Robot with double-arm structure

Abstract

The utility model relates to the technical field of robots, in particular to a robot with a double-arm structure, which comprises a movable rack, a lifting unit and two clamping arm units, the lifting unit and the two clamping arm units are mounted on the rack, and the lifting unit is used for driving the two clamping arm units to move up and down; each clamping arm unit comprises a first joint and a second joint rotationally connected with the first joint, and the end of the second joint is rotationally connected with a third joint. According to the utility model, a double-arm structural design is adopted, the visual auxiliary device can adapt to more types of tasks, especially in fine operation requiring cooperation of two hands, and meanwhile, the camera and the fixed seat are arranged at the front end of the clamping arm unit, so that the synchronous movement of the camera and the clamping arm unit is ensured, and the accuracy and reliability of visual auxiliary are improved. And on the basis, the display screen is further installed in a motion blind area on the rear side of the clamping arm unit, the situation that the clamping arm unit accidentally collides with the display screen in the debugging or operation process is effectively avoided, the stability of the robot is improved, and the service life of the robot is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a robot with double arm structure. BACKGROUND

[0002] In the field of automation and robotics, robotic arms are widely used in manufacturing, automotive industry, electronic assembly and other fields, and undertake various tasks such as carrying, assembling or detecting. With the progress of technology, the operation flexibility and accuracy of the robotic arm are increasingly required. In order to improve these performances, the existing robotic arm system is usually equipped with display screen and camera and other auxiliary equipment.

[0003] However, the existing robotic arm adopts single arm structure, which has certain limitations in applicable scene, and cannot meet the more complex and flexible motion requirements. In addition, the existing camera is usually installed in fixed position, which limits the function of visual assistance, so that the robotic arm cannot obtain the best viewing angle when performing certain operations, thereby affecting the accuracy and efficiency of the operation. In addition, the robotic arm may collide with the display screen during debugging or operation due to accident, thereby affecting the stability and service life of the robot.

[0004] Therefore, in order to further improve the applicability and stability of the existing robotic arm, a robot with double arm structure is needed. SUMMARY

[0005] The utility model discloses a robot with double arm structure, which solves the problem of single arm structure in the prior art and cannot meet the more complex and flexible motion requirements.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] The utility model provides a robot with double arm structure, which comprises:

[0008] The movable rack, the lifting unit and the two clamping arm units installed on the rack, the lifting unit is used to drive the two clamping arm units to move up and down;

[0009] The clamping arm unit comprises a first joint, a second joint rotatably connected with the first joint, a third joint rotatably connected with the end of the second joint, a clamping mechanism arranged at the free end of the third joint, and at least one visual component installed on the clamping mechanism.

[0010] Further, the lifting unit comprises a lifting frame, a support is slidably connected with the front end of the lifting frame, and the two ends of the support are rotatably connected with the two first joints.

[0011] The inner side of the lifting frame is provided with a driving mechanism for driving the bracket to move up and down.

[0012] Further, the driving mechanism comprises two sliding plates fixedly connected to the end face of the bracket, the front side and at least one side edge of the lifting frame are provided with guide grooves, the sliding plates extend along the guide grooves to the inner side of the lifting frame, a motor is fixedly connected to the end face of the sliding plate, a rack is fixed to the inner side of the lifting frame in the height direction, and the motor is in transmission with the rack through a gear.

[0013] Further, the bracket, the first joint, the second joint, the third joint and the clamping mechanism are all driven to rotate by a joint motor at the connection position.

[0014] Further, the clamping mechanism comprises a mounting frame connected to the shaft end of the joint motor of the third joint, two clamping jaws are slidingly connected to the front end of the mounting frame, and a synchronous mechanism for driving the two clamping jaws to move synchronously is further arranged on the mounting frame.

[0015] Further, the synchronous mechanism comprises a clamping motor fixed to the mounting frame, the shaft end of the clamping motor penetrates through the mounting frame and is fixedly connected with a driving rod, and the end of the driving rod is pinned to the clamping jaw through a connecting rod.

[0016] Further, the front end of the mounting frame has a T-shaped sliding rail, the end face of the clamping jaw has a sliding groove matched with the T-shaped sliding rail, and a foam pad is further attached to the opposite faces of the two clamping jaws.

[0017] Further, the rack is further fixedly connected with a diagonal brace away from the clamping arm unit, and a display screen is fixedly connected to the tail end of the diagonal brace.

[0018] Further, the end of the diagonal brace close to the display screen is lower than the end of the diagonal brace close to the rack.

[0019] Further, the upper surface of the display screen is lower than the lower surface of the clamping arm unit.

