CN220945376U - Multi-mechanical arm platform structure - Google Patents

Abstract

The application discloses a multi-mechanical arm platform structure, which comprises: a load-bearing platform; at least one base group positioned on the bearing platform; the base group comprises a first supporting base and a second supporting base; the first mechanical arms comprise first ends and second ends which are oppositely arranged, and the first ends are connected with the first support base or the second support base. Through the structure, the machining efficiency of the mechanical arm platform can be improved.

Description

Multi-mechanical arm platform structure

Technical Field

The application relates to the technical field of automation, in particular to a platform structure with multiple mechanical arms.

Background

At present, the processing of the inner wall of a cabin in a ship mainly depends on manpower, a great deal of manpower is required to be consumed, the efficiency is low, and meanwhile, the severe working environment causes serious harm to the physical and mental health of workers. In view of this, how to efficiently replace manual work to finish the processing of the inner wall of the cabin by using the mechanical arm becomes a problem to be solved.

Disclosure of utility model

The application mainly solves the technical problem of providing a multi-mechanical arm platform structure which can improve the working efficiency of a mechanical arm platform.

In order to solve the technical problems, the application adopts a technical scheme that: provided is a multi-robot arm platform structure, comprising: a load-bearing platform; at least one base group positioned on the bearing platform; the base group comprises a first supporting base and a second supporting base; the first mechanical arms comprise first ends and second ends which are oppositely arranged, and the first ends are connected with the first support base or the second support base.

The bearing platform is rectangular and comprises a first side edge and a second side edge which are oppositely arranged, the first supporting base is close to the first side edge, the second supporting base is close to the second side edge, and the first supporting base and the second supporting base are respectively arranged on two sides of a first direction in a staggered mode; when the number of the base groups is multiple, the first direction is parallel to the extending directions of the multiple base groups, and all the first support bases and all the second support bases are not interfered with each other.

The first side edges, the second side edges and the first direction are parallel to each other, the distance between each first support base and the first side edges is the same, and the distance between each second support base and the second side edges is the same.

The first side edges and the second side edges are intersected with the first direction respectively, the distances between the first support bases and the first side edges are different, and the distances between the second support bases and the second side edges are different.

Wherein, the support base includes: the slewing bearing is fixedly connected with the bearing platform; the rotary table comprises a first connecting part and a second connecting part, the rotary table is rotatably connected with the slewing bearing through the first connecting part, and the second connecting part of the rotary table is rotatably connected with the first end corresponding to the first mechanical arm.

Wherein, many mechanical arm platform structure still includes: one end of the telescopic cylinder is fixedly connected with the turntable, and the other end of the telescopic cylinder is fixedly connected with the first mechanical arm so as to drive the second end of the first mechanical arm to move in a second direction; the second direction is perpendicular to the surface of one side of the bearing platform, on which the supporting base is arranged.

The bearing platform comprises a supporting platform and a fixed platform which are arranged in a stacked mode, and the projection of the supporting platform on the fixed platform is positioned in the fixed platform; a plurality of shock absorbers are arranged between the supporting platform and the fixed platform; and an electromagnetic fixing assembly is arranged on one side, away from the supporting platform, of the fixing platform and is used for fixing the multi-mechanical arm platform structure.

The first mechanical arm comprises a first-stage telescopic arm rod and a plurality of second-stage telescopic arm rods; wherein, in response to the first mechanical arm being in a contracted state, at least a portion of the secondary telescoping arm bar is positioned within the primary telescoping arm bar.

Wherein, many mechanical arm platform structure still includes: and the second mechanical arms are matched with the first mechanical arms and fixedly connected with the second ends.

Wherein, many mechanical arm platform structure still includes: and the controller is used for simultaneously controlling all the first support bases, all the second support bases, all the first mechanical arms and the second mechanical arms matched with the first mechanical arms.

