CN210233030U

CN210233030U - Convertible double-arm robot

Info

Publication number: CN210233030U
Application number: CN201921158468.8U
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: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-04-03
Anticipated expiration: 2029-07-23

Abstract

The utility model discloses a convertible double-arm robot, which comprises a fixing plate and i, the last fixed surface of fixed plate installs flexible hydro-cylinder, the top fixed mounting of flexible hydro-cylinder has slewing mechanism, slewing mechanism's top fixed mounting has tilting mechanism, tilting mechanism's left side fixed mounting has moving mechanism, moving mechanism's top fixed mounting has two fixture. The utility model discloses, through the slewing mechanism who sets up, can be so that tilting mechanism, moving mechanism and fixture rotate, through the tilting mechanism who sets up, can be so that moving mechanism and fixture overturn, through the moving mechanism who sets up, can let two fixture fold and open, whole robot structural design is reasonable, and convenient operation has brought many facilities for industrial production, the artificial intensity of labour that has significantly reduced has improved the production efficiency of enterprise.

Description

Convertible double-arm robot

Technical Field

The utility model relates to a robot field especially relates to a convertible double-arm robot.

Background

Robots and automation equipment have a wide application market, and in the case of robots, the robot technology is a typical representative of advanced manufacturing technologies, and is important modern manufacturing automation equipment integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like.

At present, in the industrial field, multi-joint robots are widely used for feeding and discharging, spraying, arc welding, die casting, welding, grinding, assembling, carrying and the like of numerical control machine tools, the robots bring much convenience to industrial production, but the robots used in many industrial production workshops are still lagged behind, and the production efficiency is reduced to a certain extent.

SUMMERY OF THE UTILITY MODEL

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

In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a convertible double-arm robot, includes the fixed plate, the last fixed surface of fixed plate installs flexible hydro-cylinder, the top fixed mounting of flexible hydro-cylinder has slewing mechanism, slewing mechanism's top fixed mounting has tilting mechanism, tilting mechanism's left side fixed mounting has moving mechanism, moving mechanism's top fixed mounting has two fixture.

As a further description of the above technical solution:

slewing mechanism includes first box, the inside wall fixed mounting of first box has first motor, the output shaft fixed mounting of first motor has first bevel gear, the interior bottom of first box is connected with first pivot pole through the bearing rotation, the fixed surface of first pivot pole installs second bevel gear, second bevel gear and the meshing of first bevel gear, the top of first pivot pole extends to the top and the fixed mounting of first box has the mounting panel.

As a further description of the above technical solution:

tilting mechanism includes the second box, the inside wall fixed mounting of second box has the second motor, the output shaft fixed mounting of second motor has first rotating gear, the inside wall of second box and the top that is located the second motor rotate through the bearing and are connected with the second dwang, the fixed surface of second dwang installs second rotating gear, second rotating gear meshes with first rotating gear.

As a further description of the above technical solution:

the moving mechanism comprises a third box body, a third motor is fixedly mounted on the outer side wall of the third box body, an output shaft of the third motor extends to the inside of the third box body and is fixedly connected with a bidirectional screw, a fixed rod is fixedly mounted below the bidirectional screw, two thread sleeves are connected to the outer surface of the bidirectional screw in a threaded manner, a connecting rod is mounted on the upper surface of each thread sleeve, a limiting rod is mounted on the lower surface of each thread sleeve in a fixed manner, and the outer surface of the fixed rod is sleeved with one end, away from the thread sleeves, of the limiting rod.

As a further description of the above technical solution:

the clamping mechanism comprises a connecting plate, a telescopic rod is fixedly mounted on the outer side wall of the connecting plate, a clamping plate is fixedly mounted at the movable end of the telescopic rod, a spring is sleeved on the outer surface of the telescopic rod, and a plurality of rubber convex blocks are arranged on the outer side wall of the clamping plate.

As a further description of the above technical solution:

the bottom fixed mounting of fixed plate has the installation leg, the bottom movable mounting of installation leg has the removal wheel.

The utility model discloses following beneficial effect has:

1. compared with the prior art, this convertible double-armed robot, through the slewing mechanism who sets up, can be so that tilting mechanism, moving mechanism and fixture rotate, through the tilting mechanism who sets up, can be so that moving mechanism and fixture overturn, through the moving mechanism who sets up, can let two fixture fold and open, whole robot structural design is reasonable, and convenient for operation has brought the facility of many for industrial production, the artificial intensity of labour that has significantly reduced, the production efficiency of enterprise has been improved.

