Double-arm crossed type mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a double-arm crossed type mechanical arm. Comprising a mounting base, a mechanical arm structure, a mechanical arm transmission mechanism and a driving mechanism. The mechanical arm structure comprises a first long-strip-shaped mechanical arm body and a second long-strip-shaped mechanical arm body, and the mechanical arm transmission mechanism comprises a driving bevel gear, a first gear mounting base, a first driven bevel gear, a second gear mounting base and a second driven bevel gear. The first gear mounting seat comprises a first boss, a first cylindrical mounting base, a second boss and a first gear mounting shaft which are integrally formed, and the second gear mounting seat comprises a third boss, a second cylindrical mounting base, a fourth boss and a second gear mounting shaft which are integrally formed. The driving bevel gear directly drives the first driven bevel gear and the second driven bevel gear to drive the first mechanical arm body and the second mechanical arm body to move, the transmission precision and the transmission torque are relatively high, and the working precision and the safety are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical arm technical field especially is related to a double -arm cross type mechanical arm. BACKGROUND

[0002] Manipulator is a kind of automatic machinery that can simulate human hand operation, can grab, carry object or hold tool to complete certain specific operation according to fixed program. Application manipulator can replace people to engage in monotonous, repetitive or heavy physical labor, realize the mechanization and automation of production, improve the labor condition, guarantee personal safety. At present, truss manipulator is widely used in machine tool field, can replace manual work to carry out feeding and discharging, does some labor-intensive and dangerous transport work, is the important component of automatic production line logistics transportation.

[0003] The prior art with authorized announcement number CN212218468U proposes a kind of truss is crossed with manipulator, by two sets of mechanical arm assembly between each other is arranged at oblique angle, one above one below ground cross type action is realized feeding and discharging of workpiece at same time, can improve production efficiency by several times, greatly shorten workpiece processing time, but its two mechanical arms are driven connection by triangular synchronous belt mechanism and servo motor, synchronous belt is prone to slackening and wearing in long time working process, affect working precision, especially in frequent start and stop industrial applications, synchronous belt can fail due to excessive wear, and synchronous belt is mainly suitable for transmitting medium size power and torque, for the application scene of high power, its performance is limited. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the insufficient of prior art, and provide a kind of double -arm cross type mechanical arm with higher working precision and safety.

[0005] The utility model aims at solving the insufficient of prior art, and provide a kind of double -arm cross type mechanical arm with higher working precision and safety.

[0006] A kind of double -arm cross type mechanical arm, it is characterized by including installation base, mechanical arm structure and mechanical arm transmission mechanism being set on installation base, installation mechanism is equipped with the drive mechanism of the drive mechanical arm structure movement;

[0007] The installation base includes rear side plate, left side and right side plate are set on the left front side and right front side of rear side plate, left side plate and right side plate front side are equipped with front side plate, the rear side plate, left side plate, front side plate, right side plate enclose a cavity with up and down opening;

[0008] The mechanical arm structure comprises a first mechanical arm body and a second mechanical arm body in a long strip shape, the first mechanical arm body is arranged along a vertical direction and is provided with a first mechanical hand at the bottom, the second mechanical arm body is arranged at an included angle with the first mechanical arm body in the same plane and is provided with a second mechanical hand at the bottom, the first mechanical arm body is provided with a first sliding rail arranged in parallel therewith, the second mechanical arm body is provided with a second sliding rail arranged in parallel therewith, a first sliding block in sliding connection with the first sliding rail is fixed in the mounting base, and a second sliding block in sliding connection with the second sliding rail is fixed in the mounting base.

