CN210233025U

CN210233025U - Parallel telescopic double-arm robot

Info

Publication number: CN210233025U
Application number: CN201921157037.XU
Authority: CN
Inventors: Yanzhong Wang; 王艳中
Original assignee: Suzhou Aiyongsi Robot Technology Co Ltd
Current assignee: Suzhou Aiyongsi Robot Technology Co Ltd
Priority date: 2019-07-22
Filing date: 2019-07-22
Publication date: 2020-04-03
Anticipated expiration: 2029-07-22

Abstract

The utility model discloses a parallel telescopic double-arm robot, which comprises a base, the bottom inner wall center department of base passes through the first motor of bolt fixedly connected with, the fixed harmonic speed reducer ware that is provided with of axle extension end of first motor, the top of base is provided with the carousel bearing, the top of carousel bearing is provided with the revolving stage casing, the top symmetry of revolving stage casing is provided with two drive shells, two fixedly connected with second motor of bottom inner wall center department of drive shell, the axle extension end fixedly connected with lead screw of second motor. The utility model discloses in through setting up electronic jar, first rotation piece, second rotation piece, slide etc. realized that parallel flexible arm does the slant motion when reciprocating, make the work angle of parallel flexible arm diversified more, enlarged the work coverage, be favorable to marketing.

Description

Parallel telescopic double-arm robot

Technical Field

The utility model relates to an industrial robot field especially relates to a parallel telescopic double-arm robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands and can operate according to a pre-programmed program, can also perform movements according to the principle formulated by artificial intelligence technology, and consists of three basic parts, namely a main body, a driving system and a control system although the industrial robot is various in variety.

However, two mechanical arms of the existing parallel telescopic double-arm robot can only move up and down along the main body after parallel telescopic and joint rotation, and the moving range is limited, so that the working coverage is small and the working angle is single.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a parallel telescopic type double-arm robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a parallel telescopic double-arm robot comprises a base, wherein the center of the inner wall of the bottom of the base is fixedly connected with a first motor through a bolt, a harmonic reducer is fixedly arranged at the shaft extension end of the first motor, a turntable bearing is arranged at the top of the base, the top of the turntable bearing is provided with a turntable shell, the top of the turntable shell is symmetrically provided with two driving shells, the centers of the inner walls of the bottoms of the two driving shells are fixedly connected with a second motor, a screw rod is fixedly connected with the shaft extension end of the second motor, a sliding seat is arranged on the outer wall of the screw rod, two ends of the outer wall of one side of the sliding seat are respectively and fixedly connected with a first rotating piece and a second rotating piece, the first rotating piece is rotatably connected with a parallel telescopic arm, the second rotates the piece and rotates and be connected with electronic jar, the one end that the second rotated the piece is kept away from to electronic jar is connected with the outer wall rotation of parallel flexible arm.

As a further description of the above technical solution:

the shaft extension end of the first motor is fixedly connected with the power input end of the harmonic reducer, the power output end of the harmonic reducer is fixedly connected with the inner ring of the turntable bearing, the outer ring of the turntable bearing is fixedly connected with the top of the base through a bolt, and the inner ring of the turntable bearing is fixedly connected with the bottom of the turntable shell.

As a further description of the above technical solution:

two direct-drive rotary tables are symmetrically arranged inside the rotary table shell, and the bottoms of the two drive shells penetrate through the top of the rotary table shell and are fixedly connected with power output ends of the two direct-drive rotary tables respectively.

As a further description of the above technical solution:

the inner wall fixedly connected with bearing plate of drive casing, two slide bars of top fixedly connected with of bearing plate, and the top of slide bar and the top inner wall fixed connection of drive casing, the bearing plate is located the top of second motor, the movable groove has been seted up to the outer wall of drive casing.

As a further description of the above technical solution:

the outer wall and the bearing plate of lead screw rotate to be connected, and the fixed cover in top of lead screw has connect and has taken the seat bearing, take the seat bearing and drive shell's top inner wall fixed connection, two the slide bar run through the slide and with slide sliding connection, the fixed thread bush that is provided with in inside of slide, the thread bush is connected with the lead screw cooperation.

As a further description of the above technical solution:

the electric cylinder and the parallel telescopic arm penetrate through the movable groove and extend to the outside of the driving shell.