2. Compared with the prior art, this convertible double-armed robot through telescopic link, spring and the rubber bump that sets up among the fixture for two grip blocks have certain cushioning effect when to article centre gripping, can avoid article to press from both sides badly.

Drawings

Fig. 1 is a schematic view of the overall structure of a convertible dual-arm robot according to the present invention;

fig. 2 is a schematic view of an internal structure of a rotating mechanism of the turnover type double-arm robot provided by the present invention;

fig. 3 is a schematic view of an internal structure of a turnover mechanism of the turnover type double-arm robot provided by the present invention;

fig. 4 is a schematic view of the internal structure of the moving mechanism of the turnover type double-arm robot provided by the present invention;

fig. 5 is the utility model provides a fixture structure schematic diagram of convertible double-arm robot.

Illustration of the drawings:

1. a fixing plate; 2. a telescopic oil cylinder; 3. a rotating mechanism; 4. a turnover mechanism; 5. a moving mechanism; 6. a clamping mechanism; 7. mounting legs; 8. a moving wheel; 31. a first case; 32. a first motor; 33. a first bevel gear; 34. a first rotating lever; 35. a second bevel gear; 36. mounting a plate; 41. a second case; 42. a second motor; 43. a first rotating gear; 44. a second rotating lever; 45. a second rotating gear; 51. a third box body; 52. a third motor; 53. a bidirectional screw; 54. a threaded sleeve; 55. a connecting rod; 56. fixing the rod; 57. a limiting rod; 61. a connecting plate; 62. a telescopic rod; 63. a clamping plate; 64. a spring; 65. and a rubber bump.

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. 1-5, the utility model provides a pair of convertible double-arm robot: including fixed plate 1, the last fixed surface of fixed plate 1 installs flexible hydro-cylinder 2, and the top fixed mounting of flexible hydro-cylinder 2 has slewing mechanism 3, and slewing mechanism 3's top fixed mounting has tilting mechanism 4, and tilting mechanism 4's left side fixed mounting has moving mechanism 5, and moving mechanism 5's top fixed mounting has two fixture 6.

The rotating mechanism 3 comprises a first box 31, a first motor 32 is fixedly installed on the inner side wall of the first box 31, a first bevel gear 33 is fixedly installed on an output shaft of the first motor 32, a first rotating rod 34 is rotatably connected to the inner bottom of the first box 31 through a bearing, a second bevel gear 35 is fixedly installed on the outer surface of the first rotating rod 34, the second bevel gear 35 is meshed with the first bevel gear 33, the top end of the first rotating rod 34 extends to the upper side of the first box 31 and is fixedly installed with an installation plate 36, the turnover mechanism 4 comprises a second box 41, a second motor 42 is fixedly installed on the inner side wall of the second box 41, a first rotating gear 43 is fixedly installed on the output shaft of the second motor 42, a second rotating rod 44 is rotatably connected to the inner side wall of the second box 41 and is positioned above the second motor 42 through a bearing, and a second rotating gear 45 is fixedly installed on the, the second rotating gear 45 is engaged with the first rotating gear 43, the moving mechanism 5 includes a third box 51, a third motor 52 is fixedly installed on the outer side wall of the third box 51, an output shaft of the third motor 52 extends into the third box 51 and is fixedly connected with a bidirectional screw 53, the bidirectional screw 53 is a screw with two opposite threads on the surface, a fixing rod 56 is fixedly installed below the bidirectional screw 53, two thread sleeves 54 are connected on the outer surface of the bidirectional screw 53 in a threaded manner, a connecting rod 55 is fixedly installed on the upper surface of the thread sleeve 54, a limiting rod 57 is fixedly installed on the lower surface of the thread sleeve 54, one end of the limiting rod 57 far away from the thread sleeve 54 is sleeved on the outer surface of the fixing rod 56, the clamping mechanism 6 includes a connecting plate 61, an expansion link 62 is fixedly installed on the outer side wall of the connecting plate 61, a clamping plate 63 is fixedly installed on the movable end of the expansion link, the lateral wall of grip block 63 is provided with a plurality of rubber bumps 65, through the telescopic link 62, spring 64 and the rubber bumps 65 that set up for two grip blocks 63 have certain cushioning effect when to article centre gripping, can avoid article to press from both sides badly, and the bottom fixed mounting of fixed plate 1 has installation leg 7, and the bottom movable mounting of installation leg 7 has removal wheel 8, removes wheel 8 and makes whole robot can conveniently remove.