[0020] Compared with the prior art, the robot with the double-arm structure has the advantages that: the double-arm structure design can adapt to more types of tasks, especially in fine operations requiring cooperation of both hands, and the camera and the fixed seat installed at the front end of the clamping arm unit ensure synchronous movement of the camera and the clamping arm unit, thereby improving the accuracy and reliability of the visual auxiliary system. On this basis, the display screen is further installed on the side of the rack away from the clamping arm unit through the inclined support, so that the display screen is arranged in the movement blind area behind the clamping arm unit, that is, the display screen and the clamping arm unit are designed to be dislocated in the vertical space, thereby effectively avoiding the problem of accidental collision of the display screen by the clamping arm unit during debugging or operation, and improving the stability of the robot, thereby providing a better basis for guaranteeing the service life. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a perspective view of the robot;

[0022] Figure 2 is a schematic view of the lifting unit structure of the robot;

[0023] Figure 3 is a schematic view of the clamping mechanism structure of the robot;

[0024] Figure 4 is a schematic view of the motor structure of the robot.

[0025] In the figure: 1, rack; 11, inclined support; 12, display screen; 2, lifting unit; 21, lifting frame; 22, support; 23, sliding plate; 24, guide groove; 25, motor; 26, rack; 27, gear; 3, clamping arm unit; 31, first joint; 32, second joint; 33, third joint; 34, clamping mechanism; 341, mounting frame; 342, clamping jaw; 343, clamping motor; 344, driving rod; 345, connecting rod; 346, foam pad; 35, visual assembly; 36, joint motor. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the robot will be clearly and completely described below with reference to the drawings in the embodiments of the robot. Obviously, the described embodiments are only part of the embodiments of the robot, rather than all the embodiments.

[0027] REFERENCE Figures 1-4 As an embodiment of the robot, the robot with the double-arm structure specifically comprises a movable rack 1, a lifting unit 2 and two clamping arm units 3 installed on the rack 1. In this embodiment, a roller base can be installed at the bottom of the rack 1 to realize walking movement of the rack 1. The lifting unit 2 is used to drive the two clamping arm units 3 to move up and down.

[0028] The clamping arm unit 3 comprises a first joint 31, a second joint 32 rotationally connected with the first joint 31, a third joint 33 rotationally connected at an end of the second joint 32, and a clamping mechanism 34 arranged at a free end of the third joint 33.

[0029] In some embodiments, the lifting unit 2 comprises a lifting frame 21, and a support 22 is slidingly connected to a front end of the lifting frame 21.

[0030] The inner side of the lifting frame 21 is provided with a driving mechanism for driving the support 22 to move up and down.

[0031] In the above embodiment, the driving mechanism comprises two sliding plates 23 fixedly connected to the end face of the support 22, and the front side and at least one side edge of the lifting frame 21 are provided with a guide groove 24.

[0032] Further, the sliding plate 23 extends along the guide groove 24 to the inner side of the lifting frame 21, and a motor 25 is fixedly connected to the end face of the sliding plate 23.

[0033] That is, when the robot needs to adjust the height of the two clamping arm units 3 during work, the motor 25 is rotated by the shaft end, and the sliding plate 23 moves up and down by the meshing action of the gear 27 and the rack 26.

[0034] It should be noted that the support 22, the first joint 31, the second joint 32, the third joint 33 and the clamping mechanism 34 are all driven to rotate by the joint motor 36, which is used to control the rotation of the joints to meet the clamping operation in different positions. Of course, the driving mode of the joint motor 36 is only a routine technical means for those skilled in the art, and will not be described further here.

[0035] As preferred, the clamping mechanism 34 in the embodiment includes a mounting frame 341 connected to the shaft end of the joint motor 36 of the third joint 33. The mounting frame 341 is driven to rotate by the joint motor 36 connected thereto to meet the inclination adjustment. The front end of the mounting frame 341 is slidingly connected with two clamping jaws 342. The mounting frame 341 is further provided with a synchronous mechanism for driving the two clamping jaws 342 to move synchronously.

[0036] Further, the synchronous mechanism includes a clamping motor 343 fixed on the mounting frame 341. The shaft end of the clamping motor 343 penetrates the mounting frame 341 and is fixedly connected with a driving rod 344. The end of the driving rod 344 is pinned to the clamping jaw 342 through a connecting rod 345. That is, when clamping action is needed, the shaft end of the clamping motor 343 is actuated to drive the driving rod 344 to rotate. Since the driving rod 344 is rotationally connected with the connecting rod 345, and the other end of the connecting rod 345 is rotationally connected with the clamping jaw 342, when the driving rod 344 rotates, its two ends will pull the two connecting rods 345 to drive the two clamping jaws 342 to move synchronously, thus ensuring the stability of the clamping action.

[0037] In a preferred embodiment, as shown in Figure 3 The front end of the mounting frame 341 has a T-shaped slide rail, and the end face of the clamping jaw 342 has a sliding groove matched with the T-shaped slide rail. Of course, the sliding groove should also be provided in a T-shaped structure. The back end of the clamping jaw 342 in the embodiment can be fixedly connected with a sliding block through a bolt, and the T-shaped structure can be formed on the sliding block to realize convenient disassembly of the clamping jaw 342. In addition, in order to provide a certain flexibility to the clamping jaw 342 and facilitate the grasping of flexible objects, a foam pad 346 is attached to the opposite faces of the two clamping jaws 342 to provide buffering and protection for the clamping operation.

