Double-arm loading robot with common rotational degree of freedom

Abstract

The invention relates to a double-arm loading robot with a common rotational degree of freedom, and belongs to the field of mechanical transfer robots. The device comprises a public rotary joint, a public rotary mounting platform, two groups of transshipment arms and an end effector, the rotating end of the public rotating joint is provided with the public rotating installation platform, and the two sides of the public rotating installation platform are symmetrically provided with two sets of transfer arms. The transfer arm comprises a first-stage rotating arm structure, a second-stage rotating arm structure and a triangular connecting arm, the first-stage rotating arm structure comprises a first-stage rotating arm, a first-stage rotating joint, a first-stage pull rod arm and a first-stage fixing arm, and the first-stage fixing arm is arranged on the public rotating mounting platform; the first-stage rotating arm, the first-stage pull rod arm, the first-stage fixed arm and the lower side arm of the triangular connecting arm form a parallelogram, the connecting arms are connected in a hinged mode, and the first-stage rotating driving motor is arranged at the bottom of the first-stage rotating arm and connected with the first-stage rotating arm in a driving mode. The double-arm structure can share the rotating platform and is suitable for transferring and carrying long structures, the structures between the double arms rotate synchronously, interference and collision are avoided, and the programming control difficulty is reduced.

Description

Technical Field

[0001] The invention relates to a double-arm loading robot with a common rotational degree of freedom, belonging to the field of mechanical transfer robots. Background Art

[0002] The current loading robot is generally a multi-joint structure, and the drive of each joint is set at the corresponding rotary joint position. Since the rotary joint corresponds to the drive motor at the same height position, its dead weight will also be larger when the required torque is large, resulting in a high center of gravity of the robot arm.

[0003] In order to reduce the dead weight of the existing robot arm, a multi-link structure is adopted, and the drive motor is arranged at a low position at the bottom, but it faces the problem of limited rotation automation.

[0004] For some handling links, synchronous grasping and handling by a robotic arm is required. The current two robotic arms operate side by side, which has a greater risk of interference in motion control and is prone to equipment collision due to loss of control. The double-arm structure is set side by side because its simultaneous synchronous rotation is limited, and its transfer and handling is also limited. Summary of the invention

[0005] In view of the above problems, the present invention provides a dual-arm loading robot with a common rotational degree of freedom, which solves the problem of the robot arm having a high center of gravity and the dual arms rotating synchronously.

[0006] To achieve the above object, the technical solution adopted by the present invention is; The dual-arm loading robot with a common rotational degree of freedom of the present invention comprises a common rotational joint, a common rotational mounting platform 4, two groups of transfer arms and an end effector; the common rotational mounting platform 4 is mounted on the rotation end of the common rotational joint, and two groups of transfer arms are symmetrically mounted on both sides of the common rotational mounting platform 4; The transfer arm includes a primary rotating arm structure, a secondary rotating arm mechanism and a triangular connecting arm. The primary rotating arm structure includes a primary rotating arm, a primary rotating joint 5, a primary tie rod arm and a primary fixed arm. The primary fixed arm is arranged on a common rotating mounting platform 4. The primary rotating arm arm, the primary tie rod arm, the primary fixed arm and the lower arm of the triangular connecting arm form a parallelogram, and the connecting arms are hingedly connected. The primary rotating drive motor is arranged at the bottom of the primary rotating arm arm and is connected to the primary rotating arm arm drive. The secondary rotating arm mechanism comprises a secondary four-sided execution arm, an execution extension arm, a secondary transmission arm and a secondary rotating arm; The end actuator is set on the front short arm of the secondary quadrilateral actuator arm, and an integrated actuator extension arm is extended from the lower long arm of the four-sided actuator arm. The rear short arm of the four-sided actuator arm and the front arm of the triangular connecting arm are an integrated structure. The top of the secondary transmission arm is hingedly connected to the rear end of the actuator extension arm, and the bottom of the secondary transmission arm is hingedly connected to the secondary rotating arm. The bottom of the secondary rotating arm is hingedly connected to the bottom of the primary rotating arm through a secondary rotation drive motor.

[0007] According to the dual-arm loading robot with a common rotational degree of freedom, the fixed end of the common rotation joint is fixed on the base, the rotating end is connected to the common rotation column, the top of the common rotation column is fixed to the bottom center of the common rotation mounting platform 4, and the centers of the two sets of transfer arms are located at the top center position of the common rotation column.