As a further description of the above technical solution:

the outward appearance of base, revolving stage casing drive casing all is the cylinder, the outer wall of base is through six fixed feet of welded connection, six fixed foot is evenly the circumference and distributes in the outer wall bottom of base.

The utility model discloses following beneficial effect has:

1. the utility model discloses a set up electronic jar, first rotation piece, second rotation piece, slide etc. and realized that parallel flexible arm makes the slant motion when reciprocating, makes the work angle of parallel flexible arm diversified more, has enlarged the work coverage, is favorable to marketing.

2. The utility model discloses a set up base, first motor, revolving stage casing, directly drive the revolving stage etc. make two parallel flexible arms do independent control turned angle when adjusting work angle simultaneously, make two parallel flexible arms can realize the cooperation operation.

Drawings

Fig. 1 is a schematic structural view of a parallel telescopic type double-arm robot provided by the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

fig. 3 is the utility model provides a parallel telescopic double-arm robot's top view.

Illustration of the drawings: 1. a base; 11. a fixing leg; 12. a first motor; 13. a harmonic reducer; 14. a turntable bearing; 2. a turntable housing; 21. a direct-drive turntable; 3. a drive housing; 31. a bearing plate; 32. a movable groove; 4. a second motor; 41. a screw rod; 42. a pedestal bearing; 43. a slide bar; 5. a slide base; 51. a threaded sleeve; 52. a first rotating member; 53. a second rotating member; 6. an electric cylinder; 7. and a parallel telescopic arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-3, the present invention provides an embodiment: the utility model provides a parallel telescopic double-arm robot, which comprises a base 1, the bottom inner wall center department of base 1 is through first motor 12 of bolt fixedly connected with, the fixed harmonic speed reducer 13 that is provided with of axle extension of first motor 12, the top of base 1 is provided with turntable bearing 14, turntable bearing 14's top is provided with revolving stage casing 2, the top symmetry of revolving stage casing 2 is provided with two drive shells 3, the bottom inner wall center department fixedly connected with second motor 4 of two drive shells 3, the axle extension fixedly connected with lead screw 41 of second motor 4, the outer wall of lead screw 41 is provided with slide 5, one side outer wall both ends of slide 5 are fixedly connected with first rotation piece 52 and second rotation piece 53 respectively, first rotation piece 52 rotates and is connected with parallel telescopic arm 7, second rotation piece 53 rotates and is connected with electronic jar 6, electronic jar 6 keeps away from the one end that second rotated piece 53 and is connected with the outer wall rotation of parallel telescopic arm.

The shaft extension end of the first motor 12 is fixedly connected with the power input end of the harmonic reducer 13, the power output end of the harmonic reducer 13 is fixedly connected with the inner ring of the turntable bearing 14, the outer ring of the turntable bearing 14 is fixedly connected with the top of the base 1 through a bolt, and the inner ring of the turntable bearing 14 is fixedly connected with the bottom of the turntable shell 2; two direct-drive rotary tables 21 are symmetrically arranged inside the rotary table shell 2, and the bottoms of the two drive shells 3 penetrate through the top of the rotary table shell 2 and are respectively and fixedly connected with the power output ends of the two direct-drive rotary tables 21; the inner wall of the driving shell 3 is fixedly connected with a bearing plate 31, the top of the bearing plate 31 is fixedly connected with two sliding rods 43, the top ends of the sliding rods 43 are fixedly connected with the inner wall of the top of the driving shell 3, the bearing plate 31 is positioned above the second motor 4, and the outer wall of the driving shell 3 is provided with a movable groove 32; the outer wall of the screw rod 41 is rotatably connected with the bearing plate 31, the top end of the screw rod 41 is fixedly sleeved with a bearing 42 with a seat, the bearing 42 with the seat is fixedly connected with the inner wall of the top of the driving shell 3, the two sliding rods 43 penetrate through the sliding seat 5 and are in sliding connection with the sliding seat 5, a threaded sleeve 51 is fixedly arranged inside the sliding seat 5, and the threaded sleeve 51 is in matching connection with the screw rod 41; the electric cylinder 6 and the parallel telescopic arm 7 penetrate through the movable groove 32 and extend to the outside of the driving shell 3;

base

1, 2 drive casings 3 of revolving stage casing outward appearance all are the cylinder, and six fixed feet 11 of outer wall through welded connection of base 1, six fixed feet 11 evenly are circumference distribution in the outer wall bottom of base 1.

