Double-arm manipulator
Through the modularly designed two-arm robot, the combination of circular card slots and card blocks and locking parts is used to realize the multi-functional operation of the robot, solving the problem of poor adaptability of existing robot functions and improving operation flexibility Sex and convenience.
Patent Information
- Application Number
- CN202420997933.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-09
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-05-09
AI Technical Summary
The existing robotic hand function fixed design results in poor adaptability, unable to achieve multiple actions, and difficult to replace functions, which is time-consuming and labor-intensive.
Design a two-arm robot, adopting a modular functional head and a removable mechanical arm structure, to achieve flexible connection between the robot and functional head through the matching of circular slots and card blocks, combining the design of locking parts and metal contacts, Achieve multi-functional operation.
The two robots are independently coordinated, the functional heads are easy to replace, the adaptability is greatly improved, the operation is simple and convenient, and it meets various action needs.
Smart Images
Figure CN222328185U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a double-arm manipulator. Background Art
[0002] A manipulator is an automated device that mimics certain movements of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. Composed primarily of an actuator, a drive mechanism, and a control system, it can replace humans in heavy labor, enabling mechanization and automation of production. It is widely used in sectors such as machinery manufacturing, light industry, and atomic energy.
[0003] The functions of the robot can be shearing, clamping, adsorption, etc. In the existing technology, the functions of the robot are usually fixed, that is, each robot can only realize one or two functions or actions, and different functions or actions can only be realized by replacing different robots. It has poor adaptability and is time-consuming and labor-intensive. Utility Model Content
[0004] In view of this, the purpose of the present invention is to provide a dual-arm manipulator that can perform different actions, and the functional head adopts a modular structure for easy replacement, so that the dual-arm manipulator can achieve different functions and is simple and convenient to operate.
[0005] The technical solution of the utility model is as follows:
[0006] The utility model provides a dual-arm manipulator, comprising a base and two manipulators, the two manipulators being arranged side by side and respectively connected to the base, the manipulator comprising a manipulator arm and a modular functional head, the front end of the manipulator arm being provided with a clamping portion, the clamping portion being circular and alternately provided with at least two clamping slots and at least two notches, the clamping slots having an open end and a closed end, the functional head being provided with at least two arc-shaped clamping blocks, the clamping blocks matching the notches and being clamped into the clamping slots from the open ends, the connecting ends of the manipulator arm and the functional head being correspondingly provided with a number of metal contacts for electrical conduction.
[0007] As an optional solution, the base is Y-shaped, the robotic arm includes at least two L-shaped pieces, and a connecting portion is provided between the L-shaped piece and the base, and between two adjacent L-shaped pieces.
[0008] As an optional solution, the connecting part includes a first part, a second part and a third part, the first part and the second part are rotationally connected around a first rotation axis, the second part and the third part are rotationally connected around a second rotation axis, and the first rotation axis and the second rotation axis are perpendicular.
[0009] As an optional solution, at least two of the card slots have different widths, at least two of the card blocks have different widths, and the widths of the corresponding card slots and card blocks match.
[0010] As an optional solution, a locking piece is provided at the front end of the robotic arm, and the locking piece is used to lock or unlock the robotic arm and the functional head.
[0011] As an optional solution, the locking member includes a locking rod and a locking spring. The locking rod is axially slidably arranged on the robotic arm and is provided with an exposed push button on one side. The locking spring causes the locking rod to have a tendency to extend. The functional head is provided with a locking hole. The locking rod can be inserted into the locking hole to lock the robotic arm and the functional head.
[0012] As an optional solution, a shielding ring is provided at the front end of the robotic arm, and the shielding ring is located at the periphery of the clamping part. The shielding ring can abut against the functional head and is used to hide the clamping part and the clamping block.
[0013] As an optional solution, the shielding ring is provided with a sealing groove, in which a sealing ring for fitting with the functional head is embedded.
[0014] As an optional solution, the metal contact is hemispherical and elastic, so that the metal contact can be squeezed and contracted.
[0015] As an optional solution, the functional head adopts at least one of scissors, clamps, and vacuum adsorption heads.
