Double-arm mobile robot capable of being operated independently

Abstract

The double-arm mobile robot capable of being operated independently comprises a mobile chassis, a mechanical arm support is installed at the rear position in the mobile chassis, and a left arm up-down guide rail and a right arm up-down guide rail are integrally positioned on the two sides of the mechanical arm support correspondingly; a multi-joint series mechanical arm independently controlled on the left side is movably arranged on the left arm up-down guide rail, and a multi-joint series mechanical arm robot independently controlled on the right side is movably arranged on the right arm up-down guide rail. According to the double-arm mobile robot capable of being independently operated, the two linear guide rails are vertically and symmetrically arranged, the multi-joint mechanical arms which are independently controlled are installed on the two linear guide rails correspondingly, and the multi-joint mechanical arms have five or more degrees of freedom and serve as the left hand and the right hand of the double-arm robot; the robot mechanical arms on the two linear guide rails can be independently controlled and run, the flexibility is higher, and the operation range is larger.

Description

Technical Field

[0001] The present invention relates to the technical field of robot automatic handling, and in particular to a dual-arm mobile robot capable of operating independently of each other. Background Art

[0002] The dual-arm mobile robot is an auxiliary equipment for material handling, machine loading and unloading, parts assembly and other operations. Currently, in the warehousing and logistics industry, machine tool application industry, parts assembly industry, etc., more and more AGV + dual robotic arm combinations are used to meet the handling and placement of scattered goods and special-shaped goods, machine loading and unloading operations, and parts assembly operations. With the continuous development of science and technology, people's requirements for dual-arm mobile robots are getting higher and higher.

[0003] The existing dual-arm mobile robots have certain drawbacks when in use. The dual-arm robots currently placed on AGVs have a fixed robotic arm base, and have certain limitations in reach and flexibility. They cannot adapt well to more scenarios when carrying things, and the left and right robotic arms are fixed as a whole and work synchronously, with poor flexibility, which has brought certain adverse effects to people's use process. For this reason, we propose a dual-arm mobile robot that can operate independently of each other. Summary of the invention

[0004] Technical problem to be solved: In view of the shortcomings of the prior art, the present invention provides a dual-arm mobile robot that can be operated independently of each other, using two linear guides, which are placed vertically and symmetrically. Independently controlled multi-joint robotic arms are respectively installed on the two linear guides. The multi-joint robotic arms have more than 5 degrees of freedom. As the left and right hands of the dual-arm robot, the robotic arms on the two linear guides can be independently controlled and operated, with higher flexibility and a larger operating range, which can effectively solve the problems in the background technology.

[0005] Technical solution: To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a dual-arm mobile robot that can operate independently of each other, including a mobile chassis, characterized in that: a robot support is installed at the rear position inside the mobile chassis, and the left arm upper and lower guide rails and the right arm upper and lower guide rails are respectively integrally positioned on both sides of the robot support, the robot's left arm is movably arranged on the left arm upper and lower guide rails, and a left independently controlled multi-joint serial robotic arm is installed on the robot's left arm, the robot's right arm is movably arranged on the right arm upper and lower guide rails, and a right independently controlled multi-joint serial robotic arm is installed on the robot's right arm, and a robot head is installed on the top of the robot support, and the robot head is equipped with a 2D / 3D visual camera, a human-computer interaction screen and an alarm.

[0006] As a preferred technical solution of the present application, an anti-collision cover is positioned and installed on the outer side of the bottom of the mobile chassis, driving wheels are arranged on both sides of the bottom of the mobile chassis, a second radar sensor and a charging port are arranged at the rear end of the anti-collision cover, a control panel and a first radar sensor are arranged at the front end of the anti-collision cover, and an anti-collision strip is positioned on the outer side of the anti-collision cover.

[0007] As a preferred technical solution of the present application, a limiting slot is provided on the mobile chassis at the position of the positioning robot support, a left robot arm lifting motor is installed at the bottom of the left arm upper and lower guide rails, and a right robot arm lifting motor is installed at the bottom of the right arm upper and lower guide rails.

[0008] As a preferred technical solution of the present application, an electrical connector is provided at the bottom of the mobile chassis, and flexible cables are connected between the electrical connector and the left arm and the right arm of the robot. A cable retraction and release adjuster is provided at the position in contact with the flexible cable inside the mobile chassis, a positioner is installed between the robot support and the robot head, and an alarm light is installed on the top of the robot head.

[0009] As a preferred technical solution of the present application, the left arm of the robot drives the left independently controlled multi-joint serial robotic arm to lift and lower on the upper and lower guide rails of the left arm, and the right arm of the robot drives the right independently controlled multi-joint serial robotic arm to lift and lower on the upper and lower guide rails of the right arm.

