Double-mechanical-arm carrying robot

Abstract

The invention relates to a double-mechanical-arm carrying robot, in particular to a double-arm loading robot with double public degrees of freedom. According to the technical scheme, the three-degree-of-rotation-freedom mechanical arm comprises a base, a first rotating joint mounting base, a first public rotating device, a second public rotating device, a public rotating platform, a long connecting rod and two sets of three-degree-of-rotation-freedom mechanical arms, and the bottom of the first public rotating device is arranged on the first rotating joint mounting base through a first rotating joint; the upper end of the first public rotating device is connected with a second public rotating device through a second rotating joint; the rotating centers of the first rotating joint and the second rotating joint are parallel, a long connecting rod is arranged parallel to the connecting line of hinge points of the upper portion and the lower portion of the first public rotating device, and the top of the long connecting rod is hinged to one side of the second public rotating device. The bottom mechanism can rotate, and is more suitable for carrying and transshipping long cargoes compared with two side-by-side mechanical arms; the device can achieve pitching rotation of the mechanical arm, and the running height path range is large.

Description

Technical Field

[0001] The invention relates to a dual-mechanical-arm handling robot, in particular to a dual-arm loading robot with dual common degrees of freedom. Background Art

[0002] Industrial robots are widely used in handling, palletizing, sorting, assembly, testing, processing and other industries due to their flexible movement, large workspace, good integration and strong environmental adaptability, and have become an indispensable part of my country's modern manufacturing industry.

[0003] With the growth of the market economy, the demand for the application of industrial robots in the loading field including handling and palletizing is increasing. And modern logistics has put forward higher requirements on the loading efficiency of robots.

[0004] The current transfer robot arm is usually a single-arm structure, which is suitable for transporting objects with a similar length-to-width ratio. For some long objects, the single-arm structure is prone to falling on one side during transportation, resulting in uneven handling of the entire robot arm and the risk of rollover. Summary of the invention

[0005] In view of the above problems, the present invention provides a dual-arm handling robot to solve the problem of transferring long cargo.

[0006] To achieve the above object, the technical solution adopted by the present invention is: The dual-manipulator handling robot of the present invention comprises a base, a first rotation joint mounting seat, a first common rotation device, a second common rotation device, a common rotation platform, a long connecting rod and two sets of three-rotational-freedom robot arms. The bottom of the first common rotating device is arranged on the first rotating joint mounting seat through the first rotating joint, and the upper end of the first common rotating device is connected to the second common rotating device through the second rotating joint; and the rotation centers of the first rotating joint and the second rotating joint are parallel, and a long connecting rod is arranged parallel to the connecting line of the upper and lower hinge points of the first common rotating device, the top of the long connecting rod is hingedly connected to one side of the second common rotating device, and the bottom of the long connecting rod is hingedly connected to one side of the first rotating joint mounting seat; The upper part of the second common rotating device is hingedly connected to the lower end of the common rotating platform, and the upper side of the common rotating platform 6 is provided with the two groups of three-rotational-freedom mechanical arms, and the bottoms of the two groups of three-rotational-freedom mechanical arms 7 are connected to the common rotating platform through mechanical arm rotating joints; The rotary joint mentioned above is correspondingly provided with a servo motor.

[0007] According to the dual-arm handling robot, the long connecting rod is any one or more of 1-4 groups.

[0008] According to the dual-arm handling robot, the first rotating joint mounting seat includes two parallel lower mounting plates, the first common rotating device is arranged between the two mounting plates, and two upper mounting plates that are parallel and protrude outward from the side surfaces of the first common rotating device are arranged on both sides of the top of the first common rotating device, and the second common rotating device is installed between the two upper mounting plates.

[0009] According to the dual-arm handling robot, the lower connecting plates of the first rotating joint mounting seat respectively have holes for installing the first rotating joint connected to the first common rotating device, and a first servo motor is installed on the outer side of each lower connecting plate and connected to the first rotating joint, and each first rotating joint corresponds to a group of first servo motors.

