Double-motor two-shaft robot

Abstract

The utility model discloses a double-motor two-shaft robot which comprises two servo motors which are arranged in parallel. The two groups of main double connecting rods are arranged in a mirror symmetry manner; the group of auxiliary double connecting rods are arranged on one side of the group of main double connecting rods; the hinge joint of one group of main double connecting rods and the hinge joint of the adjacent group of auxiliary double connecting rods are movably assembled through the elbow frame; and the movable platform is assembled together with the two groups of main double connecting rods and the group of auxiliary double connecting rods. The connecting rod base structure of the robot is equivalent to three groups of double connecting rods, namely two groups of driving connecting rods and one group of driven connecting rods, and finally a connecting rod robot structure with strong bearing capacity is formed. After the robot structure is subjected to targeted transformation, some sorting actions can be carried out on an automatic assembly line by utilizing the action characteristics of the connecting rod.

Description

Technical Field

[0001] The utility model relates to the field of automated robots, in particular to a dual-motor two-axis robot. Background Art

[0002] A large number of manipulators and robots are used in the field of automation. There are many types of manipulators and robots, each of which generally has different mechanical degrees of freedom and realizes different functions. Sometimes some servo motors combined with some connecting rod mechanisms can also make so-called robots, as long as they have the mechanical degrees of freedom to meet the functions. So broadly speaking, there are many kinds of robots in the field of automation. In particular, the robot located above the conveyor belt mainly plays a sorting role. It mainly has the mechanical freedom to pick up and put down the workpiece on the conveyor belt. The most typical one is the parallel robot, but the design style of the connecting rod mechanism of the robot that specifically performs this function is not unique and limited. Utility Model Content

[0003] The problem to be solved by the utility model is to provide a dual-motor dual-axis robot, which, as the robot's connecting rod basic structure, is equivalent to having three sets of double connecting rods, including two sets of active connecting rods and one set of driven connecting rods, which ultimately form a connecting rod robot structure with strong bearing capacity. After targeted transformation of this robot structure, the connecting rod action characteristics can be used to perform some sorting actions in the automated assembly line.

[0004] In order to solve the above problems, the utility model provides a dual-motor two-axis robot. In order to achieve the above purpose, the technical solution adopted by the utility model to solve its technical problems is:

[0005] A dual-motor two-axis robot comprises: servo motors, wherein two servo motors are arranged in parallel with each other; main double links, wherein two groups of main double links are arranged in mirror symmetry; secondary double links, wherein one group of secondary double links is arranged on one side of one group of main double links; an elbow frame, wherein a hinge of one group of main double links and a hinge of an adjacent group of secondary double links are movably assembled through the elbow frame; and a moving platform, which is assembled together with the two groups of main double links and one group of secondary double links.

[0006] The beneficial effect of adopting the above technical solution is: by using two servo motors, each motor drives a set of main double-links, the freedom of the moving platform to approach or move away from the servo motor can be realized. The operating principle is that the angle between the two single links in the double-link will change accordingly. In addition, a set of auxiliary double-links is arranged on one side of the auxiliary double-link group, which plays a role in strengthening the structural strength of this set of main double-links. The auxiliary double-link is equivalent to the driven link, and the main double-link is the active link. In the end, it is equivalent to having three sets of double-links to participate in the linkage, and finally forming a connecting rod robot structure with strong bearing capacity. After targeted modification, this robot structure can be used in some sorting demand areas of automated assembly lines, because it at least has the most basic lifting and lowering freedom of approaching or moving away.

[0007] As a further improvement of the utility model, the two sets of double-links include a first active arm and a first driven arm hinged to each other, and also include a second active arm and a second driven arm hinged to each other, and the secondary double-link includes a secondary active arm and a secondary driven arm; the hinge of the first active arm and the first driven arm is a pin located on the elbow frame; the secondary active arm and the secondary driven arm are respectively hinged to the elbow frame and form two pins, and the lines connecting the three pins in sequence form a triangle.

[0008] The beneficial effect of adopting the above technical solution is: the specific structure of the main double link and the auxiliary double link is explained, and the elbow bracket must include three pins that are not in a straight line, so that the main double link and the auxiliary double link can be equivalent to forming two parallelogram linkage mechanisms.

