CN219132302U

CN219132302U - Double-arm cooperative robot

Info

Publication number: CN219132302U
Application number: CN202223535989.5U
Authority: CN
Inventors: 侯利召; 张笑天; 林瑶庆
Original assignee: Tiansheng Zhixiang Changzhou Robot Technology Co ltd
Current assignee: Tiansheng Zhixiang Changzhou Robot Technology Co ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-06-06
Anticipated expiration: 2032-12-29

Abstract

The utility model relates to the technical field of robots, in particular to a double-arm cooperative robot which comprises an operation plate, wherein sliding grooves are formed in the left side and the right side of the top surface of the operation plate, sliding blocks are arranged in the sliding grooves, the top ends of the sliding blocks are fixedly connected with a bottom plate, hydraulic machine protection covers are arranged on the top ends of the bottom plate, hydraulic machines are arranged in the hydraulic machine protection covers, first connecting rods are fixedly connected to the top ends of the hydraulic machines, sliding rods are fixedly connected to the left side surfaces of the first connecting rods, and fixed pipes are slidably connected to one ends of the sliding rods, which are far away from the first connecting rods.

Description

Double-arm cooperative robot

Technical Field

The utility model relates to the technical field of robots, in particular to a double-arm cooperative robot.

Background

The robot, starting from 1980, was developed and industrialized mainly by the current teaching of the university of sorbitol in the field in order to solve the problem of the assembly process in automated production at high speed and effectively. Therefore, the SCARA robot is also a typical representative of assembly robots, and in the era of mass industrial production, the SCARA robot has the characteristics of simple action, high speed, low cost and the like, and is centered on the 3C electronic industry (computer, communication and consumer electronics), so that a certain application result is obtained. The working procedures of specific application include grabbing and placing (inserting) parts, dispensing, screwing, soldering and the like, replacing manual implementation, repeating, and high-quality requirement. The application range of the assembly robot is also developed from the 3c industry to the general industrial fields such as 3p (foods, medicines and cosmetics), and specifically, the cooperative robot and the intelligent robot are the development directions of the robots.

In the existing robots, the two arms cannot cooperate, and the disadvantage of the multi-axis mechanical arm is that the effective working range is smaller, if the large-scale carrying environment is completed, the multi-axis mechanical arm is very useless, and the working efficiency cannot be improved for operators.

In view of this, we propose a two-arm collaborative robot.

Disclosure of Invention

In order to overcome the defects, the utility model provides a double-arm cooperative robot.

The technical scheme of the utility model is as follows:

the utility model provides a both arms cooperation robot, includes the operation panel, the top surface left and right sides of operation panel all is equipped with the spout, the inside of spout all is equipped with the slider, the equal fixedly connected with bottom plate in top of slider, the top of bottom plate all is equipped with the hydraulic press safety cover, the inside of hydraulic press safety cover all is equipped with the hydraulic press, the equal fixedly connected with head rod in top of hydraulic press, the equal fixedly connected with slide bar in left side surface of head rod, the equal sliding connection of one end that the head rod was kept away from to the slide bar has a fixed pipe, the equal through-connection in surface of fixed pipe has three second fixed plates of group, the equal sliding connection in top of fixed pipe is connected with first telescopic link with the slide bar, the equal sliding connection in top of first telescopic link has first slide pipe, the equal sliding connection in top of first slide pipe has the second telescopic link.

As the preferred technical scheme, the equal sliding connection in top of second telescopic link has the third fixed plate, third fixed plate through-connection has two sets of second connecting rods, the equal sliding connection in left side of second connecting rod has the third telescopic link, the equal sliding connection in one end that the second connecting rod was kept away from to the third telescopic link has the third slide tube, the top sliding connection of third slide tube has the fourth telescopic link, the equal fixedly connected with third connecting rod in top of fourth telescopic link, third connecting rod through-connection has two sets of fourth fixed plates.

As the preferable technical scheme, the equal fixedly connected with backup pad of top surface of hydraulic press safety cover, the equal fixedly connected with first fixed plate of top surface left and right sides of backup pad, the external surface of first fixed plate all is equipped with first drive plate, equal fixedly connected with first transfer line between the first drive plate, the equal through-connection of the left and right sides of first transfer line has first connecting plate.