[0008] According to the dual-arm loading robot with a common rotational degree of freedom, the front end of the first-level fixed arm is hinged to the bottom of the first-level rotating arm through a first-level rotating joint, and the rear end is hingedly connected to the bottom of the first-level pulling rod arm. The centers of the front and rear hinge points of the first-level fixed arm are at the same height. The top of the first-level rotating arm is coaxially hingedly connected to the top corner of the triangular connecting arm and the rear end of the lower long arm of the four-sided execution arm, and the top of the first-level pulling rod arm is hingedly connected to the rear top corner of the triangular connecting arm.

[0009] According to the dual-arm loading robot with a common rotational degree of freedom, the four-sided execution arm includes the front short arm, the lower long arm, the upper long arm and the rear short arm, the front arm of the triangular connecting arm is the rear short arm of the four-sided execution arm, and the lower long arm is provided with an execution extension arm of a rigid integrated structure extending backward.

[0010] According to the dual-arm loading robot with a common rotational degree of freedom, the execution extension arm, the secondary transmission arm, the secondary rotating arm and the primary rotating arm form a parallelogram structure, and the secondary rotation drive motor drives the secondary rotating arm through a secondary rotation joint connection.

[0011] According to the dual-arm loading robot with a common rotational degree of freedom, the primary rotating arm is in the shape of a rectangular cylinder, and symmetrical connecting plates are arranged at the top and the bottom. The primary fixing portion and the secondary rotating arm are arranged on the outsides of the two bottom connecting plates, and the lower long arm of the four-sided execution arm passes through between the two top connecting plates to extend the execution extension arm. Holes are arranged on the two connecting plates to install the primary rotation joint 5 and the secondary rotation joint.

[0012] According to the dual-arm loading robot with a common rotational degree of freedom, the first-level rotary joint 5 includes an input shaft connected to the first-level swing arm drive motor, a fixed end and a rotating end, the fixed end of the first-level rotary joint 5 is fixedly set on the first-level fixed arm, and the rotating end of the first-level rotary joint 5 is fixedly set in the hole of the outer connecting plate of the first-level swing arm.

[0013] According to the dual-arm loading robot with a common rotational degree of freedom, the secondary rotation joint includes an input shaft connected to the swivel arm drive motor, a fixed end and a rotating end, the fixed end of the ear-level rotation joint is fixedly arranged in the hole of the inner connecting plate of the primary swivel arm, the rotating end of the secondary rotation joint is fixedly arranged on the secondary swivel arm, and the input shaft is connected to the output shaft of the secondary rotation drive motor.

[0014] According to the dual-arm loading robot with common rotational freedom, the triangular connecting arm is a right triangle, and the vertex angle is a right-angled vertex of the right triangle.

[0015] The advantages of the present invention are: The double-arm structure can share a rotating platform, which is suitable for transferring and handling long structures. The structures between the two arms rotate synchronously without interference and collision, reducing the difficulty of programming control; The robot arm adopts a multi-quadrant structure, which controls the center of the drive motor and the rotating joint at the bottom of the equipment, lowering the center of gravity. It can also reduce the deadweight torque ratio requirements of the servo motor and reduce the performance requirements of the motor components. The quadrilateral arm structure has a large bearing capacity and improves the load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 transfer arm structure of the present invention Figure 1 , Figure 4 The transfer arm structure of the present invention Figure 2 , Reference numerals: 1. Base, 2. Common rotation drive motor, 3. Common rotation joint, 4. Common rotation mounting platform, 5. Primary rotation joint, 6. Primary rotation drive motor, 7. Primary pull rod arm, 8. Primary swivel arm, 8. Upper connecting plate, 8. Lower connecting plate, 9. Triangular connecting arm, 10. Primary fixed arm, 11. End effector, 12. Secondary four-sided execution arm, 121. Secondary front short arm, 122. Secondary lower long arm, 123. Secondary upper long arm, 13. Secondary swivel arm, 14. Secondary transmission arm, 15. Secondary rotation drive motor, 16. Execution extension arm, 17. Secondary rotation joint, 18. Common rotation column. DETAILED DESCRIPTION

[0017] The specific structure of the present invention is further described below: The dual-arm loading robot with a common rotational degree of freedom of the present invention comprises a common rotating part, two groups of transfer arms and an end effector 11.

[0018] The common rotating part in this device includes a rotational degree of freedom, specifically including a joint 3 common rotating joint and a common rotating mounting platform 4. The fixed end of the common rotating joint 3 is fixed on the base 1, the input end is connected to the common rotating drive motor 2, and the rotating end is connected to the common rotating column 18. The top of the common rotating column 18 is fixed to the bottom center of the common rotating mounting platform 4. The common rotating drive motor drives the common rotating column and the common rotating mounting platform 4 to rotate synchronously.

