Single-shaft double-arm single-section manipulator capable of preventing collision damage
By introducing anti-collision and buffer components into the single-axis, dual-arm, single-section robotic arm, the collision problem when the robotic arm grips materials is solved, achieving a safe distance between the robotic arms and a buffering effect, thus improving ease of use.
Patent Information
- Application Number
- CN202423218341.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2034-12-26
AI Technical Summary
While existing single-axis dual-arm single-section robotic arms can avoid collisions between themselves through programming, material collisions still occur when the robotic arms are gripping materials, making them inconvenient to use.
By setting up anti-collision components and buffer components, and using sliders, connecting rods, support rods and buffer devices, the robotic arm is ensured to maintain a certain distance and to avoid direct collisions during movement. This includes the coordinated use of guide grooves, movable rods, telescopic springs and dampers.
It effectively prevents collisions when the robotic arm is gripping materials, improves the ease of use and reliability of the robotic arm, and avoids direct collisions between robotic arms and damage to materials.
Smart Images
Figure CN223545259U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of single-axis double-arm single-section manipulator technology, specifically a single-axis double-arm single-section manipulator that is resistant to collision damage. Background Technology
[0002] A single-axis, dual-arm, single-segment robot is an automated device typically used in industrial production lines for material handling, assembly, or other operations. This type of robot has one rotating axis (i.e., a single axis) and is equipped with two working arms, each capable of performing a specific task independently or collaboratively. "Single-segment" means that the robot has only one joint, which is the part containing the rotating axis.
[0003] When using existing single-axis dual-arm single-section robotic arms, since the two robotic arms perform different operations, although the collision between the robotic arms can be avoided by setting the program, the materials being gripped by the robotic arms will collide, which is inconvenient to use. Utility Model Content
[0004] The purpose of this utility model is to provide a single-axis dual-arm single-section manipulator that is protected against collision damage, in order to solve the problem mentioned in the background art that when the existing single-axis dual-arm single-section manipulator is used, the two manipulators perform different operations, and although the collision between the manipulators can be avoided by setting the program, the materials held by the manipulators will collide, which is inconvenient to use.
[0005] To solve the above-mentioned technical problems, this utility model provides a single-axis, double-arm, single-segment manipulator that is resistant to collision damage, comprising:
[0006] A robotic arm assembly, the robotic arm assembly including a guide rail;
[0007] An anti-collision assembly includes a slide rail, a first slider, a second slider, a fixed shaft, a connecting rod, a support rod, a groove, a fixed post, and a fixed nut. The slide rail is fixedly connected to one side of the guide rail. The first slider is slidably connected to the upper end of the slide rail. The second slider is slidably connected to both sides of the inner end of the first slider. The fixed shaft is fixedly connected to the inner end of the second slider. One end of the connecting rod is rotatably connected to the outer surface of the fixed shaft. The support rod is rotatably connected to the inner end of the other end of the connecting rod. The groove is formed on both sides of the upper end of the first slider. The fixed post is fixedly connected to both sides of the upper end of the second slider. The fixed nut is threadedly connected to the outer surface of the fixed post.
[0008] Furthermore, the robotic arm assembly also includes a support frame, a control box, a first robotic arm, and a second robotic arm. The control box is slidably connected to the upper end of the support frame, and a guide rail is fixedly connected to the outside of the control box. The first robotic arm and the second robotic arm are slidably connected to the inside of the guide rail.
[0009] Furthermore, the fixing post extends upward through the sliding groove, and the outer surface of the fixing post has a threaded structure relative to the fixing nut.
[0010] Furthermore, the second slider has an I-shaped structure, and the upper end of the second slider is located at the upper end of the first slider.
[0011] Furthermore, the support rods are fixedly connected to the outer sides of the first and second robotic arms, respectively, and the upper end of the second slider has an L-shaped structure.
