A dual-arm light-weight six-axis general-purpose robot

Abstract

The application discloses a double-arm light six-axis general robot, and belongs to the technical field of six-axis robots, which comprises a base, a bottom driving unit assembled on the base and a main arm unit assembled on the bottom driving unit. The double-arm light six-axis general robot is characterized in that a small arm unit is arranged to improve the adaptability to variable-diameter space; through linkage design of an inner telescopic arm and a side telescopic arm, in combination with a rope body winding and unwinding and a screw driving mechanism, dynamic adjustment of the length and thickness of the small arm is realized, so that the robot can enter a small-diameter space from a maximum opening and then shrink to adapt to the small-diameter space, and the poor passability of a traditional robot caused by a fixed structure is solved; a flexible fine adjustment of an end effector is realized; the double-arm design is adopted, the front small arm is responsible for end operation, the rear small arm supports and assists path adjustment, in combination with the telescopic capacity of the small arm, the quick adjustment of the position of a manipulator can be directly realized through structural deformation, the 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 application relates to the technical field of six-axis robots, and particularly relates to a light six-axis general robot with double small arms. BACKGROUND

[0002] A six-axis industrial robot is a multi-degree-of-freedom industrial automation device, and its core features are high-precision motion control and multi-scene adaptability. The device realizes flexible posture adjustment in a three-dimensional space through six rotating shafts.

[0003] Traditional six-axis robots are limited by fixed mechanical structures, and have significant technical shortcomings in complex work scenes. Firstly, the arm length and cross-sectional thickness lack a dynamic adjustment mechanism, which results in serious limitations in workability in variable-diameter spaces and narrow paths, and requires manual intervention to adjust the structure. Secondly, the spatial positioning of the end effector (mechanical hand) completely depends on joint driving, and the small arm itself does not have the ability to adjust itself, so it cannot quickly fine-tune the position of the mechanical hand through structural deformation, and has insufficient adaptability in scenes requiring high-precision obstacle avoidance or narrow-area operation. SUMMARY

[0004] The purpose of the present application is to solve the problem of the lack of dynamic adjustment mechanism of the arm length and cross-sectional thickness of the traditional six-axis robot, which results in serious limitations in workability in variable-diameter spaces and narrow paths, and to propose a light six-axis general robot with double small arms.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] A light six-axis general robot with double small arms comprises a base and a bottom driving unit assembled on the base, a main arm unit is assembled on the bottom driving unit, and a small arm unit is connected to the main arm unit through a mounting shaft;

[0007] The small arm unit comprises a rear small arm, one end of the rear small arm is rotationally connected with a mounting seat through a connecting seat, one end of the mounting seat is fixed with a front small arm which has the same structure as the rear small arm, and one end of the front small arm is connected with a mounting disc through a sixth driving element;

[0008] The rear small arm comprises a main support connected with the mounting shaft, a vice support is connected with the main support through an inner telescopic arm, and a side telescopic arm is slidably connected to the main support and the vice support through a limiting sliding groove;

[0009] A sliding sleeve is slidably connected to the inner telescopic arm, one end of a pull rod connected with the side telescopic arm is rotationally connected to the two sides of the sliding sleeve, the sliding sleeve moves through a lead screw rotationally connected to the bottom of the inner telescopic arm, and the side telescopic arm is controlled to move inward through cooperation with the pull rod.

[0010] As a further description of the above technical solutions:

[0011] The rear arm further comprises a rope body installed in the inner telescopic arm, a winding rope wheel is rotationally connected in the main support, an upper motor is fixed to the top of one side wall of the main support, a belt wheel is installed on the output end of the upper motor and one end of the winding rope wheel, a synchronous belt is commonly meshed and connected on the two belt wheels, a guide pipe is fixed to the middle of one side wall of the main support, and one end of the rope body penetrates through the guide pipe and is connected with the winding rope wheel.

[0012] As a further description of the above technical solutions:

[0013] A lower motor is fixed to the bottom of one side wall of the main support, one end of the lead screw penetrating into the main support is connected with the output end of the lower motor, and an inner threaded sleeve fixed with the sliding sleeve at the top end is threadedly sleeved on the lead screw.