[0016] The beneficial effects of the utility model are:
[0017] The dual-arm manipulator provided by the utility model has two manipulators, which can independently perform different actions and coordinate with each other to achieve different functions; in addition, the functional head adopts a modular structure, and the functional head and the manipulator arm can be disassembled and assembled, which is convenient for replacing functional heads with different functions, so that the function of the manipulator can be adjusted as needed. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive work. The above and other purposes, features and advantages of the present invention will become more apparent through the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings. The drawings are not intentionally scaled to their actual sizes; the focus is on illustrating the main purpose of the present invention.
[0019] Figure 1 A schematic diagram of the structure of a dual-arm manipulator provided in an embodiment of the present utility model;
[0020] Figure 2 The structure diagram of the dual-arm manipulator provided by the embodiment of the utility model Figure 2 ;
[0021] Figure 3 for Figure 2 A schematic diagram of the enlarged local structure of the connecting portion;
[0022] Figure 4 for Figure 3 Schematic diagram of the internal structure;
[0023] Figure 5 A schematic diagram of the mounting end of a dual-arm manipulator provided by an embodiment of the present utility model;
[0024] Figure 6 A schematic diagram of the mounting end of the functional head of the dual-arm manipulator provided in an embodiment of the present utility model;
[0025] Figure 7 for Figure 5 and Figure 6 Schematic diagram of the coordination relationship in ;
[0026] Figure 8 A schematic diagram of the installation relationship of the locking parts of the dual-arm manipulator provided in an embodiment of the utility model.
[0027] Icons: 10-dual-arm manipulator; 11-base; 12-manipulator; 110-base; 111-Y-shaped part; 120-manipulator arm; 121-connecting part; 122-first part; 123-second part; 124-third part; 125-shielding ring; 126-sealing ring; 130-slot; 131-notch; 132-metal contact; 140-functional head; 141-block; 150-locking part; 151-locking rod; 152-locking spring; 153-push button; 154-locking hole. DETAILED DESCRIPTION
[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.
[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.
[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.
[0031] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.
[0032] Please refer to Figure 1 、 Figure 2 As shown, an embodiment of the present invention provides a dual-arm manipulator 10, which can perform two different actions at the same time, has richer functions, and is more convenient to use.
[0033] Among them, the dual-arm manipulator 10 is mainly composed of a base 11 and two manipulators 12. The base 11 is used to connect to walls, equipment, etc. The two manipulators 12 are arranged side by side and are respectively connected to the base 11. Under the control of the control system, each manipulator 12 can perform corresponding actions.
[0034] The structure of the base 11 is not limited. In this embodiment, the base 11 includes a base body 110 and a Y-shaped member 111. The base body 110 can be connected to other parts in any manner, such as welding, threaded connections, or snap connections. The Y-shaped member 111 is Y-shaped, with one end of the Y-shaped member 111 rotatably connected to the base body 110. Rotation of the two can be achieved by a motor, for example.
[0035] The two manipulators 12 are respectively connected to the two forks of the Y-shaped member 111 . The manipulator 12 includes a manipulator arm 120 and a functional head 140 . The rear end of the manipulator arm 120 is connected to the base 11 and the front end is connected to the functional head 140 .
[0036] The structure of the robotic arm 120 is not limited. In this embodiment, the following solution can be adopted but is not limited thereto: the robotic arm 120 includes at least two L-shaped members, with connecting portions 121 formed between the L-shaped members and the base 11, and between two adjacent L-shaped members. The connecting portions 121 enable the two robotic arms 120 to gradually extend outward from the rear end to the front end, thereby preventing the two robotic arms 120 from interfering with each other's movements.
[0037] In addition, in order to make the range of motion of the robot arm 120 larger, the following solution can also be adopted: Figure 3 、 Figure 4 As shown, the connecting portion 121 includes a first portion 122, a second portion 123, and a third portion 124. The first portion 122 and the second portion 123 are rotatably connected about a first rotation axis. Driven by a motor or the like, the second portion 123 can rotate relative to the first portion 122. The second portion 123 and the third portion 124 are rotatably connected about a second rotation axis. Driven by a motor or the like, the third portion 124 can rotate relative to the second portion 123. The first rotation axis and the second rotation axis are perpendicular to each other. For example, taking the connecting portion 121 between two L-shaped members as an example, the first portion 122 is located on one of the L-shaped members, and the third portion 124 is located on the other L-shaped member. The two branches of the L-shaped member can be cylindrical, with the first rotation axis coinciding with the axis of one of the L-shaped members, and the second rotation axis coinciding with the axis of the other L-shaped member.
