Double-arm mobile robot

Abstract

The invention belongs to the technical field of intelligent equipment, and discloses a double-arm mobile robot which comprises a mobile vehicle body, a control structure and an execution structure. The movable vehicle body is movably arranged on the supporting foundation, and the control structure is arranged on the movable vehicle body. The execution structure comprises two execution assemblies, the two execution assemblies are both arranged on the movable vehicle body and connected to the control structure, and the execution assemblies can grab workpieces to be operated. The execution structure has a series working mode and a parallel working mode, and in the series working mode, the two execution assemblies work independently and can grab different workpieces correspondingly, and high movement flexibility is achieved; and in the parallel working mode, the two execution assemblies work synchronously, the same workpiece can be grabbed at the same time, two-hand cooperative operation is achieved, the working procedures such as engine installation, battery module installation and wiring harness wiring needing the two-hand cooperative operation can be completed only through one robot, meanwhile, the large load capacity is achieved, and the application range is wider.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent equipment, and in particular to a dual-arm mobile robot. BACKGROUND

[0002] In the process of automobile production and manufacturing, robots have been upgraded from auxiliary tools to core production forces, covering key links such as stamping, welding, painting and assembly, and can improve production efficiency, guarantee production quality and improve production safety.

[0003] To improve production flexibility, collaborative robots are gradually introduced into automobile production and manufacturing workshops. However, most existing robots are single-arm designs, which have obvious limitations when handling complex tasks. For example, engine assembly, battery module installation and wiring harness wiring require two hands to operate cooperatively, and single-arm robots cannot complete such tasks independently. If multiple single-arm robots are used for collaborative operation, there are problems of high complexity of collaborative control and spatial interference. SUMMARY

[0004] The purpose of the present application is to provide a dual-arm mobile robot that can realize two-hand cooperative operation and has strong motion flexibility.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A dual-arm mobile robot is provided, comprising:

[0007] A mobile vehicle body is movably arranged on a support base;

[0008] A control structure is arranged on the mobile vehicle body;

[0009] An execution structure includes two execution assemblies, both of which are arranged on the mobile vehicle body and connected to the control structure, and the execution assemblies can grasp workpieces to be operated; the execution structure has a series working mode and a parallel working mode, in the series working mode, the two execution assemblies work independently; in the parallel working mode, the two execution assemblies work synchronously.

[0010] As an optional solution of the dual-arm mobile robot, the execution assembly includes a first connecting frame, a second connecting frame, a third connecting frame, an execution end, a first driving mechanism, a second driving mechanism and a third driving mechanism;

[0011] The first connecting frame is rotatably arranged on the mobile vehicle body, one end of the second connecting frame is hingedly connected to the first connecting frame, the other end is hingedly connected to the third connecting frame, and the execution end is rotatably arranged on the third connecting frame;

[0012] The fixed end of the first driving mechanism is arranged on the first connecting frame, and the output end is arranged on the second connecting frame, for driving the second connecting frame to rotate; the fixed end of the second driving mechanism is arranged on the second connecting frame, and the output end is arranged on the third connecting frame, for driving the third connecting frame to rotate; the fixed end of the third driving mechanism is arranged on the third connecting frame, and the output end is arranged on the execution end, for driving the execution end to rotate.

[0013] As an alternative of the dual-arm mobile robot, the execution end is a grabbing end, which can grab the workpiece.

[0014] Alternatively, the execution end is a suction end, which can suck the workpiece.

[0015] As an alternative of the dual-arm mobile robot, the execution end of one of the execution assemblies is a manned platform, which is used for carrying the working personnel.

[0016] As an alternative of the dual-arm mobile robot, a guard rail is arranged on the manned platform.

[0017] As an alternative of the dual-arm mobile robot, an auxiliary support structure is further included, which comprises a plurality of auxiliary support assemblies, and the auxiliary support assemblies are arranged on the mobile vehicle body in a circumferential direction.