[0010] According to the dual-arm handling robot, the second rotating joint is at the lower part of the second common rotating device, and a second servo motor is installed between the two upper connecting plates. The output of the second servo motor is connected to the input end of the second rotating joint, and the rotating end of the second rotating joint passes through the second common rotating device to connect to the common rotating platform.

[0011] According to the dual-arm handling robot, the three-degree-of-freedom robotic arm is arranged on a common rotating platform through a third rotating joint, the connection positions of the two third rotating joints are arranged symmetrically relative to the installation position of the second rotating joint, and a third servo motor is arranged at the lower part of the common rotating platform to drive the three-degree-of-freedom robotic arm to rotate as a whole through the third rotating joint.

[0012] The rotation center of the second rotary joint is perpendicular to the rotation center of the first rotary joint in space, the length between the top hinge position and the bottom hinge position of the first common rotary device is the same as the length of the upper and lower hinge connection points of the upper connecting rod, the length between the upper connecting rod and the upper and lower hinge connection points of the first common rotary device is equal and parallel, and the line connecting the upper connection point of the upper connecting rod and the top hinge point of the first common rotary device and the line connecting the lower connection point of the connecting rod and the bottom hinge point of the first common rotary device are equal and parallel. According to the dual-arm handling robot, the three-rotational-freedom robotic arm includes a first rotary arm and a second rotary arm, the root of the first rotary arm is connected to the rotating end of the third rotary joint, the second rotary arm is connected to the front end of the first rotary arm through a rotary joint, and the front end of the festival rotary arm is provided with an end-actuating rotary joint and an end-actuating rotary motor.

[0013] According to the dual-arm handling robot, each rotation direction of the three-degree-of-freedom robotic arms is perpendicular to the common rotating platform.

[0014] The advantages of the present invention are: The bottom mechanism can rotate, which is more suitable for the handling and transfer of long goods than two side-by-side robotic arms; The device can realize the pitch and rotation of the mechanical arm, and has a large operating height path range. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The overall structure of the present invention Figure 1 , Figure 2 The overall structure of the present invention Figure 2 , Figure 3 The common rotating device structure of the present invention Figure 1 , Figure 4 The common rotating device structure of the present invention Figure 2 , Reference numerals: 1 base, 2 first rotary joint mounting seat, 21 lower mounting plate, 3 first common rotating device, 31 upper mounting plate, 4 first rotary joint, 41 first servo motor, 5 second common rotating device, 6 common rotating platform, 7 three-rotational-freedom robotic arm, 71 first rotary arm, 72 second rotary arm, 73 third rotary joint, 74 end-actuating rotary motor, 8 second rotary joint, 81 second servo motor, 9 long connecting rod, 10 third servo motor. DETAILED DESCRIPTION

[0016] The specific contents of the present invention are further described below: The dual-arm handling robot of the present invention comprises a base 1, a first rotation joint mounting seat 2, a first common rotation device 3, a second common rotation device 5, a common rotation platform 6, a long connecting rod 9 and two groups of three-rotational-freedom robot arms 7.

[0017] The bottom of the first common rotating device 3 is arranged on the first rotating joint mounting seat 2 through the first rotating joint 4, and the upper end of the first common rotating device 3 is connected to the second common rotating device 5 through the second rotating joint 88; and the rotation centers of the first rotating joint 4 and the second rotating joint 8 are parallel, and a long connecting rod 9 is provided parallel to the line connecting the upper and lower hinge points of the first common rotating device 3, the top of the long connecting rod 9 is hingedly connected to one side of the second common rotating device 5, and the bottom of the long connecting rod 9 is hingedly connected to one side of the first rotating joint mounting seat 2; the long connecting rod 9 is any one or more of groups 1-4.

[0018] In the present invention, the upper part of the second common rotating device 5 is hingedly connected to the lower end of the common rotating platform 6, and the upper side of the common rotating platform 6 is provided with the two groups of three-rotational freedom mechanical arms 7, and the bottoms of the two groups of three-rotational freedom mechanical arms 7 are connected to the common rotating platform 6 through mechanical arm rotating joints; The rotary joint mentioned above is correspondingly provided with a servo motor.

