CN222537673U - Double-arm composite robot - Google Patents

Abstract

The utility model discloses a double-arm composite robot, which relates to the technical field of robots and comprises a supporting seat, wherein a main body is arranged on the surface of the supporting seat, movable arms are arranged on two sides of the main body, and clamping pieces are arranged on the surface of the movable arms. According to the utility model, the air cylinder is started, so that the telescopic end of the air cylinder stretches, the supporting block is driven to move inwards in a gathering way, when an article is clamped, the air cylinder moves on the air cylinder support, when the supporting block is clamped inwards in a gathering way, the electric telescopic rod is started to drive the claw arm in the supporting block to move in a stretching way, the claw arm is driven to slide towards the inside of the supporting block by the electric telescopic rod, then the article is hooked by the arc-shaped grabbing plate, and the friction force is increased to clamp the article by the rubber bump, so that the article can be effectively clamped, and the article is clamped more stably and firmly.

Description

Double-arm composite robot

Technical Field

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

Background

In the field of robots, conventional multi-degree-of-freedom robots are common, and although the technology is mature, the conventional robots are not suitable enough for processing some more flexible tasks and demands, and a double-arm robot is needed to complete the tasks;

The existing double-arm robots have the defects of insufficient stability, insufficient firm and stable clamping force, insufficient clamping moving range and the like when clamping objects, and are difficult to apply industrially.

Disclosure of utility model

The present utility model is directed to a dual-arm composite robot, which solves the problems set forth in the above-mentioned background art.

In order to solve the technical problems, the utility model adopts the following technical scheme:

The utility model provides a double-arm composite robot, includes the supporting seat, the surface mounting of supporting seat has the host computer body, the movable arm is installed to the both sides of host computer body, the surface mounting of movable arm has the holder.

The technical scheme of the utility model is further improved in that the movable arm comprises shoulder rotating motors, the shoulder rotating motors are arranged on two sides of the main body, shoulder movable joints are arranged at the output ends of the surfaces of the shoulder rotating motors, one end of each shoulder movable joint is provided with an electric rotating shaft I, the shoulder movable joints are driven to rotate and adjust by starting the shoulder rotating motors, and then the elbow rotating motors and the movable shafts are driven to move by the electric rotating shafts I.

The technical scheme of the utility model is further improved in that an elbow rotating motor is arranged at one end of the first electric rotating shaft, a movable shaft is arranged at the output end of the elbow rotating motor, one side of the movable shaft is fixedly connected with an arm electric rotating shaft, one end of the arm electric rotating shaft is fixedly connected with an electric movable shaft, the arm electric rotating shaft and the electric movable shaft are driven to move through the movable shaft, and the arm electric rotating shaft and the electric movable shaft are mutually matched to rotate, so that the whole movable arm can freely rotate.

The clamping piece comprises a fixed plate, wherein the fixed plate is fixedly connected to the surface of an electric movable shaft, a fixed seat is fixedly connected to the lower surface of the fixed plate, a clamping jaw is rotatably connected to the inner wall of the fixed seat through a rotating shaft, an upper clamping plate is fixedly connected to the bottom of the fixed plate, an air cylinder is rotatably connected to the inner wall of an air cylinder support, and the output end of the air cylinder is rotatably connected with the side face of a supporting block.

The technical scheme of the utility model is further improved in that the two sides of the fixed plate are provided with the air cylinder support, the surface of the air cylinder support is rotationally connected with the air cylinder, the output end of the air cylinder is rotationally connected with the movable block, the movable block is rotationally connected to one side of the clamping jaw, and the air cylinder, the fixed seat and the supporting block are arranged, so that the supporting block can be rotated by starting the air cylinder conveniently.

The technical scheme of the multifunctional clamping mechanical claw is further improved in that the clamping claw comprises a supporting block, the supporting block is movably connected to one end of a fixed seat, a sliding groove is formed in the supporting block, a claw arm is connected to the inner wall of the sliding groove in a sliding mode, a stop block is fixedly connected to the bottom of the supporting block, and the arc-shaped grabbing plate is convenient to contact the ground and press the claw arm when the multifunctional clamping mechanical claw descends through the upper clamping plate, the arc-shaped grabbing plate and the claw arm.

The technical scheme of the utility model is further improved in that the two sides of the claw arm are fixedly connected with the sliding blocks, one end of the claw arm is fixedly connected with the electric telescopic rod, the surface of the claw arm is fixedly connected with the rubber block, one end of the claw arm is fixedly connected with the arc-shaped grabbing plate, the claw arm slides on the inner wall of the chute, the air cylinder is started, and the arc-shaped grabbing plate, the upper clamping plate and the claw arm firmly grab the article, so that the small article can be firmly grabbed.

