Double-arm connecting structure of automatic carrying manipulator
Through the design of the connecting frame, transition connection components and self-lubricating bearings, the problem of out-of-synchronization of the drive system of the double-arm handling robot is solved, and synchronous transmission is achieved, which extends the service life and reduces the motor load, and improves maintenance convenience.
Patent Information
- Application Number
- CN202422499934.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-10-16
AI Technical Summary
During the automated handling process, the driving system is not synchronized by the double-arm transport robot, resulting in deformation of the mechanical structure, increased internal consumption, damage to mechanical components and excessive motor load.
The connecting frame, transition connection assembly and self-lubricating bearing set structure are adopted. Through the cooperation of the pin and limit rod, the error of the drive system is compensated, synchronous transmission is achieved, the structural weight is reduced and maintenance is facilitated.
It effectively solves the mechanical structure deformation and internal consumption problems caused by the drive system due to the abnormality of the drive system, extends the service life of the robot, reduces the motor load, and improves the use stability and maintenance convenience of the robot.
Smart Images
Figure CN223133421U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic handling equipment, in particular to a double-arm connection structure of an automatic handling manipulator. Background Technique
[0002] As one of the mechanical equipment for material handling, loading and unloading, transportation, lifting, stacking and storage, the handling manipulator can still meet the handling requirements when handling heavy objects that cannot be borne by manual handling or operating in areas with high temperature or radioactive substances. Therefore, sufficient attention should be paid to the material handling system in production, and advanced and applicable material handling machinery should be adopted, which can reduce labor intensity, reduce product damage, protect the health of workers, and improve labor productivity and product quality at the same time.
[0003] However, the applicant found in many actual operation processes that during the automatic handling process of the double-arm handling manipulator, there will be an asynchronous transmission phenomenon of the two sets of drive systems, which will then lead to deformation of the mechanical structure, increase the internal friction during the double-arm lifting process, damage mechanical components, and cause problems such as excessive motor load, greatly reducing the service life of the handling manipulator. Content of the Utility Model
[0004] In view of the deficiencies of the prior art, the utility model provides a double-arm connection structure of an automatic handling manipulator, which solves the problems raised in the above background technique.
[0005] The utility model provides the following technical solutions: A double-arm connection structure of an automatic handling manipulator includes a first speed multiplier body, a second speed multiplier body, and bearings. The bottoms of both the first speed multiplier body and the second speed multiplier body are connected with first transition plates. A connecting frame is arranged between the first speed multiplier body and the second speed multiplier body. Second transition plates are arranged at the bottoms on both sides of the connecting frame, and a transition connection component is installed between the top of one side of the second transition plate and the bottom of the corresponding side of the connecting frame.
[0006] The other sides of the two second transition plates are respectively clamped with a first mounting hole and a second mounting hole. The bottom of one side of both first transition plates is fixedly connected with a limiting rod, and one ends of the two limiting rods are respectively sleeved inside the second mounting hole and inside the first mounting hole.
[0007] Preferably, end effector insertion boxes are installed at the bottoms of both first transition plates and on both sides of the bottom of the connecting frame. And between the top structure of the end effector insertion box at the bottom of the connecting frame and the corresponding bottom structure of the connecting frame, and between the top structure of the end effector insertion box at the bottom of the first transition plate and the corresponding bottom structure of the first transition plate, they are detachably installed by screws.
[0008] Preferably, through holes for weight reduction are provided in both the front and rear end structures and the bottom structure of the connecting frame, which can reduce the weight of the structure itself while ensuring the strength of the structure in use, and the number of the weight reduction holes is not less than two.
[0009] Preferably, each of the two transition connection components is composed of a pin shaft and a bearing socket sleeved on the end of the pin shaft, and the four bearing sockets are divided into two groups and respectively fixed to the tops of one sides of the two second transition plates. One sides of the middle parts of the two pin shafts are respectively connected to both sides of the bottom of the connecting frame, and the middle structure of the pin shaft and the corresponding side structure at the bottom of the connecting frame are detachably installed through screws, which is convenient for subsequent maintenance.
