Universal robot

Abstract

The universal robot provided by the utility model comprises a bearing part, a bracket and a plurality of manipulators, the bearing part is arranged on one side of the support, and the multiple mechanical arms are arranged on the bearing part. The bearing part comprises a plurality of first driving mechanisms, and the output ends of the first driving mechanisms are connected with the ends, close to the bearing part, of the manipulators so as to drive the manipulators to vertically ascend and descend relative to the support; and an operating piece is arranged at one end, far away from the bearing part, of the manipulator. Compared with the prior art, the universal robot provided by the utility model has the advantages that the bearing part is arranged on the bracket to bear the plurality of manipulators and the plurality of first driving mechanisms, so that the manipulators can vertically ascend and descend through the first driving mechanisms; and the operation piece is arranged at the end, away from the bearing part, of the mechanical arm to operate the workpiece, so that the mechanical arm can transfer the workpiece and conduct operation, the use scene is diversified, and overhaul and maintenance are convenient.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a general-purpose robot. Background Art

[0002] In scenarios such as commodity sales, pharmaceutical processing, express delivery sorting, warehouse inventory counting and goods in and out of the warehouse, daily housework, and restaurant dining, most of the services still require manual labor, which has high labor costs and low work efficiency. At present, some manufacturers have also developed special service robots, but this type of service robot is limited to a single usage scenario and has a complex structure, troublesome maintenance, and high cost of use. In view of this, it is necessary to design a general robot to solve the above problems. Utility Model Content

[0003] The utility model aims to provide a universal robot which is suitable for a variety of usage scenarios, has a simple structure, is convenient for overhaul and maintenance, and saves costs.

[0004] In order to achieve the above-mentioned purpose, the general robot provided by the utility model includes a load-bearing part, a bracket and a plurality of manipulators; the load-bearing part is arranged on one side of the bracket, and the plurality of manipulators are arranged on the load-bearing part; the load-bearing part includes a plurality of first driving mechanisms, and the output end of the first driving mechanism is connected to an end of the manipulator close to the load-bearing part to drive the manipulator to rise and fall vertically relative to the bracket; an operating member is arranged at an end of the manipulator away from the load-bearing part.

[0005] Compared with the prior art, the universal robot provided by the utility model is provided with the bearing part on the bracket to carry a plurality of the manipulators and a plurality of the first driving mechanisms, so that the manipulators can be vertically lifted and lowered by the first driving mechanisms, and the operating member is provided at the end of the manipulator away from the bearing part to operate the workpiece, so that the manipulator can transport the workpiece and perform other operations. It can be applicable to a variety of usage scenarios and has a simple overall structure, which is convenient for inspection and maintenance and saves costs.

[0006] Specifically, the first driving mechanism includes a first driving motor, a first screw rod and a first nut; the first driving motor is fixedly arranged on the bearing part; one end of the first screw rod is connected to the output end of the first driving motor; the first nut is connected to the first screw rod by a thread, and the first nut is also connected to one end of the manipulator close to the bearing part.

[0007] Specifically, the manipulator includes a first arm, a second arm, a first joint and a second joint; the first joint is arranged at one end of the first arm close to the bearing part and connected to the output end of the first driving mechanism, and the first arm can pivot relative to the bracket through the first joint; the second joint is arranged at one end of the first arm away from the bearing part, and one end of the second arm is rotatably connected to one end of the first arm away from the bearing part through the second joint. Such a setting enables the manipulator to move more flexibly through the first joint or the second joint, which is conducive to improving the convenience of use and has a wider range of applicable scenarios.

[0008] Preferably, the bearing part further includes a first slide rail, the first joint further includes a first slider, and the first slider cooperates with the first slide rail. Such a configuration can better guide the manipulator to vertically rise and fall relative to the bracket, further improving the accuracy of the operation.