[0038] The functional head 140 adopts a modular structure. The functions implemented by the two functional heads 140 can be the same or different. Each functional head 140 adopts at least one of scissors, clamps, and vacuum adsorption heads. The scissors are used to cut objects, the clamps are used to clamp objects, and the vacuum adsorption head is used to adsorb objects.
[0039] The front end of the robot arm 120 and the functional head 140 are detachably connected. Figure 5 、 Figure 6-Figure 7 As shown, a clamping portion is provided at the front end of the robotic arm 120, and the clamping portion is circular and includes at least two clamping slots 130 and at least two notches 131, wherein the clamping slots 130 and the notches 131 are alternately arranged along the circle, and one end of the clamping slot 130 is an open end and the other end is a closed end.
[0040] The functional head 140 is equipped with at least two latches 141. The number of latches 141 matches the number of slots 130. The latches 141 are arc-shaped and match the notches 131. When the latches 141 are inserted into the notches 131, they can be inserted into the slots 130 from the open end, thereby fixing the robotic arm 120 and the functional head 140. When the latches 141 are released from the slots 130, they can be released from the notches 131, thereby separating the robotic arm 120 and the functional head 140.
[0041] The connecting ends of the robotic arm 120 and the functional head 140 are both provided with a number of metal contacts 132. The metal contacts 132 are made of metal material and are conductive. Moreover, the metal contacts 132 on the robotic arm 120 and the metal contacts 132 on the functional head 140 correspond in position, that is, when the functional head 140 and the robotic arm 120 are snapped and fixed, the metal contacts 132 of the two are in contact and can be electrically conductive.
[0042] When the metal contacts 132 of the robotic arm 120 and the functional head 140 come into contact, functions such as power supply and signal conduction can be realized, thereby providing power for structures such as motors in the functional head 140, and the control system can control the functional head 140 to realize its functions.
[0043] In some embodiments, the following solution can also be adopted: the metal contact 132 is hemispherical and elastic. When the metal contacts 132 of the robotic arm 120 and the functional head 140 are pressed into contact, the metal contacts 132 can be squeezed and contracted, that is, the metal contacts 132 can be retracted into the robotic arm 120 or the functional head 140. The above structure can be implemented in any way. For example, the metal contacts 132 can be provided on a metal sheet that can undergo elastic deformation, or the metal contacts 132 can be given a tendency to extend by a spring, and the spring is compressed when squeezed. Such a configuration can ensure that the metal contacts 132 of the robotic arm 120 and the functional head 140 are in close contact, and the electrical conduction effect is better.
[0044] In order to prevent installation errors such as the angle of the functional head 140, in some embodiments, a fool-proof structure may be provided. Specifically, at least two of the slots 130 have different widths, and at least two of the blocks 141 have different widths. The widths of the corresponding slots 130 and blocks 141 match. Only when the blocks 141 are adjacent to the corresponding slots 130 can the blocks 141 be inserted into the slots 130. For example, assuming that the two slots 130 are the first slot 130 and the second slot 130, and the two notches 131 are the first notch 131 and the second notch 131, and the two blocks 141 are the first block 141 and the second block 141, wherein the widths of the first slot 130 and the first block 141 match, and the widths of the second slot 130 and the second block 141 match, the first notch 131 is adjacent to the open end of the first slot 130, and the second notch 131 is adjacent to the open end of the second slot 130, only when the first block 141 is embedded in the slots 130 can the blocks 141 be inserted into the slots 130. The functional head 140 can only rotate relative to the robotic arm 120 when the first notch 131 and the second card block 141 are embedded in the second notch 131, that is, the first card block 141 is inserted into the first card slot 130 and the second card block 141 is inserted into the second card slot 130. When the first card block 141 is embedded in the second notch 131 and the second card block 141 is embedded in the first notch 131, the functional head 140 cannot rotate relative to the robotic arm 120 because the first card block 141 cannot be inserted into the second card slot 130 or the second card block 141 is inserted into the first card slot 130.
[0045] In addition, in order to make the functional head 140 more secure after installation and prevent it from falling off the robotic arm 120, the following technical solution can also be adopted: a locking piece 150 is provided at the front end of the robotic arm 120, and the locking piece 150 is used to lock or unlock the robotic arm 120 and the functional head 140.