[0019] In this device, two groups of transfer arms are symmetrically installed on both sides of the common rotating installation platform 4, and the front ends of the two groups of transfer arms are respectively provided with end effectors 11. The center of gravity of the two groups of transfer arms is at the top center position of the common rotating column 18.

[0020] The two groups of transfer arms are three-degree-of-freedom mechanical arms of the same configuration, including a primary rotating arm structure, a secondary rotating arm mechanism and a triangular connecting arm 9.

[0021] The primary rotating arm structure rotates with a single degree of freedom through the primary rotating joint of the mechanical arm driven by the primary rotating drive motor. The secondary rotating arm mechanism realizes single degree of freedom rotation through the secondary transmission arm and the secondary rotating arm driven by the secondary rotating drive motor. The triangular connecting arm 9 connects the primary rotating arm structure and the secondary rotating arm mechanism.

[0022] Specifically, the first-level rotating arm structure includes a first-level rotating arm 8, a first-level rotating joint 5, a first-level pull rod arm 7 and a first-level fixed arm 10. The first-level fixed arm 10 is arranged on a common rotating mounting platform 4. The first-level rotating arm 8, the first-level pull rod arm 7, the first-level fixed arm 10 and the lower arm of the triangular connecting arm 9 form a parallelogram, and the connecting arms are hingedly connected. The first-level rotating drive motor 6 is arranged at the bottom of the first-level rotating arm 8 and is driven and connected to the first-level rotating arm 8.

[0023] The front end of the first-level fixed arm 10 is hinged to the bottom of the first-level rotating arm 8 through the first-level rotating joint 5, and the rear end is hinged to the bottom of the first-level pull rod arm 7. The centers of the front and rear hinge points of the first-level fixed arm 10 are at the same height. The top of the first-level rotating arm 8 is coaxially hinged to the top corner of the triangular connecting arm 9 and the rear end of the lower long arm of the four-sided actuator arm, and the top of the first-level pull rod arm 7 is hinged to the rear top corner of the triangular connecting arm 9.

[0024] Specifically, the secondary rotating arm mechanism includes a secondary four-sided actuator arm 12, an actuator extension arm, a secondary transmission arm 14 and a secondary rotating arm 13; the secondary front end short arm 121 of the secondary quadrilateral actuator arm is provided with the end actuator 11, the secondary lower side long arm 122 of the secondary four-sided actuator arm 12 is extended to form an integrated actuator extension arm, the secondary rear end short arm of the secondary four-sided actuator arm 12 is an integrated structure with the front side arm of the triangular connecting arm 9, the top of the secondary transmission arm 14 is hingedly connected to the rear end of the actuator extension arm, the bottom of the secondary transmission arm 14 is hingedly connected to the secondary rotating arm 13, and the bottom of the secondary rotating arm 13 is hingedly connected to the bottom of the primary rotating arm 8 through the secondary rotation drive motor 15.

[0025] The secondary four-sided actuator arm 12 includes the secondary front end short arm 121, the secondary lower side long arm 122, the secondary upper side long arm 123 and the secondary rear end short arm. The front arm of the triangular connecting arm 9 is the rear short arm of the four-sided actuator arm, and the lower side long arm is arranged to extend backwards to form an actuator extension arm of a rigid integrated structure.

[0026] The execution extension arm, the secondary transmission arm 14 , the secondary rotating arm 13 and the primary rotating arm 8 form a transmission parallelogram structure, and the secondary rotation drive motor 15 is connected to drive the secondary rotating arm 13 through the secondary rotating joint 17 .

[0027] The secondary four-sided actuator arm and the transmission parallelogram structure form two parallelogram mechanisms in series. The transmission parallelogram structure transmits the rotational power of the low-position secondary rotation drive motor to the secondary four-sided actuator arm, driving the secondary four-sided actuator arm to rotate and swing up and down with the top of the primary rotating arm as the center, and the end actuator moves accordingly.

[0028] Further description of the device: the first-level rotating arm 8 is a rectangular cylinder with symmetrical connecting plates at the top and bottom; the first-level fixing portion and the second-level rotating arm 13 are respectively arranged on the outside of the two lower connecting plates 82 at the bottom; the lower long arm of the four-sided actuator arm passes through between the two upper connecting plates 81 at the top to extend the actuator extension arm; holes are provided on the two connecting plates to install the first-level rotating joint 5 and the second-level rotating joint 17.

