Expandable robot unit and six-arm robot

Abstract

The present invention provides an expandable robot unit and a six-arm robot, which relate to the technical field of automation equipment, in order to solve the problem that the traditional structure in the prior art occupies most of the space, and there is a possibility of motion interference in the part where the grasping ranges of two robots overlap. In order to avoid the technical problem that leads to reduced efficiency, the device includes a mounting seat and a main shaft, a first active arm, a second active arm and a third active arm installed on the mounting seat, wherein: the main shaft is located at the center of the mounting seat; the first active arm, the second active arm, and the third active arm are arranged in sequence along the circumference of the main shaft, and the first active arm and the third active arm are arranged perpendicular to the second active arm. The present invention is used to reduce the space occupied by the traditional structure and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an expandable robot unit and a six-arm robot. Background Art

[0002] The angle between the three active arms of a traditional DELTA robot is 120°. In order to avoid interference between the active arms, motors, and motor protective housing structures when two robots are working side by side, the center distance between the two robots needs to be increased.

[0003] Therefore, the traditional structure occupies most of the space, and there is a possibility of motion interference in the overlapping parts of the grasping range of the two robots, which leads to reduced efficiency in order to avoid interference. Summary of the invention

[0004] The purpose of the present invention is to provide an expandable robot unit and a six-arm robot to solve the problem that the traditional structure in the prior art occupies most of the space, and there is a possibility of motion interference in the overlapping parts of the grasping range of the two robots, in order to avoid the technical problem of reduced efficiency. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides an expandable robot unit, comprising a mounting base, and a main shaft, a first active arm, a second active arm and a third active arm mounted on the mounting base, wherein:

[0007] The spindle is located at the center of the mounting seat;

[0008] The first active arm, the second active arm, and the third active arm are sequentially arranged along the circumference of the main shaft, and the first active arm and the third active arm are both arranged perpendicular to the second active arm.

[0009] Preferably, the mounting seat comprises a first mounting plate and a second mounting plate arranged in parallel, a first mounting platform, a second mounting platform and a third mounting platform are arranged between the first mounting plate and the second mounting plate, wherein:

[0010] The first active arm, the second active arm, and the third active arm are respectively mounted on the first mounting platform, the second mounting platform, and the third mounting platform.

[0011] Preferably, the first mounting plate and the second mounting plate respectively include a first spindle mounting portion and a second spindle mounting portion, and a first platform mounting portion, a second platform mounting portion and a third platform mounting portion extending outwardly from the first spindle mounting portion and the second spindle mounting portion and integrally formed with the first spindle mounting portion and the second spindle mounting portion, wherein:

[0012] The first platform mounting portion and the third platform mounting portion are both perpendicular to the second platform mounting portion.

[0013] Preferably, the first spindle mounting portion and the second spindle mounting portion are both configured as a rectangular structure, including a first side surface, a second side surface, a third side surface and a fourth side surface, wherein:

[0014] The first side surface is provided with the first platform mounting portion, the second side surface is provided with the second platform mounting portion, the third side surface is provided with the third platform mounting portion, and the first side surface, the second side surface and the third side surface are all provided with an "L"-shaped structure;

[0015] The fourth side surface is configured as an I-shaped structure.

[0016] A six-arm robot comprises the above-mentioned expandable robot unit.

[0017] Preferably, the expandable robot unit is provided in two, namely a first expandable robot unit and a second expandable robot unit, wherein:

[0018] The first expandable robot unit and the second expandable robot unit are symmetrically arranged, and the fourth side surface of the main shaft mounting portion of the first expandable robot unit is arranged opposite to the fourth side surface of the main shaft mounting portion of the second expandable robot unit;

[0019] The first expandable robot unit and the second expandable robot unit are connected by a fixing plate.

[0020] Preferably, the fixing plate comprises a first fixing plate and a second fixing plate, wherein:

[0021] The first fixing plate is connected to the top of the first mounting plate through a connecting member;

[0022] The second fixing plate is connected to the bottom of the second mounting plate through a connecting member.

[0023] Preferably, it also includes a reinforcing plate, one end of which is connected to the first fixed plate, the other end of which is connected to the second fixed plate, and the reinforcing plate is located between the first expandable robot unit and the second expandable robot unit.

[0024] Preferably, it also includes a frame, and the first expandable robot unit and the second expandable robot unit are both connected to the frame.