[0038] It needs to be explained that in order to realize the viewing of the image captured by the visual component 35, the rack 1 is further fixedly connected with a diagonal brace 11 away from the side of the clamping arm unit 3, and the tail end of the diagonal brace 11 is fixedly connected with a display screen 12. Specifically, the display screen 12 in the embodiment adopts a sunken structure design, which can prevent the clamping arm unit 3 from colliding with the display screen 12 due to accidents during debugging or operation, and improve the visual comfort of the operator and the intuitiveness and convenience of operation.

[0039] Preferably, one end of the diagonal brace 11 close to the display screen 12 is lower than the other end of the diagonal brace 11 close to the rack 1, that is, the diagonal brace 11 adopts an inclined downward sunken structure design, so as to better protect the display screen 12. Specifically, the upper surface of the display screen 12 is always lower than the lower surface of the clamping arm unit 3, so even if the clamping arm unit 3 moves uncontrollably during debugging, it will not collide with the display screen 12.

[0040] In summary, the double-arm structure design of the embodiment can adapt to more types of tasks, especially in fine operations that require both hands to cooperate, and the camera and the fixing seat mounted at the front end of the clamping arm unit 3 ensure the synchronous movement of the camera and the clamping arm unit 3, and improve the accuracy and reliability of the visual auxiliary system. On this basis, the display screen 12 is further installed on the side of the rack 1 away from the clamping arm unit 3 through the diagonal brace 11, so that the display screen 12 is arranged in the movement blind area behind the clamping arm unit 3, that is, the display screen 12 and the clamping arm unit 3 are designed to be dislocated in the vertical space, thereby effectively avoiding the problem of accidental collision of the clamping arm unit 3 with the display screen 12 during debugging or operation, thereby improving the stability of the robot and providing a better foundation for protecting the service life.

[0041] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A robot with a dual-arm structure, characterized in that, Include: Movable rack (1) and mounting on the rack (1) lifting unit (2) and two clamping arm unit (3), the lifting unit (2) for driving two clamping arm unit (3) up and down movement; Wherein the clamping arm unit (3) includes a first joint (31) and the first joint (31) is rotatably connected with the second joint (32), the end of the second joint (32) is rotatably connected with the third joint (33), the free end of the third joint (33) is also provided with clamping mechanism (34), at least one clamping mechanism (34) is also provided with visual components (35), the visual components (35) are provided as a camera, the camera is mounted on the front end of the clamping arm unit (3) through the fixed seat.

2. The robot having a dual-arm structure according to claim 1, characterized by: The lifting unit (2) includes lifting frame (21), the front end of the lifting frame (21) is slidably connected with the support (22), the two ends of the support (22) are rotatably connected with two first joints (31); Wherein the inner side of the lifting frame (21) is provided with a driving mechanism for driving the support (22) to move up and down.

3. The robot having a dual-arm structure according to claim 2, characterized by: The driving mechanism includes two sliding plates (23) fixedly connected on the end face of the support (22), the front side and at least one side of the lifting frame (21) are provided with guide grooves (24), the sliding plates (23) extend along the guide grooves (24) to the inner side of the lifting frame (21), the end face of the sliding plate (23) is fixedly connected with a motor (25), the inner side of the lifting frame (21) is fixed with a rack (26) along the height direction, the motor (25) is driven by a gear (27) and the rack (26).

4. The robot having a dual-arm structure according to claim 2, characterized by: The mutual connection of the support (22), the first joint (31), the second joint (32), the third joint (33) and the clamping mechanism (34) is driven to rotate by the joint motor (36).

5. The robot having a dual-arm structure according to claim 4, characterized by: The clamping mechanism (34) includes a mounting frame (341) connected with the shaft end of the joint motor (36) of the third joint (33), the front end of the mounting frame (341) is slidably connected with two clamping jaws (342), wherein the mounting frame (341) is also provided with a synchronous mechanism for driving two clamping jaws (342) to move synchronously.

6. The robot having a dual-arm structure according to claim 5, characterized by: The synchronous mechanism includes a clamping motor (343) fixed on the mounting frame (341), the shaft end of the clamping motor (343) penetrates the mounting frame (341) and is fixedly connected with a driving rod (344), the end of the driving rod (344) is connected with the clamping jaw (342) through a connecting rod (345).

7. The robot having a dual-arm structure according to claim 5, characterized by: The front end of the mounting frame (341) has a T-shaped slide rail, the end face of the clamping jaw (342) has a sliding groove matched with the T-shaped slide rail, and a foam pad (346) is also attached to the opposite surface of the two clamping jaws (342).

8. The robot having a dual-arm structure according to any one of claims 1 to 7, characterized by: The side of the rack (1) away from the clamping arm unit (3) is also fixedly connected with a diagonal brace (11), and the tail end of the diagonal brace (11) is fixedly connected with a display screen (12).

9. The robot having a dual-arm structure according to claim 8, characterized by: The end of the diagonal brace (11) near the display screen (12) is lower than the end of the diagonal brace (11) near the housing (1).

10. The robot having a dual-arm structure according to claim 8, characterized by: The upper surface of the display screen (12) is lower than the lower surface of the clamp arm unit (3).

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