[0029] The first-level rotating joint 5 includes an input shaft connected to the first-level rotating drive motor, a fixed end and a rotating end. The fixed end of the first-level rotating joint 5 is fixedly set on the first-level fixed arm 10, and the rotating end of the first-level rotating joint 5 is fixedly set in the hole of the lower connecting plate 82 on the outer side of the first-level rotating arm 8.

[0030] The secondary rotating joint 17 includes an input shaft connected to the secondary rotating arm driving motor, a fixed end and a rotating end. The fixed end of the secondary rotating joint 17 is fixedly set in the hole of the lower connecting plate 82 on the inner side of the primary rotating arm 8, and the rotating end of the secondary rotating joint 17 is fixedly set on the secondary rotating arm 13. The input shaft is connected to the output shaft of the secondary rotating driving motor 15.

[0031] The triangular connecting arm 9 of the present device is a right triangle, and the vertex angle is the right angle vertex of the right triangle.

[0032] The end effector 11 in the device includes an end mounting flange, and the mounting surface of the end mounting flange 10 is always parallel to the mounting surface of the base 1. A mechanical gripper can be installed at the end effector 11 of the mechanism to realize synchronous loading and stacking of double arms.

[0033] The device includes three movement processes: The common rotating part rotates, and the common rotating drive motor works, driving the common rotating mounting platform and two sets of transfer arms to rotate through the common rotating joint. This process can drive the two sets of transfer arms to change their positions freely within 360 degrees. The first-stage rotating arm structure of the transfer arm swings around the rotation center of the first-stage rotating joint, and the first-stage rotating drive motor works to drive the first-stage rotating arm to swing around the bottom as the center. During this process, the parallelogram composed of the first-stage pull arm, the first-stage rotating arm, the first-stage fixed arm and the lower arm of the triangular connecting arm changes, wherein the distance between the first-stage pull arm and the first-stage rotating arm changes, and the angle between the first-stage rotating arm and the first-stage fixed arm changes; The secondary rotating arm mechanism pitches and swings around the top hinge point of the primary rotating arm, the secondary rotation drive motor drives the secondary rotating arm to rotate, the secondary rotating arm and the primary rotating arm rotate relative to each other, the transmission parallelogram structure deforms, the angle between the extended actuator arm and the top of the primary rotating arm changes, the secondary lower long arm rigidly integrated with the extended actuator arm rotates around the top hinge point of the primary rotating arm, and then the parallelogram structure of the secondary four-sided actuator arm changes, and the end actuator at the front end of the secondary four-sided actuator arm rotates and pitches and swings around the top hinge point of the primary rotating arm as the center.

[0034] Movement two and movement three are simultaneous movements, the primary rotating arm structure swings downward, and the secondary rotating arm structure swings upward, so as to control the end mounting flange mounting surface of the end effector position to always be horizontal.

[0035] The double-arm structure of the present invention can share a rotating platform, which is suitable for transferring and transporting long structures. The structures between the double arms rotate synchronously without interference and collision, which reduces the difficulty of programming control. The robot arm adopts a multi-quadrant structure, which controls the center of the drive motor and the rotating joint at the bottom of the equipment, lowering the center of gravity. It can also reduce the deadweight torque ratio requirements of the servo motor and reduce the performance requirements of the motor components. The quadrilateral arm structure has a large bearing capacity and improves the load-bearing capacity.