The beneficial effects of the application are as follows: different from the situation of the prior art, the multi-mechanical arm platform structure provided by the application comprises at least one base group arranged on the bearing platform, each base group comprises a first supporting base and a second supporting base, and the first supporting base and the second supporting base are respectively connected with one end of the first mechanical arm, so that a plurality of first mechanical arms can run simultaneously, the requirement of processing a plurality of working areas simultaneously is met, manpower is saved, and meanwhile, the working efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

FIG. 1 is a schematic diagram of a multi-arm platform structure according to an embodiment of the present application;

FIG. 2 is a schematic structural view of a first embodiment of a first mechanical arm according to the present application;

FIG. 3 is a schematic view of another embodiment of a multi-arm platform structure according to the present application;

FIG. 4 is a schematic view of an embodiment of a support base of the present application;

FIG. 5 is a schematic view of an embodiment of a carrying platform according to the present application;

Fig. 6 is a schematic structural view of another embodiment of the carrying platform of the present application.

Detailed Description

The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application, and do not indicate or imply that the apparatus or elements 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 application.

The application describes the structure of the multi-mechanical arm platform and the structure in the initial state, and in practical application, the overall structure of the multi-mechanical arm platform is adaptively changed due to the change of the positions of all joints in the working process of the multi-mechanical arm platform.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a multi-robot platform structure according to the present application, which includes a load-bearing platform 10, at least one base unit 20, and a plurality of first robots 30.

Specifically, the carrying platform 10 is configured to carry the multi-arm platform structure according to the present application, and the specific shape and size of the carrying platform 10 may be set according to actual requirements.

The base unit 20 is located on the carrying platform 10. Wherein each of the base groups 20 includes a first support base 21 and a second support base 22.

Specifically, the number of the base groups 20 may be plural, the first support base 21 and the second support base 22 included in the base group 20 have corresponding rotation centers, and the first support base 21 and the second support base 22 may rotate around their corresponding rotation centers by a preset angle, so as to facilitate processing of different working areas.

Referring to fig. 2 in conjunction with fig. 1, fig. 2 is a schematic structural diagram of a first mechanical arm according to an embodiment of the present application. The first mechanical arm 30 includes a first end 31 and a second end 32 disposed opposite to each other, and the first end 31 is connected to the first support base 21 or the second support base 22.

Specifically, in the multi-arm platform structure according to the present application, the first support base 21 and the second support base 22 are used for carrying the corresponding first mechanical arms 30, that is, the number of the first mechanical arms 30 is consistent with the total number of the first support base 21 and the second support base 22. And, the first support base 21 and the second support base 22 are provided with a rotation shaft to which the first end of the first robot arm 30 is connected, and the first robot arm 30 can rotate around the rotation shaft so that the second end 32 of the first robot arm 30 performs an ascending or descending motion in a direction perpendicular to the load-bearing platform. In addition, in response to the first support base 21 and the second support base 22 being rotatable about their respective centers of rotation, the second ends 32 of the respective first robotic arms 30 are moved in a horizontal direction.

The multi-mechanical arm platform structure provided by the application comprises at least one base group 20 arranged on the bearing platform 10, each base group 20 comprises a first supporting base 21 and a second supporting base 22, and the first supporting base 21 and the second supporting base 22 are respectively connected with one end of a first mechanical arm 30, so that a plurality of first mechanical arms 30 can run simultaneously, the requirement of processing a plurality of working areas simultaneously is met, manpower is saved, and meanwhile, the working efficiency is improved.

In an embodiment, please continue to refer to fig. 1, the carrying platform 10 is rectangular, and includes a first side 11 and a second side 12 disposed opposite to each other, the first support base 21 is close to the first side 11, the second support base 22 is close to the second side 12, and the first support base 21 and the second support base 22 are respectively disposed at two sides of the first direction in a staggered manner. The specific orientation of the first direction may refer to the dashed line portion in fig. 1, and when the number of the padgroups 20 is plural, the first direction is parallel to the extending direction of the plural padgroups 20, and all the first support bases 21 and all the second support bases 22 do not interfere with each other.

