Reciprocating type feeding and discharging double-arm composite robot for industrial manufacturing

Abstract

The invention belongs to the technical field of robots, and particularly relates to a reciprocating type feeding and discharging double-arm composite robot for industrial manufacturing, the reciprocating type feeding and discharging double-arm composite robot comprises a walking robot, a lifting column and a double-arm robot, the inner wall of the lifting column is slidably connected with a fluctuating column, and a lifting motor is arranged in the walking robot; the output end of the lifting motor is fixedly connected with a screw rod; the lifting column is fixedly installed above the walking robot, a sliding groove is formed in one side of the lifting column, a sliding block is slidably connected into the sliding groove, the double-arm robot is fixedly connected with the fluctuating column through the sliding block, a threaded hole is formed in the middle of the fluctuating column, and the screw is in threaded connection into the threaded hole. And special-shaped holes are formed in the left side and the right side of the bottom of the fluctuating column, two rotating shafts are fixed to the bottom of the inner wall of the lifting column, and the problem that when a current double-arm composite robot conducts feeding, due to the fact that materials are heavy, a lifting component bears large pressure, and the service life is affected is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a reciprocating loading and unloading dual-arm compound robot for industrial manufacturing. Background Art

[0002] A dual-arm robot is a highly advanced robotic system with two independent manipulator arms that can mimic the collaborative principles of human arms and perform a variety of complex movements and operations. They are usually equipped with advanced sensors, controllers, and actuators, which can accurately perceive the environment, understand tasks, and complete them efficiently. Dual-arm robots are highly flexible and safe, and can operate in a variety of complex environments, such as industrial automation production lines, emergency rescue sites, and educational and scientific research laboratories. They can complete various tasks such as material handling, assembly, processing, and testing independently or in collaboration with humans, greatly improving production efficiency and operational safety. For material handling, they are generally used for loading and unloading in factories. Currently, for loading, due to the heavy weight of the materials, the lifting motor inside the dual-arm composite robot is subjected to great pressure when it rises, resulting in increased wear on the threaded part or damage to the motor, affecting its service life. This phenomenon has become a problem that people in this field urgently need to solve. Summary of the Invention

[0003] The object of the present invention is to provide a reciprocating loading and unloading dual-arm compound robot for industrial manufacturing to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a reciprocating dual-arm compound robot for loading and unloading in industrial manufacturing, comprising a walking robot, a lifting column and a dual-arm robot, the inner wall of the lifting column is slidably connected with an undulating column, a lifting motor is provided inside the walking robot, and the output end of the lifting motor is fixedly connected with a screw; the lifting column is fixedly installed above the walking robot, and a slide groove is provided on one side, a slider is slidably connected in the slide groove, and the dual-arm robot is fixedly connected to the undulating column through the slider, a threaded hole is provided in the middle of the undulating column, and the screw is threadedly connected in the threaded hole.

[0005] The present invention further illustrates that special-shaped holes are provided on the left and right sides of the bottom of the undulating column, two rotating shafts are fixed to the bottom of the inner wall of the lifting column, guide columns are connected to the rotating shafts, and the guide columns are located in the special-shaped holes, a slide groove is provided in the middle of the guide column, and a number of pins are fixed in the slide groove, two crank shafts are connected between adjacent pin shafts, and the two crank shafts are arranged opposite to each other; a groove is provided at the outer end of the crank shaft, and a spring is fixed between the two crank shafts.

[0006] The present invention further states that the left and right inner diameters of the special-shaped hole are smaller than the maximum distance between the two crank shafts.

[0007] The present invention further describes that a gear is fixed to the outside of the screw, and sector teeth are fixed to the outside of the rotating shaft, and the two sector teeth are arranged opposite to each other and are both engaged with the gear.

[0008] The present invention further states that when the screw rotates clockwise, the two sector teeth rotate counterclockwise, and the maximum rotation angle is ninety degrees; the front and rear inner diameters of the special-shaped hole are greater than the maximum distance between the two crank shafts.