[0009] Preferably, the manipulator further comprises a second driving mechanism, the second driving mechanism is arranged on the second arm, and the output end of the second driving mechanism is connected to the operating member to drive the operating member to rotate relative to the manipulator. Such a setting enables the operating member to rotate relative to the manipulator, further improving the flexibility of operation to be applicable to more usage scenarios.

[0010] Specifically, the second driving mechanism includes a second driving motor, a transmission belt, a driven wheel and a commutator; the second driving motor is arranged at an end of the second arm close to the second joint, the commutator is arranged at an end of the second arm away from the second joint, and the output end of the second driving motor is connected to the commutator; the output end of the commutator is connected to the driven wheel through the transmission belt; the driven wheel and the operating member are both arranged at an end of the second arm away from the second joint, and the driven wheel is coaxially connected to the operating member to drive the operating member to rotate relative to the second arm.

[0011] Preferably, a first reduction motor is provided at the first joint, and the output end of the first reduction motor is coaxially connected to the first joint to drive the first arm to rotate relative to the bearing part; a second reduction drive mechanism is provided at the second joint, and the output end of the second reduction drive mechanism is coaxially connected to the second joint to drive the second arm to rotate relative to the first arm.

[0012] Preferably, the universal robot further includes a third driving mechanism, which includes a third driving motor, a third screw and a third nut; the third driving motor is fixedly arranged on the bracket; one end of the third screw is connected to the output end of the third driving motor; the third nut is connected to the third screw by a thread, and the third nut is also fixedly connected to the bearing part to drive the bearing part to vertically rise and fall relative to the bracket. Such a setting enables the bearing part to move relative to the bracket, further expanding the moving range of the manipulator and facilitating operation in more usage scenarios.

[0013] Specifically, the manipulators are symmetrically arranged on opposite sides of the bearing portion, so that the two manipulators can work in coordination and improve efficiency.

[0014] Preferably, the universal robot further comprises a mobile trolley, and the bracket is arranged on the mobile trolley. Such an arrangement facilitates the transportation and use of the universal robot and improves the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a stereogram from one perspective of the universal robot provided by the utility model.

[0016] Figure 2 It is a stereogram from another perspective of the universal robot provided by the utility model.

[0017] Figure 3 It is a schematic diagram of the universal robot provided by the utility model after removing part of the shell of the bearing part.

[0018] Figure 4 It is a schematic diagram of the universal robot provided by the utility model after removing the bracket and part of the shell of the bearing part.

[0019] Figure 5 yes Figure 4 A partial enlarged view of point A in the middle.

[0020] Figure 6 It is a schematic diagram of an embodiment of a manipulator of a universal robot provided by the utility model.

[0021] Figure 7 It is a schematic diagram of another embodiment of the manipulator of the universal robot provided by the utility model.

[0022] Figure 8 It is a schematic diagram of the operating parts of the universal robot provided by the utility model. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present application in combination with the accompanying drawings, and an explanation of the technical solutions of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0024] See also Figures 1 to 4 The general robot 100 provided by the utility model includes a bearing part 1, a bracket 2 and a plurality of manipulators 3. The bearing part 1 is arranged on one side of the bracket 2, and the plurality of manipulators 3 are arranged on the bearing part 1. The bearing part 1 includes a plurality of first driving mechanisms 11, and the output end of the first driving mechanism 11 is connected to one end of the manipulator 3 close to the bearing part 1, so as to drive the manipulator 3 to vertically rise and fall relative to the bracket 2. An operating member 30 is arranged at one end of the manipulator 3 away from the bearing part 1, and the operating member 30 is used to grab a workpiece. Specifically, the first driving mechanism 11 includes a first driving motor 111, a first screw rod 112 and a first nut 113. The first driving motor 111 is fixedly arranged on the bearing part 1. One end of the first screw rod 112 is connected to the output end of the first driving motor 111. The first nut 113 is connected to the first screw rod 112 by a thread, and when the first screw rod 112 rotates, the first nut 113 moves along the first screw rod 112. The first nut 113 is also connected to one end of the manipulator 3 close to the bearing portion 1 to drive the manipulator 3 to move. In order to facilitate loading and unloading and improve efficiency, the bracket 2 also includes a material storage trough 21, and the material storage trough 21 is used to temporarily store the workpiece. The material storage trough 21 is arranged on the side of the bracket 2 relative to the bearing portion 1. In this embodiment, the number of the manipulators 3 is two, and they are symmetrically arranged on the opposite sides of the bearing portion 1. In this way, when one of the manipulators 3 is operating, the other manipulator 3 can move to the top of the material storage trough 21 and take out other workpieces from the material storage trough 21 without setting up a special retrieval mechanism. At the same time, in order to facilitate transportation and use, the general robot 100 also includes a mobile cart (not shown in the accompanying drawings), and the bracket 2 is arranged on the mobile cart.