Specifically, by keeping a preset distance between adjacent first support bases 21 and second support bases 22, all first support bases 21 and all second support bases 22 do not interfere with each other in an initial state; and, since the first support base 21 and the second support base 22 can rotate during operation, interference is not generated between all the first support bases 21 and all the second support bases 22 during rotation.

In an implementation scenario, please continue to refer to fig. 1, the first side 11, the second side 12 and the first direction are parallel to each other, the distance between each first support base 21 and the first side 11 is the same, and the distance between each second support base 22 and the second side 12 is the same.

Specifically, in the present embodiment, the extending direction of the plurality of base groups 20 may be the extending direction of the straight line where the centers of all the first support bases 21 are located, or the extending direction of the straight line where the centers of all the second support bases 22 are located. Since the first direction is parallel to the extending direction of the plurality of base groups 20, and the first side 11, the second side 12 and the first direction are parallel to each other, the distance between the first support bases 21 and the first side 11 is the same, and the distance between the second support bases 22 and the second side 12 is the same.

In addition, for the first support base 21 and the second support base 22 in the same base group 20, the first support base 21 and the second support base 22 are respectively staggered on two sides of the first direction, so as to avoid interference between the first mechanical arm 30 corresponding to the first support base 21 and the first mechanical arm 30 corresponding to the second support base 22 in the initial state. Of course, the second support bases 22 in the current base group 20 and the first support bases 21 in the adjacent base groups 20 are also staggered on both sides in the first direction, that is, a certain distance is left between the adjacent first support bases 21, so as to accommodate the first mechanical arms 30 connected with the corresponding second support bases 22 in the initial state and prevent the adjacent first support bases 21 from interfering when rotating during operation. Similarly, a distance is left between the adjacent second support bases 22 to accommodate the first mechanical arm 30 connected to the corresponding first support base 21, and to prevent the adjacent second support bases 22 from interfering with rotation during work.

It should be noted that, two base groups 20 are schematically shown in fig. 1, each base group 20 includes a first support base 21 and a second support base 22, that is, the multi-robot platform includes four first robots 30, so that when the four first robots 30 can perform work such as sand blasting, rust removing or paint spraying on four sides of the cabin at the same time. Of course, in other implementation scenarios, the multi-robot platform structure proposed in the present implementation scenario may also include other numbers of padgroups 20, such as 3 or 4.

In another embodiment, referring to fig. 3, fig. 3 is a schematic structural diagram of another embodiment of the multi-arm platform structure according to the present application. In this embodiment, the first side 11 and the second side 12 intersect with the first direction, and the distance between the first support base 21 and the first side 11 is different, and the distance between the second support base 22 and the second side 12 is also different.

Specifically, in this embodiment, the specific direction of the first direction may refer to the dashed line portion in fig. 3, and the first direction is parallel to the extending direction of the straight line where the center of the first support base 21 is located, or parallel to the extending direction of the straight line where the center of the second support base 22 is located, and the first direction is not parallel to the first side edge 11. In order to avoid interference of the plurality of first robot arms 30, the first robot arms 30 connected to the respective first support bases 21 are parallel to each other, and the first robot arms 30 connected to the respective second support bases 22 are parallel to each other. This scheme need not to make different first support base 21 the same apart from the distance of first side 11, and a plurality of first support base 21 need not to set up side by side promptly, compares in the implementation scenario that corresponds above, and scheme in this scenario is being on a parallel with the direction of first side 11 or second side 12, and the required width of loading platform 10 is littleer, helps reducing loading platform 10's width promptly to save the volume and the cost of manufacture of many arm platforms. Or compared with the implementation scenario, the scheme is suitable for the scenario that the first support base 21 and the second support base 22 are larger in size without increasing the width of the carrying platform 10, so that the first support base 21 and the second support base 22 can carry the first mechanical arm 30 with larger weight and/or longer extension distance, and the multi-mechanical arm platform can meet the working requirements in more different scenarios.

