Stable double-arm composite robot based on lifting adjustment

Abstract

The invention belongs to the technical field of robots, and particularly relates to a stable type double-arm composite robot based on lifting adjustment, which comprises a walking seat, a lifting cavity and a double-arm robot, the stable lifting mechanism comprises a motor, an output shaft, a rotating disc, a ball screw, a ball nut, a connecting rod, a sliding block and a speed adjusting part. The lifting cavity is fixedly installed on the walking base, the interior of the lifting cavity is hollow, a sliding groove is formed in the right side of the lifting cavity, the sliding block is slidably connected into the sliding groove, the double-arm robot is fixedly installed on the sliding block, the motor is fixedly installed above the inner wall of the lifting cavity, and the rotating disc is fixedly connected with the output end of the motor through an output shaft. According to the device, the safety problem caused by the fact that when a chemical solvent is transported through a double-arm robot at present, the stability of lifting and lowering of the chemical solvent cannot be guaranteed is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a stable dual-arm compound robot based on lifting and lowering adjustment. Background Art

[0002] The dual-arm compound robot is an intelligent device that integrates a mobile chassis, dual robotic arms, a vision system, and an end effector. It is used in industrial, scientific research, and medical fields. In the industrial field, it is generally used to transport items, including chemicals. Some chemicals are unstable or dangerous. When transporting and lifting such chemicals, a high degree of stability must be maintained to prevent them from falling or the solvent from shaking out of the chemical experiment cup. By directly controlling the power of the motor, the speed of lifting and lowering the chemicals can be controlled. On the one hand, the speed control is unstable, and on the other hand, it leads to increased wear of the motor's mechanical components, increased electrical loss, increased pressure on the control system, and decreased efficiency. It is also prone to safety hazards. Therefore, it is necessary to keep the motor's operating power stable. At this time, changing the lifting and lowering speeds requires relying on mechanical structure control.

[0003] Currently, speed control on the market generally uses a gearbox or other methods. This type of speed control method is costly and less stable than control based on conservation of angular momentum. This phenomenon has become a problem that researchers in this field urgently need to solve. Summary of the Invention

[0004] The object of the present invention is to provide a stable dual-arm compound robot based on lifting and lowering adjustment to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a stable dual-arm compound robot based on lifting and lowering adjustment, comprising a walking seat, a lifting chamber and a dual-arm robot, wherein a stable lifting mechanism is arranged in the lifting chamber, and the stable lifting mechanism comprises a motor, an output shaft, a turntable, a ball screw, a ball nut, a connecting rod, a slider and a speed adjustment part; the lifting chamber is fixedly mounted on the walking seat, the interior of the lifting chamber is hollow, and a slide groove is opened on the right side, the slider is slidably connected in the slide groove, the dual-arm robot is fixedly mounted on the slider, the motor is fixedly mounted above the inner wall of the lifting chamber, the turntable is fixedly connected to the output end of the motor through the output shaft, the ball screw is fixedly mounted below the turntable, the ball nut is connected to the ball screw, and is fixedly connected to the slider through the connecting rod, and the speed adjustment part includes an angular momentum regulator.

[0006] The present invention further describes that the angular momentum regulator includes a sleeve, an arm and a connecting shaft; a threaded hole is provided above the lifting chamber, and a screw is connected to the internal thread, a bolt is fixed to the upper end of the screw, and a support plate is connected to the lower end bearing, and a push rod is fixed to the lower right side of the support plate. The sleeve is sleeved on the outer side of the output shaft, and a groove is provided on the upper surface. The lower end of the push rod is spherical and embedded in the groove. The sleeve is connected to the arm shaft through the connecting shaft, the lower end of the arm is connected to the upper surface shaft of the turntable, and a swinging ball is provided at the outer end of the arm, and an elastic spring is provided between the bottom of the sleeve and the upper surface of the turntable, and the elastic spring is sleeved on the outer side of the output shaft.

[0007] The present invention further describes that buffer cavities are fixed on both the left and right sides of the bottom of the turntable, the inner wall of the buffer cavity is slidably connected to a hydraulic plate, a buffer rod is fixed below the hydraulic plate, and the lower end of the buffer rod is spherical; the top of the hydraulic plate is filled with hydraulic oil, and a spring is provided, and the ball nut contacts the lower end of the buffer rod after moving upward.