[0018] The auxiliary support assembly comprises a first support rod, a second support rod, a first linear driving member and a second linear driving member, the first support rod is rotationally arranged on the mobile vehicle body, one end of the second support rod is hingedly connected to the first support rod, and the other end is abutted against the support base.

[0019] The fixed end of the first linear driving member is hingedly connected to the mobile vehicle body, and the output end is hingedly connected to the first support rod, for driving the rotation of the first support rod; the fixed end of the second linear driving member is hingedly connected to the first support rod, and the output end is hingedly connected to the second support rod, for driving the rotation of the second support rod.

[0020] As an alternative of the dual-arm mobile robot, the auxiliary support assembly further comprises a support plate, which is rotationally arranged on the end of the second support rod away from the first support rod, and the support plate is used for abutting against the support base.

[0021] As an alternative of the dual-arm mobile robot, the side of the support plate facing the support base is provided with an anti-skid structure.

[0022] As an alternative to the dual-arm mobile robot, the mobile vehicle body comprises a base and a moving assembly, the moving assembly is arranged at the bottom side of the base and is used to drive the base to move on the support base; the control structure and the execution structure are both arranged on the base.

[0023] As an alternative to the dual-arm mobile robot, the moving assembly comprises a support frame and two tracks, the support frame is rotationally arranged at the bottom side of the base, and the two tracks are separately arranged on both sides of the support frame and are both in driving abutment with the support base.

[0024] The beneficial effects of the present application are:

[0025] The present application provides a dual-arm mobile robot, comprising a mobile vehicle body, a control structure and an execution structure. The mobile vehicle body is movably arranged on a support base, and the control structure is arranged on the mobile vehicle body. The execution structure comprises two execution assemblies, both of which are arranged on the mobile vehicle body and connected to the control structure, and the execution assembly can grasp the workpiece to be operated. The execution structure has a series working mode and a parallel working mode. In the series working mode, the two execution assemblies work independently and can grasp different workpieces, having strong movement flexibility. In the parallel working mode, the two execution assemblies work synchronously and can simultaneously grasp the same workpiece, realizing dual-hand cooperative operation, and only one robot can complete the processes such as engine installation, battery module installation and wire harness wiring that require dual-hand cooperative operation, while having large load capacity and wider application range. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a structural schematic diagram of the dual-arm mobile robot provided by the embodiment of the present application;

[0027] Fig. 2 is a structural schematic diagram of another orientation of the dual-arm mobile robot provided by the embodiment of the present application;

[0028] Fig. 3 is a structural schematic diagram of the dual-arm mobile robot provided by the embodiment of the present application, in which one execution end is a manned platform.

[0029] In the drawings:

[0030] 1, mobile vehicle body; 11, base; 12, moving assembly; 121, support frame; 122, track;

[0031] 2, control structure;

[0032] 3, execution structure; 31, execution assembly; 311, first connecting frame; 312, second connecting frame; 313, third connecting frame; 314, execution end;

[0033] 4, auxiliary support structure; 41, auxiliary support assembly; 411, first support rod; 412, second support rod; 413, first linear drive; 414, second linear drive; 415, support plate. DETAILED DESCRIPTION

[0034] The application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the application and not in limitation thereof. It should also be understood that, for the purpose of clarity, only those structures of the application that are relevant to the present application have been shown in the drawings.

[0035] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0037] In the description of the present embodiment, the terms "upper", "lower", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the purpose of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0038] The technical solutions of the present application will be further described below in conjunction with the drawings and specific embodiments.

[0039] As Figs. 1 to 3As shown, the embodiment provides a dual-arm mobile robot for automobile production and manufacturing. The robot comprises a mobile vehicle body 1, a control structure 2 and an execution structure 3. The mobile vehicle body 1 is movably arranged on a support base, and the control structure 2 is arranged on the mobile vehicle body 1. The execution structure 3 comprises two execution assemblies 31, both of which are arranged on the mobile vehicle body 1 and connected to the control structure 2, and the execution assembly 31 is capable of grabbing a workpiece to be operated. The execution structure 3 has a serial working mode and a parallel working mode. In the serial working mode, the two execution assemblies 31 work independently and can grab different workpieces, having strong movement flexibility. In the parallel working mode, the two execution assemblies 31 work synchronously and can grab the same workpiece at the same time, realizing double-hand cooperative operation, and only one robot can complete the processes such as engine installation, battery module installation and wire harness wiring that require double-hand cooperative operation, while having large load capacity and wider application range.