[0012] Furthermore, it also includes a buffer assembly, which includes a guide groove, a movable rod, a baffle, a telescopic spring, and a damper. The guide groove is located inside the upper end of the second slider, the movable rod is slidably connected inside the guide groove, the baffle is fixedly connected to one side of the outer surface of the movable rod, the telescopic spring is fixedly connected to the outer side of the baffle, and the damper is fixedly connected to one side of the upper end of the second slider.
[0013] Furthermore, one end of the damper is fixedly connected to the outer end of the telescopic spring, and the baffle is slidably connected to the inner side of the upper end of the second slider.
[0014] Furthermore, the outer end of the movable rod has a hemispherical structure, and the outer end of the movable rod extends outward through the guide groove.
[0015] Compared with the prior art, the beneficial effects of this utility model are: by setting up anti-collision components and fixing the second slider inside the first slider, the first robotic arm and the second robotic arm are kept at a certain distance under the limit of the connecting rod and the second slider, so that the materials held by the first robotic arm and the second robotic arm will not collide.
[0016] Meanwhile, by setting up a buffer component, when the first and second robotic arms move to the mechanical distance, they will not directly collide with the second slider under the action of the movable rod, telescopic spring and damper, further avoiding the occurrence of collisions. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is the front view of the present utility model;
[0019] Figure 2 This is a structural diagram of the robotic arm component of this utility model;
[0020] Figure 3 This is a structural diagram of the anti-collision component of this utility model;
[0021] Figure 4 This is a structural diagram of the buffer component of this utility model.
[0022] The attached diagram lists the components represented by each number as follows:
[0023] 11. Support frame; 12. Control box; 13. Guide rail; 14. First robotic arm; 15. Second robotic arm; 21. Slide rail; 22. First slider; 23. Second slider; 24. Fixed shaft; 25. Connecting rod; 26. Support rod; 27. Slide groove; 28. Fixed column; 29. Fixed nut; 31. Guide groove; 32. Movable rod; 33. Baffle; 34. Telescopic spring; 35. Damper. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] Please see Figure 1-3 As shown, this embodiment is a single-axis, dual-arm, single-segment robotic arm designed to prevent collision damage, comprising:
[0026] A robotic arm assembly, which includes a guide rail 13;
[0027] The anti-collision assembly includes a slide rail 21, a first slider 22, a second slider 23, a fixed shaft 24, a connecting rod 25, a support rod 26, a groove 27, a fixed post 28, and a fixed nut 29. The slide rail 21 is fixedly connected to one side of the guide rail 13. The first slider 22 is slidably connected to the upper end of the slide rail 21. The second slider 23 is slidably connected to both sides of the inner part of the first slider 22. The fixed shaft 24 is fixedly connected to the inner part of the outer end of the second slider 23. One end of the connecting rod 25 is rotatably connected to the outer surface of the fixed shaft 24. The support rod 26 is rotatably connected to the inner part of the other end of the connecting rod 25. The groove 27 is opened on both sides of the upper end of the first slider 22. The fixed post 28 is fixedly connected to both sides of the upper end of the second slider 23. The fixed nut 29 is threadedly connected to the outer surface of the fixed post 28.
[0028] The slide rail 21 is used to support and guide the first slider 22, the first slider 22 is used to support and guide the second slider 23, the second slider 23 is used to support the fixed shaft 24, the fixed shaft 24 is used to support the connecting rod 25, the support rod 26 is used to support the other end of the connecting rod 25, the slide groove 27 is used to guide the fixed post 28, the fixed post 28 is used to limit the second slider 23, and the fixing nut 29 is used to fix the fixed post 28 inside the first slider 22.
[0029] The robotic arm assembly also includes a support frame 11, a control box 12, a first robotic arm 14, and a second robotic arm 15. The control box 12 is slidably connected to the upper end of the support frame 11, and the guide rail 13 is fixedly connected to the outer side of the control box 12. The first robotic arm 14 and the second robotic arm 15 are slidably connected to the inner side of the guide rail 13.