[0014] As a further description of the above technical solutions:

[0015] The inner telescopic arm comprises a sleeve rod, a first extension section is slidably connected in the sleeve rod through a first limiting sliding groove, a second extension section is slidably connected in the first extension section through a second limiting sliding groove, a third extension section is slidably connected in the second extension section through a third limiting sliding groove, a fourth extension section is slidably connected in the third extension section through a fourth limiting sliding groove, and a connecting rod is fixed to one end of the fourth extension section.

[0016] As a further description of the above technical solutions:

[0017] A spring is fixed to one side wall of the sleeve rod, one end of the spring is connected with one end of the fourth extension section penetrating into the third extension section, one end of the rope body penetrating into the sleeve rod is fixed with the fourth extension section, and the side telescopic arm has the same structure as the inner telescopic arm.

[0018] As a further description of the above technical solutions:

[0019] The bottom driving unit comprises a worm wheel rotationally connected to the middle of the inner cavity of the base, a worm is rotationally connected to one side of the inner cavity of the base and engaged with the worm wheel, a first driving member is installed on the outer wall of the base, and a bottom disc connected with the worm wheel at the bottom end is rotationally connected to the base.

[0020] As a further description of the above technical solutions:

[0021] The main arm unit comprises a bottom arm fixed to the bottom disc, a support arm is rotationally connected in 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 with the support arm, an upper adjusting seat is rotationally connected to the top end of the support arm, and a third driving member with the output end connected with the upper adjusting seat is installed in the support arm.

[0022] As a further description of the above technical solution:

[0023] A fourth driving component is installed on the outer wall of the upper adjusting seat. The output end of the fourth driving component passes through the upper adjusting seat and is equipped with a main gear. The mounting shaft is rotatably connected to the upper adjusting seat, and a secondary gear that meshes with the main gear is fixed at one end of the mounting shaft that passes through the upper adjusting seat.

[0024] As a further description of the above technical solution:

[0025] A fifth driving component is installed inside the connector, and the output end of the fifth driving component is connected to the mounting base.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0027] By setting up the forearm unit, the adaptability to variable diameter spaces is improved: through the linkage design of the inner telescopic arm and the side telescopic arm, combined with the rope winding and unwinding and the screw drive mechanism, the length and thickness of the forearm can be dynamically adjusted, so that the robot can enter from the largest opening and then retract to adapt to the small diameter space, solving the problem of poor passability caused by the fixed structure of traditional robots.

[0028] The end effector is flexible and fine-tunable: The dual forearm design has a front forearm responsible for end operation and a rear forearm that supports and assists in path adjustment. Combined with the forearm's own extension and retraction capabilities, the position of the robot can be quickly adjusted directly through structural deformation, reducing reliance on joint drives and improving the accuracy and adaptability of operation in narrow areas. Attached Figure Description

[0029] Figure 1 A schematic diagram of the structural breakdown provided according to an embodiment of the present invention is shown;

[0030] Figure 2 The present invention provides an embodiment of the invention. Figure 1 Enlarged view of point A in the middle;

[0031] Figure 3 A schematic diagram of the internal structure of the telescopic arm provided according to an embodiment of the present invention is shown;

[0032] Figure 4 The present invention provides an embodiment of the invention. Figure 3 Enlarged view of point B in the middle;

[0033] 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;

[0034] Figure 6 A structural schematic diagram from a first perspective provided according to an embodiment of the present invention is shown;

[0035] Figure 7 Fig. 2 shows a structure schematic diagram of the forearm unit in use according to an embodiment of the present application;

[0036] Figure 8 Fig. 3 shows a whole structure schematic diagram of the forearm unit according to an embodiment of the present application;

[0037] Figure 9 Fig. 4 shows a structure schematic diagram of a second perspective according to an embodiment of the present application.

[0038] Legend:

[0039] 10, base;

[0040] 20, bottom driving unit; 21, first driving member; 22, bottom disc;

[0041] 30, main arm unit; 31, bottom arm; 32, branch arm; 33, second driving member; 34, upper adjusting seat; 35, third driving member; 36, fourth driving member; 37, main gear; 38, auxiliary gear; 39, mounting shaft;

[0042] 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 winding wheel; 4110, upper motor; 4111, lower motor; 42, connecting seat; 43, mounting seat; 44, front forearm; 45, fifth driving member; 46, mounting disc; 47, sixth driving member. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0044] As shown in Fig. 1, Figure 1 - Figure 9 The present application provides,

[0045] The utility model provides a double -arm light -duty six -axis general robot, including base 10 and the bottom drive unit 20 of assembling on base 10, and the bottom drive unit 20 includes the worm wheel of rotating connection in the middle part of the cavity of base 10, the cavity of base 10 one side rotatingly connected with the worm that meshes with the worm wheel, and the first drive 21 is installed on the outer wall of base 10, and the bottom plate 22 that is connected with the worm wheel is rotatingly connected on base 10.

