CN113733053A

CN113733053A - Robot with multiple mechanical arms in cooperation

Info

Publication number: CN113733053A
Application number: CN202111103032.0A
Authority: CN
Inventors: 任工昌; 桓源; 刘书磊; 王乐; 杨一铭
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2021-12-03

Abstract

The invention discloses a multi-mechanical-arm cooperative robot, which comprises a bottom plate, wherein a moving mechanism is arranged on the lower side of the bottom plate, an integrated box is arranged on the upper side of the bottom plate, a first motor is arranged in the integrated box, a turntable is arranged on the integrated box, and the driving end of the first motor is in transmission fit with the turntable; the rotary table is provided with a second motor, the driving end of the second motor is provided with a large arm, the upper end of the large arm is hinged with a third motor, the driving end of the third motor is provided with a small arm, a connecting rod is hinged to the rack of the third motor, the lower end of the connecting rod is hinged to the lower end of the large arm, and the lower end of the small arm is provided with a grabbing mechanism. This multi-mechanical-arm cooperative robot solves current manual work and snatchs and spreads the leather, has the problem of inefficiency.

Description

Robot with multiple mechanical arms in cooperation

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a multi-mechanical-arm cooperative robot.

Background

In recent years, with the rapid development of the leather industry in China, the leather trade is increasingly active. Because the labor cost is continuously increased, the production cost of enterprises is continuously increased, how to reduce the investment of human resources in the leather-making industry is reduced, and the automation and intelligence degree of the leather-making industry is increased.

In the leather making process, the grabbing and the spreading of leather are realized manually, and the work efficiency is achieved, so that the problem that how to grab and spread a soft object made of a leather-like material needs to be researched is solved.

Disclosure of Invention

The invention aims to provide a multi-mechanical-arm cooperative robot, which solves the problem of low efficiency caused by manual grabbing and spreading of leather.

In order to achieve the purpose, the invention adopts the technical scheme that: a multi-mechanical-arm cooperative robot comprises a bottom plate, wherein a moving mechanism is arranged on the lower side of the bottom plate, an integration box is arranged on the upper side of the bottom plate, a first motor is arranged in the integration box, a turntable is arranged on the integration box, and the driving end of the first motor is in transmission fit with the turntable; the rotary table is provided with a second motor, the driving end of the second motor is provided with a large arm, the upper end of the large arm is hinged with a third motor, the driving end of the third motor is provided with a small arm, a connecting rod is hinged to the rack of the third motor, the lower end of the connecting rod is hinged to the lower end of the large arm, and the lower end of the small arm is provided with a grabbing mechanism.

As a preferred embodiment of the present invention, the moving mechanism includes four driving motors and four mecanum wheels, the driving motors are disposed on the lower side of the base plate, and the mecanum wheels are disposed on the driving ends of the corresponding driving motors.

As a preferable technical solution of the present invention, a first bracket is disposed on the turntable, the second motor is disposed at a side portion of the first bracket, and a lower end of the large arm is hinged in the first bracket.

As a preferable technical scheme of the invention, the grabbing mechanism comprises a first steering engine, the first steering engine is arranged at the lower end of the small arm, a first U-shaped support placed at the side is arranged at the driving end of the first steering engine, a first sliding rail and two supporting plates are arranged on the inner side of the long side of the first U-shaped support, and a second U-shaped support is arranged between the two supporting plates, so that a fourth motor is arranged at the side part of the second U-shaped support, and a first bevel gear is arranged at the driving end of the fourth motor; a screw rod is rotatably arranged between the two side ends of the first U-shaped support and the supporting plates close to the first U-shaped support, a second bevel gear meshed with the first bevel gear is arranged at one end of the screw rod, a sliding block is arranged on the screw rod and sleeved on the first sliding rail in a sliding mode, a mechanical arm is arranged on the side portion of the sliding block, and a grabbing head is arranged at the lower end of the mechanical arm.

As a preferable technical solution of the present invention, the first slide rail is a bar-shaped structure, and a bar-shaped sliding groove is disposed on a side portion of the slide block, and the bar-shaped sliding groove is clamped on the first slide rail.

As a preferred technical scheme of the invention, the gripper comprises a second steering engine, the second steering engine is arranged at the lower end of the mechanical arm, an arc-shaped support is arranged at the driving end of the second steering engine, a third steering engine is arranged on the inner side of the arc-shaped support, a crank is arranged at the driving end of the third steering engine, a second sliding rail is arranged between the two ends of the arc-shaped support, two sliding carriages are slidably sleeved on the second sliding rail, one ends of the two sliding carriages are respectively hinged with the two ends of the crank through arc-shaped rods, roller supports are arranged on the inner sides of the end parts of the two sliding carriages, a roller and a fifth motor are arranged in each roller support, and the driving end of the fifth motor is connected with a wheel shaft of the roller.