As the preferable technical scheme, the first connecting plate is far away from the second transmission plate which is fixedly connected with the outer side surface of one end of the first transmission plate, and the second transmission rods are fixedly connected between the second transmission plates.

As the preferable technical scheme, the second transmission rods are all connected with a second connecting plate in a penetrating way near the center.

As the preferable technical scheme, the one end that the second connecting plate kept away from the second transfer line all through-connection has the third transfer line, the both ends of third transfer line all fixedly connected with third drive plate, the inside surface of third drive plate all fixedly connected with third connecting plate.

As the preferred technical scheme, the first go-between of equal fixedly connected with of one end that the third drive plate was kept away from to the third connecting plate, the first go-between is kept away from the one end of third connecting plate and is all rotated and is connected with the spin ball, the spin ball is kept away from the one end of first go-between and is all rotated and is connected with the second go-between, the second go-between is kept away from the one end of spin ball and is all fixedly connected with connecting block, the bottom fixedly connected with rolling disc of connecting block, the bottom of rolling disc is equipped with the gripper.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, the two mechanical arms can operate cooperatively or independently through the sliding blocks arranged in the sliding grooves on the left side and the right side of the operation plate, so that when a large object is operated or a plurality of objects are required to be operated, the mechanical arms are not fixed, and the operation is performed one by one, so that the whole working efficiency is greatly improved.

2. According to the utility model, the hydraulic press arranged in the hydraulic press protective cover drives the telescopic rods to move, and the whole mechanical arm can flexibly turn to any position needing to work through the transmission rods in the middle of each connecting plate, so that the hydraulic press protective cover greatly facilitates operators, and the positions of the mechanical arm do not need to be independently adjusted.

Drawings

FIG. 1 is a schematic side perspective view of the present utility model;

FIG. 2 is a schematic bottom perspective view of the present utility model;

FIG. 3 is a schematic side perspective view of a mechanical arm according to the present utility model (without a hydraulic machine protective cover installed);

FIG. 4 is a schematic view of the bottom view of the mechanical arm (without the hydraulic machine protective cover);

fig. 5 is a schematic diagram of a right-side perspective structure of the mechanical arm of the present utility model (in a state where the hydraulic machine protective cover is not installed).

In the figure: 1. an operation panel; 2. a chute; 21. a slide block; 22. a bottom plate; 23. a hydraulic press protective cover; 24. a hydraulic press; 3. a support plate; 31. a first fixing plate; 32. a first drive plate; 33. a first transmission rod; 34. a first connection plate; 35. a second drive plate; 36. a second transmission rod; 38. a second connecting plate; 381. a third drive plate; 382. a third transmission rod; 39. a third connecting plate; 391. a first connection ring; 392. a rotating ball; 393. a second connecting ring; 4. a first connecting rod; 41. a slide bar; 42. a fixed tube; 43. a second fixing plate; 44. a first telescopic rod; 45. a first slide tube; 46. a second telescopic rod; 47. a third fixing plate; 48. a second connecting rod; 49. a third telescopic rod; 491. a third slide tube; 492. a fourth telescopic rod; 493. a third connecting rod; 494. a fourth fixing plate; 5. a connecting block; 51. a rotating disc; 52. and (5) a mechanical claw.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Several embodiments of the utility model are presented in the figures. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-5, the present utility model provides a technical solution:

a double-arm cooperative robot comprising an operation panel 1, characterized in that: the top surface left and right sides of operation panel 1 all is equipped with spout 2, the inside of spout 2 all is equipped with slider 21, the equal fixedly connected with bottom plate 22 in top of slider 21, the top of bottom plate 22 all is equipped with hydraulic press safety cover 23, the inside of hydraulic press safety cover 23 all is equipped with hydraulic press 24, the equal fixedly connected with head rod 4 in top of hydraulic press 24, the equal fixedly connected with head rod 41 in left side surface of head rod 4, the equal sliding connection of one end that head rod 4 was kept away from to head rod 41 has fixed pipe 42, the equal through-connection of surface of fixed pipe 42 has three group second fixed plate 43, the fixed equal sliding connection in top of fixed pipe 42 is connected with head rod 41 has first telescopic link 44, the equal sliding connection in top of first telescopic link 44 has first slide 45, the equal sliding connection in top of first slide 45 has second telescopic link 46, drive head rod 4 through hydraulic press 24, head rod 4 drives head rod 41, head rod 41 drives head telescopic link 44, head telescopic link 44 stretches out and draws back in head rod 45, head rod 45 top has second telescopic link 46.