[0009] As a further improvement of the present invention, the first active arm and the auxiliary active arm are parallel to each other, and the first driven arm and the auxiliary driven arm are parallel to each other; the first active arm and the second active arm are equal in length and arranged in a mirror image, and the first driven arm and the second driven arm are equal in length and arranged in a mirror image.

[0010] The beneficial effect of adopting the above technical solution is that the main double links and the auxiliary double links are equivalent to forming two parallelogram linkage mechanisms, and the parallelogram linkage mechanism keeps the links on opposite sides moving synchronously and in parallel directions.

[0011] As a further improvement of the utility model, the distance from the hinge of the first active arm and the first driven arm to the hinge of the second active arm and the second driven arm is the farthest distance between the two sets of main double connecting rods.

[0012] The beneficial effect of adopting the above technical solution is that the middle parts of the two sets of main double connecting rods are far apart, so that the middle parts of the two sets of main double connecting rods are prevented from interfering with each other when the main double connecting rods are in motion.

[0013] As a further improvement of the utility model, the servo motor includes a first servo motor vertically fixed to one end of the first active arm, and also includes a second servo motor vertically fixed to one end of the second active arm; the same end of the first slave arm, the second slave arm, and the auxiliary slave arm are movably assembled with the moving platform.

[0014] The beneficial effect of adopting the above technical solution is that the two servo motors can have different rotation directions and angles, and the moving platform serves as the working end, so in theory the final moving platform can not only have the freedom of lifting and lowering, but even have the possibility of left and right lateral movement, which further enriches the improvement space and application space of this mechanism in the sorting field.

[0015] As a further improvement of the utility model, the first servo motor and the second servo motor are jointly equipped with a static platform, and one end of the auxiliary active arm is also movably assembled with the static platform.

[0016] The beneficial effect of adopting the above technical solution is that the static platform is equivalent to a fixed seat and can be fixed to the external frame.

[0017] As a further improvement of the utility model, the length directions of the first active arm, the auxiliary active arm, the first driven arm, the auxiliary driven arm, the second active arm, the second driven arm and the moving platform overlap in the same spatial plane.

[0018] The beneficial effect of adopting the above technical solution is that the overall underlying technical logic is a planar linkage mechanism.

[0019] As a further improvement of the present invention, the moving platform has a laterally enlarged widened portion, and the widened portion is located between two connection points between the first driven arm, the second driven arm and the moving platform respectively.

[0020] The beneficial effect of adopting the above technical solution is that the widened portion increases the area, which is convenient for fixing with external components, such as assembling and fixing with components such as a suction cup head and a finger cylinder.

[0021] As a further improvement of the utility model, one side of the widened portion is protruded with a cross rib.

[0022] The beneficial effect of adopting the above technical solution is that the cross ribs increase the structural strength of the widened portion.

[0023] As a further improvement of the utility model, one side of the moving platform is protruded with longitudinal ribs, and the length direction of the longitudinal ribs is parallel to the length direction of the moving platform.

[0024] The beneficial effect of adopting the above technical solution is that the longitudinal ribs also greatly enhance the bending strength of the movable platform, making it easier for the movable platform to carry out grasping operations of large-mass workpieces after improvement. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a front view of an implementation method of the utility model;

[0027] Figure 2 It is a three-dimensional diagram of an embodiment of the utility model;

[0028] Figure 3 It is a three-dimensional diagram of a moving platform in one embodiment of the utility model;

[0029] Figure 4 It is a three-dimensional diagram of a moving platform in one embodiment of the utility model.

[0030] 1-first servo motor; 2-second servo motor; 3-first active arm; 4-secondary active arm; 5-elbow bracket; 6-first slave arm; 7-secondary slave arm; 8-second active arm; 9-second slave arm; 10-moving platform; 101-widening part; 102-longitudinal ribs; 103-cross ribs; 11-static platform. DETAILED DESCRIPTION

[0031] The following is a further detailed description of the present invention in conjunction with specific embodiments:

[0032] In order to achieve the purpose of the utility model, a dual-motor two-axis robot includes: servo motors, two servo motors are arranged parallel to each other; main double links, two groups of main double links are arranged in mirror symmetry; secondary double links, one group of secondary double links is arranged on one side of a group of main double links; an elbow frame 5, a hinge of a group of main double links itself and a hinge of an adjacent group of secondary double links are movably assembled through the elbow frame 5; a moving platform 10, assembled together with the two groups of main double links and one group of secondary double links.