[0025] For further information, see Figures 3 to 5, the manipulator 3 includes a first arm 31, a second arm 32, a first joint 33 and a second joint 34. The first joint 33 is arranged at one end of the first arm 31 close to the bearing part 1 and is connected to the first nut 113, and the first arm 31 can pivot relative to the bracket 2 through the first joint 33. The second joint 34 is arranged at one end of the first arm 31 away from the bearing part 1, and one end of the second arm 32 is rotatably connected to the end of the first arm 31 away from the bearing part 1 through the second joint 34. Such a setting enables the manipulator 3 to move more flexibly through the first joint 33 or the second joint 34, which is conducive to improving the convenience of use, and is suitable for a wider range of usage scenarios.

[0026] In order to make the manipulator 3 more stable and vertically lift relative to the bracket 2, and further improve the accuracy of the operation, please refer to Figures 4 to 5 The first slide rails 12 are fixedly arranged on both sides of the bearing part 1, and the first joint 33 also includes a first slider 330, which cooperates with the first slide rail 12. At the same time, the cooperation between the first slider 330 and the first slide rail 12 can further provide support for the manipulator 3 and improve the reliability of use.

[0027] For further information, see Figure 1 , Figure 6 and Figure 8The manipulator 3 further includes a second driving mechanism 35, which is disposed on the second arm 32, and the output end of the second driving mechanism 35 is connected to the operating member 30 to drive the operating member 30 to rotate relative to the manipulator 3. Specifically, the second driving mechanism 35 includes a second driving motor 351, a transmission belt 352, a driven wheel 353 and a commutator 354. The second driving motor 351 is disposed at one end of the second arm 32 close to the second joint 34, the commutator 354 is disposed at one end of the second arm 32 away from the second joint 34, and the output end of the second driving motor 351 is connected to the commutator 354, and the output end of the commutator 354 is connected to the driven wheel 353 through the transmission belt 352. The driven wheel 353 and the operating member 30 are both disposed at one end of the second arm 32 away from the second joint 34, and the driven wheel 353 is coaxially connected to the operating member 30 to drive the operating member 30 to rotate relative to the second arm 32. Such a configuration makes the operating member 30 more flexible and has a greater degree of freedom in operation. In the present embodiment, a plurality of execution units 301 are provided at one end of the operating member 30 away from the driven wheel 353 to perform operations on a plurality of the workpieces at a time. When the manipulator 3 completes an operation, the operating member 30 rotates relative to the second arm 32, and an execution unit 301 also rotates accordingly to grab a new workpiece to a predetermined position for operation, further saving the material picking time of the manipulator 3. Depending on the usage scenario, the execution unit 301 can be a suction cup, a clamp, or other tool-type execution units, so as to be suitable for different usage scenarios, without the need to prepare a variety of service robots, which is more economical.

[0028] See also Figure 6 A first reduction motor 331 is provided at the first joint 33, and the output end of the first reduction motor 331 is coaxially connected to the first joint 33 to drive the first arm 31 to rotate relative to the bearing part 1; a second reduction drive mechanism 36 is provided at the second joint 34, and the output end of the second reduction drive mechanism 36 is coaxially connected to the second joint 34 to drive the second arm 32 to rotate relative to the first arm 31.