[0030] The support frame 11 is used to support the control box 12, which is used to control the movement of the first robotic arm 14 and the second robotic arm 15. The guide rail 13 is used to support and guide the first robotic arm 14 and the second robotic arm 15.
[0031] The fixing post 28 extends upward through the slide groove 27, and the outer surface of the fixing post 28 has a threaded structure relative to the fixing nut 29.
[0032] By tightening the fixing nut 29, the fixing post 28 can be fixed inside the slide groove 27.
[0033] The second slider 23 has an I-shaped structure, and the upper end of the second slider 23 is located at the upper end of the first slider 22.
[0034] The second slider 23 can move inside the first slider 22, and the movement of the second slider 23 can drive the fixed shaft 24 to slide.
[0035] The support rod 26 is fixedly connected to the outer side of the first robotic arm 14 and the second robotic arm 15 respectively, and the upper end of the second slider 23 has an L-shaped structure.
[0036] When the first robotic arm 14 and the second robotic arm 15 move, they can drive the support rod 26 to move.
[0037] Working principle: When the first robotic arm 14 and the second robotic arm 15 slide on the upper end of the guide rail 13, the spacing of the second slider 23 is adjusted according to the size of the material, so that the second slider 23 slides inside the first slider 22. The movement of the second slider 23 drives the fixed column 28 to slide inside the slide groove 27. When the second slider 23 moves to the desired position, the fixed column 28 is fixed inside the first slider 22 by using the fixing nut 29, so that the second slider 23 is fixed on both sides of the first slider 22. At this time, when the first robotic arm 14 and the second robotic arm 15 move, they will drive the support... The support rod 26 moves, which drives the connecting rod 25 to rotate. The rotation of the connecting rod 25 can be limited by the upper end of the second slider 23, thereby limiting the distance between the first robotic arm 14 and the second robotic arm 15. This prevents the materials held by the first robotic arm 14 and the second robotic arm 15 from colliding. At the same time, the first robotic arm 14 and the second robotic arm 15 drive the first slider 22 to slide on the upper end of the slide rail 21 through the support rod 26, the connecting rod 25, and the second slider 23, so that the minimum distance between the first robotic arm 14 and the second robotic arm 15 always remains the same.
[0038] Please see Figure 4 As shown, this embodiment, based on the above embodiment, further includes:
[0039] The buffer assembly includes a guide groove 31, a movable rod 32, a baffle 33, a telescopic spring 34, and a damper 35. The guide groove 31 is located inside the upper end of the second slider 23. The movable rod 32 is slidably connected to the inside of the guide groove 31. The baffle 33 is fixedly connected to one side of the outer surface of the movable rod 32. The telescopic spring 34 is fixedly connected to the outside of the baffle 33. The damper 35 is fixedly connected to one side of the upper end of the second slider 23.
[0040] The guide groove 31 is used to guide the movable rod 32, the movable rod 32 is used to drive the baffle 33 to move, the baffle 33 is used to drive the telescopic spring 34 to compress, the telescopic spring 34 is used to deform and generate elastic force, and the damper 35 is used to limit the telescopic spring 34.
[0041] The inner side of one end of the damper 35 is fixedly connected to the outer end of the telescopic spring 34, and the baffle 33 is slidably connected to the inner side of the upper end of the second slider 23.
[0042] When the baffle 33 slides outward, it can cause the telescopic spring 34 to be compressed.
[0043] The outer end of the movable rod 32 has a hemispherical structure, and the outer end of the movable rod 32 extends outward through the guide groove 31.
[0044] The outer end of the movable rod 32 is in contact with the outer side of the connecting rod 25, and the rotation of the connecting rod 25 can drive the movable rod 32 to move.
