CN214981020U

CN214981020U - Double-arm robot

Info

Publication number: CN214981020U
Application number: CN202121214285.0U
Authority: CN
Inventors: 宋波
Original assignee: Chongqing Linhao Industrial Technology Co ltd
Current assignee: Chongqing Linhao Industrial Technology Co ltd
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2021-12-03
Anticipated expiration: 2031-06-01

Abstract

The utility model discloses a double-arm robot, which comprises a base and a body arranged on the base, wherein lifting mechanisms are arranged on two sides of the body, mechanical arms are arranged on the lifting mechanisms, and the lifting mechanisms lift up and down to drive the mechanical arms to move up and down; the mechanical arm comprises a first movable unit and a second movable unit; the first movable unit comprises a first driving motor and a first movable arm, and the first driving motor drives the first movable arm to move horizontally; the second movable unit comprises a second driving motor and a second movable arm, and the second driving motor drives the second movable arm to move horizontally. The movement control of the mechanical arm in the longitudinal direction is realized by arranging the lifting device; the motion control in the horizontal direction is realized by arranging the mechanical arm; thus, the motion control of the mechanical arm in a space system is realized; the problem of current assembled double-arm people set for specific motion mode according to work content, can't change according to the use purpose is solved.

Description

Double-arm robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to double-arm robot.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

A two-arm robot is used for the assembly operation. In order to perform the assembly operation, it is often necessary to apply a working force so that the parts to be assembled snap into place. Assembly with a two-arm robot can be accomplished in two different ways. The first type is to carry the belt assembly on one robot arm and the parts to be assembled on the other arm. The second type is where one robot arm holds the assembly or parts to be assembled while the other part is in a stationary fixture (usually on the assembly table).

The existing assembled double-arm person sets a specific motion mode according to work content and cannot be changed according to the use purpose.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a double-arm robot can provide different motion, and adjustable range is big, solves current assembled double-arm people and sets for specific motion according to the work content, can't carry out the problem that changes according to the use purpose.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a double-arm robot, which comprises a base and a body arranged on the base, wherein lifting mechanisms are arranged on two sides of the body, mechanical arms are arranged on the lifting mechanisms, and the lifting mechanisms lift up and down to drive the mechanical arms to move up and down; the mechanical arm comprises a first movable unit and a second movable unit; the first movable unit comprises a first driving motor and a first moving arm, and the first driving motor drives the first moving arm to move horizontally; the lifting mechanism is provided with a motor mounting rack, and the first driving motor is mounted on the motor mounting rack; the second movable unit includes a second driving motor and a second moving arm, the second driving motor being mounted on the first moving arm; the second driving motor drives the second moving arm to move horizontally; and a third driving motor for driving the external connecting part is arranged on the second moving arm.

According to the technical content, the lifting device and the lifting mechanism are arranged, the mechanical arms are arranged on the lifting mechanism, and the lifting mechanism is lifted up and down to drive the mechanical arms to move up and down; the motion control of the mechanical arm in the longitudinal direction is realized; the mechanical arm comprises a first movable unit and a second movable unit, the first movable unit comprises a first driving motor and a first movable arm, the first driving motor drives the first movable arm to do horizontal motion, motion control of the mechanical arm in the horizontal direction is achieved, the first driving motor is equivalent to a first joint of the mechanical arm, the second driving motor is equivalent to a second joint of the mechanical arm in the same way, and a third driving motor is equivalent to a third joint of the mechanical arm; thus, the motion control of the mechanical arm in a space system is realized; the second moving arm is provided with a third driving motor which is used as a third joint and used for providing an expanded mounting position and increasing the expansibility of the double-arm robot, so that different moving modes can be provided, the adjustable range is large, and the problem that the existing assembled double-arm robot cannot be changed according to the use purpose because a specific moving mode is set according to the work content is solved; the double-arm robot can be used for assembling two different parts, and can completely replace most double-hand operators; the use flexibility is strong, and this equipment can use in any place, only needs to change frock clamp according to different station technological requirements can realize the equipment function of different workmanship.

In one possible design, the end of the mechanical arm is detachably provided with a visual identifier. Through the installation vision controller, during the use, vision recognizer is connected with the controller electricity that is used for controlling the motion of arm, through acquireing the image, discerns the image, does data analysis for getting the required precision of putting spare part, provides concrete data for improving the whole precision of arm to reach the effect that arm intelligence was restoreed or was corrected.

In one possible design, a flange is mounted on the end of the rotating shaft of the third driving motor. And the installation of other parts is facilitated through the installation flange plate.