[0009] The present invention further states that when the screw is rotated clockwise, the undulating column descends, and when the screw is rotated counterclockwise, the undulating column ascends.

[0010] The present invention further describes that a docking hole is provided above the rotating shaft, the bottom of the docking hole is tooth-shaped, a limit block is fixed at the bottom of the guide column, the limit block is tooth-shaped and embedded in the teeth of the docking hole; a rotating rod is fixed above the guide column, a through hole is provided inside the undulating column, and the rotating rod is slidably connected to the through hole.

[0011] The present invention further describes that a second spring is provided inside the docking hole.

[0012] Compared with the existing technology, the present invention has the following beneficial effects: the present invention uses a dual-arm robot to move up and down to place materials into the equipment for loading, which is automated and has high loading efficiency. Moreover, the threaded connection between the screw and the undulating column ensures the stability during loading and unloading. Compared with the hydraulic system, the amplitude of loading and unloading is small, which prevents materials from falling and plays a role in protecting materials.

[0013] In the loading process, the undulating column is supported intermittently to avoid severe wear caused by large friction between the screw and the threaded hole, thereby preventing the service life of the structure from being affected. At the same time, it is avoided that the large weight continuously puts pressure on the lifting motor, causing damage to the lifting motor and affecting its service life. After the loading is completed, when the undulating column descends, the front and rear inner diameters of the special-shaped holes are larger than the maximum distance between the crank couplings, so that the crank couplings are immersed in the special-shaped holes, which will not be blocked, and the descent is smooth with high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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:

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the internal structure of the lifting column of the present invention;

[0017] Figure 3 is an exploded view of the internal structure of the lifting column of the present invention;

[0018] Figure 4 It is an exploded view of the crankshaft of the present invention;

[0019] Figure 5 It is a schematic diagram of the internal structure of the docking hole of the present invention;

[0020] Figure 6 This is an exploded view of the connection structure between the docking hole and the guide pillar of the present invention;

[0021] Figure 7 It is a schematic diagram of the position change between the crank shaft and the special-shaped hole after the guide column of the present invention rotates;

[0022] Figure 8 It is a schematic diagram of the steering of the gears and sector teeth when the undulating column of the present invention descends;

[0023] Figure 9 It is a schematic diagram of the steering of the gears and sector teeth when the undulating column of the present invention rises;

[0024] In the figure: 1. Walking robot; 2. Lifting column; 21. Elevating column; 211. Special-shaped hole; 22. Screw; 221. Gear; 23. Guide column; 24. Pin; 25. Crank coupling; 26. Spring 1; 27. Rotating shaft; 271. Sector tooth; 272. Limit block; 273. Spring 2; 274. Docking hole; 28. Rotating rod; 3. Dual-arm robot; 4. Slider. DETAILED DESCRIPTION

[0025] 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.

[0026] See also Figures 1-9 The present invention provides a technical solution: a reciprocating dual-arm compound robot for loading and unloading materials for industrial manufacturing, comprising a walking robot 1, a lifting column 2, and a dual-arm robot 3. The inner wall of the lifting column 2 is slidably connected to an undulating column 21. A lifting motor is provided inside the walking robot 1, and a screw 22 is fixedly connected to the output end of the lifting motor.

[0027] The lifting column 2 is fixedly installed above the walking robot 1 and has a slide groove on one side. A slider 4 is slidably connected in the slide groove. The dual-arm robot 3 is fixedly connected to the undulating column 21 through the slider 4. A threaded hole is provided in the middle of the undulating column 21, and a screw 22 is threadedly connected to the threaded hole.

[0028] The walking robot 1 drives the dual-arm robot 3 to move through the lifting column 2. The dual-arm robot 3 lifts the material and moves the material to the loading position through the walking robot 1. Then the lifting motor runs, driving the screw 22 to rotate. The screw 22 rotates in the threaded hole in the undulating column 21. The undulating column 21 slides upward along the inner wall of the lifting column 2 through the threaded connection, so that the dual-arm robot 3 moves upward through the slider 4, and the material is placed into the equipment for loading. It operates automatically and has high loading efficiency. The threaded connection between the screw 22 and the undulating column 21 ensures stability during loading and unloading. Compared with the hydraulic system, the amplitude of loading and unloading is small, which prevents the material from falling and plays a role in protecting the material.