The working principle is as follows: the utility model relates to a parallel telescopic double-arm robot, which can drive a screw rod 41 to rotate by driving a second motor 4 when in work, so that a slide seat 5 can drive a parallel telescopic arm 7 to slide up and down along the directions of the screw rod 41 and a slide rod 43, and the working angle of the parallel telescopic arm 7 can be adjusted by driving an electric cylinder 6, so that the working ranges of the two parallel telescopic arms 7 are wider; drive harmonic reducer ware 13 operation through drive first motor 12, can rotate two parallel flexible arms 7 simultaneously, directly drive revolving stage 21 through the drive and drive casing 3 rotatory, can rotate parallel flexible arm 7 alone, make the rotation angle of two parallel flexible arms 7 have more the variety, realize the cooperation operation of two parallel flexible arms 7.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. A parallel telescopic double-arm robot comprises a base (1), and is characterized in that: the base is characterized in that a first motor (12) is fixedly connected to the center of the inner wall of the bottom of the base (1) through a bolt, a harmonic reducer (13) is fixedly arranged at the shaft extension end of the first motor (12), a turntable bearing (14) is arranged at the top of the base (1), a turntable shell (2) is arranged at the top of the turntable bearing (14), two driving shells (3) are symmetrically arranged at the top of the turntable shell (2), a second motor (4) is fixedly connected to the center of the inner wall of the bottom of the driving shells (3), a lead screw (41) is fixedly connected to the shaft extension end of the second motor (4), a sliding seat (5) is arranged on the outer wall of the lead screw (41), a first rotating part (52) and a second rotating part (53) are fixedly connected to the two ends of the outer wall of one side of the sliding seat (5), and a parallel telescopic arm (7), the second rotates piece (53) and rotates and be connected with electronic jar (6), the one end that the second rotated piece (53) was kept away from in electronic jar (6) rotates with the outer wall of parallel flexible arm (7) and is connected.

2. The parallel telescopic type double-arm robot as claimed in claim 1, wherein: the shaft extension end of the first motor (12) is fixedly connected with the power input end of the harmonic reducer (13), the power output end of the harmonic reducer (13) is fixedly connected with the inner ring of the turntable bearing (14), the outer ring of the turntable bearing (14) is fixedly connected with the top of the base (1) through a bolt, and the inner ring of the turntable bearing (14) is fixedly connected with the bottom of the turntable shell (2).

3. The parallel telescopic type double-arm robot as claimed in claim 1, wherein: two direct-drive rotary tables (21) are symmetrically arranged inside the rotary table shell (2), and the bottoms of the two drive shells (3) penetrate through the top of the rotary table shell (2) and are respectively and fixedly connected with power output ends of the two direct-drive rotary tables (21).

4. The parallel telescopic type double-arm robot as claimed in claim 1, wherein: the inner wall fixedly connected with bearing plate (31) of drive casing (3), two slide bars (43) of top fixedly connected with of bearing plate (31), and the top of slide bar (43) and the top inner wall fixed connection of drive casing (3), bearing plate (31) are located the top of second motor (4), movable groove (32) have been seted up to the outer wall of drive casing (3).

5. The parallel telescopic type double-arm robot as claimed in claim 4, wherein: the outer wall and the bearing plate (31) of lead screw (41) rotate to be connected, and the fixed cover in top of lead screw (41) has connect and has taken pedestal bearing (42), take pedestal bearing (42) and the top inner wall fixed connection of drive shell (3), two slide bar (43) run through slide (5) and with slide (5) sliding connection, the fixed thread bush (51) that is provided with in inside of slide (5), thread bush (51) are connected with lead screw (41) cooperation.

6. The parallel telescopic type double-arm robot as claimed in claim 4, wherein: the electric cylinder (6) and the parallel telescopic arm (7) penetrate through the movable groove (32) and extend to the outside of the driving shell (3).

7. The parallel telescopic type double-arm robot as claimed in claim 1, wherein: the outward appearance of base (1), revolving stage casing (2) drive casing (3) all is the cylinder, the outer wall of base (1) is through six fixed feet (11), six of welded fastening connection fixed foot (11) are the circumference uniformly and distribute in the outer wall bottom of base (1).