Light six-axis universal robot with double small arms

Abstract

The invention discloses a double-small-arm light six-axis universal robot, and belongs to the technical field of six-axis robots, the double-small-arm light six-axis universal robot comprises a base and a bottom driving unit assembled on the base, and a main arm unit is assembled on the bottom driving unit; through the arrangement of the small arm unit, the adaptability of the variable-diameter space is improved, through the linkage design of the inner telescopic arm and the side telescopic arm, the dynamic adjustment of the length and the thickness of the small arm is achieved through the combination of rope body retracting and releasing and a lead screw driving mechanism, and the robot can enter from the maximum opening and then retract to adapt to the small-diameter space; the problem that a traditional robot is poor in trafficability due to a fixed structure is solved. According to the double-forearm design, the front forearm is responsible for tail end operation, the rear forearm is responsible for supporting and assisting in path adjustment, in combination with the telescopic capacity of the forearms, rapid adjustment of the position of the manipulator can be directly achieved through structural deformation, dependence on joint driving is reduced, and the precision and adaptability of operation in a narrow area are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of six-axis robots, and in particular to a light six-axis universal robot with two small arms. Background Art

[0002] The six-axis industrial robot is a multi-degree-of-freedom industrial automation device whose core characteristics are reflected in high-precision motion control and multi-scenario adaptability. The device achieves flexible posture adjustment in three-dimensional space through six rotating axes.

[0003] Traditional six-axis robots are limited by their fixed mechanical structure and have significant technical shortcomings in complex operating scenarios: first, there is a lack of dynamic adjustment mechanism for arm length and cross-sectional thickness, which leads to severely limited passability when operating in variable-diameter spaces and narrow paths, and requires manual intervention to adjust the structure; second, the spatial positioning of the end effector (manipulator) is completely dependent on joint drive, and the forearm itself does not have the ability to autonomously extend and retract, and cannot achieve rapid fine-tuning of the manipulator position through structural deformation. It lacks adaptability in scenarios that require high-precision obstacle avoidance or operations in narrow areas. Summary of the Invention

[0004] The purpose of the present invention is to propose a lightweight six-axis general-purpose robot with two forearms in order to solve the problem that the traditional six-axis robot lacks a dynamic adjustment mechanism for the arm length and cross-sectional thickness, resulting in severely limited passability when operating in variable-diameter spaces and narrow paths.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A lightweight six-axis universal robot with two small arms, comprising a base and a bottom drive unit mounted on the base, wherein a main arm unit is mounted on the bottom drive unit, and the main arm unit is connected to a small arm unit via a mounting shaft; The forearm unit includes a rear forearm, one end of the rear forearm is rotatably connected to a mounting seat via a connecting seat, one end of the mounting seat is fixed with a front forearm having the same structure as the rear forearm, and one end of the front forearm is connected to a mounting plate via a sixth driving member; The rear arm includes a main support connected to the mounting shaft, the main support is connected to the auxiliary support through the inner telescopic arm, and the main support and the auxiliary support are both slidably connected to the side telescopic arm through a limiting sliding groove; The inner telescopic arm is slidably connected to a sleeve, and both sides of the sleeve are rotatably connected to a pull rod with one end connected to the side telescopic arm. The sleeve is rotatably connected to the screw rod at the bottom of the inner telescopic arm to achieve movement, and is pulled and cooperated by the pull rod to control the side telescopic arm to move inward.

[0006] As a further description of the above technical solution: The rear forearm also includes a rope body installed in the inner telescopic arm, a rope winding wheel is rotatably connected in the main support, an upper motor is fixed to the top of one side wall of the main support, pulleys are installed on the output end of the upper motor and one end of the rope winding wheel, and a synchronous belt is engaged with the two pulleys, a guide tube is fixed in the middle of one side wall of the main support, and one end of the rope body passes through the guide tube and is connected to the rope winding wheel.