[0009] The mechanical arm transmission mechanism comprises a driving bevel gear, a first gear mounting seat, a first driven bevel gear, a second gear mounting seat and a second driven bevel gear; the driving mechanism is fixed on the rear side of the rear side plate, and the driving mechanism output shaft is provided with the driving bevel gear through the rear side plate; the first gear mounting seat comprises a first cylindrical mounting base, a plurality of first mounting holes are uniformly arranged on the first cylindrical mounting base in a circumferential direction, a second mounting hole matched with the first mounting hole is arranged on the front side plate, and the first gear mounting seat further comprises a first bolt and a first nut matched with the first mounting hole and the second mounting hole; the first bolt is sequentially threaded through the first mounting hole, the second mounting hole and the first nut; the first cylindrical mounting base is fixed on the inner side of the front side plate and located in the cavity; the first cylindrical mounting base is provided with a first boss on the front side, and the front side plate is provided with a first groove matched with the first boss at a position matched with the first boss; the first boss is located in the first groove; the first cylindrical mounting base is provided with a second boss on the rear side, and the second boss is provided with a first gear mounting shaft on the rear side; the first gear mounting shaft is fixed with two first bearings; the first driven bevel gear is fixed outside the first bearings; the first driven bevel gear is located below and left of the driving bevel gear and engaged with the driving bevel gear; the first mechanical arm body is located left of the first driven bevel gear, and the first mechanical arm body is provided with a first rack arranged in parallel with the first mechanical arm body on the right side of the first mechanical arm body; the first rack is engaged with the first driven bevel gear; the second gear mounting seat comprises a second cylindrical mounting base, a plurality of third mounting holes are uniformly arranged on the second cylindrical mounting base in a circumferential direction, a fourth mounting hole matched with the third mounting hole is arranged on the front side plate, and the second gear mounting seat further comprises a second bolt and a second nut matched with the third mounting hole and the fourth mounting hole; the second bolt is sequentially threaded through the third mounting hole, the fourth mounting hole and the second nut; the second cylindrical mounting base is fixed on the inner side of the front side plate and located in the cavity; the second cylindrical mounting base is provided with a third boss on the front side, and the front side plate is provided with a second groove matched with the third boss at a position matched with the third boss; the third boss is located in the second groove; the second cylindrical mounting base is provided with a fourth boss on the rear side, and the fourth boss is provided with a second gear mounting shaft on the rear side; the second gear mounting shaft is fixed with two second bearings; the second driven bevel gear is fixed outside the second bearings; the second driven bevel gear is located below and right of the driving bevel gear and engaged with the driving bevel gear; the second mechanical arm body is located right of the second driven bevel gear, and the second mechanical arm body is provided with a second rack arranged in parallel with the second mechanical arm body on the left side of the second mechanical arm body; the second rack is engaged with the second driven bevel gear.

[0010] Based on the above structure, the driving mechanism drives the driving helical gear to rotate, and the driving helical gear directly drives the first driven helical gear and the second driven helical gear to drive the first mechanical arm body and the second mechanical arm body to move, and the transmission accuracy and transmission torque are relatively high, which effectively improves the working accuracy and safety; since the first driven helical gear and the second driven helical gear are respectively arranged on the left and right sides of the driving helical gear, the first mechanical arm body and the second mechanical arm body move alternately up and down, and after one mechanical hand discharges, the other mechanical hand can immediately perform feeding, thereby greatly improving the production efficiency.

[0011] Preferably, the first boss, the first cylindrical mounting base, the second boss, and the first gear mounting shaft are integrally formed.

[0012] Preferably, the first boss and the second boss are cylindrical, and the first boss center axis, the first cylindrical mounting base center axis, the second boss center axis, and the first gear mounting shaft center axis are coincident.

[0013] Preferably, the third boss, the second cylindrical mounting base, the fourth boss, and the second gear mounting shaft are integrally formed.

[0014] Preferably, the third boss and the fourth boss are cylindrical, and the third boss center axis, the second cylindrical mounting base center axis, the fourth boss center axis, and the second gear mounting shaft center axis are coincident.

[0015] Preferably, the left side plate is arranged in parallel with the first mechanical arm body.

[0016] Preferably, the right side plate is arranged in parallel with the second mechanical arm body.

[0017] Preferably, the number of the first slide rails is two, and the two first slide rails are arranged on the front and rear sides of the first mechanical arm body.

[0018] Preferably, the number of the second slide rails is two, and the two second slide rails are arranged on the front and rear sides of the second mechanical arm body.

[0019] Compared with the prior art, the utility model has the following characteristics and beneficial effects:

[0020] 1. The driving mechanism drives the driving helical gear to rotate, and the driving helical gear directly drives the first driven helical gear and the second driven helical gear to drive the first mechanical arm body and the second mechanical arm body to move, and the transmission accuracy and transmission torque are relatively high, which effectively improves the working accuracy and safety.

[0021] 2. Since the first driven helical gear and the second driven helical gear are located on the left and right sides of the driving helical gear respectively, the first robotic arm body and the second robotic arm body move up and down alternately. After the material is unloaded by one robotic arm, it can be immediately loaded by the other robotic arm, which greatly improves production efficiency.