[0010] As a preferred technical solution of the present application, the bottom of the mobile chassis and the anti-collision cover are integrally formed by injection molding, the bottom of the mobile chassis is moved by driving wheels, the rear end of the anti-collision cover monitors obstacles through a second radar sensor, and the front end of the anti-collision cover monitors obstacles through a first radar sensor.

[0011] As a preferred technical solution of the present application, the left robotic arm lifting motor drives the robot left arm to lift and lower the left arm upper and lower guide rails, and the right robotic arm lifting motor drives the robot right arm to lift and lower the right arm upper and lower guide rails.

[0012] As a preferred technical solution of the present application, the cable retractable adjuster moves left and right inside the mobile chassis, the right arm of the robot is connected to the electrical connector by a flexible cable, and the cable retractable adjuster adjusts the length of the flexible cable inside the mobile chassis.

[0013] Beneficial effects: Compared with the prior art, the present invention provides a dual-arm mobile robot that can be operated independently of each other, and has the following beneficial effects: the dual-arm mobile robot that can be operated independently of each other uses two linear guides, which are placed vertically and symmetrically. Independently controlled multi-joint robotic arms are respectively installed on the two linear guides. The multi-joint robotic arms have more than 5 degrees of freedom. As the left and right hands of the dual-arm robot, the robot arms on the two linear guides can be independently controlled and operated, with higher flexibility and a larger operating range, which can increase the range of motion and flexibility of the left and right arms. The left arm of the robot drives the left independently controlled multi-joint serial robotic arm to rise on the upper and lower rails of the left arm The robot's right arm drives the right independently controlled multi-joint serial robot arm to move up and down on the upper and lower guide rails of the right arm. The cable retraction regulator moves left and right inside the mobile chassis. The robot's right arm is connected to the electrical connector through a flexible cable. The cable retraction regulator adjusts the length of the flexible cable inside the mobile chassis. The left independently controlled multi-joint serial robot arm and the right independently controlled multi-joint serial robot arm can be controlled independently and operate independently of each other. During transportation, one group can grab on top and the other group can support at the bottom, so as to increase the flexibility of the robot arm, expand the range, and improve the stability of transportation. The entire dual-arm mobile robot has a simple structure, is easy to operate, and has a better effect than the traditional method. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a schematic diagram of the overall structure of a dual-arm mobile robot that can operate independently of each other according to the present invention.

[0015] Figure 2 The figure is a schematic structural diagram of the overall front end of a dual-arm mobile robot that can operate independently of each other according to the present invention.

[0016] Figure 3 The figure is a schematic structural diagram of the upper and middle parts of a dual-arm mobile robot that can operate independently of each other according to the present invention.

[0017] Figure 4 This is a structural schematic diagram of an enlarged view of point B in a dual-arm mobile robot that can operate independently of each other according to the present invention.

[0018] Figure 5 The present invention is a schematic structural diagram of a cable retracting and releasing regulator in a dual-arm mobile robot that can operate independently of each other.

[0019] Figure 6 This is a structural schematic diagram of an enlarged view of point A in a dual-arm mobile robot that can operate independently of each other according to the present invention.

[0020] In the figure: 1. Mobile chassis; 2. Robot left arm; 3. Left independently controlled multi-joint tandem robotic arm; 4. Left arm upper and lower guide rails; 5. Robot support; 6. Robot head; 7. Alarm light; 8. Robot right arm; 9. Right independently controlled multi-joint tandem robotic arm; 10. Right arm upper and lower guide rails; 11. Second radar sensor; 12. Charging port; 13. Anti-collision cover; 14. Driving wheel; 15. Control panel; 16. First radar sensor; 17. Anti-collision strip; 18. Left robotic arm lifting motor; 19. Limiting groove; 20. Right robotic arm lifting motor; 21. Positioner; 22. Flexible cable; 23. Cable retracting and releasing regulator; 24. Electrical connection. DETAILED DESCRIPTION

[0021] The technical scheme of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but it will be understood by those skilled in the art that the following described embodiments are part of embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the embodiments, they are carried out according to normal conditions or conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used, they are all conventional products that can be purchased commercially.