[0008] The present invention further describes that an annular tube is connected to the upper side of the buffer chamber, and the interior of the annular tube is filled with hydraulic oil; a sphere is provided at the outer end of the annular tube, and a liquid orifice plate is fixed in the middle of the inner wall of the annular tube, and a spring 2 is provided between the liquid orifice plate and the sphere. The swinging ball is made of electromagnet material, and the sphere is magnetic. The magnetic poles generated by the swinging ball after power is applied are the same as the magnetic poles of the sphere.

[0009] The present invention further states that after the swinging ball is electrified, the magnetic intensity is proportional to the current intensity.

[0010] The present invention further illustrates that telescopic joints are fixed on both the left and right sides above the turntable, two liquid tanks are provided inside the turntable, and the telescopic joints and the buffer chamber are connected through the two liquid tanks.

[0011] The present invention further states that after the arm is rotated, it contacts the upper end of the telescopic joint.

[0012] The present invention further states that the connecting shaft is always in an inclined state.

[0013] Compared with the prior art, the present invention has the following beneficial effects: the through hole of the present invention controls the height of the dual-arm robot, the position height of the chemical solvent is lowered, thereby preventing the chemical solvent from falling due to unstable center of gravity during transportation, and facilitating the removal of the chemical solvent when it is lifted. Moreover, when lifting the chemical solvent, the rotation speed of the roller screw is adjusted by the angular momentum regulator, thereby adjusting the speed of lifting and lowering the chemical solvent, ensuring the stability of lifting and lowering, and preventing certain dangerous chemical solvents from shaking due to excessive lifting or lowering speed, thereby causing them to react.

[0014] The transported chemical solvents are safe products. The principle of conservation of angular momentum is used to speed up the lifting and lowering of the chemical solvents and improve work efficiency. On the contrary, when the transported chemical solvents are dangerous goods, the bolts are tightened in the opposite direction to reduce the lifting and lowering speed of the chemical solvents. This avoids lifting or lowering the chemical solvents too quickly, which may cause the solvents to shake and volatilize or produce chemical reactions, and improves the stability of the chemical solvents when they are lifted and lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the internal structure of the lifting chamber of the present invention;

[0018] Figure 3 is an exploded view of the lift chamber of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the angular momentum regulator of the present invention;

[0020] Figure 5 is an exploded view of the angular momentum regulator of the present invention;

[0021] Figure 6 It is a schematic diagram of the internal structure of the turntable, annular tube and buffer chamber of the present invention;

[0022] Figure 7 is a plan view of the lift chamber of the present invention;

[0023] Figure 8 is a schematic diagram of embodiment 1 of the present invention;

[0024] Figure 9 is a schematic diagram of embodiment 3 of the present invention;

[0025] Figure 10 is a schematic diagram of embodiment 5 of the present invention;

[0026] In the figure: 1. Traveling seat; 2. Lifting chamber; 21. Motor; 22. Output shaft; 221. Sleeve; 23. Turntable; 24. Ball screw; 25. Ball nut; 26. Connecting rod; 27. Slider; 28. Arm; 281. Swinging ball; 29. ​​Connecting shaft; 3. Dual-arm robot; 4. Screw; 41. Support plate; 42. Push rod; 5. Elastic spring; 6. Buffer chamber; 61. Hydraulic plate; 62. Buffer rod; 7. Ring tube; 71. Sphere; 72. Orifice plate; 8. Telescopic joint. DETAILED DESCRIPTION

[0027] The following is a non-limiting detailed description of the technical solutions of the present invention in conjunction with preferred embodiments and the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0028] See also Figures 1-10 The present invention provides a technical solution: a stable dual-arm compound robot based on lifting adjustment, comprising a walking base 1, a lifting chamber 2 and a dual-arm robot 3. A stable lifting mechanism is provided in the lifting chamber 2. The stable lifting mechanism includes a motor 21, an output shaft 22, a turntable 23, a ball screw 24, a ball nut 25, a connecting rod 26, a slider 27 and a speed adjustment part;

[0029] The lifting chamber 2 is fixedly mounted on the walking seat 1. The interior of the lifting chamber 2 is hollow, and a slide groove is opened on the right side. The slider 27 is slidably connected to the slide groove. The dual-arm robot 3 is fixedly mounted on the slider 27. The motor 21 is fixedly mounted on the upper inner wall of the lifting chamber 2. The turntable 23 is fixedly connected to the output end of the motor 21 through the output shaft 22. The ball screw 24 is fixedly mounted below the turntable 23. The ball nut 25 is connected to the ball screw 24 and is fixedly connected to the slider 27 through the connecting rod 26. The speed adjustment unit includes an angular momentum regulator.