As a preferable technical scheme of the present invention, a fourth steering engine is disposed outside the second slide rail, a driving shaft is disposed at a driving end of the fourth steering engine, first belt wheels are disposed at two ends of the driving shaft, respectively, a second belt wheel is disposed at a side portion of the roller support, and the second belt wheels are in transmission fit with the corresponding first belt wheels through belts.

As a preferred technical solution of the present invention, the first motor, the second motor, the third motor and the fourth motor are all stepping motors.

The invention has the beneficial effects that: (1) according to the multi-mechanical-arm cooperative robot, leather can be grabbed and paved through the two grabbing mechanisms, manual operation is replaced by a machining mode, and the production efficiency is greatly improved; (2) the multi-mechanical-arm cooperative robot is simple in overall structure, easy to manufacture, stable in structure, convenient to operate and good in market popularization and application prospect.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a multi-robot cooperative system according to the present invention;

FIG. 2 is a schematic structural diagram of a gripping mechanism of a multi-robot arm cooperative robot according to the present invention;

FIG. 3 is a schematic diagram illustrating a state of the multi-robot-arm cooperative robot before a gripper performs gripping;

fig. 4 is a schematic diagram of a state of the multi-robot arm cooperating with a gripper head of a robot to perform gripping according to the present invention.

In the figure: 1. the mechanical arm comprises a bottom plate, 2, a Mecanum wheel, 3, a first motor, 4, an integrated box, 5, a driving motor, 6, a rotating disc, 7, a first support, 8, a connecting rod, 9, a third motor, 10, a small arm, 11, a first steering engine, 12, a first U-shaped support, 13, a mechanical arm, 14, a large arm, 15, a second motor, 16, a sliding block, 17, a screw rod, 18, a fourth steering engine, 19, a driving shaft, 20, a second sliding rail, 21, a fourth motor, 22, an arc-shaped rod, 23, a sliding frame, 24, a roller support, 25, a fifth motor, 26, a roller, 27, a second belt wheel, 28, a belt, 29, a first belt wheel, 30, a third steering engine, 31, an arc-shaped support, 32, 33, a third steering engine, 34, a first sliding rail, 35, a support plate, 36, a second U-shaped support, 37, a first bevel gear and a second bevel gear.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

As shown in fig. 1, the multi-mechanical-arm cooperative robot of the present invention comprises a bottom plate 1, a moving mechanism is arranged on the lower side of the bottom plate 1, an integration box 4 is arranged on the upper side of the bottom plate 1, a first motor 3 is arranged in the integration box 4, a turntable 6 is arranged on the integration box 4, and the driving end of the first motor 3 is in transmission fit with the turntable 6; the rotary table 6 is provided with a second motor 15, the driving end of the second motor 15 is provided with a large arm 14, the upper end of the large arm 14 is hinged with a third motor 9, the driving end of the third motor 9 is provided with a small arm 10, the rack of the third motor 9 is hinged with a connecting rod 8, the lower end of the connecting rod 8 is hinged with the lower end of the large arm 14, and the lower end of the small arm 10 is provided with a grabbing mechanism.

When the flexible objects such as leather are grabbed and spread, the whole mechanism can be moved to a designated position through the moving mechanism. The following operations may be performed as the case may be: the first motor 3 drives the rotary table 6 to rotate, so that the grabbing mechanism can conveniently adjust the angle in a large range in the horizontal direction; the second motor 15 drives the large arm 14 to rotate, so that the grabbing mechanism can carry out large-range angle adjustment in the vertical direction and in the left and right directions, and further height adjustment is realized; the small arm 10 is driven by the third motor 9, so that the grabbing mechanism can be slightly adjusted in angle vertically back and forth, further height adjustment is realized, and the driving end of the third motor 9 is vertically distributed with the driving end of the second motor 15; obviously, the six-degree-of-freedom adjustment of the gripping mechanism is possible by means of the first motor 3, the second motor 15 and the third motor 9 to ensure that the gripping mechanism can reach a given position.

As shown in fig. 1, in a multi-robot arm cooperative robot of the present invention, the moving mechanism includes four driving motors 5 and four mecanum wheels 2, the driving motors 5 are disposed on the lower side of the base plate 1, and the mecanum wheels 2 are disposed on the driving ends of the corresponding driving motors 5.

