Double-arm robot

Abstract

The invention belongs to the technical field of robots, and particularly provides a double-arm robot which comprises a base, a lifting mechanism and a gravity balancing mechanism. The base comprises a base and a vertical frame; the vertical frame is fixedly mounted on the base; the lifting mechanism is arranged on the vertical frame, is in sliding connection with the vertical frame through a sliding rail arranged on one side of the vertical frame, and is driven by a driving mechanism arranged in the vertical frame; the gravity balancing mechanism is fixedly installed on one side of the vertical frame and connected with the lifting mechanism. And arm assemblies are arranged on the two sides of the lifting mechanism. The base and the vertical frame are combined to form the base, the lifting mechanism is arranged on the vertical frame, the arm assemblies are arranged on the two sides of the lifting mechanism to form the double-arm robot, rotation of the arm assemblies and lifting motion of the lifting mechanism are combined, the motion mode can be changed according to the use purpose, and therefore multi-directional continuous operation can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a dual-arm robot. Background Art

[0002] A robot is a machine that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work.

[0003] Robots usually rely on robotic arms to work. According to the number of robotic arms, there are dual-arm robots. Dual-arm robots are often used for gripping or cutting operations. In order to perform gripping or cutting operations, robots usually need to be able to change in multiple directions and heights to meet the needs of multi-directional continuous operations. Currently, commonly used dual-arm robots are usually designed according to specific work content. When used, they are assembled according to the specific movement mode in the work content, and cannot be changed according to the purpose of use, which brings great inconvenience. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a dual-arm robot, aiming to solve the problems existing in the above background technology.

[0005] To achieve the above object, the present invention proposes the following technical solutions: A dual-arm robot comprises a base, a lifting mechanism and a gravity balancing mechanism; the base comprises a base and a stand; the stand is fixedly mounted on the base; the lifting mechanism is arranged on the stand, slidably connected to the stand via a slide rail arranged on one side of the stand, and driven by a driving mechanism arranged in the stand; the gravity balancing mechanism is fixedly mounted on one side of the stand and connected to the lifting mechanism; arm assemblies are arranged on both sides of the lifting mechanism.

[0006] Furthermore, the lifting mechanism includes a vertical slide, a lifting body and a rotating part; the vertical slide is arranged on the slide rail and is connected to the driving mechanism; the lifting body is fixedly connected to the vertical slide; the rotating part is arranged on both sides of the lifting body and is used to connect the arm assembly; the vertical slide is driven to slide up and down by the driving mechanism to realize the lifting movement of the lifting body.

[0007] Furthermore, the driving mechanism includes a driving motor and a screw transmission mechanism; the driving motor is arranged on the base; the screw transmission mechanism includes a ball screw and a mounting seat; the ball screw is installed on the stand and connected to the driving motor; the mounting seat is arranged on the ball screw and fixedly connected to the vertical slide.

[0008] Furthermore, the gravity balancing mechanism includes a balancing cylinder, a fixed pulley, a movable pulley and a flexible belt; the fixed pulley is fixedly installed on the upper part of the frame; the movable pulley is located at the lower part of the frame, and is slidably connected to the frame through a slideway provided at the lower part of the frame; the balancing cylinder includes an outer shell and a telescopic rod; the outer shell is fixedly installed on the frame; one end of the telescopic rod is arranged in the outer shell, and the other end is connected to the movable pulley; one end of the flexible belt is fixedly connected to the frame, and the other end passes through the movable pulley and the fixed pulley in sequence and then is connected to the lifting mechanism.

[0009] Furthermore, a lubrication mechanism is provided on the vertical frame; the lubrication mechanism is fixedly installed on the lifting mechanism, and includes an oil inlet pipe, a distributor and a plurality of oil outlet pipes; the oil inlet pipe is connected to the inlet of the distributor; one end of the plurality of oil outlet pipes is connected to the oil outlet of the distributor, and the other end is respectively arranged above the slide rail and the driving mechanism, for lubricating the movement of the lifting mechanism.

[0010] Furthermore, the arm assembly includes a first rotating arm, a second rotating arm and a third rotating arm; the first rotating arm is located above the lifting body and is rotatably connected to the lifting body through the rotating member; the second rotating arm is located above the first rotating arm and is rotatably connected to the first rotating arm through a first reducer; the third rotating arm is located above the second rotating arm and is rotatably connected to the second rotating arm through a second reducer; a working piece is provided at the end of the third rotating arm.

[0011] Furthermore, an additional mechanism is provided on the outside of the stand for installing auxiliary devices to assist in continuous cutting operations.

[0012] Furthermore, a protective cover is provided on the outside of the stand; one end of the protective cover is connected to the base, and the other end of the protective cover is connected to the additional mechanism.