By adopting the technical scheme, compared with the prior art, the utility model has the following technical progress:

1. The utility model provides a double-arm compound robot, which is characterized in that a shoulder rotating motor is started to drive a shoulder movable joint to rotate left and right, an elbow rotating motor and a movable shaft are driven by an electric rotating shaft to perform up-and-down overturning movement, the movable shaft is driven by the elbow rotating motor to rotate, direction adjustment is performed, the electric movable shaft is driven by an arm electric rotating shaft to perform overturning movement, and a clamping piece is driven by the electric movable shaft to perform up-and-down overturning movement, so that the clamping piece connected to a movable arm can be driven to move, the clamping range of the clamping piece is not limited, and the clamping of an article is more flexible.

2. The utility model provides a double-arm composite robot, which is characterized in that an air cylinder is started, so that the telescopic end of the air cylinder stretches and stretches, a supporting block is driven to move inwards in a gathering way, when an article is clamped, the air cylinder moves on an air cylinder support, when the supporting block is clamped inwards in a gathering way, an electric telescopic rod is started, so that a claw arm in the supporting block is driven to move in a stretching way, the claw arm is driven to slide towards the inside of the supporting block by the electric telescopic rod, then the article is hooked by an arc-shaped grabbing plate, and the friction force is increased for clamping the article by a rubber bump, so that the article can be effectively clamped, and the article can be clamped more stably and firmly.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the structure of the movable arm of the present utility model;

FIG. 3 is a schematic view of a clamping member according to the present utility model;

fig. 4 is a schematic structural view of a clamping jaw according to the present utility model.

In the figure, 1, a supporting seat; 2, a main machine body, 3, a movable arm, 30, a shoulder rotating motor, 31, a shoulder movable joint, 32, a first electric rotating shaft, 33, an elbow rotating motor, 34, a movable shaft, 35, an arm electric rotating shaft, 36, an electric movable shaft, 4, a clamping piece, 40, a fixed plate, 41, a cylinder support, 42, a cylinder, 43, a movable block, 44, a clamping jaw, 440, a supporting block, 441, a stop block, 442, a sliding chute, 443, a claw arm, 444, a sliding block, 445, a rubber bump, 446, an arc-shaped grabbing plate, 447, an electric telescopic rod, 45, a fixed seat, 46 and an upper clamping plate.

Detailed Description

The utility model is further illustrated by the following examples:

Example 1

As shown in fig. 1 to 4, the present utility model provides a double-arm composite robot, which comprises a supporting seat 1, wherein a main body 2 is installed on the surface of the supporting seat 1, movable arms 3 are installed on two sides of the main body 2, clamping pieces 4 are installed on the surface of the movable arms 3, the movable arms 3 comprise shoulder rotating motors 30, the shoulder rotating motors 30 are installed on two sides of the main body 2, shoulder movable joints 31 are installed at the output ends of the surfaces of the shoulder rotating motors 30, an electric rotating shaft one 32 is installed at one end of each shoulder movable joint 31, an elbow rotating motor 33 is installed at one end of each electric rotating shaft one 32, a movable shaft 34 is installed at the output end of each elbow rotating motor 33, arm electric rotating shafts 35 are fixedly connected to one sides of the movable shafts 34, and electric movable shafts 36 are fixedly connected to one ends of the arm electric rotating shafts 35;

Specifically, by starting the shoulder rotating motor 30, the shoulder movable joint 31 is driven to rotate and adjust left and right, then the elbow rotating motor 33 and the movable shaft 34 are driven by the first electric rotating shaft 32 to turn up and down, then the movable shaft 34 is driven by the elbow rotating motor 33 to rotate, the direction is adjusted, the electric movable shaft 36 is driven by the arm electric rotating shaft 35 to turn up and down, and then the clamping piece 4 is driven by the electric movable shaft 36 to turn up and down, so that a relatively flexible space can be provided for the clamping range of the clamping piece 4.

Example 2

As shown in fig. 1-4, on the basis of embodiment 1, the utility model provides a technical scheme that, preferably, the clamping piece 4 comprises a fixed plate 40, the fixed plate 40 is fixedly connected to the surface of the electric movable shaft 36, the lower surface of the fixed plate 40 is fixedly connected with a fixed seat 45, the inner wall of the fixed seat 45 is rotationally connected with a clamping jaw 44 through a rotating shaft, the bottom of the fixed plate 40 is fixedly connected with an upper clamping plate 46, two sides of the fixed plate 40 are provided with air cylinder supports 41, the surface of the air cylinder supports 41 is rotationally connected with an air cylinder 42, the output end of the air cylinder 42 is rotationally connected with a movable block 43, the movable block 43 is rotationally connected to one side of the clamping jaw 44, the clamping jaw 44 comprises a supporting block 440, the supporting block 440 is movably connected to one end of the fixed seat 45, a sliding groove 442 is formed in the supporting block 440, the inner wall of the sliding groove 442 is slidingly connected with a clamping jaw 443, the bottom of the supporting block 440 is fixedly connected with a stop 441, two sides of the clamping jaw 443 are fixedly connected with a sliding block 444, one end of the clamping jaw 443 is fixedly connected with an electric telescopic rod 447, the surface of the clamping jaw 443 is fixedly connected with a rubber lug 445, and one end of the clamping jaw 443 is fixedly connected with an arc-shaped clamping plate 446;