[0046] As Figure 1 、 Figure 2 and Figure 3 Figure 9 The utility model discloses a double -arm light -duty six -axis general robot, including base 10 and the bottom drive unit 20 of assembling on base 10, and the bottom drive unit 20 includes the worm wheel of rotating connection in the middle part of the cavity of base 10, the cavity of base 10 one side rotatingly connected with the worm that meshes with the worm wheel, and the first drive 21 is installed on the outer wall of base 10, and the bottom plate 22 that is connected with the worm wheel is rotatingly connected on base 10.

[0047] The outer wall of upper adjusting seat 34 is installed with the fourth drive 36, and the output end of fourth drive 36 penetrates into upper adjusting seat 34 and is equipped with main gear 37, and mounting shaft 39 is rotatingly connected in upper adjusting seat 34, and one end of mounting shaft 39 penetrates into upper adjusting seat 34 and is fixed with auxiliary gear 38 that meshes with main gear 37.

[0048] As Figure 1 、 Figure 2 and Figure 3 Figure 9 The utility model discloses a double -arm light -duty six -axis general robot, including base 10 and the bottom drive unit 20 of assembling on base 10, and the bottom drive unit 20 includes the worm wheel of rotating connection in the middle part of the cavity of base 10, the cavity of base 10 one side rotatingly connected with the worm that meshes with the worm wheel, and the first drive 21 is installed on the outer wall of base 10, and the bottom plate 22 that is connected with the worm wheel is rotatingly connected on base 10.

[0049] As Figure 1 、 Figure 2 and Figure 3 Figure 9As shown, the rear forearm 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. The main support 411 and the secondary support 413 are slidably connected to a side telescopic arm 414 via a limiting groove.

[0050] A sliding sleeve 415 is slidably connected to the inner telescopic arm 412. A pull rod 416, which is connected to the side telescopic arm 414 at one end, is rotatably connected to both sides of the sliding sleeve 415. The sliding sleeve 415 is moved by a lead screw 417 rotatably connected to the bottom of the inner telescopic arm 412, and is pulled by the pull rod 416 to control the side telescopic arm 414 to move inward.

[0051] The rear forearm 41 also includes a rope 418 installed inside the inner telescopic arm 412. A rope reel 419 is rotatably connected inside the main support 411. An upper motor 4110 is fixed to the top of one side wall of the main support 411. Both the output end of the upper motor 4110 and one end of the rope reel 419 are equipped with pulleys, and a synchronous belt is meshed on both pulleys. A guide tube is fixed to the middle of one side wall of the main support 411. One end of the rope 418 passes through the guide tube and is connected to the rope reel 419.

[0052] Specifically, when it is necessary to control the length of the telescopic arm, the upper motor 4110 is started, causing the pulley connected to it to drive another pulley to rotate via a synchronous belt, thereby rotating the rope winding wheel 419 and winding up the rope 418. During the winding process, the rope 418 will pull the inner telescopic arm 412 to retract, which will also pull the auxiliary support 413 to move together, thereby causing the side telescopic arm 414 to retract as well, so that the length of the rear forearm 41 can be controlled. Similarly, the length of the front forearm 44 can also be adjusted in the above way, so that the forearm unit 40 can adapt to different needs.

[0053] A lower motor 4111 is fixed to the bottom of one side wall of the main support 411. One end of the lead screw 417, which passes through the main support 411, is connected to the output end of the lower motor 4111. The lead screw 417 is threaded with an internal threaded sleeve whose top end is fixed to the sliding sleeve 415. In particular, the other end of the lead screw 417 is rotatably connected to a retaining seat. The top end of the retaining seat is connected to the inner telescopic arm 412. Specifically, when the robot is dealing with a space with a variable diameter opening, the forearm in the retracted state can enter through the largest opening. When it needs to move to a position with a smaller diameter, the lower motor 4111 is started to rotate the lead screw 417, thereby causing the internal threaded sleeve to drive the sliding sleeve 415 to move towards one side of the main support 411. During the movement, the pull rod 416 will drive the side telescopic arms 414 on both sides to move closer together, thereby reducing the space occupied and making its thickness adaptable to the small diameter space. When it is necessary to restore the thickness, it is only necessary to reverse the operation.