It should be noted that, two base groups 20 are schematically shown in fig. 3, each base group 20 includes a first support base 21 and a second support base 22, that is, the multi-robot platform includes four first robots 30, so that when the four first robots 30 can perform work such as sand blasting, rust removing or paint spraying on four sides of the cabin at the same time. Of course, in other implementation scenarios, the multi-robot platform structure proposed in this implementation scenario may also include other numbers of padgroups 20, such as 3 or 4.

In another embodiment, referring to fig. 4 in conjunction with fig. 1 to 3, fig. 4 is a schematic structural view of an embodiment of a support base of the present application. The application provides a multi-mechanical arm platform structure. Each of the first and second support bases 21 and 22 further includes a slewing bearing 40 and a turntable 50, respectively.

Specifically, the slewing bearing 40 is fixedly connected with the bearing platform 10, and is used for bearing the corresponding first support base 21 or second support base 22. Further, a speed reducer (not shown) and a slip ring (not shown) are mounted on the slewing bearing 40.

The turntable 50 includes a first connection portion 51 and a second connection portion 52, and the turntable 50 is rotatably connected with the slewing bearing 40 through the first connection portion 51 such that the corresponding first support base 21 or second support base 22 rotates along the corresponding rotation center.

In addition, the second connection portion 52 of the turntable 50 is rotatably connected to the first end 31 of the corresponding first robot arm 30.

In an implementation scenario, the second connection portion 52 is rotatably connected to one end of the turntable 50 through a rotation shaft, and the first end 31 of the first mechanical arm 30 is fixedly connected to the second connection portion 52. In order to enable the first mechanical arm 30 to rotate around the corresponding rotation axis during operation, the multi-mechanical arm platform structure provided by the application further comprises at least one telescopic cylinder 60.

In a specific implementation scenario, two sides of each first mechanical arm 30 are respectively provided with a telescopic cylinder 60, so as to improve the accuracy and stability of operation of the corresponding first mechanical arm 30. One end of the telescopic cylinder 60 is fixedly connected with the turntable 50, and the other end is fixedly connected with the first mechanical arm 30, so as to drive the second end 32 of the first mechanical arm 30 to move in the second direction. For example, when the second end 32 of the first arm 30 needs to be raised to process a higher area in the cabin, the telescopic cylinders 60 at both sides of the first arm 30 are simultaneously extended to push the first arm 30 to rotate around the rotation axis while the second end 32 of the first arm 30 is raised in the second direction; when the second end 32 of the first arm 30 needs to be lowered to process a lower region in the cabin or the first arm 30 is returned to an initial state, the telescopic cylinder 60 is simultaneously retracted so that the first arm 30 rotates about the rotation center while the height of the second end 32 of the first arm 30 in the second direction is lowered. The second direction is perpendicular to a surface of the carrying platform 10 on which the base set 20 is disposed.

Of course, in practical application, the telescopic cylinder 60 may be disposed only on any one side of each first mechanical arm 30, so as to save the manufacturing cost of the multi-mechanical arm platform provided by the application.

In another embodiment, a motor is disposed at the second connection portion 52 of the turntable 50, and the second connection portion 52 drives the first mechanical arm 30 to rotate by driving the motor, so as to improve the operation precision of the first mechanical arm 30.

In another embodiment, referring to fig. 5 in conjunction with fig. 1, fig. 5 is a schematic structural diagram of an embodiment of a carrying platform according to the present application. In the multi-mechanical arm platform structure provided by the application, the bearing platform 10 comprises a supporting platform 13 and a fixed platform 14 which are arranged in a stacked manner, and the projection of the supporting platform 13 on the fixed platform 14 is positioned in the fixed platform 14. The support platform 13 is used for carrying the structures such as the base set 20 and the first mechanical arm 30, and the fixed platform 14 is used for fixing the multi-mechanical arm platform.