[0010] Preferably, the corresponding end of the bearing socket and the pin shaft are sleeved through a bearing, which can improve the rotation stability of the pin shaft supported by the bearing socket, and the connecting frame can be rotationally adjusted circumferentially along the end of the pin shaft under the support of the transition connection component.
[0011] Preferably, the bearing specifically adopts a self-lubricating bearing, which can be lubricated without oil or with less oil, and can be used without maintenance or with less maintenance. The self-lubricating bearing is completely sleeved inside the corresponding bearing socket to avoid structural interference.
[0012] Preferably, the first mounting hole is in a strip-shaped structure, which provides a space for subsequent movement adjustment. The limiting rod inside the first mounting hole can provide a sliding guide for the corresponding first speed multiplier body and the first transition plate, providing working conditions for offsetting errors in the Y direction.
[0013] Compared with the prior art, the utility model has the following beneficial effects:
[0014] 1. For the double-arm connection structure provided by the utility model, after errors occur in the X direction of the first speed multiplier body and the second speed multiplier body, the side of the connecting frame can rotate around the transition connection component with the support of the corresponding transition connection component, so as to compensate for the inevitable errors in motion control. Similarly, when errors occur in the Y direction of the first speed multiplier body and the second speed multiplier body, the errors are offset through the guidance of the first mounting hole and the corresponding limiting rod. Furthermore, when errors occur in the Z direction of the first speed multiplier body and the second speed multiplier body, the errors can be offset through the rotation between the transition connection component and the first transition plate.
[0015] 2. For the double-arm connection structure provided by the utility model, screws are basically used for installation and fixation between the main structures inside it, which can provide modular working conditions for subsequent disassembly and replacement while ensuring stable connection. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a front view schematic diagram of the structure of the utility model;
[0017] Figure 2 It is a bottom view schematic diagram of the structure of the present utility model;
[0018] Figure 3 It is a front view schematic diagram of the connecting frame of the structure of the present utility model;
[0019] Figure 4 It is a top view schematic diagram of the connecting frame of the structure of the present utility model;
[0020] Figure 5 It is an enlarged schematic diagram of the transition connection component of the structure of the present utility model;
[0021] Figure 6 It is an enlarged schematic diagram of the limiting rod of the structure of the present utility model.
[0022] In the figure: 1. First speed-changing body; 2. Second speed-changing body; 3. Connecting frame; 4. Transition connection component; 41. Pin shaft; 42. Bearing sleeve seat; 5. First transition plate; 6. Second transition plate; 7. First mounting hole; 8. Second mounting hole; 9. Limiting rod; 10. End effector insertion box; 11. Bearing. Specific embodiments
[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0024] Please refer to Figures 1-6 , an automated handling manipulator double-arm connection structure, including a first speed-changing body 1, a second speed-changing body 2, and a bearing 11. The bottom of the first speed-changing body 1 and the bottom of the second speed-changing body 2 are both connected with a first transition plate 5. A connecting frame 3 is arranged between the first speed-changing body 1 and the second speed-changing body 2. The front and rear end structures of the connecting frame 3 and the bottom structure of the connecting frame 3 are both provided with through-shaped weight-reducing holes, which reduce the self-weight of the structure while ensuring the use strength of the structure, and the number of the weight-reducing holes is not less than two. Second transition plates 6 are arranged at the bottoms on both sides of the connecting frame 3, and a transition connection component 4 is installed between the top of one side of the second transition plate 6 and the corresponding side bottom of the connecting frame 3;