The working principle is as follows: when the device is used, the heights of the rotating mechanism 3, the turnover mechanism 4, the moving mechanism 5 and the clamping mechanism 6 can be adjusted through the telescopic oil cylinder 2, by starting the first motor 32 in the rotating mechanism 3, the first motor 32 drives the first bevel gear 33 to rotate, so that the first bevel gear 33 drives the first rotating rod 34 to rotate through the second bevel gear 35, the mounting plate 36 drives the turnover mechanism 4, the moving mechanism 5 and the clamping mechanism 6 to rotate, by starting the second motor 42 in the turnover mechanism 4, the second motor 42 drives the first rotating gear 43 to rotate, so that the first rotating gear 43 drives the second rotating rod 44 to rotate through the second rotating gear 45, so that the second rotating rod 44 drives the moving mechanism 5 and the clamping mechanism 6 to turn over, the third motor 52 in the moving mechanism 5 is started, and the third motor 52 drives the bidirectional screw 53 to rotate, so that the two threaded sleeves 54 can carry the two connecting rods 55 in opposite directions, thereby allowing the two clamping mechanisms 6 to be closed and opened.

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. The utility model provides a convertible double-arm robot, includes fixed plate (1), its characterized in that: the upper surface of fixed plate (1) fixed mounting has flexible hydro-cylinder (2), the top fixed mounting of flexible hydro-cylinder (2) has slewing mechanism (3), the top fixed mounting of slewing mechanism (3) has tilting mechanism (4), the left side fixed mounting of tilting mechanism (4) has moving mechanism (5), the top fixed mounting of moving mechanism (5) has two fixture (6).

2. The roll-over type dual-arm robot of claim 1, wherein: slewing mechanism (3) include first box (31), the inside wall fixed mounting of first box (31) has first motor (32), the output shaft fixed mounting of first motor (32) has first bevel gear (33), the interior bottom of first box (31) is connected with first pivot pole (34) through the bearing rotation, the external fixed surface of first pivot pole (34) installs second bevel gear (35), second bevel gear (35) and first bevel gear (33) meshing, the top of first pivot pole (34) extends to the top and the fixed mounting of first box (31) has mounting panel (36).

3. The roll-over type dual-arm robot of claim 1, wherein: tilting mechanism (4) include second box (41), the inside wall fixed mounting of second box (41) has second motor (42), the output shaft fixed mounting of second motor (42) has first rotating gear (43), the top that the inside wall of second box (41) just is located second motor (42) rotates through the bearing and is connected with second dwang (44), the fixed surface of second dwang (44) installs second rotating gear (45), second rotating gear (45) and first rotating gear (43) meshing.

4. The roll-over type dual-arm robot of claim 1, wherein: moving mechanism (5) include third box (51), the lateral wall fixed mounting of third box (51) has third motor (52), the output shaft of third motor (52) extends to the inside of third box (51) and fixedly connected with two-way screw rod (53), the below fixed mounting of two-way screw rod (53) has dead lever (56), the surface thread connection of two-way screw rod (53) has two thread bush (54), the last fixed surface of thread bush (54) installs connecting rod (55), the lower fixed surface of thread bush (54) installs gag lever post (57), the one end that thread bush (54) was kept away from in gag lever post (57) cup joints the surface at dead lever (56).

5. The roll-over type dual-arm robot of claim 1, wherein: fixture (6) include connecting plate (61), the lateral wall fixed mounting of connecting plate (61) has telescopic link (62), the expansion end fixed mounting of telescopic link (62) has grip block (63), and spring (64) have been cup jointed to the surface of telescopic link (62), the lateral wall of grip block (63) is provided with a plurality of rubber convex block (65).

6. The roll-over type dual-arm robot of claim 1, wherein: the bottom fixed mounting of fixed plate (1) has installation leg (7), the bottom movable mounting of installation leg (7) has removal wheel (8).