[0013] The technical solution of the present invention has the following beneficial effects: 1. The present invention forms a base by combining a base and a stand, and arranges a lifting mechanism on the stand, and arranges arm assemblies on both sides of the lifting mechanism to form a dual-arm robot. By combining the rotation of the arm assembly and the lifting and lowering movement of the lifting mechanism, the movement mode can be changed according to the purpose of use, thereby realizing multi-directional continuous operation.

[0014] 2. The present invention provides a gravity balancing mechanism on one side of the frame and connects the gravity balancing mechanism to the lifting mechanism, thereby adding an upward pulling force to the lifting mechanism, thereby reducing the loss caused by the gravity of the lifting mechanism, thereby reducing the power specification of the driving motor, and driving the entire mechanism to operate with less energy, thereby saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.

[0016] Figure 1 is a schematic structural diagram of the dual-arm robot of the present invention; Figure 2 It is a schematic diagram of the internal structure of the stand; Figure 3 It is a schematic diagram of the internal structure of the stand from the second perspective; Figure 4 It is a structural diagram of the screw transmission mechanism; Figure 5 It is a structural diagram of the lubrication mechanism; Figure 6 It is a structural schematic diagram of the gravity balancing mechanism; Figure 7 It is a schematic diagram of the position relationship between the lifting body and the stand; Figure 8 It is a structural diagram of the arm assembly.

[0017] Among them, 1-base; 10-stand; 11-base; 12-slide rail; 13-vertical slide; 14-screw transmission mechanism; 141-upper bearing seat; 142-ball screw; 143-screw nut; 144-mounting seat; 145-lower bearing seat; 15-driving reducer; 16-driving motor; 17-gravity balancing mechanism; 171-balance cylinder; 172-fixed pulley; 173-movable pulley; 174-flexible belt; 18-lubricating mechanism; 181-oil inlet pipe; 182-distributor; 183-oil outlet pipe; 19-slider; 2-lifting mechanism; 21-shield; 22-lifting body; 23-rotating member; 3-arm assembly; 31-first rotating arm; 32-second rotating arm; 33-third rotating arm; 34-first reducer; 35-second reducer; 4-additional mechanism. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below in conjunction with the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be included in the protection scope of the present invention.

[0019] like Figure 1-4As shown, the present invention proposes a dual-arm robot, which is mainly used for continuous cutting of tubular materials, and is composed of a base 1, a lifting mechanism 2, a gravity balancing mechanism 17, a driving mechanism, and two groups of arm components 3. The base 1 includes a base 11 and a stand 10. The base 11 is in the shape of a platform, and the stand 10 is in a frame-like structure with a cavity in the middle, and is fixedly installed on the base 11 in the vertical direction. A slide rail 12 is provided on the inner side of the stand 10 in the vertical direction, and the lifting mechanism 2 is sleeved on the stand 10 and slidably connected to the stand 10 through the slide rail 12; the gravity balancing mechanism 17 is provided on the outer side of the stand 10, one end of which is fixedly connected to the stand 10, and the other end is fixedly connected to the lifting mechanism 2, and is used to balance the gravity effect of the lifting mechanism 2, so as to reduce the loss caused by the gravity of the lifting mechanism 2, thereby driving the entire mechanism to operate with less energy, saving costs. The driving mechanism is arranged in the internal cavity of the stand 10 and is connected to the lifting mechanism 2, so as to drive the lifting mechanism 2 to perform lifting actions; two sets of arm assemblies 3 are respectively arranged on both sides of the lifting mechanism 2, and are rotatably connected to the lifting mechanism 2 to cooperate with the lifting action to realize multi-directional continuous operation in the space.

[0020] Specifically, the driving mechanism includes a driving motor 16 and a screw transmission mechanism 14. The driving motor 16 is fixedly installed on the base 11, and the output end is connected to the input end of the driving reducer 15, and then connected to the screw transmission mechanism 14 through the output end of the driving reducer 15; the screw transmission mechanism 14 includes a ball screw 142 and a mounting seat 144. The ball screw 142 is arranged in the vertical direction, and the upper end is fixedly connected to the stand 10 through an upper bearing seat 141 fixedly installed on the upper part of the stand 10, and the lower part is fixedly connected to the stand 10 through a lower bearing seat 145 fixedly installed on the lower part of the stand 10. A screw nut 143 is also provided on the ball screw 142, and the mounting seat 144 is fixedly installed on the screw nut 143 and fixedly connected to the lifting mechanism 2; when in use, the ball screw 142 is driven to rotate by the driving motor 16, so that the screw nut 143 can be moved up and down on the ball screw 142, so that the lifting mechanism 2 can be driven to perform lifting and lowering movements through the mounting seat 144.