[0022] 3. The first gear mounting base is fixed to the front side plate by the cooperation of the first bolt and the first nut. The cooperation of the first boss and the first groove further limits the first gear mounting base. The integrally formed first boss, first cylindrical mounting base, second boss and first gear mounting shaft further improve the stability of the first gear mounting base, thereby improving the working stability and working accuracy of the first driven helical gear.

[0023] 4. The second gear mounting base is fixed to the front side plate by the cooperation of the second bolt and the second nut. The cooperation of the third boss and the second groove further limits the second gear mounting base. The integrally formed third boss, second cylindrical mounting base, fourth boss and second gear mounting shaft further improve the stability of the second gear mounting base, thereby improving the working stability and working accuracy of the second driven helical gear. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the structure of this utility model after the front side panel is removed.

[0026] Figure 3 This is a top view of the structure of this utility model.

[0027] Figure 4 This is a cross-sectional view of the first gear mounting base and the second gear mounting base of this utility model.

[0028] In the diagram: 1. Drive mechanism; 2. Rear side plate; 3. Left side; 4. Right side plate; 5. Front side plate; 6. First robotic arm body; 7. Second robotic arm body; 8. First slide rail; 9. Second slide rail; 10. First slider; 11. Second slider; 12. Driving helical gear; 13. First gear mounting base; 14. First driven helical gear; 15. Second gear mounting base; 16. Second driven helical gear; 17. First cylindrical mounting base; 18. First mounting hole; 19. Second mounting hole; 20. First nut; 21. First boss; 22. First groove; 23. Second boss; 24. First gear mounting shaft; 25. First bearing; 26. First rack; 27. Second cylindrical mounting base; 28. Third mounting hole; 29. ​​Fourth mounting hole; 30. Second bolt; 31. Second nut; 32. Third boss; 33. Second groove; 34. Fourth boss; 35. Second gear mounting shaft; 36. Second bearing; 37. Second rack; 38. Detailed Implementation

[0029] The utility model discloses make further detailed explanation to the utility model. Figures 1-4 Make further detailed explanation to the utility model.

[0030] A kind of double-arm cross type mechanical arm, it is characterized by including installation base, mechanical arm structure and mechanical arm transmission mechanism being set on installation base, installation mechanism is equipped with the drive mechanism 1 of driving mechanical arm structure movement.

[0031] The installation base includes rear side plate 2, left side plate 3 and right side plate 4 being set in left front side and right front side of rear side plate 2, and front side plate 5 is equipped in left side plate 3 and right side plate 4 front side, the rear side plate 2, left side plate 3, front side plate 5, right side plate 4 enclose a cavity with up and down opening.

[0032] The mechanical arm structure includes long strip-shaped first mechanical arm body 6 and second mechanical arm body 7, the first mechanical arm body 6 is arranged along vertical direction and is equipped with first mechanical hand in bottom, second mechanical arm body 7 and first mechanical arm body 6 are in the same plane and are arranged at the included angle, and second mechanical arm body 7 is equipped with second mechanical hand in bottom, the left side plate 3 is arranged in parallel with first mechanical arm body 6, and the right side plate 4 is arranged in parallel with second mechanical arm body 7. First mechanical arm body 6 is equipped with the first slide rail 8 being arranged in parallel with it, and the preferred number of first slide rail 8 is 2, and two first slide rails 8 are arranged at the front and rear sides of first mechanical arm body 6 respectively, second mechanical arm body 7 is equipped with the second slide rail 9 being arranged in parallel with it, and the preferred number of second slide rail 9 is 2, and two second slide rails 9 are arranged at the front and rear sides of second mechanical arm body 7 respectively, first slide block 10 being slidably connected with first slide rail 8 is fixed in installation base, and second slide block 11 being slidably connected with second slide rail 9 is fixed in installation base.

[0033] The mechanical arm transmission mechanism includes driving bevel gear 12, first gear mounting seat 13, first driven bevel gear 14, second gear mounting seat 15 and second driven bevel gear 16;The drive mechanism 1 is fixed at the rear side of rear side plate 2, and the output shaft of drive mechanism 1 is fixed with driving bevel gear 12 through rear side plate.