Specifically, when the air cylinder 42 is started, the air cylinder 42 moves on the air cylinder support 41, and when the air cylinder 440 is clamped inwards, the electric telescopic rod 447 is started to drive the claw arm 443 inside the air cylinder support 440 to move in an extending mode, when an article is clamped, the electric telescopic rod 447 drives the claw arm 443 to slide inside the air cylinder support 440, then the article is hooked through the arc-shaped grabbing plate 446, friction force is increased to clamp the article through the rubber lug 445, therefore the article can be effectively clamped, the claw arm 443 is limited to slide inside the sliding groove 442 through the sliding block 444, the sliding block 441 at the bottom of the air cylinder support 440 is used for limiting the sliding block 444, and the claw arm 443 is prevented from falling from the middle of the air cylinder support 440.

The working principle of the double-arm composite robot is specifically described below.

As shown in fig. 1-4, by starting the shoulder rotating motor 30, the shoulder movable joint 31 is driven to rotate left and right, then the elbow rotating motor 33 and the movable shaft 34 are driven to turn up and down through the first electric rotating shaft 32, then the movable shaft 34 is driven to rotate through the elbow rotating motor 33, the direction is regulated, the electric movable shaft 36 is driven to turn up and down through the arm electric rotating shaft 35, then the clamping piece 4 is driven to turn up and down through the electric movable shaft 36, so that a flexible space is provided for the clamping range of the clamping piece 4, the air cylinder 42 is started, the telescopic end of the air cylinder 42 stretches out and draws back, then the supporting block 440 is driven to move inwards, when the air cylinder 42 is started, the air cylinder 42 moves on the air cylinder support 41, when the supporting block 440 is started to clamp inwards, the electric telescopic rod 447 is started to drive the claw arm 443 inside the supporting block 440 to stretch out and draw back, when an article is clamped, the claw arm 443 is driven to slide inside the supporting block 440 through the electric telescopic rod 447, then the article is hooked through the arc-shaped plate 446, so that a flexible space can be provided for the clamping range of the clamping piece 4, the supporting block 443 can be effectively limited by the sliding block 443, and the sliding block 440 can be prevented from falling down from the supporting block 443.

The foregoing utility model has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.

Claims (3)

1. The double-arm composite robot comprises a supporting seat (1) and an electric movable shaft (36) and is characterized in that a main body (2) is arranged on the surface of the supporting seat (1), movable arms (3) are arranged on two sides of the main body (2), and clamping pieces (4) are arranged on the surface of the movable arms (3);

The clamping piece (4) comprises a fixed plate (40), the fixed plate (40) is fixedly connected to the surface of an electric movable shaft (36), a fixed seat (45) is fixedly connected to the lower surface of the fixed plate (40), a clamping jaw (44) is rotatably connected to the inner wall of the fixed seat (45) through a rotating shaft, an upper clamping plate (46) is fixedly connected to the bottom of the fixed plate (40), air cylinder supports (41) are arranged on two sides of the fixed plate (40), an air cylinder (42) is rotatably connected to the surface of each air cylinder support (41), a movable block (43) is rotatably connected to the output end of each air cylinder (42), and each movable block (43) is rotatably connected to one side of each clamping jaw (44);

Clamping jaw (44) are including supporting shoe (440), supporting shoe (440) swing joint is in the one end of fixing base (45), spout (442) have been seted up to the inside of supporting shoe (440), the inner wall sliding connection of spout (442) has claw arm (443), the bottom fixedly connected with dog (441) of supporting shoe (440), both sides fixedly connected with slider (444) of claw arm (443), the one end fixedly connected with electric telescopic handle (447) of claw arm (443), the fixed surface of claw arm (443) is connected with rubber lug (445), the one end fixedly connected with arc of claw arm (443) grabs board (446).

2. The double-arm composite robot according to claim 1, wherein the movable arm (3) comprises a shoulder rotating motor (30), the shoulder rotating motor (30) is mounted on two sides of the main body (2), a shoulder movable joint (31) is mounted at an output end of the surface of the shoulder rotating motor (30), and an electric rotating shaft I (32) is mounted at one end of the shoulder movable joint (31).

3. The double-arm compound robot as claimed in claim 2, wherein an elbow rotating motor (33) is mounted at one end of the first electric rotating shaft (32), a movable shaft (34) is mounted at an output end of the elbow rotating motor (33), an arm electric rotating shaft (35) is fixedly connected to one side of the movable shaft (34), and an electric movable shaft (36) is fixedly connected to one end of the arm electric rotating shaft (35).