[0033] The beneficial effect of adopting the above technical solution is: by using two servo motors, each motor drives a set of main double-links, the freedom of the moving platform to approach or move away from the servo motor can be realized. The operating principle is that the angle between the two single links in the double-link will change accordingly. In addition, a set of auxiliary double-links is arranged on one side of the auxiliary double-link group, which plays a role in strengthening the structural strength of this set of main double-links. The auxiliary double-link is equivalent to the driven link, and the main double-link is the active link. In the end, it is equivalent to having three sets of double-links to participate in the linkage, and finally forming a connecting rod robot structure with strong bearing capacity. After targeted modification, this robot structure can be used in some sorting demand areas of automated assembly lines, because it at least has the most basic lifting and lowering freedom of approaching or moving away.

[0034] In other embodiments of the present invention, two sets of double-links include a first active arm 3 and a first driven arm 6 hinged to each other, and also include a second active arm 8 and a second driven arm 9 hinged to each other, and the secondary double-link includes a secondary active arm 4 and a secondary driven arm 7; the hinge of the first active arm 3 and the first driven arm 6 is a pin located on the elbow frame 5; the secondary active arm 4 and the secondary driven arm 7 are respectively hinged to the elbow frame 5 and form two pins, and the lines connecting the three pins in sequence form a triangle.

[0035] The beneficial effect of adopting the above technical solution is: the specific structure of the main double link and the auxiliary double link is explained, and the elbow bracket must include three pins that are not in a straight line, so that the main double link and the auxiliary double link can be equivalent to forming two parallelogram linkage mechanisms.

[0036] In other embodiments of the present invention, the first active arm 3 and the auxiliary active arm 4 are parallel to each other, and the first driven arm 6 and the auxiliary driven arm 7 are parallel to each other; the first active arm 3 and the second active arm 8 are equal in length and arranged in a mirror image, and the first driven arm 6 and the second driven arm 9 are equal in length and arranged in a mirror image.

[0037] The beneficial effect of adopting the above technical solution is that the main double links and the auxiliary double links are equivalent to forming two parallelogram linkage mechanisms, and the parallelogram linkage mechanism keeps the links on opposite sides moving synchronously and in parallel directions.

[0038] In other embodiments of the present invention, the distance from the hinge of the first active arm 3 and the first driven arm 6 to the hinge of the second active arm 8 and the second driven arm 9 is the farthest distance between the two sets of main double links.

[0039] The beneficial effect of adopting the above technical solution is that the middle parts of the two sets of main double connecting rods are far apart, so that the middle parts of the two sets of main double connecting rods are prevented from interfering with each other when the main double connecting rods are in motion.

[0040] like Figure 2As shown, in other embodiments of the utility model, the servo motor includes a first servo motor 1 vertically fixed to one end of the first active arm 3, and also includes a second servo motor 2 vertically fixed to one end of the second active arm 8; the same end of the first driven arm 6, the second driven arm 9, and the auxiliary driven arm 7 are movably assembled with the moving platform 10.

[0041] The beneficial effect of adopting the above technical solution is that the two servo motors can have different rotation directions and angles, and the moving platform serves as the working end, so in theory the final moving platform can not only have the freedom of lifting and lowering, but even have the possibility of left and right lateral movement, which further enriches the improvement space and application space of this mechanism in the sorting field.

[0042] In some other embodiments of the present invention, the first servo motor 1 and the second servo motor 2 are jointly equipped with a static platform 11 , and one end of the auxiliary active arm 4 is also movably assembled with the static platform 11 .

[0043] The beneficial effect of adopting the above technical solution is that the static platform is equivalent to a fixed seat and can be fixed to the external frame.

[0044] In other embodiments of the present invention, the length directions of the first active arm 3 , the auxiliary active arm 7 , the first driven arm 6 , the auxiliary driven arm 7 , the second active arm 8 , the second driven arm 9 , and the moving platform 10 coincide with the same spatial plane.