[0040] Specifically, the control structure 2 is a conventional device disclosed in the prior art, and its specific structure and principle are referred to the prior art, which will not be described here.

[0041] Optionally, the mobile vehicle body 1 comprises a base 11 and a moving assembly 12, the moving assembly 12 is arranged on the bottom side of the base 11 and used to drive the base 11 to move on the support base, and the control structure 2 and the execution structure 3 are arranged on the base 11. The above arrangement enables the robot to flexibly walk in the manufacturing workshop, has wider application range and higher processing and manufacturing efficiency.

[0042] Further, the moving assembly 12 comprises a support frame 121 and two tracks 122, the support frame 121 is rotatably arranged on the bottom side of the base 11, and the two tracks 122 are separately arranged on the two sides of the support frame 121 and can be drivingly abutted on the support base. The track 122 has strong obstacle-crossing capability and can easily pass through ditches and uneven support bases. At the same time, the track 122 has a large contact area with the support base, which can disperse the weight of the robot to the area of the entire track 122 contacting the support base, significantly reducing the pressure on the support base and preventing damage to the support base. In addition, the larger contact area between the track 122 and the support base provides stronger traction, which is not easy to slip, and the track 122 has low gravity center, having strong anti-overturning capability, thereby ensuring the stability during operation.

[0043] Alternatively, in other embodiments, the moving assembly 12 can be a moving wheel, as long as it can realize the flexible movement of the robot, which will not be specifically limited here.

[0044] Optionally, the execution assembly 31 comprises a first connecting frame 311, a second connecting frame 312, a third connecting frame 313, an execution end 314, a first driving mechanism, a second driving mechanism and a third driving mechanism. The first connecting frame 311 is rotationally arranged on the mobile vehicle body 1, the second connecting frame 312 is hingedly connected to one end of the first connecting frame 311 and hingedly connected to the other end of the third connecting frame 313, and the execution end 314 is rotationally arranged on the third connecting frame 313. The fixed end of the first driving mechanism is arranged on the first connecting frame 311, and the output end is arranged on the second connecting frame 312, for driving the second connecting frame 312 to rotate. The fixed end of the second driving mechanism is arranged on the second connecting frame 312, and the output end is arranged on the third connecting frame 313, for driving the third connecting frame 313 to rotate. The fixed end of the third driving mechanism is arranged on the third connecting frame 313, and the output end is arranged on the execution end 314, for driving the execution end 314 to rotate. The above arrangement can realize the rotation, pitch and roll of the execution end 314, and further realize the posture adjustment of the workpiece to be grabbed.

[0045] Specifically, the first connecting frame 311, the second connecting frame 312 and the third connecting frame 313 are all parallelogram frame structures, which have the advantages of large extension rate, large stroke, fast opening and closing, and folding and retracting. In the actual operation process of the robot, it has good flexibility and obstacle avoidance ability; during non-operation process, the connecting frame can be folded and retracted to save space. In addition, the operation range can be expanded or reduced by increasing or reducing the number of connecting frames to meet the actual operation demand. That is, in other embodiments, the number of connecting frames can be set as needed. Exemplarily, the first driving mechanism, the second driving mechanism and the third driving mechanism are all hydraulic cylinders.

[0046] Further, the execution end 314 is a grabbing end, which can grab the workpiece. When the workpiece to be operated is an irregular object, the grabbing end has sufficient gripping ability, thereby realizing the grabbing of the workpiece. Exemplarily, the grabbing end is a multi-fingered manipulator.

[0047] Alternatively, the execution end 314 is an adsorbing end, which can adsorb the workpiece. When the workpiece to be operated is in a flat plate shape or part of the workpiece is in a flat plate shape, the adsorbing end can be adsorbed on the plane of the workpiece to realize the stable taking of the workpiece. Exemplarily, the adsorbing end is a vacuum chuck.