Each mecanum wheel 2 is controlled by a drive motor 5, which ensures that it can perform steering, straight-going, etc. precisely in order to reach the desired position.

As shown in fig. 1, in the multi-robot-arm cooperative robot of the present invention, the turntable 6 is provided with the first bracket 7, the second motor 15 is disposed at a side portion of the first bracket 7, and the lower end of the large arm 14 is hinged in the first bracket 7, so that the assembly is convenient.

With reference to fig. 2, in the multi-manipulator collaborative robot of the present invention, the grabbing mechanism includes a first steering engine 11, the first steering engine 11 is disposed at the lower end of the small arm 10, a first U-shaped bracket 12 placed laterally is disposed at the driving end of the first steering engine 11, a first slide rail 34 and two support plates 35 are disposed inside the long side of the first U-shaped bracket 12, a second U-shaped bracket 36 is disposed between the two support plates 35, a fourth motor 21 is disposed at the side of the second U-shaped bracket 36, and a first bevel gear 37 is disposed at the driving end of the fourth motor 21; a screw 17 is rotatably arranged between the two side ends of the first U-shaped bracket 12 and the adjacent supporting plates 35, a second bevel gear 38 engaged with the first bevel gear 37 is arranged at one end of the screw 17, a sliding block 16 is arranged on the screw 17, the sliding block 16 is slidably sleeved on the first sliding rail 34, a mechanical arm 13 is arranged at the side part of the sliding block 16, and a gripping head is arranged at the lower end of the mechanical arm 13.

And starting the fourth motor 21, wherein the fourth motor 21 drives the two second bevel gears 15 to rotate through the first bevel gear 37, so that the screw rods 17 rotate, and the two sliding blocks 16 perform reciprocating linear motion on the two screw rods 17, thereby realizing the approaching or separating of the two grabbing heads and achieving the purpose of grabbing and unfolding the leather.

Referring to fig. 2, in the multi-robot arm cooperative robot of the present invention, the first slide rail 34 is a bar-shaped structure, and the side of the slide block 16 is provided with a bar-shaped slide slot, which is clamped on the first slide rail 34, so as to ensure that the slide block 16 slides only on the first slide rail 34.

With reference to fig. 2, in the multi-manipulator cooperative robot of the present invention, the gripper includes a second steering engine 33, the second steering engine 33 is disposed at the lower end of the manipulator 13, an arc support 31 is disposed at the driving end of the second steering engine 33, a third steering engine 30 is disposed inside the arc support 31, a crank 32 is disposed at the driving end of the third steering engine 30, a second slide rail 20 is disposed between two ends of the arc support 31, two carriages 23 are slidably sleeved on the second slide rail 20, one ends of the two carriages 23 are respectively hinged to two ends of the crank 32 through arc rods 22, roller supports 24 are disposed inside end portions of the two carriages 23, a roller 26 and a fifth motor 25 are disposed in the roller supports 24, and the driving end of the fifth motor 25 is connected to a wheel shaft of the roller 26. A fourth steering engine 18 is arranged on the outer side of the second slide rail 20, a driving shaft 19 is arranged at the driving end of the fourth steering engine 18, first belt wheels 29 are respectively arranged at two ends of the driving shaft 19, second belt wheels 27 are arranged on the side portions of the roller supports 24, and the second belt wheels 27 are in transmission fit with the corresponding first belt wheels 29 through belts 28.

As shown in fig. 3, before the leather is grabbed, the fourth steering engine 18 drives the first belt wheel 29 to rotate through the driving shaft 19, the first belt wheel 29 drives the second belt wheel 27 to rotate through the belt 28, so that the roller bracket 24 and the carriage 23 are kept in a vertical state, at this time, the fifth motor 25 is started to drive the two rollers 26 to roll inwards relatively, and the leather is driven to gather inwards through friction.

As shown in fig. 4, after the leather is gathered inwards, the fourth steering engine 18 is rotated in the reverse direction to keep the roller bracket 24 and the sliding frame 23 in a parallel state, then the third steering engine 30 is started, the third steering engine 30 drives the two sliding frames 23 to approach each other through the crank 32, the distance between the two rollers is reduced, and then the leather is clamped, so that the leather is grabbed.

After the leather is grabbed and lifted, the edge of the leather is grabbed by two rollers 26 in the other roller bracket 24, so that the leather is placed at a designated position, and the flattening adjustment is carried out on the uneven part of the leather through the rollers 26, thus finishing the leather spreading work.