[0007] As a further description of the above technical solution: A lower motor is fixed to the bottom of one side wall of the main support, one end of the screw rod passing through the main support is connected to the output end of the lower motor, and the threaded sleeve on the screw rod is provided with an internal threaded sleeve whose top end is fixed to the sliding sleeve.

[0008] As a further description of the above technical solution: The inner telescopic arm includes a sleeve rod, a first extension section is slidably connected to the sleeve rod via a first limiting slide groove, a second extension section is slidably connected to the first extension section via a second limiting slide groove, a third extension section is slidably connected to the second extension section via a third limiting slide groove, a fourth extension section is slidably connected to the third extension section via a fourth limiting slide groove, and a connecting rod is fixed to one end of the fourth extension section.

[0009] As a further description of the above technical solution: A spring is fixed to one side wall of the sleeve rod, one end of the spring is connected to the end of the fourth extension section that penetrates into the third extension section, the end of the rope body that penetrates into the sleeve rod is fixed to the fourth extension section, and the side telescopic arm has the same structure as the inner telescopic arm.

[0010] As a further description of the above technical solution: The bottom drive unit includes a worm gear rotatably connected to the middle of the base inner cavity, a worm screw rotatably connected to one side of the base inner cavity and meshing with the worm gear, a first drive member is installed on the outer wall of the base, and a chassis rotatably connected to the base with the bottom end connected to the worm gear.

[0011] As a further description of the above technical solution: The main arm unit includes a bottom arm fixed on the chassis, a support arm is rotatably connected inside the bottom arm, a second driving member is installed on the outer wall of the bottom arm, the output end of the second driving member is connected to the support arm, the top end of the support arm is rotatably connected to the upper adjustment seat, and a third driving member is installed in the support arm, the output end of which is connected to the upper adjustment seat.

[0012] As a further description of the above technical solution: A fourth driving member is installed on the outer wall of the upper adjustment seat, the output end of the fourth driving member penetrates into the upper adjustment seat and is equipped with a main gear, the installation shaft is rotatably connected to the upper adjustment seat, and one end of the installation shaft penetrating into the upper adjustment seat is fixed with a secondary gear meshing with the main gear.

[0013] As a further description of the above technical solution: A fifth driving member is installed in the connecting seat, and an output end of the fifth driving member is connected to the mounting seat.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: The arm unit is designed to improve adaptability to variable-diameter spaces: through the linkage design of the inner telescopic arm and the side telescopic arm, combined with the rope retraction and extension and the screw drive mechanism, the arm length and thickness can be dynamically adjusted, allowing the robot to enter from the largest opening and then retract to fit into a smaller diameter space, solving the problem of poor passability caused by the fixed structure of traditional robots. Flexible fine-tuning of the end effector: The dual-arm design allows the front arm to be responsible for end-effector operations, while the rear arm supports and assists in path adjustment. Combined with the arm's own telescopic ability, the robot's position can be quickly adjusted directly through structural deformation, reducing dependence on joint drives and improving the accuracy and adaptability of operations in narrow areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of structural disassembly provided according to an embodiment of the present invention is shown; Figure 2 The embodiment of the present invention provides Figure 1 Enlarged view of point A in the middle; Figure 3 It shows a schematic diagram of the internal structure of the inner telescopic arm provided according to an embodiment of the present invention; Figure 4 The embodiment of the present invention provides Figure 3 Enlarged view of point B in the middle; Figure 5 A schematic diagram of the internal structure of a side telescopic arm provided according to an embodiment of the present invention is shown; Figure 6 A schematic structural diagram of a first viewing angle provided by an embodiment of the present invention is shown; Figure 7 It shows a schematic structural diagram of the small arm unit provided in an embodiment of the present invention when in use; Figure 8 It shows a schematic diagram of the overall structure of the small arm unit provided according to an embodiment of the present invention; Figure 9 A structural schematic diagram of a second viewing angle provided according to an embodiment of the present invention is shown.

