Double-arm robot

Abstract

The utility model relates to a double-arm robot which comprises a robot body and a control module. The robot main body comprises a walking chassis, a rack, a manipulator main body, a lifting device and a controller; the machine frame is installed on the walking chassis, the lifting device is installed on the machine frame, and the mechanical arm body is installed on the lifting device. And the horizontal section of the rack is triangular. The robot is introduced to carry out automatic operation, so that the labor cost can be obviously reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a double -armed robot. BACKGROUND

[0002] In today's business, culture and information management field, supermarket commodity shelves, library bookshelves, display cabinets of display museum and file storage cabinets of archives room and other storage facilities are widely used. In its daily operation and management process, frequent operations such as goods or articles replenishment, retrieval, orderly placement and regular arrangement are involved. On the automatic production line, robots are also needed to take out the articles from high (low) place and carry them to low (high) place.

[0003] The height of these storage facilities is generally designed in the range of 20 cm to 300 cm from the ground, and the weight range of the contained articles is large, from several dozen grams of light articles to several kilograms of heavy articles. Since its height exceeds the straight visual range of normal human standing and the height that the natural stretch of the arm can reach, when relying on manual execution of the above operations, not only a lot of physical strength is needed, but the operation process is also very inconvenient, and operation errors are easy to occur, resulting in article damage, disordered placement and other problems, thereby affecting work efficiency and service quality.

[0004] The existing carrying robot usually adopts a rectangular rack, which is relatively simple in structure, but in order to adapt to higher shelves, the rack usually needs to be made higher, which makes the structure of the rack more fragile. SUMMARY

[0005] The utility model discloses a double -armed robot for solving the above -mentioned problems.

[0006] In order to achieve the above object, the utility model discloses a double -armed robot, include: robot main body and control module, the robot main body includes walking chassis, rack, mechanical hand main body, lifting device and controller, the rack is installed on walking chassis, the lifting device is installed on the rack, the mechanical hand main body is installed on the lifting device, the horizontal section shape of the rack is triangle.

[0007] Preferably, the rack comprises a first column, a second column, a third column, a first connecting rod, a second connecting rod and a third connecting rod; the first column, the second column and the third column are arranged in a triangular shape, and the first column, the second column and the third column are connected by the horizontally arranged first connecting rod in pairs, and the adjacent three first connecting rods form a triangle. The second connecting rod is obliquely arranged between the second column and the third column, and two adjacent second connecting rods and the second column or the third column form a triangle. The side surface of the second connecting rod is horizontally connected with the third connecting rod, and the other end of the third connecting rod is connected with the first column.

[0008] Preferably, the rack is provided with a cap plate at the top. The lifting device comprises a power device, a pull belt, a guide wheel and a guide device, the power device is installed at the top of the walking chassis, the guide wheel is fixedly installed at the top of the cap plate and the walking chassis, the pull belt is connected in a loop at the head and tail, the pull belt passes through the guide wheel at the top of the cap plate and the guide wheel at the top of the walking chassis, the power device is used to drive the pull belt to move, and the mechanical hand body is installed on the pull belt. The guide device is used to guide the mechanical hand body to move in the vertical direction.

[0009] Preferably, the power device comprises a first motor, a transmission device and a driving wheel, the first motor is connected with the transmission device, and the transmission device drives the driving wheel to rotate.

[0010] Preferably, the pull belt is a synchronous belt or a chain or a belt, and the guide wheel and the driving wheel are synchronous wheels or chain wheels or belt wheels matched with the material of the pull belt.

[0011] Preferably, the rack is made of aluminum alloy or carbon fiber material. The guide device is arranged on both sides of the rack, and the mechanical hand body is connected with the guide device.

[0012] Preferably, a balance block is arranged on the side of the rack away from the mechanical hand body, the pull belt is provided with an opening, and the two ends of the pull belt are adjustably connected to the balance block. Or an automatic tensioning device is arranged in the inner cavity of the balance block, and the pull belt is connected with the automatic tensioning device.

[0013] Preferably, the walking chassis comprises a bottom plate, an electric wheel, an electric wheel fork-shaped support, a warehouse body and a steering mechanism, the steering mechanism and the warehouse body are installed at the bottom of the bottom plate, the electric wheel is installed on the electric wheel fork-shaped support, and the electric wheel fork-shaped support is connected with the steering mechanism.