[0030] The chemical solvent is placed on the arm of the dual-arm robot 3, and then the walking seat 1 moves, driving the dual-arm robot 3 to move through the lifting chamber 2, thereby transporting the chemical solvent. During the transportation process, the motor 21 runs, driving the output shaft 22 to rotate, the output shaft 22 drives the turntable 23 to rotate, and the turntable 23 drives the ball screw 24 to rotate, so that the ball nut 25 moves downward through the ball screw, and the ball nut 25 drives the slider 27 to slide downward in the slide groove through the connecting rod 26, so that the dual-arm robot 3 moves downward, lowering the chemical solvent, and the position height of the chemical solvent is reduced to avoid transportation. During the transportation process, the center of gravity is unstable, causing the chemical solvent to fall. When it moves to the specified position, the motor 21 rotates in the opposite direction to lift the chemical solvent, making it easier to take the chemical solvent. When lifting the chemical solvent, the rotation speed of the roller screw 24 is adjusted by the angular momentum regulator, thereby adjusting the speed of lifting and lowering the chemical solvent to ensure the stability of lifting and lowering, and avoid lifting or lowering too fast, which may cause certain dangerous chemical solvents to shake and cause them to react. Compared with changing the rotation speed of the motor 21, the energy consumption is reduced. While maintaining the power stability of the motor 21 and reducing energy consumption, it has the function of speed regulation.

[0031] The angular momentum regulator includes a sleeve 221, an arm 28 and a connecting shaft 29;

[0032] A threaded hole is provided above the lifting chamber 2, and a screw rod 4 is connected to the internal thread. A bolt is fixed to the upper end of the screw rod 4, and a support plate 41 is connected to the lower end bearing. A push rod 42 is fixed to the lower right side of the support plate 41. The sleeve 221 is sleeved on the outer side of the output shaft 22, and a groove is provided on the upper surface. The lower end of the push rod 42 is spherical and embedded in the groove. The sleeve 221 is connected to the arm rod 28 through the connecting shaft 29. The lower end of the arm rod 28 is axially connected to the upper surface of the turntable 23, and a swinging ball 281 is provided at the outer end of the arm rod 28. An elastic spring 5 is provided between the bottom of the sleeve 221 and the upper surface of the turntable 23, and the elastic spring 5 is sleeved on the outer side of the output shaft 22;

[0033] Example 1:

[0034] like Figure 8 As shown, the transported chemical solvent is a safe product. The bolt is tightened in the forward direction, so that the screw 4 rotates and moves downward through the threaded hole. The screw 4 drives the push rod 42 downward through the support plate 41. The push rod 42 pushes the sleeve 221 and slides downward on the outer wall of the output shaft 22. The elastic spring 5 is deformed by the force and at the same time, the arm 28 is stretched open by the connecting shaft 29. According to the principle of conservation of angular momentum, the rotation speed of the turntable 23 is accelerated, so that the rotation speed of the ball screw 24 is accelerated, thereby accelerating the up and down movement speed of the ball nut 25 to speed up the lifting and lowering of the chemical solvent and improve work efficiency. On the contrary, when the transported chemical solvent is a dangerous product, the bolt is tightened in the reverse direction, the sleeve 221 is loosened, and the elastic spring 5 generates a reaction force to make the sleeve 221 move upward, thereby reducing the rotation speed of the turntable 23 to reduce the lifting and lowering speed of the chemical solvent, avoid lifting or lowering the chemical solvent too fast, resulting in the solvent shaking and volatilizing or chemical reaction, and improve the stability of the chemical solvent when lifting and lowering.

[0035] Buffer chambers 6 are fixed on both sides of the bottom of the turntable 23. A hydraulic plate 61 is slidably connected to the inner wall of the buffer chamber 6. A buffer rod 62 is fixed below the hydraulic plate 61, and the lower end of the buffer rod 62 is spherical.