[0016] Legend: 10. Base; 20. Bottom drive unit; 21. First drive member; 22. Chassis; 30. Main arm unit; 31. Bottom arm; 32. Support arm; 33. Second drive member; 34. Upper adjustment seat; 35. Third drive member; 36. Fourth drive member; 37. Main gear; 38. Sub-gear; 39. Mounting shaft; 40. Forearm unit; 41. Rear forearm; 411. Main support; 412. Inner telescopic arm; 4121. Sleeve rod; 4122. Fourth extension section; 4123. Connecting rod; 4124. Spring; 413. Auxiliary support; 414. Side telescopic arm; 415. Sliding sleeve; 416. Pull rod; 417. Screw rod; 418. Rope body; 419. Rope pulley; 4110. Upper motor; 4111. Lower motor; 42. Connecting seat; 43. Mounting seat; 44. Front forearm; 45. Fifth drive member; 46. Mounting plate; 47. Sixth drive member. DETAILED DESCRIPTION

[0017] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] like Figure 1 - Figure 9 As shown, the present invention provides: A lightweight six-axis general-purpose robot with two forearms includes a base 10 and a bottom drive unit 20 assembled on the base 10. The bottom drive unit 20 includes a worm gear rotatably connected to the middle part of the inner cavity of the base 10, a worm screw rotatably connected to one side of the inner cavity of the base 10 and meshing with the worm gear, a first drive member 21 is installed on the outer wall of the base 10, and a chassis 22 rotatably connected to the base 10, the bottom end of which is connected to the worm gear.

[0019] like Figure 1 、 Figure 2 and Figure 3 Figure 9 As shown, the bottom drive unit 20 is assembled with a main arm unit 30, and the main arm unit 30 includes a bottom arm 31 fixed on the chassis 22, and a support arm 32 is rotatably connected inside the bottom arm 31, and a second drive member 33 is installed on the outer wall of the bottom arm 31, and the output end of the second drive member 33 is connected to the support arm 32, and the top end of the support arm 32 is rotatably connected to the upper adjustment seat 34, and a third drive member 35 whose output end is connected to the upper adjustment seat 34 is installed in the support arm 32.

[0020] A fourth driving member 36 is installed on the outer wall of the upper adjustment seat 34. The output end of the fourth driving member 36 penetrates into the upper adjustment seat 34 and is equipped with a main gear 37. The mounting shaft 39 is rotatably connected to the upper adjustment seat 34, and one end of the mounting shaft 39 that penetrates into the upper adjustment seat 34 is fixed with a sub-gear 38 that meshes with the main gear 37.