[0014] Preferably, the steering mechanism comprises a steering gear, a steering gear, a second motor and a steering support. The steering support is fixedly connected to the bottom of the bottom plate, a through hole is formed in the middle of the steering support, a connecting rod is arranged on the top of the electric wheel yoke-shaped support, the connecting rod is rotatably connected with the through hole, the connecting rod is fixedly connected with the steering gear after penetrating through the through hole, the steering gear is coaxially arranged with the connecting rod, the second motor is fixedly installed on the steering support, and the steering gear is fixedly installed on the output shaft of the second motor.

[0015] Preferably, the control module comprises a voice control module and a vision module; the voice control module, the vision module and the controller are installed on the robot body; the voice control module, the vision module, the mechanical hand body, the first motor, the second motor and the electric wheel are electrically connected with the controller.

[0016] The utility model has the advantages of the following beneficial effects:

[0017] 1、The utility model introduces the robot to carry out automatic operation, can reduce manpower cost significantly, improve work efficiency.

[0018] 2、The utility model adopts the rack of triangle structure, especially when the rack adopts light material (carbon fiber etc.), has better stability, in the robot movement process, especially when walking on uneven ground, can better keep the balance of the fuselage, reduces the risk of toppling.

[0019] 3、The shape of the triangular rack helps to reduce the overall moment of inertia.

[0020] 4、The lifting device of the utility model is simple, and transmission efficiency is high, and stability is strong. DRAWINGS

[0021] Figure 1 It is the overall structure schematic view provided in the embodiment of the utility model;

[0022] Figure 2 It is the local enlarged schematic view of A provided in the embodiment of the utility model;

[0023] Figure 3 It is the local enlarged schematic view of B provided in the embodiment of the utility model;

[0024] Figure 4 It is the overall structure schematic view provided in the embodiment of the utility model;

[0025] Figure 5 It is the structure schematic view of the wheel set provided in the embodiment of the utility model;

[0026] Figure 6 is a structural schematic view of a wheel set provided in the embodiment of the utility model;

[0027] Figure 7 is a sectional view schematic view of a rack provided in the embodiment of the utility model;

[0028] Figure 8 is a local enlarged schematic view of C provided in the embodiment of the utility model.

[0029] Main component symbol explanation:

[0030] 100, rack; 101, first stand; 102, second stand; 103, third stand; 104, first connecting rod; 105, second connecting rod; 106, third connecting rod; 110, cap plate; 111, guide wheel; 200, mechanical hand main body; 300, bottom plate; 310, steering support; 320, electric wheel fork-shaped support; 321, electric wheel; 322, steering tooth disc; 323, steering gear; 324, second motor; 330, warehouse body; 400, first motor; 410, transmission device; 420, pull belt; 430, driving wheel; 500, balancing block; 600, guide seat; 610, guide strip; 620, guide block. Specific embodiment

[0031] In order to make the purpose, technical scheme and advantage of the utility model more clearly, the following is combined with the embodiment, and the utility model is further explained in detail.

[0032] As Figures 1-8 The utility model provides a double -armed robot, include: robot main body and control module. Control module includes: voice control module and vision module, voice control module, vision module and controller installation are on robot main body, voice control module, vision module, mechanical hand main body 200, first motor 400, second motor 324 and electric wheel 321 all are with controller electricity is connected. Robot main body includes walking chassis, rack 100, mechanical hand main body 200 and elevating gear, rack 100 is installed on walking chassis, elevating gear is installed on rack 100, and mechanical hand main body 200 is installed on elevating gear. The horizontal section shape of rack 100 is triangle. The rack 100 is made of aluminium alloy or carbon fiber material.

[0033] As Figure 7In this embodiment, the rack 100 includes a first upright column 101, a second upright column 102, a third upright column 103, a first connecting rod 104, a second connecting rod 105, and a third connecting rod 106; the first upright column 101, the second upright column 102, and the third upright column 103 are arranged in a triangular shape, and the first upright column 101, the second upright column 102, and the third upright column 103 are connected by the horizontally arranged first connecting rod 104 between each other, and the first connecting rod 104 forms a triangle. The second connecting rod 105 is arranged obliquely between the second upright column 102 and the third upright column 103, and two adjacent second connecting rods 105 and the second upright column 102 or the third upright column 103 form a triangle. The side surface of the second connecting rod 105 is horizontally connected with the third connecting rod 106, and the other end of the third connecting rod 106 is connected with the first upright column 101.