[0036] The upper portion of the hydraulic plate 61 is filled with hydraulic oil and provided with a spring 1. The ball nut 25 moves upward and contacts the lower end of the buffer rod 62.

[0037] Example 2:

[0038] When lifting the chemical solvent, no matter whether the speed is fast or slow, after the chemical solvent rises to a high place, the ball nut 25 and the buffer rod 62 contact each other and squeeze the buffer rod 62. The buffer rod 62 is forced to push the hydraulic plate 61 to slide upward along the inner wall of the hydraulic chamber 6. The spring generates a reaction force when it is forced to cushion the ball nut 25, and the reaction force generated by the hydraulic oil further improves the buffering strength to avoid the sudden stop caused by inertia due to the high speed that cannot be cushioned when it is lifted to a high place, and prevent the chemical solvent from shaking or falling due to inertia, thereby further improving safety.

[0039] An annular tube 7 is connected to the upper side of the buffer chamber 6, and the interior of the annular tube 7 is filled with hydraulic oil;

[0040] A sphere 71 is provided at the outer end of the ring tube 7, and a liquid orifice plate 72 is fixed in the middle of the inner wall of the ring tube 7. A second spring is provided between the liquid orifice plate 72 and the sphere 71. The swinging ball 281 is made of an electromagnet material. The sphere 71 is magnetic. When the swinging ball 281 is energized, the magnetic poles generated are the same as those of the sphere 71.

[0041] Example 3:

[0042] like Figure 9 As shown, the chemical solvent transported in Example 1 is a safe product, and the ball nut 25 rises at a faster speed. In order to further improve the buffering strength, the arm 28 rotates through the axis at this time, so that the swinging ball 281 is close to the sphere 71. The sphere 71 is acted upon by the magnetic force, thereby sliding through the inner wall of the ring tube 7. The spring 2 is deformed by the force and squeezes the hydraulic oil in the ring tube 7 into the buffer chamber 6, so that the hydraulic pressure inside it is further increased. The strength of the buffer rod 62 when buffering the ball nut 25 is greatly increased, so that the chemical solvent can be efficiently and stably stopped when it rises rapidly, so as to fully avoid the chemical solvent from falling due to unstable center of gravity, and will not affect the efficiency during lifting.

[0043] When the swinging ball 281 is energized, the magnetic intensity is proportional to the current intensity;

[0044] Example 4:

[0045] In Example 3, the increase and decrease of the buffering strength can be adjusted by changing the current applied to the swinging ball 281 to control the magnetic strength applied by the swinging ball 281 to the sphere 71. The higher the liquid height of the chemical solvent, the greater the current applied to the swinging ball 281 and the higher the magnetic strength, that is, the higher the buffering strength when the chemical solvent is stopped. On the one hand, when the liquid level of the chemical solvent is high, the buffering strength is increased to fully avoid the liquid from shaking out. On the other hand, when the liquid level of the chemical solvent is low, the buffering strength is reduced, which means that the solvent will not be shaken out and the current energy consumption can be reduced, thereby reducing the operating cost and the battery life of the dual-arm compound robot.

[0046] Telescopic joints 8 are fixed on both the left and right sides above the turntable 23 . Two liquid tanks are provided inside the turntable 23 , and the telescopic joints 8 and the buffer chamber 6 are connected through the two liquid tanks.

[0047] After the arm 28 rotates, it contacts the upper end of the telescopic joint 8.

[0048] The connecting shaft 29 is always in an inclined state;

[0049] Embodiment 5:

[0050] like Figure 10 As shown, in the second embodiment, when the ball nut 25 and the buffer rod 62 contact and squeeze each other, the buffer rod 62 is instantly stressed, causing the hydraulic plate 61 to instantly squeeze the hydraulic oil. At this time, the hydraulic oil passes through the liquid tank to instantly increase the hydraulic pressure in the telescopic joint 8, thereby supporting the arm 28 and lifting the arm 28. Since the connecting shaft 29 is always in an inclined state, when the arm 28 is lifted, it rotates in the opposite direction around the axis. According to the principle of conservation of angular momentum, the rotation speed of the turntable 23 is relatively reduced, thereby further improving the stability of the ball nut 25 when it stops, thereby further enhancing the stability of lifting the chemical solvent and fully ensuring safety.