[0029] Special-shaped holes 211 are provided on both sides of the bottom of the undulating column 21. Two rotating shafts 27 are fixed to the bottom of the inner wall of the lifting column 2. Guide columns 23 are connected to the rotating shafts 27. The guide columns 23 are located in the special-shaped holes 211. A slide groove is provided in the middle of the guide column 23. Several pins 24 are fixed in the slide groove. Two crank shafts 25 are connected between adjacent pins 24, and the two crank shafts 25 are arranged opposite to each other.

[0030] The outer end of the crank shaft 25 is provided with a groove, and a spring 26 is fixed between the two crank shafts 25.

[0031] The left and right inner diameters of the special-shaped hole 211 are smaller than the maximum distance between the two crank shafts 25;

[0032] Example 1:

[0033] During the rising process of the undulating column 21, the crank coupling 25 in the guide column 23 is first squeezed by the inner walls on the left and right sides of the special-shaped hole 211, and the spring 1 26 is deformed. Then, as the undulating column 21 rises, the crank coupling 25 extends out of the special-shaped hole 211, and the reaction force generated by the spring 1 26 spreads the two crank couplings 25 apart. At this time, the groove of the crank coupling 25 fits with the bottom of the undulating column 21, so that the undulating column 21 is supported by the groove of the crank coupling 25. When loading, the material plus the dual-arm robot 3 and the undulating column 21 have a heavy overall weight. By intermittently supporting the undulating column 21, the friction between the screw 22 and the threaded hole is avoided, thereby avoiding serious wear and affecting the service life of the structure. At the same time, it is avoided that the large weight continuously puts pressure on the lifting motor, causing damage to the lifting motor and affecting its service life.

[0034] A gear 221 is fixed to the outer side of the screw rod 22 , and sector teeth 271 are fixed to the outer side of the rotating shaft 27 . The two sector teeth 271 are arranged opposite to each other and mesh with the gear 221 .

[0035] When the screw 22 rotates clockwise, the two sector teeth 271 rotate counterclockwise, and the maximum rotation angle is 90 degrees;

[0036] The front and rear inner diameters of the special-shaped hole 211 are larger than the maximum distance between the two crank shafts 25;

[0037] Example 2:

[0038] After the loading is completed, only the weight of the dual-arm robot 3 and the lifting column 21 is left. At this time, the lifting column 21 does not need to stop intermittently when resetting. The lifting motor can continue to rotate in the opposite direction, which will not have a major impact on the lifting motor. When the lifting column 21 descends, the screw 22 rotates clockwise, driving the two sector teeth 271 to rotate counterclockwise, and due to the particularity of the structure of the sector teeth 271, the sector teeth 271 can only rotate ninety degrees. When the sector teeth 271 rotate ninety degrees, it drives the guide column 23 to rotate ninety degrees, thereby driving the crank shaft 25 to rotate ninety degrees. At this time, when the lifting column 21 descends, since the front and rear inner diameters of the special-shaped holes 211 are larger than the maximum distance between the crank shafts 25, the crank shafts 25 are immersed in the special-shaped holes 211, which will not cause any obstruction to the crank shafts 25, and the descent is smooth with high work efficiency.

[0039] When the screw 22 rotates clockwise, the undulating column 21 descends; when the screw 22 rotates counterclockwise, the undulating column 21 ascends;

[0040] Example 3:

[0041] When the undulating column 21 in the second embodiment is fully reset, when loading again, the lifting motor rotates counterclockwise, thereby driving the sector teeth 271 to rotate clockwise and reset through the engagement of the gear 221 and the sector teeth 271, so that the guide column 23 drives the crank shaft 25 to reset, so as to continue to intermittently support the undulating column 21 for support. The whole process is automated and does not require manual intervention. It can protect the service life of the structure to the greatest extent and improve the efficiency of loading and unloading.