[0048] The above arrangement can flexibly select the execution end 314 according to the shape of the workpiece to be operated, has a wider application range, and can ensure the stability of the operation process.

[0049] Optionally, as Fig. 3As shown, the execution end 314 of one of the execution assemblies 31 is a manned platform for carrying the working personnel. When some working procedures require the working personnel to manually operate the workpiece, the working personnel can stand on the manned platform, and the execution end 314 of the other execution assembly 31 grasps or adsorbs the workpiece, so that the working personnel can conveniently operate the workpiece. Specifically, when the execution end 314 is the manned platform, the manned platform can only rotate relative to the third connecting frame 313 in the horizontal direction, ensuring that the manned platform is always in a horizontal state, thereby ensuring the safety and comfort of the working personnel.

[0050] Further, a guardrail is arranged on the manned platform, which builds a solid physical barrier to prevent the working personnel from falling off the manned platform, thereby protecting the personal safety of the working personnel.

[0051] Optionally, the robot further comprises an auxiliary support structure 4, which comprises a plurality of auxiliary support assemblies 41 arranged on the mobile vehicle body 1 in a circumferential direction. The auxiliary support assembly 41 comprises a first support rod 411, a second support rod 412, a first linear drive 413, and a second linear drive 414. The first support rod 411 is rotationally arranged on the mobile vehicle body 1, and the second support rod 412 is hingedly connected to one end of the first support rod 411 and abuts the support base at the other end. The fixed end of the first linear drive 413 is hingedly connected to the mobile vehicle body 1, and the output end is hingedly connected to the first support rod 411, for driving the rotation of the first support rod 411. The fixed end of the second linear drive 414 is hingedly connected to the first support rod 411, and the output end is hingedly connected to the second support rod 412, for driving the rotation of the second support rod 412. The above arrangement can ensure the stability of the mobile vehicle body 1, prevent the mobile vehicle body 1 from overturning or rolling over due to the excessive weight of the workpiece grasped by the execution end 314, and at the same time, if the support base on which the mobile vehicle body 1 is located is not on a horizontal ground, by adjusting the angle of the auxiliary support, it can be ensured that all the auxiliary supports of the mobile vehicle body 1 are uniformly stressed, rather than some auxiliary supports being suspended or some auxiliary supports being overloaded.

[0052] Specifically, the first support rod 411 and the second support rod 412 are both existing telescopic rods. The support rods can not only rotate under the driving action of the linear drive, but also can be telescopic along their own axis direction, so as to be stably supported on the support base, thereby ensuring the overall stability of the robot. Exemplarily, the first linear drive 413 and the second linear drive 414 are both hydraulic rods, which are small in size and flexible in installation, and can save space.

[0053] Exemplarily, in the embodiment, four auxiliary support assemblies 41 are arranged at the four top corners of the mobile vehicle body 1 respectively; in other embodiments, the number of auxiliary support assemblies 41 can be selected as required, which is not limited here.

[0054] Further, the auxiliary support assembly 41 further comprises a support plate 415, which is rotationally arranged at the end of the second support rod 412 away from the first support rod 411, and is used for abutting against the support base. The arrangement of the support plate 415 can increase the contact area between the second support rod 412 and the support base, and ensure the stability of the support.

[0055] Further, the side of the support plate 415 facing the support base is provided with an anti-skid structure. Specifically, the anti-skid structure is an anti-skid pad such as a rubber pad arranged on the side of the support plate 415 facing the support base; or the anti-skid structure is an anti-skid protrusion arranged on the side of the support plate 415 facing the support base, which can be a point-shaped protrusion or a protrusion with any shape of lines, which is used to increase the contact friction between the support plate 415 and the support base, and prevent the support plate 415 from moving. The specific form can refer to the prior art, which is not limited in the embodiment, as long as it can increase the friction.