[0025] Preferably, the connecting member is configured as a cylindrical head hexagon socket bolt.

[0026] The present invention provides an expandable robot unit and a six-arm robot. The first active arm and the third active arm are arranged perpendicular to the second active arm, thereby avoiding the 120° angle between the three active arms of the existing robot unit and the structural interference between the two robots working side by side. The adjacent active arms are arranged perpendicular to each other, and the stability and safety are effectively guaranteed. When the two robot units are in use, the center distance is small and can be adjusted according to the needs of use. In this way, a smaller space is occupied, and the overlapping parts of the grasping ranges of the two robots will not interfere with each other in movement, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a structural schematic diagram of an embodiment of an expandable robot unit of the present invention;

[0029] Figure 2 yes Figure 1 Schematic diagram of the main structure;

[0030] Figure 3 It is a schematic diagram of the structure of the mounting seat in the expandable robot unit of the present invention;

[0031] Figure 4 is a schematic structural diagram of a first mounting plate in an expandable robot unit of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the six-arm robot of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the installation structure of the six-arm robot of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the robot of the present invention installed on a frame.

[0035] In the figure: 1. first active arm; 2. second active arm; 3. third active arm; 4. spindle; 5. mounting seat; 51. first mounting plate; 52. second mounting plate; 61. first mounting platform; 62. second mounting platform; 63. third mounting platform; 7. grasping range; 511. first platform mounting part; 512. second platform mounting part; 513. third platform mounting part; 514. first spindle mounting part; 524. second spindle mounting part; 5141. first side surface; 5142. second side surface; 5143. third side surface; 5144. fourth side surface; 10. first expandable robot unit; 20. second expandable robot unit; 301. first fixed plate; 302. second fixed plate; 40. reinforcing plate; 50. frame. DETAILED DESCRIPTION

[0036] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0037] The present invention provides an expandable robot unit. Figure 1 is a schematic diagram of the structure of this embodiment, Figure 2 yes Figure 1 The main structure diagram is as follows: Figure 1 and Figure 2 As shown, it includes a mounting base 5 and a main shaft 4 mounted on the mounting base 5, a first active arm 1, a second active arm 2 and a third active arm 3, each active arm is connected to a driven arm, and the bottom area is a grasping range 7 of the robot unit.

[0038] Among them, the main shaft 4 is located at the center of the mounting seat 5, and the first active arm 1, the second active arm 2, and the third active arm 3 are arranged in sequence along the circumference of the main shaft 4, and the first active arm 1 and the third active arm 3 are both arranged perpendicular to the second active arm 2.

[0039] By arranging the first active arm 1 and the third active arm 3 to be perpendicular to the second active arm 2, the angle between the three active arms of the existing robot unit is avoided to be 120°, and the two robots working side by side interfere with each other in structure; the adjacent active arms are arranged to be perpendicular to each other, and stability and safety are effectively guaranteed. When the two robot units are in use, the center distance is small and can be adjusted according to the needs of use. In this way, a smaller space is occupied, and the overlapping part of the grasping range of the two robots will not interfere with each other in movement, so as to improve work efficiency.

[0040] As an optional implementation, Figure 3Schematic diagram of the structure of the mounting base in this embodiment. Figure 3 As shown, the mounting seat 5 includes a first mounting plate 51 and a second mounting plate 52 arranged in parallel, and a first mounting platform 61 , a second mounting platform 62 and a third mounting platform 63 are arranged between the first mounting plate 51 and the second mounting plate 52 .

[0041] Among them, the first active arm 1, the second active arm 2, and the third active arm 3 are respectively installed on the first mounting platform 61, the second mounting platform 62, and the third mounting platform 63. In this embodiment, the first mounting plate 51 and the second mounting plate 52 are provided with spindle connecting holes, and the first mounting platform 61, the second mounting platform 62, and the third mounting platform 63 are provided with connecting holes for the first active arm 1, the second active arm 2, and the third active arm 3.

[0042] As an optional implementation, Figure 4 : is a schematic diagram of the structure of the first mounting plate in this embodiment. Figure 4 As shown, the first mounting plate 51 and the second mounting plate 52 respectively include a first spindle mounting portion 514 and a second spindle mounting portion 524 , and the first spindle mounting portion 514 and the second spindle mounting portion 524 both include spindle mounting holes, and the outer contours of the first mounting plate 51 and the second mounting plate 52 are the same.