[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] like Figure 1-6As shown, a dual-arm mobile robot that can be operated independently of each other includes a mobile chassis 1, a robot support 5 is installed at the rear position inside the mobile chassis 1, and left arm upper and lower guide rails 4 and right arm upper and lower guide rails 10 are respectively positioned integrally on both sides of the robot support 5, a robot left arm 2 is movably arranged on the left arm upper and lower guide rails 4, and a left independently controlled multi-joint serial robot arm 3 is installed on the robot left arm 2, a robot right arm 8 is movably arranged on the right arm upper and lower guide rails 10, and a right independently controlled multi-joint serial robot arm 9 is installed on the robot right arm 8, and a robot head 6 is installed on the top of the robot support 5, and the robot head 6 is equipped with a 2D / 3D visual camera, a human-machine interface, and a plurality of other components. The interactive screen and alarm use two linear guides, which are placed vertically and symmetrically. Independently controlled multi-joint robotic arms are installed on the two linear guides respectively. The multi-joint robotic arms have more than 5 degrees of freedom. As the left and right hands of the dual-arm robot, the robotic arms on the two linear guides can be independently controlled and operated, with higher flexibility and a larger operating range. The left independently controlled multi-joint serial robotic arm 3 and the right independently controlled multi-joint serial robotic arm 9 can be independently controlled and operate independently of each other. During transportation, one group can grab on top and the other group can support at the bottom, thereby increasing the flexibility of the robotic arms, a larger range, and improving the stability of transportation.

[0025] Furthermore, an anti-collision cover 13 is positioned and installed on the outer side of the bottom of the mobile chassis 1, driving wheels 14 are provided on both sides of the bottom of the mobile chassis 1, a second radar sensor 11 and a charging port 12 are provided at the rear end of the anti-collision cover 13, a control panel 15 and a first radar sensor 16 are provided at the front end of the anti-collision cover 13, and an anti-collision strip 17 is positioned on the outer side of the anti-collision cover 13.

[0026] Furthermore, a limiting groove 19 is provided at the position of the positioning robot support 5 on the mobile chassis 1, a left robot arm lifting motor 18 is installed at the bottom of the left arm upper and lower guide rails 4, and a right robot arm lifting motor 20 is installed at the bottom of the right arm upper and lower guide rails 10.

[0027] Furthermore, an electrical connector 24 is provided at the bottom of the mobile chassis 1, and flexible cables 22 are connected between the electrical connector 24 and the robot left arm 2 and the robot right arm 8. A cable retraction and release adjuster 23 is provided at a position inside the mobile chassis 1 that contacts the flexible cable 22. A positioner 21 is installed between the robot support 5 and the robot head 6, and an alarm light 7 is installed on the top of the robot head 6.

[0028] Furthermore, the robot's left arm 2 drives the left independently controlled multi-joint serial robotic arm 3 to move up and down on the left arm upper and lower guide rails 4, and the robot's right arm 8 drives the right independently controlled multi-joint serial robotic arm 9 to move up and down on the right arm upper and lower guide rails 10.

[0029] Furthermore, the bottom of the mobile chassis 1 and the anti-collision cover 13 are integrally formed by injection molding, the bottom of the mobile chassis 1 is moved by the driving wheel 14, the rear end of the anti-collision cover 13 monitors obstacles through the second radar sensor 11, and the front end of the anti-collision cover 13 monitors obstacles through the first radar sensor 16.

[0030] Furthermore, the left robot arm lifting motor 18 drives the robot left arm 2 on the left arm upper and lower guide rails 4 to move up and down, and the right robot arm lifting motor 20 drives the robot right arm 8 on the right arm upper and lower guide rails 10 to move up and down.

[0031] Furthermore, the cable retractable adjuster 23 moves left and right inside the mobile chassis 1 , the robot right arm 8 is connected to the electrical connector 24 via a flexible cable 22 , and the cable retractable adjuster 23 adjusts the length of the flexible cable 22 inside the mobile chassis 1 .

[0032] Working principle: The present invention comprises a mobile chassis 1, a robot left arm 2, a left independently controlled multi-joint serial robot arm 3, a left arm upper and lower guide rails 4, a robot support 5, a robot head 6, an alarm light 7, a robot right arm 8, a right independently controlled multi-joint serial robot arm 9, a right arm upper and lower guide rails 10, a second radar sensor 11, a charging port 12, an anti-collision cover 13, a driving wheel 14, a control panel 15, a first radar sensor 16, an anti-collision strip 17, a left robot arm lifting motor 18, a limit groove 19, a right robot arm lifting motor 20, a positioner 21, a flexible cable 22, a cable retracting and releasing regulator 23, and an electrical connector 24. The robot left arm 2 drives the left independently controlled multi-joint serial robot arm 3 to move up and down on the left arm upper and lower guide rails 4, the robot right arm 8 drives the right independently controlled multi-joint serial robot arm 9 to move up and down on the right arm upper and lower guide rails 10, and the cable retracting and releasing regulator 23 is on the mobile chassis. 1 can move left and right in the internal position, the robot right arm 8 is connected to the electrical connector 24 by a flexible cable 22, the cable retracting regulator 23 adjusts the length of the flexible cable 22 inside the mobile chassis 1, the left independently controlled multi-joint serial robot arm 3 and the right independently controlled multi-joint serial robot arm 9 can be independently controlled and operate independently of each other, and one group can grab on top and the other group can support at the bottom during transportation, so as to increase the flexibility of the robot arm, the range is larger, and the stability of transportation is improved, two linear guides are used, which are placed vertically and symmetrically, and independently controlled multi-joint robot arms are respectively installed on the two linear guides. The multi-joint robot arm has more than 5 degrees of freedom. As the left and right hands of the dual-arm robot, the robot arms on the two linear guides can be independently controlled and operated, with higher flexibility and a larger operating range, which can increase the range of activities and flexibility of the left and right arms.