[0029] In some embodiments of this application, please refer to Figure 6 The second reduction drive mechanism 36 includes a second reduction motor 360, and the output end of the reduction motor 360 is coaxially connected to the second joint 34 to drive the second arm 32 to rotate relative to the first arm 31 via the second joint 34. In other embodiments of the present application, please refer to Figure 7, the second reduction drive mechanism 36 includes a reducer drive motor 361 and a reducer 362. The reducer drive motor 361 is arranged on the first arm 31, and the reducer 362 is coaxially connected to the second joint 34. The output end of the reducer drive motor 361 is connected to the reducer 335 to drive the second arm 32 to rotate relative to the first arm 31 via the second joint 34. In this embodiment, since the output end of the reducer drive motor 361 and the input end of the reducer 335 are arranged to intersect, the reducer 362 adopts a bevel gear reducer. The structure and working principle of the bevel gear reducer are well known to those skilled in the art and will not be described in detail here.

[0030] For further information, see Figure 2 , the universal robot 100 also includes a third driving mechanism 37. The third driving mechanism 37 includes a third driving motor 371, a third screw rod 372 and a third nut 373; the third driving motor 371 is fixedly arranged on the bracket 2. One end of the third screw rod 372 is connected to the output end of the third driving motor 371. The third nut 373 is connected to the third screw rod 372 by threading, and the third nut 373 is also fixedly connected to the bearing part 1 to drive the bearing part 1 to rise and fall vertically relative to the bracket 2. Such a setting enables the bearing part 1 to move relative to the bracket 2, further expanding the moving range of the manipulator 3.

[0031] For further information, see Figure 4 and Figure 5 , the bracket 2 also includes a first elongated hole 22, and the third nut 373 is fixedly connected to the bearing part 1 by a connecting bolt passing through the first elongated hole 22, so that the bearing part 1 can be vertically lifted and lowered along the first elongated hole 12. In this example, there are two first elongated holes 22 and they are arranged in parallel with each other, so as to further position the third nut 373. In order to make the relative movement of the bearing part 1 more stable, the two opposite inner sides of the bearing part 1 are further provided with second slide rails 13, and the two opposite outer sides of the bracket 2 are also fixedly provided with second sliders 23, and the second slide rails 13 and the second sliders 23 cooperate with each other.

[0032] The following is a description of the working process of the universal robot 100 provided by the utility model. The manipulator 3 operates on the side of the bracket 2 close to the bearing part 1, and a workbench for carrying the workpiece can be set on this side according to the use scenario. When operating, the two manipulators 3 first move to the top of the material storage tank 21, and then lower the height to allow the operating member 30 to grab the workpiece from the material storage tank 21. After the operating member 30 grabs the workpiece, the two manipulators 3 move to the side of the bracket 2 where the bearing part 1 is provided and lower the height to place the workpiece on the workbench for the next operation or transfer the workpiece by means of the workbench. After the operation is completed on the workpiece, the manipulator 3 rises to a certain height, and the operating member 30 rotates relative to the manipulator 3, switching a new workpiece to a predetermined position for the next operation, and the workpiece on the workbench will also move synchronously by means of the conveyor belt to cooperate with the next operation. Of course, the universal robot 100 can also be directly driven by the mobile car to move, so as to perform operations in multiple scenarios.

[0033] It should be noted that the first drive motor 111, the second drive motor 351, the reducer drive motor 361 and the third drive motor 371 can be selected from servo motors that meet the requirements. The first reduction motor 331 and the second reduction motor 360 can be selected from reduction motors that meet the requirements. The commutator 354 can be selected from a gear commutator that meets the requirements. The structures and principles of the servo motor, the reduction motor and the gear commutator are well known to those skilled in the art and will not be elaborated here.

