CN210233093U

CN210233093U - Wall-hanging double-arm robot

Info

Publication number: CN210233093U
Application number: CN201921155144.9U
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 wall-hanging type double-arm robot, which comprises an outer frame, wherein the two ends of the outer side of the outer frame are fixedly connected with longitudinal rods, racks are fixedly arranged on the outer sides of the longitudinal rods, the racks are meshed with longitudinal gears, the other ends of the longitudinal gears which are coaxial are fixedly provided with chain wheels, the chain wheels are meshed with chains, the upper ends of the chains are meshed with change gears, the outer surface of the cross rods is provided with a bottom plate, the outer side of the bottom plate is provided with a transverse motor, the shaft of the transverse motor is fixedly connected with a wheel disc, the center of the outer side of the bottom plate is provided with a base, the base is rotatably connected with an mechanical arm, the robot can reach any position in a specified range, the transverse distance of the double arms can be freely determined, the tasks of a plurality of stations can be simultaneously completed, so that the robot can not only move, the degree of freedom is geometrically multiplied.

Description

Wall-hanging double-arm robot

Technical Field

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

Background

The robots at the present stage mainly engage in some mechanical assembly line work, are fixed on one point, cannot move freely within a certain range, and mostly only can perform single operations, such as article taking and placing, article splicing and the like.

These robots are relatively inefficient, requiring multiple robots to cooperate at the same time at the same location to complete, which results in a waste of resources and labor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the shortcoming that exists among the prior art, and the wall-hanging double-arm robot that proposes.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a wall-hanging type double-arm robot comprises an outer frame, wherein longitudinal rods are fixedly connected to two ends of the outer side of the outer frame, racks are fixedly mounted on the outer side of each longitudinal rod, a longitudinal gear is meshed with each rack, a chain wheel is fixedly mounted at the other end, coaxial with the longitudinal gear, of each longitudinal gear, the chain wheel is meshed with a chain, a hanging wheel is meshed at the upper end of each chain, the lower end of each chain is meshed with a gear shaft of a longitudinal motor, a tensioning wheel is fixedly connected to the inner side of each longitudinal rod through a connecting rod, hubs are connected to the upper end and the lower end of each tensioning wheel in a rolling mode through a first rod, each longitudinal gear is fixedly connected to the outer surface of a cross rod through a second rod, a bottom plate is mounted on the outer surface of each cross rod, a transverse motor is mounted on the outer side of each bottom plate, the base is installed at the center of the outer side of the bottom plate, and a mechanical arm is connected to the base in a rotating mode.

As a further description of the above technical solution:

the transverse motors are arranged on the outer side of the bottom plate and are symmetrically distributed from the center.

As a further description of the above technical solution:

the transverse gears are distributed around the center of the bottom plate and are symmetrically distributed.

As a further description of the above technical solution:

the connecting rod on the wheel disc is divided into two sections.

As a further description of the above technical solution:

and the longitudinal rod is provided with a sliding groove corresponding to the transverse rod.

As a further description of the above technical solution:

and the joint of the longitudinal rod and the outer frame is provided with a corresponding threaded hole.

The utility model discloses following beneficial effect has: the robot can reach any point position in a specified range, can freely move, can freely determine the transverse distance of double arms, and can simultaneously complete the tasks of a plurality of stations, so that the robot not only moves in a point line mode, but also moves in a surface mode, and the degree of freedom is increased in a geometric multiple mode.

Drawings

Fig. 1 is a front view of a wall-mounted dual-arm robot according to the present invention;

fig. 2 is a left side view of the wall-hanging type double-arm robot provided by the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 1;

fig. 4 is a schematic bottom plate diagram of a wall-mounted dual-arm robot according to the present invention;

fig. 5 is a schematic view of the back of the bottom plate of the wall-hanging type double-arm robot provided by the utility model.

Illustration of the drawings:

1. a first rod; 2. a second rod; 3. a cross bar; 4. a longitudinal gear; 5. an outer frame; 6. a hub; 7. a longitudinal bar; 8. a rack; 9. a transverse motor; 10. a transverse gear; 11. a base; 12. a base plate; 13. a mechanical arm; 14. a longitudinal motor; 15. a chain; 16. a tension wheel; 17. a connecting rod; 18. a wheel disc; 19. a change gear; 20. and a sprocket.