[0033] It should be noted that, in this article, relational terms such as first and second (number one, number two), etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A dual-arm mobile robot capable of operating independently of each other, comprising a mobile chassis (1), characterized in that: A robot support (5) is installed at a rear position inside the mobile chassis (1), and left arm upper and lower guide rails (4) and right arm upper and lower guide rails (10) are integrally positioned on both sides of the robot support (5). A robot left arm (2) is movably arranged on the left arm upper and lower guide rails (4), and a left independently controlled multi-joint serial robot arm (3) is installed on the robot left arm (2). A robot right arm (8) is movably arranged on the right arm upper and lower guide rails (10), and a right independently controlled multi-joint serial robot arm (9) is installed on the robot right arm (8). A robot head (6) is installed on the top of the robot support (5), and the robot head (6) is equipped with a 2D / 3D visual camera, a human-machine interaction screen and an alarm.

2. A dual-arm mobile robot capable of operating independently of each other according to claim 1, characterized in that: An anti-collision cover (13) is positioned and installed on the outer side of the bottom of the mobile chassis (1), driving wheels (14) are arranged on both sides of the bottom of the mobile chassis (1), a second radar sensor (11) and a charging port (12) are arranged at the rear end of the anti-collision cover (13), a control panel (15) and a first radar sensor (16) are arranged at the front end of the anti-collision cover (13), and an anti-collision strip (17) is positioned on the outer side of the anti-collision cover (13).

3. A dual-arm mobile robot capable of operating independently of each other according to claim 1, characterized in that: A limiting slot (19) is provided at the position of the positioning robot support (5) on the mobile chassis (1), a left robot arm lifting motor (18) is installed at the bottom of the left arm upper and lower guide rails (4), and a right robot arm lifting motor (20) is installed at the bottom of the right arm upper and lower guide rails (10).

4. A dual-arm mobile robot capable of operating independently of each other according to claim 1, characterized in that: An electrical connector (24) is provided at the bottom of the mobile chassis (1); flexible cables (22) are connected between the electrical connector (24) and the robot left arm (2) and the robot right arm (8); a cable retracting and releasing regulator (23) is provided at a position in contact with the flexible cable (22) inside the mobile chassis (1); a positioner (21) is installed between the robot support (5) and the robot head (6); and an alarm light (7) is installed on the top of the robot head (6).

5. A dual-arm mobile robot capable of operating independently of each other according to claim 1, characterized in that: The robot left arm (2) drives the left independently controlled multi-joint serial robot arm (3) to move up and down on the left arm upper and lower guide rails (4), and the robot right arm (8) drives the right independently controlled multi-joint serial robot arm (9) to move up and down on the right arm upper and lower guide rails (10).

6. A dual-arm mobile robot capable of operating independently of each other according to claim 2, characterized in that: The bottom of the mobile chassis (1) and the anti-collision cover (13) are integrally formed by injection molding, the bottom of the mobile chassis (1) is moved by a driving wheel (14), the rear end of the anti-collision cover (13) monitors obstacles by a second radar sensor (11), and the front end of the anti-collision cover (13) monitors obstacles by a first radar sensor (16).

7. A dual-arm mobile robot capable of operating independently of each other according to claim 3, characterized in that: The left robot arm lifting motor (18) drives the robot left arm (2) on the left arm upper and lower guide rails (4) to move up and down, and the right robot arm lifting motor (20) drives the robot right arm (8) on the right arm upper and lower guide rails (10) to move up and down.

8. The dual-arm mobile robot capable of operating independently of each other according to claim 4, characterized in that: The cable retractable adjuster (23) moves left and right inside the mobile chassis (1); the robot right arm (8) is connected to the electrical connector (24) via a flexible cable (22); and the cable retractable adjuster (23) adjusts the length of the flexible cable (22) inside the mobile chassis (1).

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