It should be noted that, the top end of the second telescopic rod 46 is all slidingly connected with a third fixing plate 47, the third fixing plate 47 is connected with two groups of second connecting rods 48 in a penetrating way, the left side of the second connecting rods 48 is all slidingly connected with a third telescopic rod 49, one end of the third telescopic rod 49 far away from the second connecting rods 48 is all slidingly connected with a third sliding tube 491, the top end of the third sliding tube 491 is slidingly connected with a fourth telescopic rod 492, the top end of the fourth telescopic rod 492 is all fixedly connected with a third connecting rod 493, the third connecting rod 493 is connected with two groups of fourth fixing plates 494 in a penetrating way, the connecting rods 48 are driven by the second telescopic rod 46, the connecting rods 48 drive the third telescopic rod 49, the third telescopic rod 49 stretches into the third sliding tube 491, and the top end of the third sliding tube 491 stretches into the fourth telescopic rod 492.

As a preference of this embodiment, the top surface of the hydraulic press protection cover 23 is fixedly connected with a support plate 3, the left side and the right side of the top surface of the support plate 3 are fixedly connected with a first fixing plate 31, the outer surface of the first fixing plate 31 is provided with a first transmission plate 32, a first transmission rod 33 is fixedly connected between the first transmission plates 32, the left side and the right side of the first transmission rod 33 are respectively and penetratingly connected with a first connecting plate 34, and the first connecting plate 34 is driven to rotate by the first transmission rod 33.

As a preferred embodiment, the outer side surfaces of the ends of the first connecting plates 34 far away from the first transmission plates 32 are fixedly connected with second transmission plates 35, second transmission rods 36 are fixedly connected between the second transmission plates 35, and the second connecting plates 38 are driven to rotate by the second transmission rods 36.

Preferably, the second connecting plates 38 are connected to the second transmission rods 36 near the center.

It should be noted that, the end of the second connecting plate 38 away from the second transmission rod 36 is all connected with a third transmission rod 382 in a penetrating manner, both ends of the third transmission rod 382 are all fixedly connected with a third transmission plate 381, the inner surface of the third transmission plate 381 is all fixedly connected with a third connecting plate 39, and the third transmission rod 382 drives the third connecting plate 39 to rotate.

As a preference of this embodiment, the end of the third connecting plate 39 away from the third transmission plate 381 is fixedly connected with the first connecting ring 391, the end of the first connecting ring 391 away from the third connecting plate 39 is rotationally connected with the rotating ball 392, the end of the rotating ball 392 away from the first connecting ring 391 is rotationally connected with the second connecting ring 393, the end of the second connecting ring 393 away from the rotating ball 392 is fixedly connected with the connecting block 5, the bottom end of the connecting block 5 is fixedly connected with the rotating disc 51, the bottom end of the rotating disc 51 is provided with the mechanical claw 52, and the mechanical claw 52 is driven to rotate by the rotating ball 392.

