Double-arm composite robot

Abstract

The utility model discloses a double-arm composite robot, which relates to the technical field of robots and comprises a supporting seat, a main machine body is mounted on the surface of the supporting seat, movable arms are mounted on two sides of the main machine body, and clamping pieces are mounted on the surfaces of the movable arms. The air cylinder is started, the telescopic end of the air cylinder stretches out and draws back, then the supporting blocks are driven to move inwards in a gathering mode, when an object is clamped, the air cylinder moves on the air cylinder support, and when the supporting blocks conduct gathering clamping inwards, the electric telescopic rods are started to drive the claw arms in the supporting blocks to stretch out and draw back. The electric telescopic rod drives the claw arm to slide towards the interior of the supporting block, then an object is hooked through the arc-shaped grabbing plate, friction force is increased by clamping the object through the rubber protruding block, and therefore the object can be effectively clamped, and the object can be clamped more stably and firmly.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a dual-arm compound robot. Background Art

[0002] In the field of robotics, the most common type is the traditional multi-degree-of-freedom robot. Although this technology is relatively mature, when dealing with more flexible and changeable tasks and requirements, such traditional robots may not be suitable enough, which requires a dual-arm robot to complete such tasks.

[0003] However, existing dual-arm robots generally have shortcomings such as being unstable when clamping objects, the clamping force is not firm and stable enough, and the robot's clamping range is not sufficient, making it difficult to apply them in industrial applications. Utility Model Content

[0004] The purpose of the utility model is to provide a dual-arm compound robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] A dual-arm compound robot comprises a support seat, a main body is mounted on the surface of the support seat, movable arms are mounted on both sides of the main body, and clamping pieces are mounted on the surface of the movable arms.

[0007] A further improvement of the technical solution of the utility model is that the movable arm includes a shoulder rotating motor, which is installed on both sides of the main body, and a shoulder movable joint is installed on the output end of the surface of the shoulder rotating motor, and an electric rotating shaft is installed at one end of the shoulder movable joint. By starting the shoulder rotating motor, the shoulder movable joint is driven to rotate and adjust, and then the elbow rotating motor and the movable shaft are driven to move through the electric rotating shaft.

[0008] A further improvement of the technical solution of the utility model is that: an elbow rotating motor is installed at one end of the electric rotating shaft, a movable shaft is installed at the output end of the elbow rotating motor, one side of the movable shaft is fixedly connected to an arm electric rotating shaft, one end of the arm electric rotating shaft is fixedly connected to an electric movable shaft, the arm electric rotating shaft and the electric movable shaft are driven to move by the movable shaft, the arm electric rotating shaft and the electric movable shaft rotate in coordination with each other, so that the overall movable arm can rotate freely.

[0009] A further improvement of the technical solution of the utility model is that the clamping member includes a fixing plate, the fixing plate is fixedly connected to the surface of the electric movable shaft, the lower surface of the fixing plate is fixedly connected to a fixing seat, the inner wall of the fixing seat is rotatably connected to a clamping claw via a rotating shaft, the bottom of the fixing plate is fixedly connected to an upper clamping plate, the inner wall of the cylinder support is rotatably connected to a cylinder, and the output end of the cylinder is rotatably connected to the side of the support block.

[0010] A further improvement of the technical solution of the utility model is that: cylinder supports are installed on both sides of the fixed plate, the surface of the cylinder support is rotatably connected to the cylinder, the output end of the cylinder is rotatably connected to a movable block, and the movable block is rotatably connected to one side of the clamping jaw. By arranging the cylinder, the fixed seat and the support block, it is convenient to start the cylinder to cause the support block to rotate.

[0011] A further improvement of the technical solution of the utility model is that the clamping claw comprises a supporting block, the supporting block is movably connected to one end of the fixed seat, a sliding groove is provided inside the supporting block, a claw arm is slidably connected to the inner wall of the sliding groove, a stopper is fixedly connected to the bottom of the supporting block, and an upper clamping plate, an arc-shaped grabbing plate and a claw arm are arranged, so that the arc-shaped grabbing plate of the multifunctional clamping mechanical claw contacts the ground first and squeezes the claw arm when the claw descends.

[0012] A further improvement of the technical solution of the utility model is that: sliding blocks are fixedly connected to both sides of the claw arm, an electric telescopic rod is fixedly connected to one end of the claw arm, a rubber block is fixedly connected to the surface of the claw arm, and an arc-shaped grab plate is fixedly connected to one end of the claw arm. The claw arm slides on the inner wall of the slide groove, and the cylinder is started, so that the arc-shaped grab plate, the upper clamping plate and the claw arm can firmly grasp the object, so that small objects can also be firmly grasped.