[0034] The triangular rack 100 has stability and is less likely to deform compared to other shapes such as quadrilaterals. During the movement of the robot, especially when performing some complex operations or walking on uneven ground, it can better maintain the balance of the body and reduce the risk of tipping over. When the robot carries a load or is subjected to external forces, the triangular rack 100 can evenly distribute the force to each support point and structural component. This helps to reduce the situation of local stress concentration and avoid damage to a certain part due to excessive pressure, thereby prolonging the service life of the robot. The triangular shape can provide a more reasonable layout in a limited space. The robot usually needs to install various electrical elements, transmission devices 410, etc. inside, and the triangular rack 100 can provide unique installation space for these components, making their arrangement more compact and reasonable, which is beneficial to improve the space utilization.

[0035] When the robot performs rotation or swing actions, the shape of the triangular rack 100 helps to reduce the overall moment of inertia. The smaller the moment of inertia, the easier it is for the robot to adjust its posture and control its movement, and the required driving torque is relatively small, which is beneficial to improve the motion response speed and control accuracy of the robot, so that it can complete various tasks more quickly and flexibly.

[0036] The top of the rack 100 is provided with a hat plate 110, which is rectangular. The lifting device includes a power device, a pull belt 420, a guide wheel 111 and a guide device, the power device is installed on the top of the walking chassis, the guide wheel 111 is fixedly installed on the top of the hat plate 110 and the walking chassis, the guide wheel 111 installed on the hat plate 110 is arranged at the edge of the hat plate 110 to avoid friction between the pull belt 420 and the edge of the hat plate 110, after the pull belt 420 is meshed or attached with the driving wheel 430, one end passes through and is meshed or attached with the guide wheel 111 on the hat plate 110, and the other end passing through and being meshed or attached with the guide wheel on the walking chassis is connected tightly and connects the balancing block 500 or the two ends are connected tightly to form a closed loop. The mechanical hand main body 200 is installed on the pull belt, and the installation position satisfies that the balancing block 500 rises (descends) to the hat plate (bottom plate), and the mechanical hand main body 200 descends (rises) to the bottom plate (hat plate).

[0037] In the embodiment, the pull belt 420 is a synchronous belt or a chain or a belt, the guide wheel 111 and the driving wheel 430 are synchronous wheels or chain wheels or belt wheels matched with the material of the pull belt 420. The power device includes a first motor 400, a transmission device 410 and a driving wheel 430, the first motor 400 drives the transmission device 410 to rotate, the transmission device 410 drives the driving wheel 430 to rotate, the pull belt 420 meshed or attached with the driving wheel 430 moves with the driving wheel 430, forms a closed motion and drives the mechanical hand main body and the balancing block to rise (descend). The transmission device 410 is a speed reducer.

[0038] In the embodiment, the power device is installed on the top of the walking chassis, which is stable and convenient for integration with the overall power system of the robot, and can provide a stable power source for driving the pull belt 420. Through the cooperation of the pull belt 420 and the guide wheel 111, the power can be efficiently transmitted to the mechanical hand main body 200, and the lifting action of the mechanical hand is realized. Compared with some complex transmission mechanisms, the energy loss is relatively small and the transmission efficiency is relatively high. The design that the pull belt 420 is connected with the balancing block at the head and tail and passes through a plurality of guide wheels 111 can keep the pull belt 420 in a good tension and stability during operation. The guide wheels 111 are fixedly installed on the top of the hat plate 110 and the walking chassis respectively, which provides stable support and guidance for the pull belt 420, reduces the shaking and deviation of the pull belt 420 during movement, and ensures the stability of the mechanical hand main body 200 during lifting, which is beneficial to improve the accuracy and reliability of the robot operation.