[0054] like Figure 1 ,Figure 2 and Figure 3 Figure 9 As shown in the figure, the inner telescopic arm 412 comprises a sleeve rod 4121, a first extension section is slidably connected in the sleeve rod 4121 through a first limiting sliding groove, a second extension section is slidably connected in the first extension section through a second limiting sliding groove, a third extension section is slidably connected in the second extension section through a third limiting sliding groove, a fourth extension section 4122 is slidably connected in the third extension section through a fourth limiting sliding groove, a connecting rod 4123 is fixed to one end of the fourth extension section 4122, a spring 4124 is fixed to one side wall of the sleeve rod 4121, one end of the spring 4124 is connected with the end of the fourth extension section 4122 penetrating into the third extension section, and one end of the rope 418 penetrating into the sleeve rod 4121 is fixed to the fourth extension section 4122, and the side telescopic arm 414 has the same structure as the inner telescopic arm 412;

[0055] It is worth noting that the structures of the two ends of the side telescopic arm 414 are slidably connected to the main support 411 and the auxiliary support 413, and the structures of the two ends of the inner telescopic arm 412 are fixedly connected with 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 stably performed, a telescopic rod is inserted into the spring 4124, and the two ends of the telescopic rod are connected with the main support 411 and the auxiliary support 413, respectively. In particular, the two ends of the spring 4124 are provided with rubber pads, and the two ends of the spring 4124 are connected with the main support 411 and the auxiliary support 413 through the rubber pads, respectively.

[0056] Specifically, when the rope 418 is wound by the winding rope wheel 419 controlled by the upper motor 4110, the end of the rope 418 connected with the fourth extension section 4122 will pull the fourth extension section 4122 to move towards the sleeve rod 4121, sequentially push each extension section to move in the process, and gradually compress the spring 4124. When the appropriate length is reached, the rope 418 can be wound at the same time. When the initial length needs to be restored, the rope 418 is unwound by the winding rope wheel 419 controlled by the upper motor 4110, and the fourth extension section 4122 is gradually driven away from the sleeve rod 4121 under the action of the spring 4124 in the process.

[0057] Specifically, the light six-axis general robot of the present application can work / operate as follows:

[0058] 1. Bottom rotation adjustment: start the first driving member 21 on the outer wall of the base 10, drive the worm to rotate, drive the chassis 22 to rotate through the meshing of the worm and the worm gear, adjust the initial position of the main arm unit 30, and make the robot align the target work area;

[0059] 2. Main arm posture adjustment:

[0060] The second driving member 33 drives the branch arm 32 to rotate relative to the base arm 31, and adjusts the lifting height of the main arm;

[0061] The third driving member 35 drives the upper adjusting seat 34 to rotate relative to the branch arm 32, and adjusts the pitch angle of the main arm, and determines the basic working plane of the small arm unit 40;

[0062] 3. Small arm length adjustment: after starting, the upper motor 4110 at the top of the main support 411 of the small arm 41 is started, the rope winding wheel 419 is driven to rotate through the belt transmission, the rope body 418 is wound, the inner telescopic arm 412 is pulled to contract, the auxiliary support 413 is moved synchronously, the side telescopic arm 414 is driven to contract synchronously, and the overall length of the small arm is shortened; reverse operation of the upper motor 4110 can release the rope body 418, and the extension section is expanded under the reset action of the spring 4124, and the small arm length is restored.

[0063] 4. Small arm thickness adjustment: after starting, the lower motor 4111 at the bottom of the main support 411 of the small arm 41 is started, the screw rod 417 is driven to rotate, the sliding sleeve 415 is driven to slide along the inner telescopic arm 412 through the internal thread sleeve, the sliding sleeve 415 pulls the two side telescopic arms 414 to move inward through the pull rod 416, and the small arm cross-sectional thickness is reduced; reverse operation of the lower motor 4111 can push the side telescopic arm 414 to move outward, and the initial thickness is restored.

[0064] 5. End effector positioning: the rotation angle of the mounting seat 43 relative to the rear small arm 41 is adjusted through the fifth driving member 45 in the connecting seat 42, and the fine adjustment of the mounting disc 46 by the sixth driving member 47 of the front small arm 44 is combined, the final positioning of the end effector such as a manipulator in a three-dimensional space is realized, and grabbing, assembly and other operations are completed.