[0013] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0014] 1. The utility model provides a dual-arm compound robot, which starts the shoulder rotating motor to drive the shoulder movable joint to rotate left and right, and then drives the elbow rotating motor and the movable shaft to flip up and down through the electric rotating shaft, and then drives the movable shaft to rotate through the elbow rotating motor to adjust the direction, and drives the electric movable shaft to flip and rotate through the arm electric rotating shaft, and then drives the clamping piece to flip and move up and down through the electric movable shaft, so that the clamping piece connected to the movable arm can be driven to move, so that the clamping range of the clamping piece is not limited, and the clamping of objects is more flexible.

[0015] 2. The utility model provides a dual-arm compound robot. When the cylinder is started, the telescopic end of the cylinder is extended and retracted, thereby driving the support block to move inward. When clamping an object, the cylinder moves on the cylinder support. When the support block is gathered inward for clamping, the electric telescopic rod is started to drive the claw arm inside the support block to move telescopically. The claw arm is driven by the electric telescopic rod to slide toward the inside of the support block, and then the object is hooked by the arc-shaped gripping plate. The friction of the clamping of the object is increased by the rubber protrusion, so that the object can be effectively clamped, making the clamping of the object more stable and firm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the movable arm of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the clamping member of the utility model;

[0019] Figure 4 It is a structural schematic diagram of the clamping jaws of the utility model.

[0020] In the figure: 1. support seat; 2. main body; 3. movable arm; 30. shoulder rotation motor; 31. shoulder movable joint; 32. electric rotating shaft 1; 33. elbow rotation motor; 34. movable shaft; 35. arm electric rotating shaft; 36. electric movable shaft; 4. clamping member; 40. fixed plate; 41. cylinder support; 42. cylinder; 43. movable block; 44. clamping claw; 440. support block; 441. stopper; 442. slide groove; 443. claw arm; 444. slider; 445. rubber bump; 446. arc-shaped grab plate; 447. electric telescopic rod; 45. fixed seat; 46. upper clamping plate. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the embodiments:

[0022] Example 1

[0023] like Figure 1-4As shown, the utility model provides a dual-arm compound robot, including a support seat 1, a main body 2 is installed on the surface of the support seat 1, movable arms 3 are installed on both sides of the main body 2, a clamping member 4 is installed on the surface of the movable arm 3, the movable arm 3 includes a shoulder rotating motor 30, the shoulder rotating motor 30 is installed on both sides of the main body 2, a shoulder movable joint 31 is installed on the output end of the surface of the shoulder rotating motor 30, an electric rotating shaft 32 is installed at one end of the shoulder movable joint 31, an elbow rotating motor 33 is installed at one end of the electric rotating shaft 32, a movable shaft 34 is installed at the output end of the elbow rotating motor 33, one side of the movable shaft 34 is fixedly connected to an arm electric rotating shaft 35, and one end of the arm electric rotating shaft 35 is fixedly connected to an electric movable shaft 36;

[0024] Specifically, by starting the shoulder rotating motor 30, the shoulder movable joint 31 is driven to rotate left and right, and then the elbow rotating motor 33 and the movable shaft 34 are driven to flip up and down through the electric rotating shaft 1 32. Then, the movable shaft 34 is driven to rotate through the elbow rotating motor 33 to adjust the direction, and the electric movable shaft 36 is driven to flip and rotate through the arm electric rotating shaft 35. Then, the clamping member 4 is driven to flip and move up and down through the electric movable shaft 36, thereby providing a more flexible space for the clamping range of the clamping member 4.

[0025] Example 2

[0026] like Figure 1-4 As shown, on the basis of embodiment 1, the utility model provides a technical solution: preferably, the clamping member 4 includes a fixed plate 40, the fixed plate 40 is fixedly connected to the surface of the electric movable shaft 36, the lower surface of the fixed plate 40 is fixedly connected to a fixed seat 45, the inner wall of the fixed seat 45 is rotatably connected to a clamping claw 44 through a rotating shaft, the bottom of the fixed plate 40 is fixedly connected to an upper clamping plate 46, cylinder supports 41 are installed on both sides of the fixed plate 40, the surface of the cylinder support 41 is rotatably connected to a cylinder 42, the output end of the cylinder 42 is rotatably connected to a movable block 43, and the movable block 4 3 is rotatably connected to one side of the clamping claw 44, and the clamping claw 44 includes a support block 440, which is movably connected to one end of the fixing seat 45, and a slide groove 442 is provided inside the support block 440, and a claw arm 443 is slidably connected to the inner wall of the slide groove 442, and a stopper 441 is fixedly connected to the bottom of the support block 440, and sliders 444 are fixedly connected to both sides of the claw arm 443, and an electric telescopic rod 447 is fixedly connected to one end of the claw arm 443, and a rubber protrusion 445 is fixedly connected to the surface of the claw arm 443, and an arc-shaped grab plate 446 is fixedly connected to one end of the claw arm 443;