[0034] The first gear mounting seat 13 comprises a first cylindrical mounting base 17, a plurality of first mounting holes 18 are uniformly opened on the circumference of the first cylindrical mounting base 17, a second mounting hole 19 is opened on the front side plate 5 and matched with the first mounting hole 18, and the first cylindrical mounting base 17 is fixed inside the front side plate 5 and in the cavity. A first boss 22 is arranged on the front side of the first cylindrical mounting base 17, a first groove 23 matched with the first boss 22 is opened on the position matched with the first boss 22 of the front side plate 5, the first boss 22 is in the first groove 23, a second boss 24 is arranged on the rear side of the first cylindrical mounting base 17, a first gear mounting shaft 25 is arranged on the rear side of the second boss 24, and the first boss 22, the first cylindrical mounting base 17, the second boss 24 and the first gear mounting shaft 25 are integrally formed. Preferably, the first boss 22 and the second boss 24 are cylindrical, the central axis of the first boss 22, the central axis of the first cylindrical mounting base 17, the central axis of the second boss 24 and the central axis of the first gear mounting shaft 25 are coincident. Two first bearings 26 are fixed on the first gear mounting shaft 25, a first driven bevel gear 14 is fixed outside the first bearing 26, the first driven bevel gear 14 is below and meshed with the driving bevel gear 12, the first mechanical arm body 6 is on the left side of the first driven bevel gear 14, a first rack 27 is arranged on the right side of the first mechanical arm body 6 and parallel to the first mechanical arm body 6, and the first rack 27 is meshed with the first driven bevel gear 14.

[0035] The second gear mounting seat 15 comprises a second cylindrical mounting base 28, a plurality of third mounting holes 29 are uniformly and circumferentially arranged on the second cylindrical mounting base 28, a fourth mounting hole 30 is arranged on the front side plate 5 and matched with the third mounting hole 29, and the second cylindrical mounting base 28 is fixed on the inner side of the front side plate 5 and located in the cavity, a third boss 33 is arranged on the front side of the second cylindrical mounting base 28, a second groove 34 matched with the third boss 33 is arranged on the position matched with the third boss 33 of the front side plate 5, the third boss 33 is located in the second groove 34, a fourth boss 35 is arranged on the rear side of the second cylindrical mounting base 28, a second gear mounting shaft 36 is arranged on the rear side of the fourth boss 35, the third boss 33, the second cylindrical mounting base 28, the fourth boss 35 and the second gear mounting shaft 36 are integrally formed, preferably, the third boss 33 and the fourth boss 35 are cylindrical, and the central axis of the third boss 33, the central axis of the second cylindrical mounting base 28, the central axis of the fourth boss 35 and the central axis of the second gear mounting shaft 36 are coincident. Two second bearings 37 are fixed on the second gear mounting shaft 36, a second driven helical gear 16 is fixed outside the second bearing 37, the second driven helical gear 16 is located below and right of the driving helical gear 12 and meshes with the driving helical gear 12, the second mechanical arm body 7 is located right of the second driven helical gear 16, and a second rack 38 parallel to the second mechanical arm body 7 is arranged on the left side of the second mechanical arm body 7, and the second rack 38 meshes with the second driven helical gear 16.

[0036] The working process of the utility model is that the driving mechanism 1 drives the driving helical gear 12 to rotate, the driving helical gear 12 drives the first driven helical gear 14 and the second driven helical gear 16 to rotate, the first driven helical gear 14 drives the first mechanical arm body 6 to move up and down by driving the first rack 27, the second driven helical gear 16 drives the second mechanical arm body 7 to move up and down by driving the second rack 38, and the driving helical gear 12 directly drives the first driven helical gear 14 and the second driven helical gear 16 to drive the first mechanical arm body 6 and the second mechanical arm body 7 to move, the transmission precision and transmission torque are relatively high, and the working precision and safety are effectively improved.

[0037] Since the first driven helical gear 14 and the second driven helical gear 16 are respectively located on the left and right sides of the driving helical gear 12, the first mechanical arm body 6 and the second mechanical arm body 7 move up and down alternately, and after unloading by one mechanical hand, the other mechanical hand can immediately carry out feeding, so that the production efficiency is greatly improved.