[0043] The first mounting plate 51 and the second mounting plate 52 also include a first platform mounting portion 511, a second platform mounting portion 512 and a third platform mounting portion 513 extending outwardly along the first spindle mounting portion 514 and the second spindle mounting portion 524 and integrally formed with the first spindle mounting portion 514 and the second spindle mounting portion 524, wherein the first platform mounting portion 511 and the third platform mounting portion 513 are both perpendicular to the second platform mounting portion 512, since the first mounting plate 51 and the second mounting plate 52 are arranged in parallel.

[0044] When in use, both sides of the first mounting platform 61 are respectively connected between the first platform mounting portion 511 of the first mounting plate 51 and the first platform mounting portion 511 of the second mounting plate 52 by bolts; both sides of the second mounting platform 62 are respectively connected between the second platform mounting portion 512 of the first mounting plate 51 and the second platform mounting portion 512 of the second mounting plate 52 by bolts; both sides of the third mounting platform 63 are respectively connected between the third platform mounting portion 513 of the first mounting plate 51 and the third platform mounting portion 513 of the second mounting plate 52 by bolts.

[0045] As an optional implementation, the first spindle mounting portion 514 and the second spindle mounting portion 524 are both configured as a rectangular structure, including a first side surface 5141 , a second side surface 5142 , a third side surface 5143 and a fourth side surface 5144 .

[0046] Among them, a first platform mounting portion 511 is arranged on the first side 5141, a second platform mounting portion 512 is arranged on the second side 5142, and a third platform mounting portion 513 is arranged on the third side 5143. The first side 5141, the second side 5142 and the third side 5143 are all arranged as an "L"-shaped structure; the fourth side 5144 is arranged as an "I"-shaped structure, so that when two expandable robot units operate at the same time, the two fourth sides 5144 of the "I"-shaped structure are brought close to each other, which can reduce the center distance between the two expandable robot units, so as to make the structure more compact and improve work efficiency.

[0047] A six-arm robot includes the above-mentioned expandable robot unit. Specifically, in this embodiment, the expandable robot unit is configured as two. Figure 5 Schematic diagram of the structure of this embodiment. Figure 5 As shown, they are respectively a first expandable robot unit 10 and a second expandable robot unit 20, wherein:

[0048] The first expandable robot unit 10 and the second expandable robot unit 20 are symmetrically arranged, and the fourth side surface 5144 of the main shaft mounting part of the first expandable robot unit 10 is arranged opposite to the fourth side surface 5144 of the main shaft mounting part of the second expandable robot unit 20. Since the fourth side surface 5144 is arranged as an "I"-shaped structure, the center distance between the two robots can be reduced to 300mm, and the structure is more compact. The interference caused by the overlapping working ranges of the two robots is structurally solved to improve work efficiency.

[0049] The first expandable robot unit 10 and the second expandable robot unit 20 are connected by a fixed plate, which makes it easy to adjust the installation distance between the two expandable robot units by adjusting the size of the fixed plate, thereby adjusting the robot center distance to meet the grasping range of the six-arm robot in different scenarios to meet different usage requirements.

[0050] As an optional implementation, Figure 6 : is a schematic diagram of the structure of the installation structure in this embodiment. Figure 6 As shown, the fixing plate includes a first fixing plate 301 and a second fixing plate 302, and the second expandable robot unit 20 ( Figure 6 ) is symmetrically arranged with the first expandable robot unit.

[0051] Among them, the first fixing plate 301 is connected to the top of the first mounting plate 51 through a connecting piece; the second fixing plate 302 is connected to the bottom of the second mounting plate 52 through a connecting piece. In this embodiment, the connecting piece is configured as a cylindrical head hexagon socket bolt. In actual use, other connecting pieces can also be selected according to the needs of use to act as connecting pieces between the fixing plate and the mounting plate to ensure a firm connection.

[0052] Specifically, it also includes a reinforcing plate 40, one end of which is connected to the first fixed plate 301, and the other end of the reinforcing plate 40 is connected to the second fixed plate 302, and the reinforcing plate 40 is located between the first expandable robot unit 10 and the second expandable robot unit 20. By setting the reinforcing plate 40, the strength and rigidity of the overall structure are increased, which increases the strength between the first fixed plate 301 and the second fixed plate 302 and plays a role in saving materials and reducing weight to a certain extent.