[0021] Specifically, the lifting mechanism 2 is composed of a lifting body 22, a vertical slide 13 and two rotating parts 23. The vertical slide 13 is fixedly connected to four sliders 19 arranged on the slide rail 12, and the sliding connection with the slide rail 12 is realized through the four sliders 19. The lifting body 22 has a symmetrical structure with a hollow middle part, and is sleeved on the stand 10. The inner side surface of the middle cavity is fixedly connected to the vertical slide 13; the two rotating parts 23 are respectively installed at the two wings of the lifting body 22, and are rotatably connected to the lifting body 22 through a rotating shaft, and are used to connect with the arm assembly 3 to realize the rotation of the arm assembly 3.

[0022] like Figure 6As shown, specifically, the gravity balancing mechanism 17 is composed of a balancing cylinder 171, two fixed pulleys 172, a group of movable pulleys 173 and a flexible belt 174, wherein the two fixed pulleys 172 are fixedly mounted at the upper position of the stand 10 and arranged in a horizontal straight line, the balancing cylinder 171 includes a shell and a telescopic rod, the shell is fixedly mounted at the upper part of the stand 10 near the fixed pulley 172; the upper end of the telescopic rod is arranged in the shell, and the lower end is fixedly connected to the movable pulley 173 group, the balancing cylinder 171 is always kept in a compressed state, so that a downward thrust can be continuously generated on the movable pulley 173 group ; The movable pulley 173 group is composed of two movable pulleys 173, located at the lower part of the frame 10, and fixedly connected to the telescopic rod; one end of the flexible belt 174 is fixed at the middle part of the frame 10, and the other end passes through the first movable pulley 173, the first fixed pulley 172, the second movable pulley 173, the second fixed pulley 172 in sequence, and then connected to the lifting mechanism 2, thereby continuously generating an upward pulling force on the lifting mechanism 2 to reduce the loss caused by the gravity of the lifting mechanism 2, thereby reducing the power specification of the drive motor 16, driving the entire mechanism to operate with less energy, and saving costs.

[0023] Preferably, the flexible belt 174 can be made of various materials such as wire rope, ordinary chain, heavy-duty plate chain, etc. according to the load, and the balance cylinder 171 can provide thrust through a spring or compressed air.

[0024] like Figure 7-8 As shown, specifically, the arm assembly 3 includes a first rotating arm 31, a second rotating arm 32 and a third rotating arm 33. One end of the first rotating arm 31 is installed on the two wings of the lifting body 22, and is rotationally connected to the lifting body 22 through a rotating member 23. The other end is connected to one end of the second rotating arm 32 through a first reducer 34, and the first rotating arm 31 and the second rotating arm 32 can rotate around the central axis of the first reducer 34. Similarly, the other end of the second rotating arm 32 is connected to the third rotating arm 33 through a second reducer 35, and can rotate around the central axis of the second reducer 35. The other end of the third rotating arm 33 can be installed with cutting blades, clamps and other working devices according to usage requirements.

[0025] Preferably, the first reducer 34 and the second reducer 35 both have a hollow structure at each rotation axis, which is used to control the layout of parts such as cables and gas lines. The first rotating arm 31, the second rotating arm 32 and the third rotating arm 33 are enclosed into a cavity structure through a cover plate to ensure the dustproof and waterproof effect of the entire machine.

[0026] like Figure 5As shown, preferably, a lubrication mechanism 18 is also fixedly installed on the lifting mechanism 2, and the lubrication mechanism 18 consists of an oil inlet pipe 181, a distributor 182 and five oil outlet pipes 183, wherein the distributor 182 is fixedly installed on the vertical slide 13, and includes an oil inlet and five oil outlets, one end of the oil inlet pipe 181 is fixed on the vertical slide 13, and the other end is connected to the oil inlet of the distributor 182, one end of the five oil outlet pipes 183 is respectively connected to the five oil outlets, and the other ends are respectively connected to the contact positions of the four sliders 19 and the slide rails 12 and the contact positions of the screw nut 143 and the ball screw 142, so as to realize the lubrication effect on the lifting and lowering movement of the lifting mechanism 2.

[0027] Preferably, an additional mechanism 4 is also provided on the top of the stand 10 for installing some auxiliary mechanisms required in the working situation to assist in the continuous cutting of tubular materials.

[0028] Preferably, a protective cover 21 is provided on the outside of the stand 10 , the bottom of the protective cover 21 is connected to the base 11 , and the top is connected to the bottom end of the additional mechanism 4 , so as to ensure that the lifting mechanism 2 and the internal structure of the stand 10 are dustproof and waterproof.