[0021] like Figure 1 、 Figure 2 and Figure 3 Figure 9 As shown, the main arm unit 30 is connected to the arm unit 40 through the mounting shaft 39. The arm unit 40 includes a rear arm 41. One end of the rear arm 41 is rotatably connected to the mounting base 43 through a connecting base 42. A fifth driving member 45 is installed in the connecting base 42. The output end of the fifth driving member 45 is connected to the mounting base 43. Preferably, the first driving member 21, the second driving member 33, the third driving member 35, the fourth driving member 36, the fifth driving member 45 and the sixth driving member 47 are all servo motors. Through the arrangement of six driving members, the robot has six degrees of freedom. The servo motor drives the joint to achieve flexible movement in three-dimensional space. One end of the mounting base 43 is fixed with a front arm 44 with the same structure as the rear arm 41. One end of the front arm 44 is connected to the mounting plate 46 through the sixth driving member 47. like Figure 1 、 Figure 2 and Figure 3 Figure 9 As shown, the rear arm 41 includes a main support 411 connected to the mounting shaft 39, the main support 411 is connected to the auxiliary support 413 through the inner telescopic arm 412, and the main support 411 and the auxiliary support 413 are both slidably connected to the side telescopic arm 414 through a limiting sliding groove. A sleeve 415 is slidably connected to the inner telescopic arm 412. Both sides of the sleeve 415 are rotatably connected to a pull rod 416, one end of which is connected to the side telescopic arm 414. The sleeve 415 is rotatably connected to a screw rod 417 at the bottom of the inner telescopic arm 412 to achieve movement, and is pulled together by the pull rod 416 to control the inward movement of the side telescopic arm 414. The rear jib 41 further includes a rope body 418 mounted in the inner telescopic arm 412. A rope reel 419 is rotatably connected to the main support 411. An upper motor 4110 is fixed to the top of one side wall of the main support 411. A pulley is mounted on the output end of the upper motor 4110 and one end of the rope reel 419. A synchronous belt is meshed and connected to the two pulleys. A guide tube is fixed in the middle of one side wall of the main support 411. One end of the rope body 418 passes through the guide tube and is connected to the rope reel 419. Specifically, when the length of the telescopic arm needs to be controlled, the upper motor 4110 is started to drive the pulley connected thereto to rotate through the synchronous belt to drive the other pulley to rotate, so that the winding rope wheel 419 rotates to wind the rope body 418. During winding, the rope body 418 pulls the inner telescopic arm 412 to retract, and the process pulls the auxiliary support 413 to move together, thereby driving the side telescopic arm 414 to retract together, so that the length of the rear small arm 41 can be controlled. Similarly, the length of the front small arm 44 can also be adjusted in the above manner, so that the small arm unit 40 can adapt to different needs. The lower motor 4111 is fixed to the bottom of the side wall of the main support 411. One end of the lead screw 417 penetrating into the main support 411 is connected to the output end of the lower motor 4111. The inner threaded sleeve fixed to the top of the sliding sleeve 415 is threaded on the lead screw 417. In particular, the other end of the lead screw 417 is rotatably connected to a retaining seat. The top of the retaining seat is connected to the inner telescopic arm 412. Specifically, when the robot is coping with a space with a variable diameter, the small arm in the retracted state can enter through the maximum opening. When it is necessary to move to a position with a small diameter, the lower motor 4111 is started to rotate the lead screw 417, so that the inner threaded sleeve drives the sliding sleeve 415 to move toward the side of the main support 411. During the movement, the two side telescopic arms 414 are brought close to each other through the pull rod 416, thereby reducing the occupied space and adapting the thickness to the small diameter space. When it is necessary to restore the thickness, it only needs to be operated in reverse.

[0022] As shown in Figure 1 , Figure 2 and Figure 3 Figure 9 The inner telescopic arm 412 includes a sleeve rod 4121. The first extension section is slidably connected in the sleeve rod 4121 through a first limiting sliding groove. The second extension section is slidably connected in the first extension section through a second limiting sliding groove. The third extension section is slidably connected in the second extension section through a third limiting sliding groove. The fourth extension section 4122 is slidably connected in the third extension section through a fourth limiting sliding groove. One end of the fourth extension section 4122 is fixed with a connecting rod 4123. One side wall of the sleeve rod 4121 is fixed with a spring 4124. One end of the spring 4124 is connected to one end of the fourth extension section 4122 penetrating into the third extension section. One end of the rope body 418 penetrating into the sleeve rod 4121 is fixed with the fourth extension section 4122. The side telescopic arm 414 has the same structure as the inner telescopic arm 412. Among them, it is worth noting that the structures at both ends of the side telescopic arm 414 are respectively slidably connected to the main support 411 and the auxiliary support 413, while the structures at both ends of the inner telescopic arm 412 are respectively connected and fixed to the main support 411 and the auxiliary support 413, that is, the sleeve rod 4121 is fixed to the main support 411, and the connecting rod 4123 is fixed to the auxiliary support 413. Preferably, in order to ensure that the contraction and expansion of the spring 4124 can be carried out stably, a telescopic rod is inserted into the spring 4124, and the two ends of the telescopic rod are respectively connected to the main support 411 and the auxiliary support 413. In particular, rubber pads are provided at both ends of the spring 4124, and the two ends of the spring 4124 are respectively connected to the main support 411 and the auxiliary support 413 through the rubber pads. Specifically, when the rope body 418 is reeled in by controlling the rope reel 419 through the upper motor 4110, the end of the rope body 418 connected to the fourth extension section 4122 will pull the fourth extension section 4122 toward the sleeve rod 4121. During the process, each extension section will be pushed to move in turn, and the spring 4124 will be gradually compressed. When it moves to the appropriate length, the rope body 418 can be reeled in at the same time. When it is necessary to restore the initial length, the rope reel 419 is controlled to reverse by the upper motor 4110 to unwind the rope body 418. During the process, the fourth extension section 4122 is gradually driven away from the sleeve rod 4121 under the action of the spring 4124.