In one possible design, a display is arranged at the top of the machine body, the display is electrically connected with a controller used for controlling the movement of the mechanical arm, the base comprises an electric control cabinet, and the controller is located in the electric control cabinet. Through setting up electrical control cabinet at base part, can increase the counter weight of base for robot is more stable.

In one possible design, the top end of the electrical control cabinet is detachably provided with a tool clamp mounting platform. The tool clamp mounting platform is arranged, so that the mechanical arm is matched with the mounting platform, the robot arm holds a component or a part to be assembled, and other parts are positioned in the static fixing device, and high mounting force can be provided; in addition, the tool clamp mounting platform is arranged at the top end of the electrical control cabinet, and the counter weight for increasing the base can be also played, so that the robot is more stable.

In one possible design, a slide rail is arranged at the top end of the electrical control cabinet, and the tool clamp mounting platform is provided with a groove body matched with the slide rail, so that the tool clamp mounting platform can move along the slide rail. Through setting up frock clamp mounting platform setting on the slide rail for frock clamp mounting platform can adjust at the certain limit, increases the operating range of robot, increases the practicality of robot.

In a possible design, supporting beams are fixedly arranged on two sides of the bottom of the base, the length of each supporting beam is larger than the width of the base, supporting legs with adjustable heights are arranged at two ends of each supporting beam, and the supporting legs are connected with the supporting beams through threads. Supporting beams are fixedly arranged on two sides of the bottom of the base, the length of each supporting beam is larger than the width of the base, so that when the base is located on each supporting beam, the bearing range of each supporting beam is larger, even if heavy devices are clamped by the mechanical arm, the base is not easy to topple, and the stability of the robot is greatly improved.

In one possible embodiment, the first drive motor and the second drive motor are servo motors or stepper motors. By selecting the servo motor or the stepping motor, the mechanical arm is accurate in control and high in motion trail editability.

In one possible design, the back of the machine body is provided with a balancing weight which is in a strip shape and is longitudinally arranged on the back of the machine body. Be provided with the balancing weight through at the fuselage back, increase the stability of robot, be difficult to empty.

Has the advantages that:

1. the utility model provides a double-arm robot, through setting up the elevating gear, the elevating system, all install the arm on the elevating system, the elevating system goes up and down to drive the arm reciprocates; the motion control of the mechanical arm in the longitudinal direction is realized; the mechanical arm comprises a first movable unit and a second movable unit, the first movable unit comprises a first driving motor and a first movable arm, and the first driving motor drives the first movable arm to move horizontally, so that the motion control of the mechanical arm in the horizontal direction is realized; thus, the motion control of the mechanical arm in a space system is realized; the second moving arm is provided with a third driving motor which is used as a third joint and used for providing an expanded mounting position and increasing the expansibility of the double-arm robot, so that different moving modes can be provided, the adjustable range is large, and the problem that the existing assembled double-arm robot cannot be changed according to the use purpose because a specific moving mode is set according to the work content is solved; the double-arm robot can be used for assembling two different parts, and can completely replace most double-hand operators; the mechanical arm has strong use flexibility, can be used in any place, and can realize the equipment functions of different work types only by replacing the tool clamp according to the process requirements of different stations;

2. the utility model provides a double-arm robot, through installing the vision controller, during the use, the vision recognizer is connected with the controller electricity that is used for controlling the motion of mechanical arm, does data analysis for the precision requirement of getting and putting spare part, in order to reach the effect of compensation or correction;

3. the utility model provides a double-arm robot, through setting up the third driving motor on the arm, be equivalent to the third joint, provide the expansion installation position through the ring flange, increase the expansibility of double-arm robot; the electric control cabinet is arranged on the base part, so that the counter weight of the base can be increased, and the robot is more stable; the tool clamp mounting platform is arranged, so that the mechanical arm is matched with the mounting platform, the robot arm holds a component or a part to be assembled, and other parts are positioned in the static fixing device, and high mounting force can be provided; in addition, the tool clamp mounting platform is arranged at the top end of the electrical control cabinet, and the effect of increasing the counter weight of the base and enabling the robot to be more stable can be achieved; the tool clamp mounting platform is arranged on the slide rail, so that the tool clamp mounting platform can be adjusted within a certain range, the operable range of the robot is increased, and the practicability of the robot is increased;

4. the utility model provides a pair of double-arm robot is provided with a supporting beam through the fixed bottom both sides that set up the base, is greater than through the length that sets up a supporting beam the width of base for when the base is located a supporting beam, a supporting beam's bearing scope is bigger, even if the heavier device of arm centre gripping, the base is also difficult to empty, has improved the stability of robot greatly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is the utility model provides a three-dimensional structure schematic diagram of double-arm robot.