[0027] Specifically, the cylinder 42 is started, so that the telescopic end of the cylinder 42 is telescoped, thereby driving the support block 440 to move inward for gathering. When the cylinder 42 is started, the cylinder 42 moves on the cylinder support 41. When the support block 440 is gathered and clamped inward, the electric telescopic rod 447 is started to drive the claw arm 443 inside the support block 440 to telescope and move. When clamping an object, the claw arm 443 is driven by the electric telescopic rod 447 to slide toward the inside of the support block 440, and then the object is hooked by the arc-shaped grab plate 446. The friction force of clamping the object is increased by the rubber protrusion 445, so that the object can be effectively clamped, and the claw arm 443 is driven by the slider 444 to limit the sliding of the inside of the slide groove 442, and the slider 444 is blocked and restricted by the block 441 at the bottom of the support block 440 to prevent the claw arm 443 from falling from the support block 440.

[0028] The following is a detailed description of the working principle of the dual-arm compound robot.

[0029] like Figure 1-4 As shown, by starting the shoulder rotating motor 30, the shoulder movable joint 31 is driven to rotate left and right, and then the elbow rotating motor 33 and the movable shaft 34 are driven to flip up and down through the electric rotating shaft 1 32, and then the movable shaft 34 is driven to rotate through the elbow rotating motor 33 to adjust the direction, and the electric movable shaft 36 is driven to flip and rotate through the arm electric rotating shaft 35, and then the clamping member 4 is driven to flip and move up and down through the electric movable shaft 36, so that a more flexible space can be provided for the clamping range of the clamping member 4, and the cylinder 42 is started to make the telescopic end of the cylinder 42 extend and retract, thereby driving the support block 440 to move inward. When the cylinder 42 is started, the cylinder 42 is in The cylinder support 41 moves, and when the support block 440 is gathered and clamped inwardly, the electric telescopic rod 447 is started to drive the claw arm 443 inside the support block 440 to telescope and move. When clamping an object, the electric telescopic rod 447 drives the claw arm 443 to slide toward the inside of the support block 440, and then the object is hooked by the arc-shaped grab plate 446, and the friction force of the clamping of the object is increased by the rubber protrusion 445, so that the object can be effectively clamped, and the claw arm 443 is driven by the slider 444 to limit the sliding inside the slide groove 442, and the slider 444 is blocked and restricted by the stopper 441 at the bottom of the support block 440 to prevent the claw arm 443 from falling from the support block 440.

[0030] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not deviate from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A dual-arm compound robot, comprising a support base (1) and an electric movable shaft (36), characterized in that: A main body (2) is mounted on the surface of the support seat (1), movable arms (3) are mounted on both sides of the main body (2), and a clamping member (4) is mounted on the surface of the movable arm (3); The clamping member (4) comprises a fixing plate (40), wherein the fixing plate (40) is fixedly connected to the surface of the electric movable shaft (36), the lower surface of the fixing plate (40) is fixedly connected to a fixing seat (45), the inner wall of the fixing seat (45) is rotatably connected to a clamping claw (44) via a rotating shaft, the bottom of the fixing plate (40) is fixedly connected to an upper clamping plate (46), cylinder supports (41) are installed on both sides of the fixing plate (40), the surface of the cylinder support (41) is rotatably connected to a cylinder (42), the output end of the cylinder (42) is rotatably connected to a movable block (43), and the movable block (43) is rotatably connected to one side of the clamping claw (44); The clamping claw (44) comprises a supporting block (440), wherein the supporting block (440) is movably connected to one end of a fixing seat (45), a sliding groove (442) is provided inside the supporting block (440), a claw arm (443) is slidably connected to the inner wall of the sliding groove (442), a stopper (441) is fixedly connected to the bottom of the supporting block (440), sliding blocks (444) are fixedly connected to both sides of the claw arm (443), one end of the claw arm (443) is fixedly connected to an electric telescopic rod (447), a rubber protrusion (445) is fixedly connected to the surface of the claw arm (443), and one end of the claw arm (443) is fixedly connected to an arc-shaped grab plate (446).

2. A dual-arm compound robot according to claim 1, characterized in that: The movable arm (3) comprises a shoulder rotating motor (30), the shoulder rotating motor (30) being mounted on both sides of the main body (2), a shoulder movable joint (31) being mounted on the output end of the surface of the shoulder rotating motor (30), and an electric rotating shaft (32) being mounted on one end of the shoulder movable joint (31).

3. A dual-arm compound robot according to claim 2, characterized in that: An elbow rotating motor (33) is installed at one end of the electric rotating shaft (32), a movable shaft (34) is installed at the output end of the elbow rotating motor (33), one side of the movable shaft (34) is fixedly connected to an arm electric rotating shaft (35), and one end of the arm electric rotating shaft (35) is fixedly connected to an electric movable shaft (36).

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