[0023] Specifically, when this dual-arm lightweight six-axis universal robot is working / in use: 1. Bottom rotation adjustment: Start the first driving member 21 on the outer wall of the base 10 to drive the worm to rotate. The worm gear engagement drives the chassis 22 to rotate, and adjust the initial orientation of the main arm unit 30 so that the robot is aligned with the target working area; 2. Main arm posture adjustment: The second driving member 33 drives the support arm 32 to rotate relative to the bottom arm 31 to adjust the lifting height of the main arm; The third driving member 35 drives the upper adjustment seat 34 to rotate relative to the support arm 32 to adjust the pitch angle of the main arm and determine the basic working plane of the small arm unit 40; 3. Adjustment of the arm length: After starting, the upper motor 4110 on the top of the main support 411 of the arm 41 drives the rope reel 419 to rotate through the pulley and the synchronous belt transmission, rewinding the rope body 418, pulling the inner telescopic arm 412 to retract, and at the same time, the auxiliary support 413 moves with it, driving the side telescopic arm 414 to retract synchronously, thereby shortening the overall length of the arm; reverse operation of the upper motor 4110 can release the rope body 418, and the extension section is unfolded under the reset action of the spring 4124, restoring the arm length; 4. Adjustment of the thickness of the forearm: After starting, the lower motor 4111 at the bottom of the main support 411 of the forearm 41 drives the screw 417 to rotate, which drives the sliding sleeve 415 to slide along the inner telescopic arm 412 through the internal threaded sleeve. The sliding sleeve 415 pulls the side telescopic arms 414 on both sides to move inward through the pull rod 416, thereby reducing the cross-sectional thickness of the forearm; reverse operation of the lower motor 4111 can push the side telescopic arms 414 outward to restore the initial thickness; 5. End effector positioning: The fifth driving member 45 in the connecting seat 42 adjusts the rotation angle of the mounting seat 43 relative to the rear arm 41, and the sixth driving member 47 of the front arm 44 finely adjusts the mounting plate 46 to achieve the final positioning of the end effector such as a manipulator in three-dimensional space, completing operations such as grasping and assembly.

[0024] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A lightweight six-axis universal robot with two small arms, comprising a base (10) and a bottom drive unit (20) mounted on the base (10), wherein a main arm unit (30) is mounted on the bottom drive unit (20), characterized in that: The main arm unit (30) is connected to the small arm unit (40) via a mounting shaft (39); The forearm unit (40) includes a rear forearm (41), one end of the rear forearm (41) is rotatably connected to a mounting seat (43) via a connecting seat (42), one end of the mounting seat (43) is fixed with a front forearm (44) having the same structure as the rear forearm (41), and one end of the front forearm (44) is connected to a mounting plate (46) via a sixth driving member (47); The rear small arm (41) includes a main support (411) connected to the mounting shaft (39), the main support (411) is connected to a secondary support (413) via an inner telescopic arm (412), and the main support (411) and the secondary support (413) are both slidably connected to a side telescopic arm (414) via a limiting sliding groove. A sleeve (415) is slidably connected to the inner telescopic arm (412), and both sides of the sleeve (415) are rotatably connected to a pull rod (416) having one end connected to the side telescopic arm (414). The sleeve (415) is rotatably connected to a screw rod (417) at the bottom of the inner telescopic arm (412) to achieve movement, and is pulled and matched by the pull rod (416) to control the side telescopic arm (414) to move inward.