[0039] The balance block 500 is arranged on the side of the rack 100 away from the manipulator main body 200, the weight of the balance block 500 is less than that of the manipulator main body 200, the height of the balance block 500 is not greater than the height of the manipulator main body 200, the pull belt 420 is arranged in an open manner, and the two ends of the pull belt 420 are adjustably connected to the balance block 500. The length of the pull belt 420 can be changed by adjusting the position at which the pull belt 420 is connected to the balance block 500, so as to adjust the tightness of the entire pull belt 420. When the manipulator performs various operations, the weight of the manipulator will affect the balance of the entire robot. The balance block 500 is connected to the pull belt 420, and can provide a corresponding balance force in the opposite direction according to the position and weight change of the manipulator, effectively offsetting the unbalanced torque generated by the gravity and movement of the manipulator, so that the robot maintains better overall balance during lifting and operation. The balance block 500 shares part of the weight of the manipulator, so that the load borne by the power device (such as a motor) driving the pull belt 420 and the lifting of the manipulator is reduced. This not only reduces the energy consumption of the motor, but also prolongs the service life of the motor and other transmission components, while also reducing the risk of failure that may occur due to motor overload, improving the reliability and stability of the robot.

[0040] As Figure 8 , guide devices are arranged on both sides of the rack 100, and the manipulator main body 200 is connected to the guide devices. The guide devices are used to guide the movement of the manipulator main body 200 in the vertical direction, improve the stability of the manipulator main body 200 during lifting, and reduce the shaking of the manipulator main body 200 during lifting. In the present embodiment, the guide device includes a guide seat 600 mounted on the rack 100, the guide seat 600 is provided with a first guide groove in the vertical direction, the two side walls of the first guide groove are fixedly connected with guide strips 610 in the length direction, and the manipulator main body 200 is provided with a guide block 620, and the guide block 620 is provided with a second guide groove matched with the guide strips 610.

[0041] The walking chassis includes a bottom plate 300, an electric wheel 321, an electric wheel fork-shaped support 320, a warehouse body 330, and a steering mechanism. The steering mechanism and the warehouse body 330 are installed at the bottom of the bottom plate 300, the electric wheel 321 is installed on the electric wheel fork-shaped support 320, and the electric wheel fork-shaped support 320 is connected with the steering mechanism. The warehouse body 330 is provided with a storage battery.

[0042] The steering mechanism comprises a steering gear disc 322, a steering gear 323, a second motor 324 and a steering support 310. The steering support 310 is fixedly connected to the bottom of the bottom plate 300, a through hole is formed in the middle of the steering support 310, a connecting rod is arranged on the top of the electric wheel fork-shaped support 320, the connecting rod is rotatably connected with the through hole, the connecting rod is fixedly connected with the steering gear disc 322 after penetrating through the through hole, the steering gear disc 322 is coaxially arranged with the connecting rod, the second motor 324 is fixedly installed on the steering support 310, and the steering gear 323 is fixedly installed on the output shaft of the second motor 324.

[0043] In the embodiment, the steering is realized by driving the steering gear 323 by the second motor 324 and meshing with the steering gear disc 322. The gear transmission mode can provide accurate steering control. The rotation angle and speed of the second motor 324 can be accurately controlled to accurately control the rotation of the steering gear disc 322, and then the steering angle of the tire is accurately adjusted, so that the robot can travel according to the predetermined path and trajectory, and the controllability and positioning accuracy of the robot in a complex environment are improved. The bin body 330 is installed at the bottom of the bottom plate 300, and is reasonably arranged with the steering mechanism and other components, which helps to optimize the weight distribution of the robot. The center of gravity of the robot is lower and more evenly distributed, which improves the stability of the robot during driving and steering, reduces the probability of accidents such as rollover caused by deviation of the center of gravity, and enhances the adaptability of the robot in different road conditions and working conditions.

[0044] Embodiment two

[0045] The difference between the embodiment and the embodiment one is that the automatic tightening device is arranged in the inner cavity of the balance block 500 to prevent the pull belt 420 from relaxing, and the pull belt 400 is connected with the automatic tightening device.

[0046] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A dual-arm robot, characterized by, Include: Robot body and control module; The robot body includes a walking chassis, a rack (100), a robot arm body (200), a lifting device and a controller; the rack (100) is installed on the walking chassis, the lifting device is installed on the rack (100), and the robot arm body (200) is installed on the lifting device; The horizontal section shape of the rack (100) is triangular.