Therefore, compared with the prior art, the multi-mechanical-arm cooperative robot can grab and pave leather through the two grabbing mechanisms, manual operation is replaced by a machining mode, and production efficiency is greatly improved; the multi-mechanical-arm cooperative robot is simple in overall structure, easy to manufacture, stable in structure, convenient to operate and good in market popularization and application prospect.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The robot with the cooperation of the multiple mechanical arms is characterized by comprising a bottom plate (1), wherein a moving mechanism is arranged on the lower side of the bottom plate (1), an integration box (4) is arranged on the upper side of the bottom plate (1), a first motor (3) is arranged in the integration box (4), a turntable (6) is arranged on the integration box (4), and the driving end of the first motor (3) is in transmission fit with the turntable (6); be provided with second motor (15) on carousel (6), the drive end of second motor (15) is provided with big arm (14), big arm (14) upper end articulates there is third motor (9), the drive end of third motor (9) is provided with forearm (10), it has connecting rod (8) to articulate in the frame of third motor (9), the lower extreme of connecting rod (8) is articulated mutually with the lower extreme of big arm (14), and the lower extreme of forearm (10) is provided with snatchs the mechanism.

2. The multi-robot arm cooperative robot according to claim 1, wherein the moving mechanism comprises four driving motors (5) and four mecanum wheels (2), the driving motors (5) are disposed on the lower side of the base plate (1), and the mecanum wheels (2) are disposed on the driving ends of the corresponding driving motors (5).

3. The multi-robot arm cooperative robot according to claim 2, wherein a first bracket (7) is provided on the turntable (6), the second motor (15) is provided at a side portion of the first bracket (7), and a lower end of the large arm (14) is hinged in the first bracket (7).

4. The multi-mechanical-arm cooperative robot as claimed in claim 3, wherein the grabbing mechanism comprises a first steering engine (11), the first steering engine (11) is arranged at the lower end of the small arm (10), a first U-shaped support (12) placed laterally is arranged at the driving end of the first steering engine (11), a first sliding rail (34) and two supporting plates (35) are arranged on the inner side of the long side of the first U-shaped support (12), a second U-shaped support (36) is arranged between the two supporting plates (35), so that a fourth motor (21) is arranged on the side of the second U-shaped support (36), and a first bevel gear (37) is arranged at the driving end of the fourth motor (21); a screw rod (17) is rotatably arranged between two side ends of the first U-shaped support (12) and the adjacent support plates (35), a second bevel gear (38) meshed with the first bevel gear (37) is arranged at one end of the screw rod (17), a sliding block (16) is arranged on the screw rod (17), the sliding block (16) is sleeved on the first sliding rail (34) in a sliding mode, a mechanical arm (13) is arranged on the side portion of the sliding block (16), and a grabbing head is arranged at the lower end of the mechanical arm (13).

5. The multi-robot-arm cooperative robot according to claim 4, wherein the first slide rail (34) is a bar-shaped structure, and a bar-shaped sliding groove is arranged on the side of the sliding block (16) and is clamped on the first slide rail (34).

6. The multi-mechanical-arm cooperative robot as claimed in claim 5, wherein the gripper comprises a second steering engine (33), the second steering engine (33) is arranged at the lower end of the mechanical arm (13), an arc-shaped support (31) is arranged at the driving end of the second steering engine (33), a third steering engine (30) is arranged on the inner side of the arc-shaped support (31), a crank (32) is arranged at the driving end of the third steering engine (30), a second sliding rail (20) is arranged between the two ends of the arc-shaped support (31), two sliding carriages (23) are slidably sleeved on the second sliding rail (20), one ends of the two sliding carriages (23) are respectively hinged to the two ends of the crank (32) through arc-shaped rods (22), roller supports (24) are arranged on the inner sides of the end parts of the two sliding carriages (23), and rollers (26) and a fifth motor (25) are arranged in the roller supports (24), the driving end of the fifth motor (25) is connected with the axle of the roller (26).

7. The multi-mechanical-arm cooperative robot as claimed in claim 5, wherein a fourth steering engine (18) is arranged on the outer side of the second sliding rail (20), a driving shaft (19) is arranged at the driving end of the fourth steering engine (18), first belt wheels (29) are respectively arranged at two ends of the driving shaft (19), second belt wheels (27) are arranged on the side portions of the roller supports (24), and the second belt wheels (27) are in transmission fit with the corresponding first belt wheels (29) through belts (28).

8. The multi-robot arm coordination robot of claim 7, wherein said first, second, third, fourth, and fifth motors are stepper motors.