Fig. 2 is the utility model provides a structural schematic diagram of two-arm robot's right side is looked.

Fig. 3 is the utility model provides a structural schematic diagram of the back vision of double-arm robot.

The reference numbers in the figures are:

1-base, 2-fuselage, 3-lifting mechanism, 4-mechanical arm, 5-first movable unit, 6-second movable unit, 7-motor mounting rack, 8-visual recognizer, 9-third driving motor, 10-display, 11-frock clamp mounting platform, 12-slide rail, 13-counterweight block, 101-electric control cabinet, 102-supporting beam, 103-supporting foot, 501-first driving motor, 502-first movable arm, 601-second driving motor, 602-second movable arm.

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

As shown in fig. 1 and 2, the utility model provides a double-arm robot, which comprises a base 1 and a body 2 arranged on the base 1, wherein two sides of the body 2 are both provided with lifting mechanisms 3, the lifting mechanisms 3 are both provided with mechanical arms 4, and the lifting mechanisms 3 lift up and down to drive the mechanical arms 4 to move up and down; the robot arm 4 includes a first movable unit 5 and a second movable unit 6; the first movable unit 5 comprises a first driving motor 501 and a first moving arm 502, wherein the first driving motor 501 drives the first moving arm 502 to move horizontally; the lifting mechanism 3 is provided with a motor mounting rack 7, and the first driving motor 501 is mounted on the motor mounting rack 7; the second movable unit 6 includes a second driving motor 601 and a second moving arm 602, the second driving motor 601 being mounted on the first moving arm 502; the second driving motor 601 drives the second moving arm 602 to move horizontally; a third driving motor 9 for driving the external connection member is provided on the second moving arm 602.

When the lifting mechanism is specifically implemented, the embodiment of the lifting mechanism is as shown in fig. 1, and the lifting mechanism comprises a driving motor and a sliding table which is sleeved on a sliding rail which is longitudinally arranged, wherein the driving motor is connected with a screw rod lifter in a driving way, and the screw rod lifter is connected with the sliding table so that the sliding table can move up and down.

As an example, the motor mounting bracket 7 is provided with a longitudinal through hole, the through hole is matched with the first driving motor 501, the periphery of the first driving motor 501 is installed around the through hole through screws, the power output end of the first driving motor 501 passes through the through hole and then is connected with the first moving arm 502, so that the first moving arm 502 is driven, and similarly, the second driving motor 601 and the second moving arm 602 can be implemented in the same connection installation manner; in addition, the two mechanical arms of the double-arm machine are the same, and the arrangement mode is also the same.

As an example, the third driving motor 9 drives the horizontal movement of the expansion portion. The expansion part can be a pneumatic clamping device which can be used for clamping objects or a screwdriver is added, the product assembling process is realized, the screws are screwed, and when the robot is used specifically, the expansion part is replaced as required, so that the practicability and the comprehensive capacity of the robot are improved.

In a possible embodiment, the end of the robot arm 4 is removably provided with a visual identifier 8. In particular, the visual identifier 8 may be mounted by screws.

In a possible embodiment, a third driving motor 9 for providing a docking station is disposed on the second moving arm 602.

In a possible embodiment, a display 10 is provided on the top of the body 2, said display being electrically connected to a controller, and the base 1 comprises an electrical control cabinet 101, said controller being located inside the electrical control cabinet 101.

In a possible embodiment, the top end of the electrical control cabinet 101 is detachably provided with a tool clamp mounting platform 11.

Correspondingly, the top end of the electrical control cabinet 101 is provided with a slide rail 12, and the tool clamp mounting platform 11 is provided with a groove body matched with the slide rail 12, so that the tool clamp mounting platform 11 can move along the slide rail 12.

In a possible embodiment, as shown in fig. 1, support beams 102 are fixedly arranged on two sides of the bottom of the base 1, the length of each support beam 102 is greater than the width of the base 1, support feet 103 with adjustable height are arranged on two ends of each support beam 102, and the support feet 103 are connected with the support beams 102 through threads.

In one possible embodiment, the first driving motor 501 and the second driving motor 601 are servo motors or stepping motors.

In a possible embodiment, as shown in fig. 2 and 3, a counterweight 13 is arranged on the back of the body 2, and the counterweight is strip-shaped and is longitudinally installed on the back of the body 2.