[0046] The structure of the locking member 150 is not limited. In this embodiment, the following solutions may be adopted but are not limited to: Figure 8 As shown, the locking member 150 includes a locking rod 151 and a locking spring 152 .
[0047] The locking rod 151 is a rod-shaped structure that is slidably mounted on the mechanical arm 120 along the axial direction. Specifically, the mechanical arm 120 is provided with a blind hole into which the locking rod 151 is inserted. A push button 153 is provided on one side of the locking rod 151. The push button 153 is exposed and can be pushed or turned by the user. A locking spring 152 causes the locking rod 151 to extend. The locking spring 152 can be a compression spring or a tension spring. If the locking spring 152 is a compression spring, the locking spring 152 is located in the blind hole, with the two ends of the locking spring 152 respectively contacting the bottom end of the blind hole and the locking rod 151. In the absence of external force, the locking spring 152 pushes the locking rod 151 outward. The functional head 140 is provided with a locking hole 154 that matches the position of the locking rod 151. When the functional head 140 is rotated into place, the locking rod 151 can be inserted into the locking hole 154, thereby locking the mechanical arm 120 and the functional head 140. When the mechanical arm 120 and the functional head 140 need to be unlocked, the push button 153 is pushed to disengage the locking rod 151 from the locking hole 154 and compress the locking spring 152.
[0048] Furthermore, to protect the connection between the robotic arm 120 and the functional head 140 from external influences, a shielding ring 125 can be provided at the front end of the robotic arm 120. The shielding ring 125 is located outside the clamping portion and can abut against the functional head 140 to conceal the clamping portion and the clamping block 141. Furthermore, the shielding ring 125 can be provided with a sealing groove, in which a sealing ring 126 is embedded for contact with the functional head 140.
[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. A dual-arm manipulator, characterized in that: It includes a base and two manipulators, which are arranged side by side and respectively connected to the base. The manipulator includes a manipulator arm and a modular functional head. The front end of the manipulator arm is provided with a clamping portion, which is circular and alternately provided with at least two clamping grooves and at least two notches, and the clamping groove has an open end and a closed end. The functional head is provided with at least two arc-shaped clamping blocks, which match the notches and are clamped into the clamping grooves from the open ends. The connecting ends of the manipulator arm and the functional head are correspondingly provided with a number of metal contacts for electrical conduction.
2. The dual-arm manipulator according to claim 1, characterized in that: The base is Y-shaped, and the mechanical arm includes at least two L-shaped pieces. A connecting portion is provided between the L-shaped piece and the base, and between two adjacent L-shaped pieces.
3. The dual-arm manipulator according to claim 2, characterized in that: The connecting portion includes a first portion, a second portion and a third portion, the first portion and the second portion are rotationally connected around a first rotation axis, the second portion and the third portion are rotationally connected around a second rotation axis, and the first rotation axis is perpendicular to the second rotation axis.
4. The dual-arm manipulator according to claim 1, characterized in that: At least two of the card slots have different widths, at least two of the card blocks have different widths, and the widths of the corresponding card slots and card blocks match.
5. The dual-arm manipulator according to claim 1, characterized in that: A locking piece is provided at the front end of the mechanical arm, and the locking piece is used to lock or unlock the mechanical arm and the functional head.
6. The dual-arm manipulator according to claim 5, characterized in that: The locking member includes a locking rod and a locking spring. The locking rod is axially slidably arranged on the mechanical arm and is provided with an exposed push button on one side. The locking spring causes the locking rod to have a tendency to extend. The functional head is provided with a locking hole. The locking rod can be inserted into the locking hole to lock the mechanical arm and the functional head.
7. The dual-arm manipulator according to claim 1, characterized in that: A shielding ring is provided at the front end of the mechanical arm, and the shielding ring is located at the periphery of the clamping part. The shielding ring can abut against the functional head and is used to hide the clamping part and the clamping block.
8. The dual-arm manipulator according to claim 7, characterized in that: The shielding ring is provided with a sealing groove, and a sealing ring for fitting with the functional head is embedded in the sealing groove.
9. The dual-arm manipulator according to claim 1, characterized in that: The metal contact is hemispherical and elastic, so that the metal contact can be squeezed and contracted.
10. The dual-arm manipulator according to claim 1, characterized in that: The functional head is at least one of a scissors, a clamping claw, and a vacuum adsorption head.