[0053] As an optional embodiment, it also includes a frame 50, Figure 7 It is a schematic diagram of the structure of the robot installed on the frame, such as Figure 7 As shown, the first expandable robot unit 10 and the second expandable robot unit 20 are both connected to the frame 50. In this embodiment, the first expandable robot unit 10 and the second expandable robot unit 20 are both connected to the frame 50 through a frame connecting plate. The frame 50 serves as a fixed support for the first expandable robot unit 10 and the second expandable robot unit 20 to improve stability and safety during use.

[0054] The first expandable robot unit 10 and the second expandable robot unit 20 are connected by the first fixed plate 301 and the second fixed plate 302. In order to meet the application in different scenarios, the grasping range of the new six-arm robot is an adjustable structure. The optimal grasping center distance of the robot can be calculated according to the use requirements. The center distance of the robot can be adjusted by changing the length of the fixed plate, the reinforcement plate 40, and the frame connecting plate to meet different use requirements.

[0055] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A scalable robot unit, It is characterized in that It comprises a mounting seat and a main shaft, a first active arm, a second active arm and a third active arm mounted on the mounting seat, wherein: The spindle is located at the center of the mounting seat; The first active arm, the second active arm, and the third active arm are sequentially arranged along the circumference of the main shaft, and the first active arm and the third active arm are both arranged perpendicular to the second active arm; The mounting seat comprises a first mounting plate and a second mounting plate arranged in parallel, and a first mounting platform, a second mounting platform and a third mounting platform are arranged between the first mounting plate and the second mounting plate, wherein: The first active arm, the second active arm, and the third active arm are respectively mounted on the first mounting platform, the second mounting platform, and the third mounting platform; The first mounting plate and the second mounting plate are provided with spindle connection holes, and the first mounting platform, the second mounting platform and the third mounting platform are provided with connection holes for the first active arm, the second active arm and the third active arm; The first mounting plate and the second mounting plate respectively include a first spindle mounting portion and a second spindle mounting portion, and a first platform mounting portion, a second platform mounting portion and a third platform mounting portion extending outwardly from the first spindle mounting portion and the second spindle mounting portion and integrally formed with the first spindle mounting portion and the second spindle mounting portion, wherein: The first platform mounting portion and the third platform mounting portion are both perpendicular to the second platform mounting portion; The first spindle mounting portion and the second spindle mounting portion both include spindle mounting holes, and the first mounting plate and the second mounting plate have the same outer profile; The first spindle mounting portion and the second spindle mounting portion are both configured as a rectangular structure, including a first side surface, a second side surface, a third side surface and a fourth side surface, wherein: The first platform mounting portion is arranged on the first side surface, the second platform mounting portion is arranged on the second side surface, the third platform mounting portion is arranged on the third side surface, and the first side surface, the second side surface and the third side surface are all arranged in an "L"-shaped structure; The fourth side surface is configured as an "I"-shaped structure.

2. A six-arm robot, Features: Comprising the expandable robot unit as claimed in claim 1.

3. A six-arm robot according to claim 2, Features: The expandable robot unit is provided with two, namely a first expandable robot unit and a second expandable robot unit, wherein: The first expandable robot unit and the second expandable robot unit are symmetrically arranged, and the fourth side surface of the main shaft mounting portion of the first expandable robot unit is arranged opposite to the fourth side surface of the main shaft mounting portion of the second expandable robot unit; The first expandable robot unit and the second expandable robot unit are connected by a fixing plate.

4. A six-arm robot according to claim 3, Features: The fixing plate comprises a first fixing plate and a second fixing plate, wherein: The first fixing plate is connected to the top of the first mounting plate through a connecting member; The second fixing plate is connected to the bottom of the second mounting plate through a connecting member.

5. A six-arm robot according to claim 4, Features: It also includes a reinforcing plate, one end of which is connected to the first fixed plate, the other end of which is connected to the second fixed plate, and the reinforcing plate is located between the first expandable robot unit and the second expandable robot unit.

6. A six-arm robot according to any one of claims 2 to 5, Features: It also includes a frame, and the first expandable robot unit and the second expandable robot unit are both connected to the frame.

7. The six-arm robot according to claim 4, Features: The connecting piece is configured as a cylindrical head hexagon socket bolt.

Images