[0034] Compared with the prior art, the general robot 100 provided by the utility model is provided with the bearing part 1 on the bracket 2 to carry a plurality of the manipulators 3 and a plurality of the first driving mechanisms 11, so that the manipulators 3 can be vertically lifted and lowered by the first driving mechanisms 11, and the operating member 30 is provided at the end of the manipulator 3 away from the bearing part 1 to operate the workpiece, so that the manipulator 3 can transport the workpiece and perform other operations. It can be applicable to a variety of usage scenarios and has a simple overall structure, which is convenient for inspection and maintenance and more cost-effective.

[0035] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A general-purpose robot, characterized in that: It includes a bearing part, a bracket and a plurality of manipulators; the bearing part is arranged on one side of the bracket, and the plurality of manipulators are arranged on the bearing part; the bearing part includes a plurality of first driving mechanisms, and the output end of the first driving mechanism is connected to an end of the manipulator close to the bearing part to drive the manipulator to rise and fall vertically relative to the bracket; an operating member is arranged at an end of the manipulator away from the bearing part.

2. The general-purpose robot according to claim 1, characterized in that: The first driving mechanism includes a first driving motor, a first screw rod and a first nut; the first driving motor is fixedly arranged on the bearing part; one end of the first screw rod is connected to the output end of the first driving motor; the first nut is connected to the first screw rod by a thread, and the first nut is also connected to one end of the manipulator close to the bearing part.

3. The general-purpose robot according to claim 1, characterized in that: The robot comprises a first arm, a second arm, a first joint and a second joint; the first joint is disposed at one end of the first arm close to the bearing portion and connected to the output end of the first driving mechanism, and the first arm can pivot relative to the bracket via the first joint; The second joint is disposed at one end of the first arm away from the bearing portion, and one end of the second arm is rotatably connected to one end of the first arm away from the bearing portion via the second joint.

4. The general-purpose robot according to claim 3, characterized in that: The bearing portion further includes a first slide rail, and the first joint further includes a first sliding block, and the first sliding block cooperates with the first slide rail.

5. The general-purpose robot according to claim 3, characterized in that: The manipulator further includes a second driving mechanism, which is disposed on the second arm, and an output end of the second driving mechanism is connected to the operating member to drive the operating member to rotate relative to the manipulator.

6. The general-purpose robot according to claim 5, characterized in that: The second driving mechanism includes a second driving motor, a transmission belt, a driven wheel and a commutator; the second driving motor is arranged at one end of the second arm close to the second joint, the commutator is arranged at one end of the second arm away from the second joint, and the output end of the second driving motor is connected to the commutator; the output end of the commutator is connected to the driven wheel through the transmission belt; the driven wheel and the operating member are both arranged at one end of the second arm away from the second joint, and the driven wheel is coaxially connected to the operating member to drive the operating member to rotate relative to the second arm.

7. The general-purpose robot according to claim 3, characterized in that: A first reduction motor is disposed at the first joint, and an output end of the first reduction motor is coaxially connected to the first joint to drive the first arm to rotate relative to the bearing part; A second reduction drive mechanism is disposed at the second joint, and an output end of the second reduction drive mechanism is coaxially connected to the second joint to drive the second arm to rotate relative to the first arm.

8. The general-purpose robot according to claim 1, characterized in that: The general robot also includes a third driving mechanism, which includes a third driving motor, a third screw rod and a third nut; the third driving motor is fixedly arranged on the bracket; one end of the third screw rod is connected to the output end of the third driving motor; the third nut is connected to the third screw rod by a thread, and the third nut is also fixedly connected to the bearing part to drive the bearing part to vertically rise and fall relative to the bracket.

9. The general-purpose robot according to claim 1, characterized in that: The manipulators are symmetrically arranged on two opposite sides of the carrying portion.

10. The general-purpose robot according to claim 1, characterized in that: It also includes a moving trolley, and the bracket is arranged on the moving trolley.

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