[0025] The two transition connection components 4 are composed of a pin shaft 41 and a bearing sleeve 42 mounted on the end of the pin shaft 41, and the four bearing sleeves 42 are fixedly connected to the top of one side of the two second transition plates 6 in groups of two, and the middle part of one side of the two pin shafts 41 is connected to both sides of the bottom of the connecting frame 3 respectively, and the middle structure of the pin shaft 41 and the corresponding bottom side structure of the connecting frame 3 are detachably installed by screws, which is convenient for subsequent maintenance. The bearing sleeve 42 and the corresponding end of the pin shaft 41 are mounted by the bearing 11, which improves the rotation stability of the pin shaft 41 under the support of the bearing sleeve 42, and the connecting frame 3 can be rotated and adjusted along the circumference of the end of the pin shaft 41 with the support of the transition connection component 4;
[0026] The bearing 11 is specifically a self-lubricating bearing, which can be lubricated without oil or with little oil, and can be used without maintenance or with little maintenance, and the self-lubricating bearing is completely sleeved inside the corresponding bearing sleeve 42 to avoid structural interference;
[0027] The bottom of the two first transition plates 5 and both sides of the bottom of the connecting frame 3 are both installed with end-tool inserting boxes 10, and the top structure of the end-tool inserting box 10 located at the bottom of the connecting frame 3 and the corresponding bottom structure of the connecting frame 3, and the top structure of the end-tool inserting box 10 located at the bottom of the first transition plate 5 and the corresponding bottom structure of the first transition plate 5 are both detachably installed by screws;
[0028] The other sides of the two second transition plates 6 are respectively clamped with the first mounting hole 7 and the second mounting hole 8. The bottom of one side of the two first transition plates 5 is fixedly connected to a limiting rod 9. One end of the two limiting rods 9 is respectively inserted into the inside of the second mounting hole 8 and the inside of the first mounting hole 7. The first mounting hole 7 is a long strip structure to provide a clearance space for subsequent movement and adjustment, and the limiting rod 9 inside the first mounting hole 7 can provide sliding guides for the corresponding first speed body 1 and the first transition plate 5, and provide working conditions for offsetting errors in the Y direction.
[0029] Working principle:
[0030] Embodiment 1
[0031] When there is an error between the first speed body 1 and the second speed body 2 along the X direction, one side or the other side of the connecting frame 3 can, with the support of the transition connection assembly 4, rotate along the circumferential direction of the pin shaft 41 inside the transition connection assembly 4 to make way, thereby compensating for the inevitable errors in motion control, ensuring that the drive systems corresponding to the first speed body 1 and the second speed body 2 can respectively transmit and operate synchronously, thereby solving the problems in the prior art that the two drive systems will always be out of sync, the mechanical structure will be deformed, etc., leading to internal friction in the process of double-arm lifting, damage to mechanical components or excessive motor load, and other problems.
[0032] Embodiment 2
[0033] When there is an error in the Y direction between the first speed multiplier body 1 and the second speed multiplier body 2, with the guiding of a limiting rod 9 and the corresponding first mounting hole 7, the first speed multiplier body 1 and the corresponding first transition plate 5 can make a yielding movement to offset the error, ensuring that the respective drive systems corresponding to the first speed multiplier body 1 and the second speed multiplier body 2 can perform synchronous transmission operations, and solving the problems in the prior art such as the asynchronous operation and mechanical structure deformation of the two sets of drive systems, resulting in internal friction during the double-arm lifting process, damage to mechanical components or excessive motor load, etc.
[0034] Embodiment III
[0035] When there is an error in the Z direction between the first speed multiplier body 1 and the second speed multiplier body 2, the first speed multiplier body 1 and the first transition plate 5 connected thereto can rotate to offset the error with the support of the corresponding second transition plate 6 and the corresponding transition connection assembly 4. Or, the second speed multiplier body 2 and the first transition plate 5 connected thereto can also rotate to offset the error with the support of the corresponding second transition plate 6 and the corresponding transition connection assembly 4, ensuring that the respective drive systems corresponding to the first speed multiplier body 1 and the second speed multiplier body 2 can perform synchronous transmission operations, and solving the problems in the prior art such as the asynchronous operation and mechanical structure deformation of the two sets of drive systems, resulting in internal friction during the double-arm lifting process, damage to mechanical components or excessive motor load, etc.
