Double-mechanical-arm device based on material moving assembly

Abstract

The utility model discloses a double-mechanical-arm device based on material moving assembly, and relates to the technical field of mechanical arms. The device comprises a cross beam and a set of mechanical arm mechanisms, the cross beam is a hollow beam, fixing bases are fixed to the two ends of the cross beam, a rack is fixed to the upper portion of one side in the cross beam, a supporting edge is fixed to the middle of the other side in the cross beam, and sliding rails are fixed to the side, away from the supporting edge, of the inner bottom face of the cross beam and the top face of the supporting edge; the bottom of one side and the upper portion of the other side of the integration box are each fixedly provided with a set of rolling wheels, the integration box is arranged in the cross beam, and the two sets of rolling wheels roll along the two sliding rails correspondingly. The novel mechanical arm device is provided with the two mechanical arms and the mechanical hand, transverse movement driving is carried out in a gear and rack driving mode, the two mechanical arms can be independently controlled, high flexibility, adaptability and redundancy are achieved, and therefore the reliability and stability of a system are improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to a dual robotic arm device based on material transfer assembly. Background Technology

[0002] In current assembly devices / systems, a single robotic arm / robot can only deliver one gripper at a time, resulting in low feeding efficiency and failing to meet the needs of large-scale production. If rapid, large-scale feeding is required, two or more feeding devices are needed, which is cumbersome to operate and control, occupies a large space, and may cause mutual interference.

[0003] Similarly, when used on products of different specifications, such as those that are too large or too heavy, a single gripper may have poor gripping force, which can easily cause material slippage or failure to grip, thus affecting the conveying efficiency and effect.

[0004] Therefore, designing a robotic arm device capable of transferring materials with two robotic arms without interference is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-arm robotic device based on material transfer assembly. By designing a novel robotic arm device, it has two robotic arms and a robotic hand, which are driven by a gear and rack mechanism for lateral movement. The two robotic arms can be controlled independently, and it has strong flexibility, adaptability and redundancy, thereby improving the reliability and stability of the system.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0007] This utility model is a dual robotic arm device based on material transfer assembly, including a crossbeam and a set of robotic arm mechanisms;

[0008] The crossbeam is a hollow beam, with fixed seats at both ends. A rack is fixed to the upper part of one side of the crossbeam, and a support edge is fixed to the middle of the other side of the crossbeam. Slide rails are fixed to the bottom surface of the crossbeam and the side away from the support edge, as well as the top surface of the support edge.

[0009] The robotic arm mechanism includes an integrated box, with a set of rollers fixed to the bottom of one side and the top of the other side of the integrated box. The integrated box is set inside the crossbeam, and the two sets of rollers roll along two slide rails respectively.

[0010] A first motor is fixed to one side of the top of the integrated box, and a gear that meshes with a rack is fixed to the output end of the first motor.

[0011] A connecting column is fixed to the bottom of the integrated box away from the roller. A cylinder is fixed to the bottom end of the connecting column. The connecting column is a hollow column. The cylinder shell is fixed inside the connecting column. The piston rod end of the cylinder passes through the bottom end of the connecting column and is fixed to a second motor. The output end of the second motor faces downward and is fixed to a robotic arm.

[0012] The bottom surface of the crossbeam is provided with a lower relief groove along its length, and the connecting column passes through the lower relief groove and slides along the lower relief groove.

[0013] Furthermore, the connecting column is provided with a wire-passing port on both the upper and lower parts of one side. The wiring of the second motor, the air pipe or wiring of the robot arm are passed through the wire-passing port at the bottom of the connecting column and exit through the wire-passing port at the top of the connecting column.

[0014] Furthermore, a recess is provided on the top of the crossbeam away from the gear, a drag chain groove is fixed on the top surface of the recess, an upper clearance groove is provided on the top surface of the recess along the length direction, and a lead wire channel extending to the drag chain groove is fixed on the top of the integrated box.

[0015] Furthermore, the lead wire channel passes through the upper relief groove, the lead wire channel slides along the upper relief groove, a drag chain is provided in the drag chain groove, and an air pipe and line are provided between the lead wire channel and the drag chain.