[0019] Specifically, in this device, the first rotation joint mounting seat 2 includes two parallel lower mounting plates 21, the first common rotation device 3 is arranged between the two mounting plates, and two upper mounting plates 31 that are parallel and protrude from the side surfaces of the first common rotation device 3 are provided on both sides of the top of the first common rotation device 3, and the second common rotation device 5 is installed between the two upper mounting plates 31.

[0020] The lower connecting plates of the first rotating joint mounting seat 2 are respectively opened with holes to install the first rotating joint 4 connected to the first common rotating device 3, and the first servo motor 41 is installed on the outer side of each lower connecting plate and connected to the first rotating joint 4, and each first rotating joint 4 corresponds to a group of first servo motors 41.

[0021] The second rotating joint 8 is at the lower part of the second common rotating device 5 , and a second servo motor 9 is installed between the two upper connecting plates. The output of the second servo motor 9 is connected to the input end of the second rotating joint 8 , and the rotating end of the second rotating joint 8 passes through the second common rotating device 5 to connect to the common rotating platform 6 .

[0022] The three-degree-of-freedom robotic arm 7 is set on the common rotating platform 6 through the third rotating joint 73. The connection positions of the two third rotating joints 73 are arranged symmetrically relative to the installation position of the second rotating joint 8. A third servo motor is set at the lower part of the common rotating platform 6 to drive the three-degree-of-freedom robotic arm 7 to rotate as a whole through the third rotating joint 73.

[0023] The rotation center of the second rotation joint 8 is perpendicular to the rotation center of the first rotation joint 4 in space, the length between the top hinge position and the bottom hinge position of the first common rotation device 3 is the same as the length of the upper and lower hinge connection points of the upper connecting rod, the length between the upper and lower hinge connection points of the upper connecting rod and the first common rotation device 3 is equal and parallel, and the line connecting the upper connection point of the upper connecting rod and the top hinge point of the first common rotation device 3 and the line connecting the lower connection point of the connecting rod and the bottom hinge point of the first common rotation device 3 are equal and parallel.

[0024] The three-degree-of-freedom robotic arm 7 includes a first rotating arm 71 and a second rotating arm 72. The root of the first rotating arm 71 is connected to the rotating end of the third rotating joint 73. The second rotating arm 72 is connected to the front end of the first rotating arm 71 through a rotating joint. The front end of the festival rotating arm is provided with an end execution rotating joint and an end execution rotating motor 74.

[0025] Each rotation direction of the three-degree-of-freedom mechanical arm 7 is perpendicular to the common rotating platform 6 .

[0026] The motion part of the work of the present invention is described as follows: The three-degree-of-freedom mechanical arm can rotate around the third rotation joint under the drive of the third servo motor, and the first rotation arm drives the first rotation arm to rotate accordingly. The two sets of three-degree-of-freedom mechanical arms can move synchronously or asynchronously. The first rotation arm can rotate around the rotation joint as the center, driving the end actuator rotation motor to swing, and the end actuator rotation motor drives the end actuator to rotate; The first servo motor drives the first common rotating device 3 to rotate, and the parallelogram structure composed of the first common rotating device 3, the long connecting rod, the second common rotating device 5 and the first rotating joint mounting seat 2 changes accordingly, and the second common rotating device 5 performs a pitching swing forward and backward; The common rotating platform 6 is driven by the third servo motor to rotate and swing around the second rotating joint, and the three-degree-of-freedom robotic arm rotates around the second rotating joint at the same time. This process can move the objects grasped by the three-degree-of-freedom robotic arm within a circular range centered on the base.

[0027] The bottom mechanism of the common rotating part of the present invention can rotate, which is more suitable for the handling and transfer of long goods than two side-by-side mechanical arms; the device can realize the pitch rotation of the mechanical arm, and the operating height path range is large.