[0056] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the scope of the present application. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A dual-arm mobile robot characterized by comprising: The utility model relates to a mobile vehicle body (1) is movably arranged on the support base, control structure (2) is arranged on the mobile vehicle body (1), and the execution structure (3) includes two execution assemblies (31), and two execution assemblies (31) are arranged on the mobile vehicle body (1) and are connected to control structure (2), and the execution assembly (31) can grab the workpiece to be operated, and the execution structure (3) has series connection working mode and parallel working mode, and in series connection working mode, two execution assemblies (31) independently work, and in parallel working mode, two execution assemblies (31) work synchronously. The execution assembly (31) includes first connecting frame (311), second connecting frame (312), third connecting frame (313), execution end (314), first drive mechanism, second drive mechanism and third drive mechanism, the first connecting frame (311) is rotatably arranged on the mobile vehicle body (1), one end of the second connecting frame (312) is hingedly connected to the first connecting frame (311), the other end is hingedly connected to the third connecting frame (313), and the execution end (314) is rotatably arranged on the third connecting frame (313), the fixed end of the first drive mechanism is arranged on the first connecting frame (311), the output end is arranged on the second connecting frame (312), is used for driving the second connecting frame (312) to rotate, the fixed end of the second drive mechanism is arranged on the second connecting frame (312), the output end is arranged on the third connecting frame (313), is used for driving the third connecting frame (313) to rotate, and the fixed end of the third drive mechanism is arranged on the third connecting frame (313), the output end is arranged on the execution end (314), is used for driving the execution end (314) to rotate. The execution end (314) is a grabbing end, and the grabbing end can grab the workpiece, or the execution end (314) is an adsorbing end, and the adsorbing end can adsorb the workpiece, wherein the execution end (314) of one of the execution assemblies (31) is a manned platform, and the manned platform is used for carrying the work personnel. A guardrail is arranged on the manned platform.

2. The dual-arm mobile robot of claim 1, wherein, The utility model further includes an auxiliary support structure (4), and the auxiliary support structure (4) includes a plurality of auxiliary support assemblies (41) arranged on the mobile vehicle body (1) in a circumferential direction, the auxiliary support assembly (41) includes a first support rod (411), a second support rod (412), a first linear drive (413) and a second linear drive (414), the first support rod (411) is rotatably arranged on the mobile vehicle body (1), one end of the second support rod (412) is hingedly connected to the first support rod (411), and the other end is abutted on the support base. ​ ​ 3. The dual-arm mobile robot of claim 2, wherein, ​ ​ 4. The dual-arm mobile robot of claim 2, wherein, ​ 5. The dual-arm mobile robot of claim 4, wherein, ​ 6. The dual-arm mobile robot of claim 1, wherein, ​ ​ The fixed end of the first linear driving member (413) is hinged to the mobile vehicle body (1), and the output end is hinged to the first supporting rod (411) for driving the rotation of the first supporting rod (411); the fixed end of the second linear driving member (414) is hinged to the first supporting rod (411), and the output end is hinged to the second supporting rod (412) for driving the rotation of the second supporting rod (412).

7. The dual-arm mobile robot according to claim 6, wherein, The auxiliary supporting assembly (41) further comprises a supporting plate (415) which is rotationally arranged at the end of the second supporting rod (412) away from the first supporting rod (411), and the supporting plate (415) is used for abutting against the supporting base.

8. The dual-arm mobile robot of claim 7, wherein, The side of the supporting plate (415) facing the supporting base is provided with an anti-skid structure.

9. The dual-arm mobile robot of claim 1, wherein, The mobile vehicle body (1) comprises a base (11) and a moving assembly (12) which is arranged at the bottom side of the base (11) for driving the base (11) to move on the supporting base; the control structure (2) and the execution structure (3) are both arranged on the base (11).

10. The dual-arm mobile robot of claim 9, wherein, The moving assembly (12) comprises a supporting frame (121) and two caterpillar belts (122), the supporting frame (121) is rotationally arranged at the bottom side of the base (11), and the two caterpillar belts (122) are separately arranged at the two sides of the supporting frame (121) and can be transmissionally abutted against the supporting base.

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