[0045] The beneficial effect of adopting the above technical solution is that the overall underlying technical logic is a planar linkage mechanism.

[0046] like Figure 3 As shown, in other embodiments of the present invention, the moving platform 10 has a laterally enlarged widened portion 101 , and the widened portion 101 is located between two connection points between the first driven arm 6 , the second driven arm 9 and the moving platform 10 .

[0047] The beneficial effect of adopting the above technical solution is that the widened portion increases the area, which is convenient for fixing with external components, such as assembling and fixing with components such as a suction cup head and a finger cylinder.

[0048] like Figure 3 As shown, in some other embodiments of the present invention, a cross rib 103 is protruded from one side of the widened portion 101 .

[0049] The beneficial effect of adopting the above technical solution is that the cross ribs increase the structural strength of the widened portion.

[0050] like Figure 4 As shown, in some other embodiments of the present invention, a longitudinal rib 102 is protruded from one side of the moving platform 10 , and the length direction of the longitudinal rib 102 is parallel to the length direction of the moving platform 10 .

[0051] The beneficial effect of adopting the above technical solution is that the longitudinal ribs also greatly enhance the bending strength of the movable platform, making it easier for the movable platform to carry out grasping operations of large-mass workpieces after improvement.

[0052] The widened portion 101 also has holes for bolts to pass through.

[0053] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A dual-motor two-axis robot, characterized in that: include: Servo motors, two servo motors are arranged parallel to each other; Main double connecting rods, two sets of main double connecting rods are arranged in mirror symmetry; Auxiliary double links, a set of auxiliary double links is arranged on one side of a set of main double links; Toggle bracket, the hinge of a set of main double links and the hinge of an adjacent set of secondary double links are assembled movably through the toggle bracket; The movable platform is assembled with two sets of main double connecting rods and one set of auxiliary double connecting rods.

2. The dual-motor dual-axis robot according to claim 1, characterized in that: The two sets of double connecting rods include a first active arm and a first driven arm hinged to each other, and also include a second active arm and a second driven arm hinged to each other, and the auxiliary double connecting rod includes an auxiliary active arm and an auxiliary driven arm; The hinge point of the first active arm and the first driven arm is a pin located on the toggle bracket; The auxiliary active arm and the auxiliary driven arm are respectively hinged to the toggle bracket to form two pins, and the lines connecting the three pins in sequence form a triangle.

3. The dual-motor dual-axis robot according to claim 2, characterized in that: The first active arm and the auxiliary active arm are parallel to each other, and the first driven arm and the auxiliary driven arm are parallel to each other; The first active arm and the second active arm have the same length and are arranged in a mirror image, and the first driven arm and the second driven arm have the same length and are arranged in a mirror image.

4. The dual-motor dual-axis robot according to claim 2, characterized in that: The distance between the hinge point of the first active arm and the first driven arm and the hinge point of the second active arm and the second driven arm is the farthest distance between the two sets of main double connecting rods.

5. The dual-motor dual-axis robot according to claim 2, characterized in that: The servo motor comprises a first servo motor vertically fixed to one end of the first active arm, and also comprises a second servo motor vertically fixed to one end of the second active arm; The same end of each of the first driven arm, the second driven arm and the auxiliary driven arm is movably assembled with the moving platform.

6. The dual-motor dual-axis robot according to claim 5, characterized in that: The first servo motor and the second servo motor are jointly equipped with a static platform, and one end of the auxiliary active arm is also movably assembled with the static platform.

7. The dual-motor dual-axis robot according to claim 2, characterized in that: The length directions of the first active arm, the auxiliary active arm, the first driven arm, the auxiliary driven arm, the second active arm, the second driven arm and the moving platform overlap in the same spatial plane.

8. The dual-motor dual-axis robot according to claim 2, characterized in that: The moving platform is provided with a transversely enlarged widened portion, and the widened portion is located between two connection points between the first driven arm, the second driven arm and the moving platform respectively.

9. The dual-motor dual-axis robot according to claim 8, characterized in that: One side of the widened portion is protruded with a cross rib.

10. The dual-motor dual-axis robot according to claim 1, characterized in that: One side of the moving platform is protruded with longitudinal ribs, and the length direction of the longitudinal ribs is parallel to the length direction of the moving platform.

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