Claims

1. A dual-arm handling robot, characterized in that: The invention comprises a base (1), a first rotation joint mounting seat (2), a first common rotation device (3), a second common rotation device (5), a common rotation platform (6), a long connecting rod (9) and two sets of three-rotational-degree-of-freedom mechanical arms (7), The bottom of the first common rotating device (3) is arranged on the first rotating joint mounting seat (2) via a first rotating joint (4), and the upper end of the first common rotating device (3) is connected to the second common rotating device (5) via a second rotating joint (8); the rotation centers of the first rotating joint (4) and the second rotating joint (8) are parallel, and a long connecting rod (9) is provided parallel to the line connecting the upper and lower hinge points of the first common rotating device (3), the top of the long connecting rod (9) is hingedly connected to one side of the second common rotating device (5), and the bottom of the long connecting rod (9) is hingedly connected to one side of the first rotating joint mounting seat (2); The upper part of the second common rotating device (5) is hingedly connected to the lower end of the common rotating platform (6); the two groups of three-rotational-freedom mechanical arms (7) are arranged on the upper side of the common rotating platform (6); the bottoms of the two groups of three-rotational-freedom mechanical arms (7) are connected to the common rotating platform (6) via mechanical arm rotating joints; The rotary joint mentioned above is correspondingly provided with a servo motor.

2. The dual-arm handling robot according to claim 1, characterized in that: The long connecting rod (9) is any one or more of groups 1-4.

3. The dual-arm handling robot according to claim 1, characterized in that: The first rotary joint mounting seat (2) comprises two parallel lower mounting plates (21), the first common rotary device (3) is arranged between the two mounting plates, two upper mounting plates (31) are arranged on both sides of the top of the first common rotary device (3) and are parallel and protrude from the side surfaces of the first common rotary device (3), and the second common rotary device (5) is installed between the two upper mounting plates (31).

4. The dual-arm handling robot according to claim 3, characterized in that: The lower connecting plates of the first rotating joint mounting seat (2) are respectively provided with holes for mounting first rotating joints (4) connected to the first common rotating device (3); a first servo motor (41) is mounted on the outer side of each lower connecting plate and connected to the first rotating joint (4); each first rotating joint (4) corresponds to a group of first servo motors (41).

5. The dual-arm handling robot according to claim 3, characterized in that: The second rotary joint (8) is located at the lower part of the second common rotary device (5), and a second servo motor (9) is installed between the two upper connecting plates. The output of the second servo motor (9) is connected to the input end of the second rotary joint (8), and the rotating end of the second rotary joint (8) passes through the second common rotary device (5) and is connected to the common rotary platform (6).

6. The dual-arm handling robot according to claim 1, characterized in that: The three-rotational-freedom mechanical arm (7) is arranged on the common rotating platform (6) via a third rotating joint (73); the connection positions of the two third rotating joints (73) are arranged symmetrically relative to the installation position of the second rotating joint (8); and a third servo motor is arranged at the bottom of the common rotating platform (6) to drive the three-rotational-freedom mechanical arm (7) to rotate as a whole via the third rotating joint (73).

7. The dual-arm handling robot according to claim 2, characterized in that: The rotation center of the second rotation joint (8) is perpendicular to the rotation center of the first rotation joint (4) in space, the length between the top hinge position and the bottom hinge position of the first common rotation device (3) is the same as the length of the upper and lower hinge connection points of the upper connecting rod, the length between the upper connecting rod and the upper and lower hinge connection points of the first common rotation device (3) is equal and parallel, and the line connecting the upper connection point of the upper connecting rod and the top hinge point of the first common rotation device (3) and the line connecting the lower connection point of the connecting rod and the bottom hinge point of the first common rotation device (3) are equal and parallel.

8. The dual-arm handling robot according to claim 1, characterized in that: The three-rotational-freedom mechanical arm (7) comprises a first rotating arm (71) and a second rotating arm (72), wherein the root of the first rotating arm (71) is connected to the rotating end of a third rotating joint (73), the second rotating arm (72) is connected to the front end of the first rotating arm (71) via a rotating joint, and the front end of the third rotating arm is provided with an end-actuating rotating joint and an end-actuating rotating motor (74).

9. The dual-arm handling robot according to claim 8, characterized in that: Each rotation direction of the three-rotational-freedom mechanical arm (7) is perpendicular to the common rotating platform (6).

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