When the double-arm cooperative robot is used, after an object to be operated is placed on an operation plate 1, a first connecting rod 4 is driven by a hydraulic press 24, a sliding rod 41 is driven by the first connecting rod 4, a first telescopic rod 44 is driven by the sliding rod 41, the first telescopic rod 44 stretches into a first sliding tube 45, a second telescopic rod 46 stretches out and draws back at the top end of the first sliding tube 45, a connecting rod 48 is driven by the second telescopic rod 46, a third telescopic rod 49 is driven by the connecting rod 48, the third telescopic rod 49 stretches out and draws back into a third sliding tube 491, a fourth telescopic rod 492 stretches out and draws back at the top end of the third sliding tube 491, the first connecting plate 34 is driven by the first transmission rod 33 to rotate, the second connecting plate 38 is driven by the second transmission rod 36 to rotate, the third connecting plate 39 is driven by the third transmission rod 382, and the mechanical claw 52 is driven by the rotating ball 392 to rotate.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present utility model, and are not intended to limit the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. Double-arm cooperative robot, comprising an operation panel (1), characterized in that: the utility model discloses a hydraulic press safety cover, including operation panel (1), slide (2) are all equipped with on the top surface left and right sides of operation panel (1), the inside of slide (2) all is equipped with slider (21), the equal fixedly connected with bottom plate (22) in top of slider (21), the top of bottom plate (22) all is equipped with hydraulic press safety cover (23), the inside of hydraulic press safety cover (23) all is equipped with hydraulic press (24), the equal fixedly connected with head rod (4) in top of hydraulic press (24), the equal fixedly connected with slide bar (41) in left side surface of head rod (4), the equal sliding connection of one end that head rod (4) was kept away from to slide bar (41) has fixed pipe (42), the equal through-connection in surface of fixed pipe (42) has three second fixed plates (43), the equal sliding connection in top of fixed pipe (42) has first telescopic link (44) with slide bar (41), the equal sliding connection in top of first telescopic link (44) has first slide (45), the equal sliding connection in top of first telescopic link (45) has second telescopic link (46).

2. A dual arm cooperative robot as claimed in claim 1, wherein: the top of second telescopic link (46) all sliding connection has third fixed plate (47), the equal sliding connection in third fixed plate (47) through-connection has two sets of second connecting rods (48), the equal sliding connection in left side of second connecting rod (48) has third telescopic link (49), the equal sliding connection in one end that second connecting rod (48) was kept away from to third telescopic link (49) has third slide tube (491), the top sliding connection of third slide tube (491) has fourth telescopic link (492), the equal fixedly connected with third connecting rod (493) in top of fourth telescopic link (492), the equal sliding connection of third connecting rod (493) through-connection has two sets of fourth fixed plates (494).

3. A dual arm cooperative robot as claimed in claim 1, wherein: the hydraulic press safety cover is characterized in that the supporting plate (3) is fixedly connected to the top surface of the hydraulic press safety cover (23), the first fixing plates (31) are fixedly connected to the left side and the right side of the top surface of the supporting plate (3), the first transmission plates (32) are arranged on the outer surfaces of the first fixing plates (31), the first transmission rods (33) are fixedly connected between the first transmission plates (32), and the first connecting plates (34) are fixedly connected to the left side and the right side of the first transmission rods (33).

4. A dual arm cooperative robot as claimed in claim 3, wherein: the first connecting plates (34) are away from the outer side surfaces of one ends of the first transmission plates (32) and are fixedly connected with second transmission plates (35), and second transmission rods (36) are fixedly connected between the second transmission plates (35).

5. A dual arm cooperative robot as claimed in claim 4, wherein: and a second connecting plate (38) is connected to the second transmission rod (36) near the center in a penetrating way.

6. A dual arm cooperative robot as claimed in claim 5, wherein: one end of the second connecting plate (38) far away from the second transmission rod (36) is connected with a third transmission rod (382) in a penetrating mode, two ends of the third transmission rod (382) are fixedly connected with a third transmission plate (381), and the inner surface of the third transmission plate (381) is fixedly connected with a third connecting plate (39).

7. A dual arm cooperative robot as claimed in claim 6, wherein: the one end that third link plate (39) was kept away from third drive plate (381) is equal fixedly connected with first go-between (391), the one end that third link plate (39) was kept away from to first go-between (391) is all rotated and is connected with dwang (392), the one end that first go-between (391) was kept away from to dwang (392) is all rotated and is connected with second go-between (393), the one end that dwang (392) was kept away from to second go-between (393) is equal fixedly connected with connecting block (5), the bottom fixedly connected with rolling disc (51) of connecting block (5), the bottom of rolling disc (51) is equipped with gripper (52).