[0042] A docking hole 274 is provided above the rotating shaft 27. The bottom of the docking hole 274 is tooth-shaped. A limit block 272 is fixed to the bottom of the guide post 23. The limit block 272 is tooth-shaped and embedded in the teeth of the docking hole 274.

[0043] A rotating rod 28 is fixed above the guide column 23 . A through hole is provided inside the undulating column 21 , and the rotating rod 28 is slidably connected in the through hole.

[0044] A spring 273 is provided inside the docking hole 274;

[0045] Example 4:

[0046] When the crank coupling 25 presses against the undulating column 21, wear occurs between the two, and the wear is serious after long-term work. At this time, the operator can pull the rotating rod 28 to drive the guide column 23 to move upward, and the guide column 23 drives the limit block 272 to move upward. The spring 273 is deformed under the force, and then the rotating rod 28 is rotated to make the guide column 23 rotate slightly, changing the contact position between the crank coupling 25 and the bottom of the undulating column 21, thereby increasing the supporting force and increasing the service life of the undulating column 21. There is no need to replace the undulating column 21, which reduces costs, is simple to operate, and has a simple structure. It can be used in various models of dual-arm compound robots.

[0047] 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.

[0048] 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 reciprocating dual-arm composite robot for loading and unloading materials for industrial manufacturing, comprising a walking robot (1), a lifting column (2) and a dual-arm robot (3), characterized in that: The inner wall of the lifting column (2) is slidably connected to an undulating column (21); a lifting motor is provided inside the walking robot (1), and a screw (22) is fixedly connected to the output end of the lifting motor; The lifting column (2) is fixedly installed above the walking robot (1), and a slide groove is provided on one side, a slider (4) is slidably connected in the slide groove, and the dual-arm robot (3) is fixedly connected to the undulating column (21) through the slider (4), and a threaded hole is provided in the middle of the undulating column (21), and the screw (22) is threadedly connected in the threaded hole.

2. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 1, characterized in that: Special-shaped holes (211) are provided on both left and right sides of the bottom of the undulating column (21); two rotating shafts (27) are fixed to the bottom of the inner wall of the lifting column (2); guide columns (23) are connected to the rotating shafts (27), and the guide columns (23) are located in the special-shaped holes (211); a sliding groove is provided in the middle of the guide column (23), and a plurality of pins (24) are fixed in the sliding groove; two crank shafts (25) are connected between adjacent pins (24), and the two crank shafts (25) are arranged opposite to each other; The outer end of the crank shaft (25) is provided with a groove, and a spring (26) is fixed between the two crank shafts (25).

3. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 2, characterized in that: The left and right inner diameters of the special-shaped hole (211) are smaller than the maximum distance between the two crank shafts (25).

4. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 3, characterized in that: A gear (221) is fixed on the outer side of the screw rod (22), and sector teeth (271) are fixed on the outer side of the rotating shaft (27), and the two sector teeth (271) are arranged opposite to each other and mesh with the gear (221).

5. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 4, characterized in that: When the screw (22) rotates clockwise, the two sector teeth (271) rotate counterclockwise, and the maximum rotation angle is ninety degrees; The front and rear inner diameters of the special-shaped hole (211) are greater than the maximum distance between the two crank shafts (25).

6. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 5, characterized in that: When the screw (22) rotates clockwise, the undulating column (21) descends, and when the screw (22) rotates counterclockwise, the undulating column (21) ascends.

7. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 6, characterized in that: A docking hole (274) is provided above the rotating shaft (27), the bottom of the docking hole (274) is tooth-shaped, a limiting block (272) is fixed at the bottom of the guide column (23), the limiting block (272) is tooth-shaped and embedded in the tooth shape of the docking hole (274); A rotating rod (28) is fixed above the guide column (23); a through hole is provided inside the undulating column (21), and the rotating rod (28) is slidably connected in the through hole.

8. The reciprocating dual-arm compound robot for loading and unloading for industrial manufacturing according to claim 7, characterized in that: A second spring (273) is provided inside the docking hole (274).

Images