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 present invention provides an embodiment: a wall-hanging type double-arm robot comprises an outer frame 5, longitudinal rods 7 are fixedly connected to two ends of the outer side of the outer frame 5, the outer frame 5 is connected with the longitudinal rods 7 through bolts and convenient to detach, racks 8 are fixedly mounted on the outer side of the longitudinal rods 7, the racks 8 are connected with the longitudinal rods 7 in a gluing mode, no gap is reserved in the middle, for economy, the racks 8 and the longitudinal rods 7 are processed separately, longitudinal gears 4 are meshed with the racks 8, up-and-down movement of cross rods is achieved through meshing of the longitudinal racks 4 of the gears 8, free up-and-down movement of the cross rods is achieved, longitudinal full coverage of a mechanical arm 13 is guaranteed, a chain wheel 20 is fixedly mounted at the other end, coaxial with the longitudinal gears 4, the chain wheel 20 and the longitudinal gears 4 rotate coaxially, the purpose of up-and-down movement of the cross rods 3 is achieved through driving of the chain wheel 20 to be meshed with a chain 15, the tightness degree of a chain 15 is ensured through a hanging wheel 19, the lower end of the chain 15 is meshed with a gear shaft of a longitudinal motor 14, the longitudinal motor 14 drives a link 15, the moving direction of a transverse rod 3 is controlled through the positive and negative rotation of the motor, a tension wheel 16 is fixedly connected to the inner side of the longitudinal rod through a connecting rod by the longitudinal gear 4, the gear can be effectively contacted with a wheel hub 6 through the tension wheel 16, the friction force can also be moderate, the wheel hub 6 is connected to the upper end and the lower end of the tension wheel 16 in a rolling manner through a first rod 1, the special structure of the wheel hub 6 can be clamped on the inner side of the longitudinal rod 7, the moving stability is ensured through two wheel hubs 6 arranged on one side, the longitudinal gear 4 is fixedly connected to the outer surface of the transverse rod 3 through a second rod 2, a bottom plate 12 is arranged on the outer surface of the transverse rod 3, a transverse motor 9 is, the wheel disc 18 rotates through connecting rod 17 to be connected with transverse gear 10, through the connecting rod transmission, the dead point problem that needs to avoid, so the other end of connecting rod 17 sets up little balancing weight on the gear, and the dead point is crossed to the help gear, and transverse gear 10 fixed connection is in the inboard of bottom plate 12, and bottom plate 12 outside center department installs base 11, rotates on the base 11 and is connected with arm 13.

The transverse motors 9 are symmetrically distributed from the center of the outer side of the bottom plate 12, and the transverse gears 10 are symmetrically distributed around the center of the bottom plate 12, so that the bottom plate 12 can stably move on the cross rod, and factors influencing precision such as shaking cannot be generated. The connecting rod 17 on the wheel disc 18 is divided into two sections, and the direction of the upper gear and the direction of the lower gear are opposite through the arrangement of the connecting rod 17, so that the two gears are ensured not to have rotation difference, and the transverse advancing direction is ensured. Be provided with the spout that corresponds with horizontal pole 3 on the vertical pole 7, guarantee the connection stability of horizontal vertical pole through the spout, the vertical pole 7 is equipped with corresponding screw hole with the junction of frame 5, and whole mechanism can break away from with frame 5, makes things convenient for the maintenance.

The working principle is as follows: the longitudinal motor 14 rotates anticlockwise, the longitudinal gear 4 is driven through chain transmission, the rotating directions of the longitudinal motor and the longitudinal gear are consistent at the moment, the longitudinal motor and the longitudinal gear are both anticlockwise, the cross rod 3 moves upwards, otherwise, clockwise, the cross rod 3 moves downwards, the bottom plate 12 is integrally and movably connected to the cross rod 3, the transverse motor 9 rotates, the wheel disc 18 is driven, the connecting rod 17 is arranged on the wheel disc 18, the connecting rod 17 is divided into two parts, the middle part rotates and is connected to the right side of the wheel disc 18, the upper part is connected to the right side of the gear, the lower part is connected to the left side of the gear, the directions of the upper transverse gear 10 and the lower transverse gear 10 are opposite, when the transverse motor 9.

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 wall-hanging double-arm robot, includes frame (5), its characterized in that: the outer frame (5) is fixedly connected with longitudinal rods (7) at two ends of the outer side, racks (8) are fixedly mounted on the outer side of the longitudinal rods (7), longitudinal gears (4) are meshed with the racks (8), sprockets (20) are fixedly mounted at the other ends of the longitudinal gears (4) which are coaxial, chains (15) are meshed with the sprockets (20), hanging wheels (19) are meshed at the upper ends of the chains (15), the lower ends of the chains (15) are meshed with gear shafts of longitudinal motors (14), tensioning wheels (16) are fixedly connected to the inner sides of the longitudinal rods (7) through connecting rods, hubs (6) are connected to the upper ends and the lower ends of the tensioning wheels (16) through first rods (1) in a rolling mode, the longitudinal gears (4) are fixedly connected to the outer surface of a transverse rod (3) through second rods (2), and a bottom plate (12) is mounted on the outer surface of the transverse, horizontal motor (9) are installed in bottom plate (12) outside, the epaxial fixedly connected with rim plate (18) of horizontal motor (9), rim plate (18) rotate through connecting rod (17) and are connected with horizontal gear (10), horizontal gear (10) fixed connection is in the inboard of bottom plate (12), bottom plate (12) outside center department installs base (11), it is connected with arm (13) to rotate on base (11).

2. The wall-hanging type double-arm robot as claimed in claim 1, wherein: the transverse motors (9) are arranged on the outer side of the bottom plate (12) and are symmetrically distributed from the center.

3. The wall-hanging type double-arm robot as claimed in claim 1, wherein: the transverse gears (10) are distributed around the center of the bottom plate (12) and are symmetrically distributed.

4. The wall-hanging type double-arm robot as claimed in claim 1, wherein: the connecting rod (17) on the wheel disc (18) is divided into two sections.

5. The wall-hanging type double-arm robot as claimed in claim 1, wherein: and the vertical rod (7) is provided with a sliding chute corresponding to the transverse rod (3).

6. The wall-hanging type double-arm robot as claimed in claim 1, wherein: and a corresponding threaded hole is formed at the joint of the longitudinal rod (7) and the outer frame (5).