Claims

1. A dual-arm loading robot with a common rotational degree of freedom, characterized in that: It comprises a common rotating joint (3), a common rotating mounting platform (4), two sets of transfer arms and an end effector (11); the common rotating mounting platform (4) is mounted on the rotating end of the common rotating joint (3), and the two sets of transfer arms are symmetrically mounted on both sides of the common rotating mounting platform (4); The transfer arm comprises a primary rotating arm structure, a secondary rotating arm mechanism and a triangular connecting arm (9). The primary rotating arm structure comprises a primary rotating arm (8), a primary rotating joint (5), a primary pulling arm (7) and a primary fixed arm (10), wherein the primary fixed arm (10) is arranged on a common rotating mounting platform (4), the primary rotating arm (8), the primary pulling arm (7), the primary fixed arm (10) and the lower arm of the triangular connecting arm (9) form a parallelogram, and the connecting arms are hingedly connected to each other, and the primary rotating drive motor (6) is arranged at the bottom of the primary rotating arm (8) and is drivingly connected to the primary rotating arm (8); The secondary rotating arm mechanism comprises a secondary four-sided execution arm (12), an execution extension arm (which corresponds to something), a secondary transmission arm (14) and a secondary rotating arm (13); The secondary front end short arm (121) of the secondary quadrilateral actuator arm is provided with the end actuator (11); the secondary lower side long arm (122) of the secondary quadrilateral actuator arm (12) is extended to form an integral actuator extension arm; the secondary rear end short arm of the secondary quadrilateral actuator arm (12) and the front side arm of the triangular connecting arm (9) are an integral structure; the top of the secondary transmission arm (14) is hingedly connected to the rear end of the actuator extension arm; the bottom of the secondary transmission arm (14) is hingedly connected to the secondary rotating arm (13); and the bottom of the secondary rotating arm (13) is hingedly connected to the bottom of the primary rotating arm (8) via a secondary rotary drive motor (15).

2. The dual-arm loading robot with common rotational freedom according to claim 1, characterized in that: The fixed end of the common rotating joint (3) is fixed on the base (1), the input end is connected to the common rotating drive motor (2), the rotating end is connected to the common rotating column (18), the top of the common rotating column (18) is fixed to the bottom center of the common rotating mounting platform (4), and the center of gravity of the two sets of transfer arms is located at the top center of the common rotating column (18).

3. The dual-arm loading robot with common rotational freedom according to claim 1, characterized in that: The front end of the primary fixed arm (10) is hinged to the bottom of the primary rotating arm (8) via a primary rotating joint (5), and the rear end is hingedly connected to the bottom of the primary pull rod arm (7). The centers of the front and rear hinge points of the primary fixed arm (10) are at the same height. The top of the primary rotating arm (8) is coaxially hingedly connected to the top corner of the triangular connecting arm (9) and the rear end of the lower long arm of the four-sided actuator arm. The top of the primary pull rod arm (7) is hingedly connected to the rear top corner of the triangular connecting arm (9).

4. The dual-arm loading robot with common rotational freedom according to claim 1, characterized in that: The secondary four-sided actuator arm (12) comprises the secondary front short arm (121), the secondary lower long arm (122), the secondary upper long arm (123) and the secondary rear short arm; the front arm of the triangular connecting arm (9) is the rear short arm of the four-sided actuator arm, and the lower long arm is provided with an actuator extension arm of a rigid integrated structure extending backward.

5. The dual-arm loading robot with common rotational freedom according to claim 4, characterized in that: The execution extension arm, the secondary transmission arm (14), the secondary rotating arm (13) and the primary rotating arm (8) form a parallelogram structure, and the secondary rotary drive motor (15) is connected to drive the secondary rotating arm (13) via a secondary rotary joint (17).

6. The dual-arm loading robot with common rotational freedom according to claim 4, characterized in that: The primary rotating arm (8) is in the shape of a rectangular cylinder, with symmetrical connecting plates arranged at the top and the bottom, the primary fixing portion and the secondary rotating arm (13) are arranged on the outside of the two lower connecting plates (82) at the bottom, the lower long arm of the four-sided actuator arm passes through the two upper connecting plates (81) at the top to extend the actuator extension arm, and the two connecting plates are provided with holes for mounting the primary rotating joint (5) and the secondary rotating joint (17).

7. The dual-arm loading robot with common rotational freedom according to claim 6, characterized in that: The primary rotary joint (5) comprises an input shaft connected to a primary rotary drive motor, a fixed end and a rotating end, the fixed end of the primary rotary joint (5) being fixedly arranged on a primary fixed arm (10), and the rotating end of the primary rotary joint (5) being fixedly arranged in a hole of a lower connecting plate (82) on the outer side of the primary rotating arm (8).

8. The dual-arm loading robot with common rotational freedom according to claim 6, characterized in that: The secondary rotary joint (17) comprises an input shaft connected to a secondary rotary arm drive motor, a fixed end and a rotating end, the fixed end of the secondary rotary joint (17) being fixedly arranged in a hole of a lower connecting plate (82) inside the primary rotary arm (8), the rotating end of the secondary rotary joint (17) being fixedly arranged on the secondary rotary arm (13), and the input shaft being connected to an output shaft of the secondary rotary drive motor (15).

9. The dual-arm loading robot with common rotational freedom according to claim 3, characterized in that: The triangular connecting arm (9) is a right triangle, and the vertex angle is the right angle vertex of the right triangle.

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