[0065] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A dual-arm light-weight six-axis general-purpose robot comprising a base (10) and a bottom drive unit (20) mounted on the base (10), a main arm unit (30) being mounted on the bottom drive unit (20), characterized in that, The main arm unit (30) is connected with a small arm unit (40) through a mounting shaft (39); The small arm unit (40) comprises a rear small arm (41), one end of the rear small arm (41) is rotatably connected with a mounting seat (43) through a connecting seat (42), one end of the mounting seat (43) is fixed with a front small arm (44) which has the same structure as the rear small arm (41), one end of the front small arm (44) is connected with a mounting disc (46) through a sixth driving element (47); The rear small arm (41) comprises a main support (411) connected with the mounting shaft (39), the main support (411) is connected with a secondary support (413) through an inner telescopic arm (412), the main support (411) and the secondary support (413) are jointly and slidably connected with a side telescopic arm (414) through a limiting sliding groove; The inner telescopic arm (412) is slidably connected with a sliding sleeve (415), the sliding sleeve (415) is rotatably connected with a pull rod (416) having one end connected with the side telescopic arm (414) on both sides, the sliding sleeve (415) is moved through a lead screw (417) rotatably connected to the bottom of the inner telescopic arm (412) and pulled through the pull rod (416) to control the side telescopic arm (414) to move inward; The rear small arm (41) further comprises a rope body (418) mounted in the inner telescopic arm (412), the main support (411) is rotatably connected with a rope winding wheel (419), an upper motor (4110) is fixed to the top of one side wall of the main support (411), a belt wheel is mounted on the output end of the upper motor (4110) and one end of the rope winding wheel (419), a synchronous belt is jointly meshed on the two belt wheels, a guide pipe is fixed to the middle of one side wall of the main support (411), and one end of the rope body (418) penetrates through the guide pipe and is connected with the rope winding wheel (419); The inner telescopic arm (412) comprises a sleeve rod (4121), a first extension section is slidably connected in the sleeve rod (4121) through a first limiting sliding groove, a second extension section is slidably connected in the first extension section through a second limiting sliding groove, a third extension section is slidably connected in the second extension section through a third limiting sliding groove, and a 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 with 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), and the side telescopic arm (414) has the same structure as the inner telescopic arm (412).

2. A dual-arm light-weight six-axis general-purpose robot according to claim 1, characterized by, The bottom of one side wall of the main support (411) is fixed with a lower motor (4111), one end of a lead screw (417) penetrating into the main support (411) is connected with the output end of the lower motor (4111), and an inner threaded sleeve fixed with the sliding sleeve (415) at the top end is threaded on the lead screw (417).

3. The dual-arm light-weight six-axis general robot according to claim 1, characterized in that, The bottom driving unit (20) comprises a worm wheel rotatably connected to the middle part of the inner cavity of the base (10), a worm rotatably connected to one side of the inner cavity of the base (10) and engaged with the worm wheel, a first driving element (21) mounted on the outer wall of the base (10), and a bottom disc (22) rotatably connected to the top end of the base (10) and connected with the worm wheel.

4. A dual-arm light-weight six-axis general-purpose robot according to claim 3, wherein The main arm unit (30) comprises a bottom arm (31) fixed to the bottom disc (22), a support arm (32) rotatably connected to the inside of the bottom arm (31), a second driving element (33) mounted on the outer wall of the bottom arm (31) and connected with the support arm (32), a third driving element (35) mounted in the support arm (32) and connected with the top end of the upper adjusting seat (34), and the support arm (32).

5. A dual-arm light-weight six-axis general-purpose robot according to claim 4, characterized by The outer wall of the upper adjusting seat (34) is provided with a fourth driving element (36), the output end of the fourth driving element (36) penetrates into the upper adjusting seat (34) and is provided with a main gear (37), an installation shaft (39) is rotatably connected to the inside of the upper adjusting seat (34), and one end of the installation shaft (39) penetrating into the upper adjusting seat (34) is fixed with a secondary gear (38) engaged with the main gear (37).

6. A dual-arm, lightweight, six-axis general-purpose robot according to claim 5, wherein The connecting seat (42) is provided with a fifth driving element (45), and the output end of the fifth driving element (45) is connected with the mounting seat (43).

Images