[0016] Furthermore, the outer side of the fixing base is integrally connected with an installation edge, and the installation edge is provided with several installation ports.

[0017] Furthermore, it also includes a control device, which includes a processor and several control units. Both the first motor and the second motor are equipped with a braking mechanism and an encoder. The first motor, the second motor, the cylinder, and the robotic arm are all electrically connected to the processor.

[0018] This utility model has the following beneficial effects:

[0019] 1. This utility model designs a novel robotic arm device with two robotic arms and a robotic hand. It is driven by a gear and rack mechanism for lateral movement. The two robotic arms can be controlled independently, and have strong flexibility (the two robotic hands can grasp materials independently or in concert), adaptability (suitable for different work requirements and products to be grasped), and redundancy (if one robotic hand is damaged, the other robotic hand can still work), thereby improving the reliability and stability of the system.

[0020] 2. This utility model uses a hollow connecting column for connecting the integrated box and the cylinder. The cylinder shell can be installed inside the connecting column, saving space. At the same time, it can protect the wiring / pipelines used by the cylinder, motor and robot below by guiding them into the connecting column.

[0021] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the structure of a dual robotic arm device based on material transfer assembly according to this utility model;

[0024] Figure 2 This is a structural cross-sectional view of the robotic arm mechanism of this utility model at its location;

[0025] Figure 3 This is a schematic diagram of the robotic arm mechanism;

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1-Crossbeam, 2-Robotic arm mechanism, 3-Integrated box, 4-Connecting column, 5-Cylinder, 6-Second motor, 7-Robotic arm, 101-Fixed seat, 102-Rack, 103-Supporting edge, 104-Slide rail, 105-Lower clearance groove, 106-Recess, 107-Drag chain groove, 108-Upper clearance groove, 109-Mounting edge, 301-Roller, 302-First motor, 303-Gear, 304-Wire guide channel, 401-Wire threading port. Detailed Implementation

[0028] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-3 As shown, this utility model is a dual robotic arm device based on material transfer assembly, including a crossbeam 1 and a set of robotic arm mechanisms 2;

[0030] The crossbeam 1 is a hollow beam. Both ends of the crossbeam 1 are fixed with a fixing seat 101. A rack 102 is fixed on the upper part of one side of the crossbeam 1. A support edge 103 is fixed in the middle of the other side of the crossbeam 1. A slide rail 104 is fixed on the bottom surface of the crossbeam 1 and the side away from the support edge 103 and the top surface of the support edge 103.

[0031] The robotic arm mechanism 2 includes an integrated box 3. A set of rollers 301 are fixed on the bottom of one side and the top of the other side of the integrated box 3. The integrated box 3 is set inside the crossbeam 1. The two sets of rollers 301 roll along two slide rails 104 respectively.

[0032] A first motor 302 is fixed on one side of the top of the integrated box 3, and a gear 303 that meshes with the rack 102 is fixed at the output end of the first motor 302;

[0033] A connecting column 4 is fixed on the bottom side of the integrated box 3 away from the roller 301. A cylinder 5 is fixed at the bottom of the connecting column 4. The connecting column 4 is a hollow column. The cylinder shell of the cylinder 5 is fixed inside the connecting column 4. The piston rod end of the cylinder 5 passes through the bottom of the connecting column 4 and is fixed with a second motor 6. The output end of the second motor 6 faces downward and is fixed with a robotic arm 7.

[0034] The bottom surface of the crossbeam 1 is provided with a lower relief groove 105 along the length direction, and the connecting column 4 passes through the lower relief groove 105 and slides along the lower relief groove 105.

[0035] Among them, such as Figure 1-3 As shown, the upper and lower parts of one side of the connecting column 4 are provided with wire holes 401. The wiring of the second motor 6 and the air pipe or wiring of the robot arm 7 are inserted through the wire hole 401 at the bottom of the connecting column 4 and exited through the wire hole 401 at the top of the connecting column 4.

[0036] Among them, such as Figure 1-2 As shown, a recessed portion 106 is provided on the top side of the crossbeam 1 away from the gear 303. A drag chain groove 107 is fixed on the top surface of the recessed portion 106. An upper clearance groove 108 is opened on the top surface of the recessed portion 106 along the length direction. A lead wire channel 304 extending to the drag chain groove 107 is fixed on the top of the integrated box 3.