[0045] Working principle: When the connecting rod 25 rotates under the drive of the first robotic arm 14 and the second robotic arm 15, the connecting rod 25 rotates along the fixed shaft 24. When the connecting rod 25 rotates towards the inner side of the upper end of the second slider 23, the connecting rod 25 drives the movable rod 32 to move. The movement of the movable rod 32 drives the baffle 33 to move. The baffle 33 drives the telescopic spring 34 to compress and generate elastic force, so that the telescopic spring 34 and the damper 35 buffer the movement of the movable rod 32, thereby buffering the movement of the first robotic arm 14 and the second robotic arm 15.
[0046] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0047] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A single-axis, dual-arm, single-segment manipulator designed to prevent collision damage, characterized in that, include: A robotic arm assembly, the robotic arm assembly including a guide rail (13); The anti-collision assembly includes a slide rail (21), a first slider (22), a second slider (23), a fixed shaft (24), a connecting rod (25), a support rod (26), a groove (27), a fixed post (28), and a fixed nut (29). The slide rail (21) is fixedly connected to one side of the guide rail (13). The first slider (22) is slidably connected to the upper end of the slide rail (21). The second slider (23) is slidably connected to both sides of the first slider (22). The fixed shaft (24) is fixedly connected to the inner end of the second slider (23). One end of the connecting rod (25) is rotatably connected to the outer surface of the fixed shaft (24). The support rod (26) is rotatably connected to the inner end of the other end of the connecting rod (25). The groove (27) is opened on both sides of the upper end of the first slider (22). The fixed post (28) is fixedly connected to both sides of the upper end of the second slider (23). The fixed nut (29) is threadedly connected to the outer surface of the fixed post (28).
2. The single-axis dual-arm single-segment manipulator for collision protection as described in claim 1, characterized in that: The robotic arm assembly also includes a support frame (11), a control box (12), a first robotic arm (14), and a second robotic arm (15). The control box (12) is slidably connected to the upper end of the support frame (11), and the guide rail (13) is fixedly connected to the outer side of the control box (12). The first robotic arm (14) and the second robotic arm (15) are slidably connected to the inner side of the guide rail (13).
3. The single-axis dual-arm single-segment manipulator for collision protection as described in claim 1, characterized in that: The fixing post (28) extends upward through the slide groove (27), and the outer surface of the fixing post (28) has a threaded structure relative to the fixing nut (29).
4. A single-axis, dual-arm, single-segment manipulator for collision protection as described in claim 1, characterized in that: The second slider (23) has an I-shaped structure, and the upper end of the second slider (23) is located at the upper end of the first slider (22).
5. A single-axis, dual-arm, single-segment manipulator for collision protection as described in claim 1, characterized in that: The support rod (26) is fixedly connected to the outer side of the first robotic arm (14) and the second robotic arm (15), and the upper end of the second slider (23) is an L-shaped structure.
6. A single-axis, dual-arm, single-segment manipulator for collision protection as described in claim 1, characterized in that: It also includes a buffer assembly, which includes a guide groove (31), a movable rod (32), a baffle (33), a telescopic spring (34), and a damper (35). The guide groove (31) is located inside the upper end of the second slider (23). The movable rod (32) is slidably connected to the inside of the guide groove (31). The baffle (33) is fixedly connected to one side of the outer surface of the movable rod (32). The telescopic spring (34) is fixedly connected to the outside of the baffle (33). The damper (35) is fixedly connected to one side of the upper end of the second slider (23).
7. A single-axis, dual-arm, single-segment manipulator for collision protection as described in claim 6, characterized in that: The damper (35) is fixedly connected to the outer end of the telescopic spring (34) at one end, and the baffle (33) is slidably connected to the inner side of the upper end of the second slider (23).
8. A single-axis, dual-arm, single-segment manipulator for collision protection as described in claim 6, characterized in that: The outer end of the movable rod (32) is a hemispherical structure, and the outer end of the movable rod (32) extends outward through the guide groove (31).