the motion of anti-skidding guide pulley 606, hold article from the below at spacing sucking disc 603 after article absorption, and then promote the fastness to the article centre gripping, and draw back spacing rack 608 and then make anti-skidding guide pulley 606 atress once more rotate by micro telescopic handle 607 when the unloading, make things convenient for the unloading process.

In summary, when the dual-arm loading and unloading manipulator is used, firstly, the hydraulic telescopic rod 7 can be used for pushing the manipulator main body 4 to slide on the surface of the support arm 2 at a constant speed along the slide rail 3, so as to improve the stability of loading and unloading of equipment, and through the arrangement of the anti-collision component 5, when the two manipulator main bodies 4 slide towards the central position of the slide rail 3, the manipulator main body 4 firstly contacts with the flexible protection block 503 so that the flexible protection block 503 extrudes the elastic telescopic rod 502 to achieve the effect of unloading, the connecting frame 504 and the positive magnet 505 are arranged above the flexible protection block 503, the surface of the middle support 501 is also provided with a group of positive magnets 505, the purpose of preventing collision is achieved again by utilizing the mutual repulsion between the like magnets, and finally, when the clamping frame 602 is pushed by the electric telescopic rod 601 to grab an object from above, the anti-slip guide wheel 606 contacts with the object to reduce the mutual abrasion between the object and the expansion frame 605, if the surface extrusion expansion frame 605 of article when article size is too big and then promote expansion frame 605 and move to the both sides of holding frame 602 the spacing rack 608 atress of bottom when anti-skidding guide pulley 606 moves and move to the inboard motion of expansion frame 605, spacing rack 608 holds article from the below after spacing sucking disc 603 adsorbs article, and then promotes the fastness to the article centre gripping, and pull back spacing rack 608 and then make anti-skidding guide pulley 606 atress once more rotate by miniature telescopic link 607 when the unloading, make things convenient for the unloading process.

Claims

1. The double-arm feeding and discharging manipulator comprises a placing seat (1) and a clamping assembly (6), and is characterized in that a support arm (2) is connected to the right side of the placing seat (1), a slide rail (3) is mounted on the surface of the support arm (2), manipulator main bodies (4) are connected to two sides of the surface of the slide rail (3) in a sliding manner, an anti-collision assembly (5) for preventing two manipulator main bodies (4) from colliding is mounted in the middle of the slide rail (3), the clamping assembly (6) for clamping an article is mounted at the bottom of the manipulator main bodies (4), the clamping assembly (6) comprises an electric telescopic rod (601), a clamping frame (602), a limiting sucker (603), a reset spring (604), an expansion frame (605) and an anti-slip guide wheel (606), the output end of the electric telescopic rod (601) is connected with the clamping frame (602), and the limiting sucker (603) is arranged in the middle of the clamping frame (602), the clamping frame (602) both sides all are embedded with reset spring (604), and reset spring (604) keep away from the one end of clamping frame (602) is connected with expansion frame (605), the inboard swing joint in expansion frame (605) below has anti-skidding guide pulley (606).

2. A dual-arm loading and unloading manipulator as claimed in claim 1, wherein a hydraulic telescopic rod (7) is installed on the surface of the manipulator main body (4), and a mounting support (8) is connected to the bottom of the hydraulic telescopic rod (7).

3. A double-arm loading and unloading manipulator as claimed in claim 1, wherein the anti-collision assembly (5) comprises a middle support (501), an elastic telescopic rod (502), a flexible protection block (503) and a connecting frame (504), the elastic telescopic rod (502) is embedded in the middle support (501), the flexible protection block (503) is connected to one end, away from the middle support (501), of the elastic telescopic rod (502), and the connecting frame (504) is mounted at the top of the flexible protection block (503).

4. A dual-arm loading and unloading manipulator as claimed in claim 3, wherein the flexible guard blocks (503) are elastically connected to the middle support (501) through the elastic telescopic rods (502), and the elastic telescopic rods (502) are symmetrically distributed about the center of the middle support (501).

5. A dual-arm loading and unloading manipulator as claimed in claim 3, wherein the anti-collision assembly (5) further comprises a positive magnet (505), the positive magnet (505) is embedded in the surfaces of the middle bracket (501) and the connecting bracket (504), respectively, and the positive magnet (505) is rectangular.

6. A dual-arm loading and unloading manipulator as claimed in claim 1, wherein the clamping assembly (6) further comprises a micro-telescopic rod (607) and a limit rack (608), the micro-telescopic rod (607) is connected to both sides of the bottom of the clamping frame (602), and the output end of the micro-telescopic rod (607) is connected to the limit rack (608).

7. A dual arm loading and unloading robot as claimed in claim 6, wherein the limit rack (608) is engaged with the non-slip guide roller (606), and the limit rack (608) is slidably connected to the clamping frame (602).