In a specific implementation scenario, please continue to refer to fig. 5, when the working environment is a cabin, under the influence of wind and waves, the cabin often swings with different amplitudes, so as to reduce the influence of ship swinging on the multi-mechanical arm platform during working, a plurality of shock absorbers 70 are disposed between the supporting platform 13 and the fixed platform 14, so as to inhibit swinging. The shock absorber 70 is a spring damper, and is disposed at four corners of the fixed platform 14, and the fixed platform 14 is connected with the supporting platform 13 through the spring damper, so as to reduce the influence of ship shaking on the processing of the multi-mechanical arm platform and improve the stability. Or the number of shock absorbers 70 and the specific location between the support platform 13 and the fixed platform 14 may be set according to the overall mass and centroid of the multi-robot platform. For example, the heavier the overall mass of the multi-arm platform, the greater the number of shock absorbers 70; and, the shock absorbers 70 are symmetrically disposed about the center of mass of the multi-arm platform.

In another embodiment, referring to fig. 6, fig. 6 is a schematic structural diagram of another embodiment of the load-bearing platform of the present application. Specifically, the shock absorber 70 includes both a spring damper 71 and a hydraulic shock absorber 72. Still alternatively, shock absorber 70 may include only hydraulic shock absorber 72.

In another embodiment, an electromagnetic fixing component (not shown) is disposed on the side of the fixing platform 14 away from the supporting platform 13, for fixing the multi-mechanical arm platform structure according to the present application.

Specifically, when the bottom of the cabin is made of magnetic metal, before the inner wall of the cabin is processed by using the multi-mechanical arm platform structure provided by the application, the electromagnetic fixing assembly is electrified so that the fixing platform 14 is adsorbed on the bottom of the cabin, and the multi-mechanical arm platform structure is fixed relative to the cabin to ensure the stability of the multi-mechanical arm platform during working. When the work is completed, the electromagnetic fixing assembly is powered off to assist in moving the multi-arm platform structure out of the cabin.

In yet another implementation scenario, a pulley connection portion is disposed on a side of the fixed platform 14 away from the supporting platform 13, so that a pulley is mounted at the bottom of the fixed platform 14 by using the pulley connection portion, thereby improving the movement efficiency of the multi-mechanical arm platform.

In yet another embodiment, referring to fig. 4, in order to make the working range of the multi-arm platform of the present application larger, the first mechanical arm 30 further includes a primary telescopic arm 33 and a plurality of secondary telescopic arm 34. Wherein at least a portion of the secondary telescoping arm bar 34 is positioned within the primary telescoping arm bar 33 in response to the first robotic arm 30 being in a contracted state. The number of the secondary telescopic arms 34 can be set according to the space size of the working environment.

In one embodiment, referring to fig. 1, when the multi-arm platform is applied to a cabin, and the length of the cabin is 32m, the width is 25m, and the height is 26m, the number of the secondary telescopic arms 34 is set to 4, the length of the primary telescopic arms 33 is 8.17m, and the elongation of each secondary telescopic arm 34 relative to the primary telescopic arms 33 is between 0m and 5.7m, so that the four first mechanical arms 30 cooperate with each other to reach any position in the cabin.

In still another embodiment, referring to fig. 1, in order to make the working accuracy of the multi-arm platform according to the present application higher, the multi-arm platform structure according to the present application further includes a second arm 80 matched with each first arm 30, where the second arm 80 is fixedly connected to the second end 32 of the first arm 30.

In an implementation scenario, the second mechanical arm 80 is a six-axis robot with higher precision, and the end of the robot is provided with a corresponding actuator. The second robot 80 has high accessibility to accommodate different processing tasks in a variety of complex environments. After the corresponding first mechanical arm 30 drives the second mechanical arm 80 to move to the fixed position corresponding to the current working area, the first mechanical arm 30 is kept fixed, and the second mechanical arm 80 completes the processes of sand blasting, rust removing or paint spraying on the current working area through rotation of six joints. After the second mechanical arm 80 finishes processing the current working area, the first mechanical arm 30 drives the second mechanical arm 80 to move to a fixed position corresponding to the next working area, and the second mechanical arm 80 finishes processing the next working area until all inner walls of the cabin are processed.