2. The dual-arm robot of claim 1, wherein: The rack (100) includes a first column (101), a second column (102), a third column (103), a first connecting rod (104), a second connecting rod (105), and a third connecting rod (106); the first column (101), the second column (102), and the third column (103) are arranged in a triangular shape, and the first column (101), the second column (102), and the third column (103) are connected by the horizontally arranged first connecting rod (104) between each other, and the adjacent three first connecting rods (104) form a triangle; The second connecting rod (105) is inclinedly arranged between the second column (102) and the third column (103), and two adjacent second connecting rods (105) and the second column (102) or the third column (103) form a triangle; The side surface of the second connecting rod (105) is horizontally connected with the third connecting rod (106), and the other end of the third connecting rod (106) is connected with the first column (101).

3. The dual-arm robot of claim 1, wherein: The top of the rack (100) is provided with a cap plate (110); The lifting device includes a power device, a pull belt (420), a guide wheel (111), and a guide device; the power device is installed on the top of the walking chassis, the guide wheel (111) is fixedly installed on the top of the cap plate (110) and the walking chassis, the pull belt (420) is connected at the head and tail to form a loop, the pull belt (420) passes around the guide wheel (111) on the top of the cap plate (110) and the guide wheel (111) on the top of the walking chassis, the power device is used to drive the pull belt (420) to move, and the robot arm body (200) is installed on the pull belt (420); the guide device is used to guide the robot arm body (200) to move in the vertical direction.

4. The dual-arm robot of claim 3, wherein: The power device includes a first motor (400), a transmission device (410), and a drive wheel (430); the first motor (400) is connected with the transmission device (410), and the transmission device (410) drives the drive wheel (430) to rotate.

5. The dual-arm robot of claim 4, wherein: The pull belt (420) is a synchronous belt or a chain or a belt, and the guide wheel (111) and the drive wheel (430) are synchronous wheels or chain wheels or belt wheels matched with the material of the pull belt (420).

6. The dual-arm robot of claim 3, wherein: The frame (100) is made of aluminum alloy or carbon fiber material; The guide device is arranged on both sides of the frame (100), and the mechanical arm body (200) is connected with the guide device.

7. The dual-arm robot according to claim 3, characterized in that: The frame (100) is provided with a balance block (500) away from the mechanical arm body (200), the pull belt (420) is provided with an opening, and the two ends of the pull belt (420) are adjustably connected to the balance block. Or an automatic tightening device is arranged in the inner cavity of the balance block (500), and the pull belt (420) is connected with the automatic tightening device.

8. The dual-arm robot according to claim 1, characterized in that: The walking chassis comprises a bottom plate (300), an electric wheel (321), an electric wheel fork-shaped support (320), a warehouse body (330) and a steering mechanism, the steering mechanism and the warehouse body (330) are installed at the bottom of the bottom plate (300), the electric wheel (321) is installed on the electric wheel fork-shaped support (320), and the electric wheel fork-shaped support (320) is connected with the steering mechanism.

9. The dual-arm robot according to claim 8, characterized in that: The steering mechanism comprises a steering gear (322), a steering gear (323), a second motor (324) and a steering support (310); The steering support (310) is fixedly connected at the bottom of the bottom plate (300), a through hole is formed in the middle of the steering support (310), a connecting rod is arranged on the top of the electric wheel fork-shaped support (320), the connecting rod is rotatably connected with the through hole, the connecting rod is fixedly connected with the steering gear (322) after penetrating through the through hole, the steering gear (322) is coaxially arranged with the connecting rod, the second motor (324) is fixedly installed on the steering support (310), the steering gear (323) is fixedly installed on the output shaft of the second motor (324), and the steering gear (323) is engaged with the steering gear (322).

10. The dual-arm robot according to claim 1, characterized in that: The control module comprises a voice control module and a vision module; the voice control module, the vision module and the controller are installed on the robot body; and the voice control module, the vision module, the mechanical arm body (200), the first motor (400), the second motor (324) and the electric wheel (321) are electrically connected with the controller.

Images