[0037] Among them, such as Figure 1-2 As shown, the lead wire channel 304 passes through the upper relief groove 108 and slides along the upper relief groove 108. A drag chain is provided in the drag chain groove 107, and an air pipe and line are provided between the lead wire channel 304 and the drag chain.

[0038] Among them, such as Figure 1 As shown, the mounting base 101 has an integrally connected mounting edge 109 on its outer side, and the mounting edge 109 has several mounting ports.

[0039] It also includes a control device, which includes a processor and several control units. Both the first motor 302 and the second motor 6 are equipped with a braking mechanism and an encoder. The first motor 302, the second motor 6, the cylinder 5 and the robotic arm 7 are all electrically connected to the processor.

[0040] The robotic arm 7 tightens the screws by means of two-sided cylinders or by means of a motor and a double-ended lead screw.

[0041] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A dual robot device based on material transfer assembly, characterized in that: It comprises a crossbeam (1) and a set of mechanical arm mechanisms (2); The crossbeam (1) is a hollow beam, both ends of the crossbeam (1) are fixed with fixed seats (101), the upper part of one side in the crossbeam (1) is fixed with a rack (102), the middle part of the other side in the crossbeam (1) is fixed with a support edge (103), the bottom surface of the crossbeam (1) and the side away from the support edge (103) are both fixed with slide rails (104); The mechanical arm mechanism (2) comprises an integrated box (3), one side of the bottom and the other side of the top of the integrated box (3) are both fixed with a set of rollers (301), the integrated box (3) is arranged in the crossbeam (1), and the two sets of rollers (301) roll along the two slide rails (104) respectively; The top of the integrated box (3) is fixed with a first motor (302) on one side, and the output end of the first motor (302) is fixed with a gear (303) engaged with the rack (102); The bottom of the integrated box (3) is fixed with a connecting column (4) away from the rollers (301) on one side, the bottom end of the connecting column (4) is fixed with an air cylinder (5), the connecting column (4) is a hollow column, the cylinder shell of the air cylinder (5) is fixed in the connecting column (4), the end of the piston rod of the air cylinder (5) penetrates through the bottom end of the connecting column (4) and is fixed with a second motor (6), the output end of the second motor (6) faces downward and is fixed with a mechanical hand (7); The bottom surface of the crossbeam (1) is provided with a lower accommodation groove (105) along the length direction, and the connecting column (4) penetrates through the lower accommodation groove (105) and slides along the lower accommodation groove (105).

2. The dual robot device based on material moving assembly according to claim 1, characterized in that, The upper part and the lower part of one side of the connecting column (4) are both provided with threading holes (401), the wires of the second motor (6) and the air pipe or wires of the mechanical hand (7) penetrate into the threading holes (401) at the bottom end of the connecting column (4) and penetrate out of the threading holes (401) at the top end of the connecting column (4).

3. The dual robot device based on material moving assembly according to claim 1, wherein, The top of the crossbeam (1) is provided with a recess (106) away from the gear (303) on one side, the top surface of the recess (106) is fixed with a drag chain groove (107), the top surface of the recess (106) is provided with an upper accommodation groove (108) along the length direction, and the top of the integrated box (3) is fixed with a lead channel (304) extending to the drag chain groove (107).

4. The dual robot device based on material moving assembly according to claim 3, characterized in that, The lead channel (304) penetrates through the upper accommodation groove (108) and slides along the upper accommodation groove (108), the drag chain groove (107) is provided with a drag chain, and the lead channel (304) and the drag chain are provided with an air pipe and a line.

5. The dual robot device based on material moving assembly according to claim 1, wherein, The outer side of the fixed seat (101) is integrally connected with a mounting edge (109), and a plurality of mounting holes are arranged on the mounting edge (109).

6. The dual robot device based on material moving assembly according to claim 1, wherein, It also comprises a control device, the control device comprises a processor and a plurality of control units, the first motor (302) and the second motor (6) are both provided with a brake mechanism and an encoder, and the first motor (302), the second motor (6), the air cylinder (5) and the mechanical hand (7) are electrically connected with the processor.

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