In yet another embodiment, referring still to fig. 4, the second end 32 of each first mechanical arm 30 is provided with a connection hole to facilitate connection with a manned platform (not shown), so that the second end 32 of the first mechanical arm 30 carries the worker to a designated location and the worker completes the processing of a certain working area.

In yet another embodiment, please continue to refer to fig. 1 to 3, the multi-robot platform structure further includes a controller coupled to all the first support bases 21, the second support bases 22, all the first robots 30 and the second robots 80 matching the first robots 30 for simultaneously controlling all the first support bases 21, the second support bases 22, all the first robots 30 and the second robots 80 matching the first robots 30 to cooperate with each other, thereby realizing the processing of the cabin inner wall or other working scene.

In an implementation, the controller includes position encoders coupled to all of the first support bases 21 and all of the second support bases 22 for acquiring the positions of each of the first support bases 21 and all of the second support bases 22 in real time to prevent interference during operation.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.

Claims (9)

1. A multi-arm platform structure, comprising:

A load-bearing platform;

At least one base group positioned on the bearing platform; the base group comprises a first supporting base and a second supporting base;

The first mechanical arms comprise a first end and a second end which are oppositely arranged, and the first ends are connected with the first support base or the second support base;

The first mechanical arm comprises a first-stage telescopic arm rod and a plurality of second-stage telescopic arm rods; wherein, in response to the first mechanical arm being in a contracted state, at least a portion of the secondary telescoping arm bar is positioned within the primary telescoping arm bar.

2. The structure of claim 1, wherein the load-bearing platform is rectangular and comprises a first side and a second side which are oppositely arranged, the first support base is close to the first side, the second support base is close to the second side, and the first support base and the second support base are respectively arranged on two sides of the first direction in a staggered manner; when the number of the base groups is multiple, the first direction is parallel to the extending directions of the multiple base groups, and all the first support bases and all the second support bases are not interfered with each other.

3. The structure of claim 2, wherein the first side, the second side, and the first direction are parallel to each other, a distance between each of the first support base and the first side is the same, and a distance between each of the second support base and the second side is the same.

4. The structure of claim 2, wherein the first side and the second side each intersect the first direction, a distance between each of the first support base and the first side is different, and a distance between each of the second support base and the second side is different.

5. The structure of claim 1, wherein the support base comprises:

the slewing bearing is fixedly connected with the bearing platform;

The rotary table comprises a first connecting part and a second connecting part, the rotary table is rotatably connected with the slewing bearing through the first connecting part, and the second connecting part of the rotary table is rotatably connected with the first end corresponding to the first mechanical arm.

6. The structure of claim 5, further comprising:

One end of the telescopic cylinder is fixedly connected with the turntable, and the other end of the telescopic cylinder is fixedly connected with the first mechanical arm so as to drive the second end of the first mechanical arm to move in a second direction; the second direction is perpendicular to the surface of the side, on which the base group is arranged, of the bearing platform.

7. The structure of claim 1, wherein,

The bearing platform comprises a supporting platform and a fixed platform which are arranged in a stacked mode, and the projection of the supporting platform on the fixed platform is positioned in the fixed platform; a plurality of shock absorbers are arranged between the supporting platform and the fixed platform; and an electromagnetic fixing assembly is arranged on one side, away from the supporting platform, of the fixing platform and is used for fixing the multi-mechanical arm platform structure.

8. The structure of claim 1, further comprising:

And the second mechanical arms are matched with the first mechanical arms and fixedly connected with the second ends.

9. The structure of claim 8, further comprising:

And the controller is used for simultaneously controlling all the first support bases, all the second support bases, all the first mechanical arms and the second mechanical arms matched with the first mechanical arms.