[0038] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. A double-arm cross-type robotic arm, characterized in that: It includes a mounting base, a robotic arm structure mounted on the mounting base, and a robotic arm transmission mechanism. The mounting mechanism is equipped with a drive mechanism to drive the movement of the robotic arm structure. The mounting base includes a rear side plate, a left side plate and a right side plate disposed on the left front side and right front side of the rear side plate, and a front side plate disposed on the front side of the left side plate and the right side plate. The rear side plate, the left side plate, the front side plate and the right side plate form a cavity with openings at the top and bottom. The robotic arm structure includes a long, narrow first robotic arm body and a second robotic arm body. The first robotic arm body is arranged vertically and has a first robotic hand at its bottom. The second robotic arm body and the first robotic arm body are on the same plane and are arranged at an angle. The bottom of the second robotic arm body has a second robotic hand. The first robotic arm body has a first slide rail arranged parallel to it. The second robotic arm body has a second slide rail arranged parallel to it. A first slider that is slidably connected to the first slide rail is fixed in the mounting base. A second slider that is slidably connected to the second slide rail is fixed in the mounting base. The robotic arm transmission mechanism includes a driving helical gear, a first gear mounting base, a first driven helical gear, a second gear mounting base, and a second driven helical gear. The drive mechanism is fixed to the rear side of the rear side plate, and the output shaft of the drive mechanism passes through the rear side plate and is fixed with the driving helical gear. The first gear mounting base includes a first cylindrical mounting base, on which a plurality of first mounting holes are evenly formed along the circumference. The front side plate has a second mounting hole that mates with the first mounting holes. It also includes a first bolt and a first nut that mate with the first mounting holes and the second mounting holes. The first bolt passes through the first mounting hole and the second mounting hole in sequence and is connected to the first... The first cylindrical mounting base is fixed to the inner side of the front side plate and located within the cavity. A first boss is provided on the front side of the first cylindrical mounting base. A first groove with a matching shape is provided on the front side plate at the position where the first boss mates with it. The first boss is located within the first groove. A second boss is provided on the rear side of the first cylindrical mounting base. A first gear mounting shaft is provided behind the second boss. Two first bearings are fixed on the first gear mounting shaft. A first driven helical gear is fixed outside the first bearings. The first driven helical gear is located to the lower left of the driving helical gear and meshes with it. The first robotic arm body is positioned within the first driven helical gear. On the left side, a first rack is provided parallel to the right side of the first robotic arm body, and the first rack meshes with a first driven helical gear; the second gear mounting base includes a second cylindrical mounting base, and a plurality of third mounting holes are evenly opened along the circumference of the second cylindrical mounting base. A fourth mounting hole that mates with the third mounting holes is opened on the front side plate, and a second bolt and a second nut that mate with the third mounting holes and the fourth mounting holes are also included. The second bolt passes through the third mounting hole and the fourth mounting hole in sequence and is threadedly connected to the second nut. The second cylindrical mounting base is fixed to the inside of the front side plate and is located in the cavity. A third protrusion is provided on the front side of the base. A second groove with a matching shape is provided at the position where the front side plate mates with the third protrusion. The third protrusion is located in the second groove. A fourth protrusion is provided on the rear side of the second cylindrical mounting base. A second gear mounting shaft is provided on the rear side of the fourth protrusion. Two second bearings are fixed on the second gear mounting shaft. A second driven helical gear is fixed outside the second bearings. The second driven helical gear is located to the lower right of the driving helical gear and meshes with the driving helical gear. The second robotic arm body is located to the right of the second driven helical gear. A second rack is provided on the left side of the second robotic arm body and is arranged parallel to it. The second rack meshes with the second driven helical gear.

2. The dual-arm cross-type robotic arm according to claim 1, characterized in that: The first boss, the first cylindrical mounting base, the second boss, and the first gear mounting shaft are integrally formed.

3. The dual-arm cross-type robotic arm according to claim 1 or 2, characterized in that: The first boss and the second boss are cylindrical, and the central axis of the first boss, the central axis of the first cylindrical mounting base, the central axis of the second boss, and the central axis of the first gear mounting shaft all coincide.

4. The dual-arm cross-type robotic arm according to claim 1, characterized in that: The third boss, the second cylindrical mounting base, the fourth boss, and the second gear mounting shaft are integrally formed.

5. The dual-arm cross-type robotic arm according to claim 1 or 4, characterized in that: The third and fourth protrusions are cylindrical, and the central axis of the third protrusion, the central axis of the second cylindrical mounting base, the central axis of the fourth protrusion, and the central axis of the second gear mounting shaft all coincide.

6. The dual-arm cross-type robotic arm according to claim 1, characterized in that: The left side plate is arranged parallel to the body of the first robotic arm.

7. The dual-arm cross-type robotic arm according to claim 1, characterized in that: The right side plate is arranged parallel to the body of the second robotic arm.

8. The dual-arm cross-type robotic arm according to claim 1, characterized in that: There are two first slide rails, which are respectively set on the front and rear sides of the first robotic arm body.

9. The dual-arm cross-type robotic arm according to claim 1, characterized in that: There are two second slide rails, which are respectively set on the front and rear sides of the second robotic arm body.

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