2. A lightweight six-axis universal robot with two small arms according to claim 1, characterized in that: The rear forearm (41) further includes a rope body (418) installed in the inner telescopic arm (412); a rope reel (419) is rotatably connected in the main support (411); an upper motor (4110) is fixed to the top of one side wall of the main support (411); pulleys are installed at the output end of the upper motor (4110) and one end of the rope reel (419); and a synchronous belt is meshed and connected to the two pulleys; a guide tube is fixed to the middle of one side wall of the main support (411); one end of the rope body (418) passes through the guide tube and is connected to the rope reel (419).

3. A dual-arm lightweight six-axis universal robot according to claim 2, characterized in that: A lower motor (4111) is fixed to the bottom of one side wall of the main support (411), one end of the screw rod (417) passing through the main support (411) is connected to the output end of the lower motor (4111), and the threaded sleeve on the screw rod (417) is provided with an internal threaded sleeve whose top end is fixed to the sliding sleeve (415).

4. A dual-arm lightweight six-axis universal robot according to claim 3, characterized in that: The inner telescopic arm (412) includes a sleeve rod (4121), a first extension section is slidably connected to the sleeve rod (4121) via a first limiting slot, a second extension section is slidably connected to the first extension section via a second limiting slot, a third extension section is slidably connected to the second extension section via a third limiting slot, a fourth extension section (4122) is slidably connected to the third extension section via a fourth limiting slot, and a connecting rod (4123) is fixed to one end of the fourth extension section (4122).

5. A dual-arm lightweight six-axis universal robot according to claim 4, characterized in that: A spring (4124) is fixed to one side wall of the sleeve rod (4121), one end of the spring (4124) is connected to the end of the fourth extension section (4122) that penetrates into the third extension section, the end of the rope body (418) that penetrates into the sleeve rod (4121) is fixed to the fourth extension section (4122), and the side telescopic arm (414) and the inner telescopic arm (412) have the same structure.

6. A lightweight six-axis universal robot with two small arms according to claim 1, characterized in that: The bottom drive unit (20) includes a worm wheel rotatably connected to the middle portion of the inner cavity of the base (10), a worm screw meshing with the worm wheel rotatably connected to one side of the inner cavity of the base (10), a first drive member (21) is mounted on the outer wall of the base (10), and a chassis (22) rotatably connected to the base (10) with its bottom end connected to the worm wheel.

7. A dual-arm lightweight six-axis universal robot according to claim 6, characterized in that: The main arm unit (30) includes a bottom arm (31) fixed to the chassis (22), a support arm (32) being rotatably connected inside the bottom arm (31), a second driving member (33) being installed on the outer wall of the bottom arm (31), an output end of the second driving member (33) being connected to the support arm (32), a top end of the support arm (32) being rotatably connected to an upper adjustment seat (34), and a third driving member (35) being installed inside the support arm (32) with an output end connected to the upper adjustment seat (34).

8. The dual-arm lightweight six-axis universal robot according to claim 7, characterized in that: A fourth driving member (36) is mounted on the outer wall of the upper adjustment seat (34). The output end of the fourth driving member (36) penetrates into the upper adjustment seat (34) and is equipped with a main gear (37). The mounting shaft (39) is rotatably connected to the upper adjustment seat (34), and one end of the mounting shaft (39) that penetrates into the upper adjustment seat (34) is fixed with a sub-gear (38) that meshes with the main gear (37).

9. A dual-arm lightweight six-axis universal robot according to claim 8, characterized in that: A fifth driving member (45) is installed in the connecting seat (42), and an output end of the fifth driving member (45) is connected to the mounting seat (43).

Images