[0029] The present invention forms a base 1 by combining a base 11 and a stand 10, and forms a dual-arm robot by arranging a lifting mechanism 2 on the stand 10 and arm components 3 on both sides of the lifting mechanism 2. By combining the rotation of the arm component 3 and the lifting movement of the lifting mechanism 2, the movement mode can be changed according to the purpose of use, thereby realizing multi-directional continuous operation. At the same time, by arranging a gravity balancing mechanism 17 on one side of the stand 10 and connecting the gravity balancing mechanism 17 to the lifting mechanism 2, an upward pulling force is added to the lifting mechanism 2, thereby reducing the loss caused by the gravity of the lifting mechanism 2, thereby reducing the power specification of the drive motor 16, and driving the entire mechanism to operate with less energy, saving costs.

[0030] Importantly, it should be noted that the construction and arrangement of the present application shown in a number of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible, for example, the size, scale, structure, shape and proportion of various elements, and parameter values ​​such as temperature, pressure, etc., mounting arrangements, use of materials, color, directional changes, etc., without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0031] Furthermore, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described, i.e., those features that are not relevant to the best mode presently contemplated for carrying out the invention or those features that are not relevant to implementing the invention.

[0032] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0033] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A dual-arm robot, characterized in that: The invention comprises a base (1), a lifting mechanism (2) and a gravity balancing mechanism (17); the base (1) comprises a base (11) and a stand (10); the stand (10) is fixedly mounted on the base (11); the lifting mechanism (2) is arranged on the stand (10), is slidably connected to the stand (10) via a slide rail (12) arranged on one side of the stand (10), and is driven by a driving mechanism arranged in the stand (10); the gravity balancing mechanism (17) is fixedly mounted on one side of the stand (10) and is connected to the lifting mechanism (2); arm assemblies (3) are arranged on both sides of the lifting mechanism (2).

2. The dual-arm robot according to claim 1, characterized in that: The lifting mechanism (2) comprises a vertical slide (13), a lifting body (22) and a rotating member (23); the vertical slide (13) is arranged on the slide rail (12) and is connected to the driving mechanism; the lifting body (22) is fixedly connected to the vertical slide (13); the rotating member (23) is arranged on both sides of the lifting body (22) and is used to connect the arm assembly (3); the driving mechanism drives the vertical slide (13) to slide up and down, so as to realize the lifting movement of the lifting body (22).

3. The dual-arm robot according to claim 2, characterized in that: The driving mechanism comprises a driving motor (16) and a screw transmission mechanism (14); the driving motor (16) is arranged on the base (11); the screw transmission mechanism (14) comprises a ball screw (142) and a mounting seat (144); the ball screw (142) is mounted on the stand (10) and connected to the driving motor (16); the mounting seat (144) is arranged on the ball screw (142) and fixedly connected to the vertical slide (13).

4. The dual-arm robot according to claim 1, characterized in that: The gravity balancing mechanism (17) comprises a balancing cylinder (171), a fixed pulley (172), a movable pulley (173) and a flexible belt (174); the fixed pulley (172) is fixedly mounted on the upper part of the stand (10); the movable pulley (173) is located at the lower part of the stand (10) and is slidably connected to the stand (10) via a slideway provided at the lower part of the stand (10); the balancing cylinder (171) comprises an outer shell and a telescopic rod; the outer shell is fixedly mounted on the stand (10); one end of the telescopic rod is disposed in the outer shell, and the other end is connected to the movable pulley (173); one end of the flexible belt (174) is fixedly connected to the stand (10), and the other end passes through the movable pulley (173) and the fixed pulley (172) in sequence and is connected to the lifting mechanism (2).

5. The dual-arm robot according to claim 1, characterized in that: It also includes a lubrication mechanism (18); the lubrication mechanism (18) is fixedly mounted on the lifting mechanism (2), and includes an oil inlet pipe (181), a distributor (182), and a plurality of oil outlet pipes (183); the oil inlet pipe (181) is connected to the inlet of the distributor (182); one end of the plurality of oil outlet pipes (183) is connected to the oil outlet of the distributor (182), and the other end is respectively arranged above the slide rail (12) and the drive mechanism, and is used to lubricate the movement of the lifting mechanism (2).

6. The dual-arm robot according to claim 2, characterized in that: The arm assembly (3) comprises a first rotating arm (31), a second rotating arm (32) and a third rotating arm (33); the first rotating arm (31) is located above the lifting body (22) and is rotationally connected to the lifting body (22) via the rotating member (23); the second rotating arm (32) is located above the first rotating arm (31) and is rotationally connected to the first rotating arm (31) via a first reducer (34); the third rotating arm (33) is located above the second rotating arm (32) and is rotationally connected to the second rotating arm (32) via a second reducer (35); a working member is provided at the end of the third rotating arm (33).

7. The dual-arm robot according to claim 1, characterized in that: An additional mechanism (4) is also provided on the outside of the stand for installing an auxiliary device to assist in the continuous cutting operation.

8. The dual-arm robot according to claim 7, characterized in that: A protective cover (21) is also provided on the outside of the stand; one end of the protective cover (21) is connected to the base, and the other end is connected to the additional mechanism (4).

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