[0051] The entire structure is relatively simple, and the lifting speed can be adjusted only by the principle of conservation of angular momentum. It is easy to operate and has high precision in speed control. Regardless of whether the chemical solvents being transported are dangerous goods or safe goods, the stability during lifting can be guaranteed, thereby greatly improving the safety of transporting chemical solvents.

[0052] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0053] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that modifications may be made to the technical solutions described in the aforementioned embodiments, or that some of the technical features may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A stable dual-arm compound robot based on lifting and lowering adjustment, comprising a walking seat (1), a lifting chamber (2) and a dual-arm robot (3), characterized in that: A smooth lifting mechanism is provided in the lifting chamber (2), and the smooth lifting mechanism comprises a motor (21), an output shaft (22), a turntable (23), a ball screw (24), a ball nut (25), a connecting rod (26), a slider (27), and a speed regulating portion; The lifting chamber (2) is fixedly mounted on the walking seat (1); the interior of the lifting chamber (2) is hollow, and a slide groove is opened on the right side; the slider (27) is slidably connected in the slide groove; the dual-arm robot (3) is fixedly mounted on the slider (27); the motor (21) is fixedly mounted above the inner wall of the lifting chamber (2); the turntable (23) is fixedly connected to the output end of the motor (21) through the output shaft (22); the ball screw (24) is fixedly mounted below the turntable (23); the ball nut (25) is connected to the ball screw (24) and is fixedly connected to the slider (27) through the connecting rod (26); and the speed regulating unit includes an angular momentum regulator.

2. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 1 is characterized in that: The angular momentum regulator comprises a sleeve (221), an arm (28) and a connecting shaft (29); A threaded hole is provided above the lifting chamber (2), and a screw rod (4) is connected to the internal thread. A bolt is fixed to the upper end of the screw rod (4), and a bearing is connected to the support plate (41) at the lower end. A push rod (42) is fixed to the lower right side of the support plate (41). The sleeve (221) is sleeved on the outer side of the output shaft (22), and a groove is provided on the upper surface. The lower end of the push rod (42) is spherical and embedded in the groove. The sleeve (221) is connected to the arm (28) axis through a connecting shaft (29). The lower end of the arm (28) is axially connected to the upper surface of the turntable (23), and a swing ball (281) is provided at the outer end of the arm (28). An elastic spring (5) is provided between the bottom of the sleeve (221) and the upper surface of the turntable (23), and the elastic spring (5) is sleeved on the outer side of the output shaft (22).

3. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 2 is characterized in that: Buffer chambers (6) are fixed on both left and right sides of the bottom of the turntable (23); a hydraulic plate (61) is slidably connected to the inner wall of the buffer chamber (6); a buffer rod (62) is fixed below the hydraulic plate (61), and the lower end of the buffer rod (62) is spherical; The upper portion of the hydraulic plate (61) is filled with hydraulic oil and is provided with a spring 1. The ball nut (25) contacts the lower end of the buffer rod (62) after moving upward.

4. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 3 is characterized in that: An annular tube (7) is connected to the upper side of the buffer chamber (6), and the interior of the annular tube (7) is filled with hydraulic oil; A sphere (71) is provided at the outer end of the ring tube (7), and a liquid orifice plate (72) is fixed in the middle of the inner wall of the ring tube (7). A second spring is provided between the liquid orifice plate (72) and the sphere (71). The swinging ball (281) is made of an electromagnet material. The sphere (71) is magnetic. When the swinging ball (281) is energized, the magnetic pole generated is the same as the magnetic pole of the sphere (71).

5. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 4 is characterized in that: After the swinging ball (281) is energized, the magnetic intensity is proportional to the current intensity.

6. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 5 is characterized in that: Telescopic joints (8) are fixed on both left and right sides of the upper part of the turntable (23). Two liquid tanks are provided inside the turntable (23), and the telescopic joints (8) and the buffer chamber (6) are connected through the two liquid tanks.

7. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 6 is characterized in that: After the arm (28) rotates, it contacts the upper end of the telescopic joint (8).

8. The stable dual-arm compound robot based on lifting and lowering adjustment according to claim 7 is characterized in that: The connecting shaft (29) is always in an inclined state.

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