In specific implementation, the robot comprises a memory, a controller and a transceiver which are sequentially communicated, wherein the memory is used for storing a computer program, the transceiver is used for receiving and sending messages, and the controller is used for reading the computer program and executing the prestored mechanical arm movement steps. For example, the Memory may include, but is not limited to, a Random-Access Memory (RAM), a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a First-in First-out (FIFO), and/or a First-in Last-out (FILO), and the like; the controller may not be limited to the use of a microprocessor model number STM32F105 series; the transceiver may be, but is not limited to, a Wireless Fidelity (WiFi) Wireless transceiver, a bluetooth Wireless transceiver, a General Packet Radio Service (GPRS) Wireless transceiver, a ZigBee Wireless transceiver (ieee 802.15.4 standard-based low power local area network protocol), and/or a ZigBee Wireless transceiver. In addition, the playing control device of the multimedia resource can also include, but is not limited to, a power supply module and other necessary components.

To sum up, the double-arm robot provided by the utility model is provided with the lifting device and the lifting mechanism, wherein the lifting mechanism is provided with the mechanical arms, and the lifting mechanism lifts up and down to drive the mechanical arms to move up and down; the motion control of the mechanical arm in the longitudinal direction is realized; the mechanical arm comprises a first movable unit and a second movable unit, the first movable unit comprises a first driving motor and a first movable arm, and the first driving motor drives the first movable arm to move horizontally, so that the motion control of the mechanical arm in the horizontal direction is realized; thus, the motion control of the mechanical arm in a space system is realized; when the tool clamp is used, the second moving arm is used for installing the tool clamp, so that different moving modes can be provided, the adjustable range is large, and the problem that the existing assembled double-arm person cannot be changed according to the use purpose because a specific moving mode is set according to work contents is solved; the double-arm robot can be used for assembling two different parts, and can completely replace most double-hand operators; the use flexibility is strong, and this arm equipment can use in any place, only needs to change frock clamp according to different station technological requirements can realize the equipment function of different workmanship.

The embodiments described above are merely illustrative, and may or may not be physically separate, if referring to units illustrated as separate components; if reference is made to a component displayed as a unit, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: modifications may be made to the embodiments described above, or equivalents may be substituted for some of the features described. Such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The double-arm robot is characterized by comprising a base (1) and a robot body (2) arranged on the base (1), wherein lifting mechanisms (3) are arranged on two sides of the robot body (2), mechanical arms (4) are arranged on the lifting mechanisms (3), and the lifting mechanisms (3) lift up and down to drive the mechanical arms (4) to move up and down; the mechanical arm (4) comprises a first movable unit (5) and a second movable unit (6); the first movable unit (5) comprises a first driving motor (501) and a first moving arm (502), and the first driving motor (501) drives the first moving arm (502) to move horizontally; a motor mounting rack (7) is arranged on a sliding table of the lifting mechanism (3), and the first driving motor (501) is mounted on the motor mounting rack (7); the second movable unit (6) includes a second driving motor (601) and a second moving arm (602), the second driving motor (601) being mounted on the first moving arm (502); the second driving motor (601) drives the second moving arm (602) to move horizontally; and a third driving motor (9) for driving an external connecting part is arranged on the second moving arm (602).

2. The dual-arm robot according to claim 1, wherein the end of the robot arm (4) is detachably provided with a visual recognizer (8).

3. The dual-arm robot as claimed in claim 1, wherein a flange is mounted on a rotating shaft of the third driving motor (9).

4. The dual-arm robot as claimed in claim 1, wherein a display (10) is provided on the top of the body (2), the display being electrically connected with a controller, and the base (1) comprises an electric control cabinet (101), and the controller is located in the electric control cabinet (101).

5. The double-arm robot as claimed in claim 4, wherein a tool clamp mounting platform (11) is detachably arranged on the top end of the electric control cabinet (101).

6. The double-arm robot as claimed in claim 5, wherein a slide rail (12) is arranged at the top end of the electric control cabinet (101), and the tooling fixture mounting platform (11) is provided with a groove body matched with the slide rail (12), so that the tooling fixture mounting platform (11) can move along the slide rail (12).

7. The double-arm robot as claimed in claim 1, wherein support beams (102) are fixedly arranged on two sides of the bottom of the base (1), the length of each support beam (102) is greater than the width of the base (1), height-adjustable support feet (103) are arranged on two ends of each support beam (102), and the support feet (103) are connected with the support beams (102) through threads.

8. The dual-arm robot according to claim 1, wherein the first and second driving motors (501, 601) are servo motors or stepping motors.

9. The dual-arm robot as claimed in claim 1, wherein a weight block (13) is provided on the back of the body (2); the balancing weight (13) is strip-shaped, and the balancing weight (13) is longitudinally arranged on the back of the machine body (2).