[0036] Embodiment IV
[0037] When some structures in the device need to be repaired, the connecting screws between the first transition plate 5 and the corresponding first speed multiplier body 1 or the corresponding second speed multiplier body 2 can be disassembled. After completion, structures such as the first speed multiplier body 1, the second speed multiplier body 2, and the connecting frame 3 can be replaced as a whole to meet the use effect of convenient replacement and repair.
[0038] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. At the same time, in the drawings of the present invention, the filling patterns are only for distinguishing layers and are not limited in any other way.
[0039] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.
Claims
1. An automatic handling robot double-arm connection structure, comprising a first speed multiplier body (1), a second speed multiplier body (2), and a bearing (11), characterized in that: The bottom of the first speed-up body (1) and the bottom of the second speed-up body (2) are both connected with a first transition plate (5). A connecting frame (3) is arranged between the first speed-up body (1) and the second speed-up body (2). Second transition plates (6) are arranged at the bottoms on both sides of the connecting frame (3), and a transition connecting component (4) is installed between the top of one side of the second transition plate (6) and the bottom of the corresponding side of the connecting frame (3). The other sides of the two second transition plates (6) are respectively clamped with a first mounting hole (7) and a second mounting hole (8). Limit rods (9) are fixedly connected to the bottoms of one sides of the two first transition plates (5). One ends of the two limit rods (9) are respectively sleeved inside the second mounting hole (8) and inside the first mounting hole (7).
2. The double-arm connection structure of an automated handling manipulator according to claim 1, wherein: End effector insertion boxes (10) are installed at the bottoms of the two first transition plates (5) and at the two sides of the bottom of the connecting frame (3). The top structure of the end effector insertion box (10) located at the bottom of the connecting frame (3) and the corresponding bottom structure of the connecting frame (3), and the top structure of the end effector insertion box (10) located at the bottom of the first transition plate (5) and the corresponding bottom structure of the first transition plate (5) are detachably installed by screws.
3. The double-arm connection structure of an automated handling manipulator according to claim 1, characterized in that: Penetrating weight reduction holes are formed in the front and rear end structures and the bottom structure of the connecting frame (3), and the number of the weight reduction holes is not less than two.
4. An automated handling robot double-arm connection structure according to claim 1, characterized in that: The two transition connecting components (4) are each composed of a pin shaft (41) and a bearing sleeve seat (42) sleeved on the end of the pin shaft (41). The four bearing sleeve seats (42) are grouped in pairs and are respectively fixedly connected to the tops of one sides of the two second transition plates (6). One sides of the middle parts of the two pin shafts (41) are respectively connected to the two sides of the bottom of the connecting frame (3), and the middle structure of the pin shaft (41) and the corresponding bottom side structure of the connecting frame (3) are detachably installed by screws.
5. The double-arm connection structure of an automated handling manipulator according to claim 4, characterized in that: The end of the bearing sleeve seat (42) corresponding to the pin shaft (41) is sleeved by a bearing (11), and the connecting frame (3) can be rotationally adjusted along the circumferential direction of the end of the pin shaft (41) with the support of the transition connecting component (4).
6. An automated handling robot double-arm connection structure according to claim 5, characterized in that: The bearing (11) is specifically a self-lubricating bearing, and the self-lubricating bearing is completely sleeved inside the corresponding bearing sleeve seat (42).
7. The double-arm connection structure of an automated handling manipulator according to claim 1, wherein: The first mounting hole (7) is a strip-shaped structure, and the limit rod (9) inside the first mounting hole (7) can provide slip guidance for the corresponding first speed-up body (1) and first transition plate (5).