Double-arm lifting robot

Abstract

The utility model relates to a double-arm lifting robot which comprises a robot body and a control module. The robot body comprises a walking chassis, a rack, a manipulator body, a lifting device and a balancing device. The rack is installed on the walking chassis, the lifting device is installed on the rack, the manipulator body is installed on the lifting device, the balancing device is installed on the rack, and the balancing device and the manipulator body are located on the two sides of the rack respectively. The balance device comprises a balance block, a guide wheel and a cable, the guide wheel is fixedly mounted at the top of the frame, the cable bypasses the guide wheel, one end of the cable is fixedly connected with the balance block, and the other end of the cable is fixedly connected with the manipulator body. The robot is introduced to perform automatic operation, so that the labor cost can be remarkably reduced, the working efficiency can be improved, the operation accuracy and stability can be ensured, and the method has important significance for improving the overall operation management level.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a dual-arm lifting robot. Background Technology

[0002] In today's business, cultural, and information management fields, storage facilities such as supermarket shelves, library bookshelves, exhibition hall display cases, and archive file storage cabinets are widely used. Their daily operation and management frequently involve replenishing goods or items, retrieving and storing them, arranging them in an orderly manner, and periodically organizing them. Similarly, automated production lines require robots to move items from one platform to another.

[0003] These storage facilities are generally designed to be between 20 and 300 centimeters above the ground, and can accommodate a wide range of weights, from lightweight items weighing tens of grams to heavier items weighing several kilograms. Because their height exceeds the straight-line visual range of a normal standing person and the height that an arm can reach naturally, manual operation requires a great deal of physical strength and tools, making the process extremely inconvenient and prone to errors, leading to damage to items, disordered placement, and other problems, which in turn affect work efficiency and service quality.

[0004] However, existing handling robots, in order to adapt to high-rise shelves, are tall, bulky, and heavy, making installation and maintenance very inconvenient. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-arm lifting robot to solve the above-mentioned problems.

[0006] To achieve the above objectives, this utility model discloses a dual-arm lifting robot, comprising: a robot body and a control module. The robot body includes a chassis, a frame, a robotic arm body, a lifting device, and a balancing device. The frame is made of lightweight, high-strength material. The frame is mounted on the chassis, the lifting device is mounted on the frame, the robotic arm body is mounted on the lifting device, and the balancing device is mounted on the frame. The balancing device and the robotic arm body are located on opposite sides of the frame. The balancing device includes a balance block, guide wheels, and a cable. The guide wheels are fixedly mounted on the top of the frame, and the cable passes around the guide wheels. One end of the cable is fixedly connected to the balance block, and the other end is fixedly connected to the robotic arm body.

[0007] Preferably, the main body of the robotic arm includes a body and a robotic arm, the robotic arm is mounted on the body, and the body is connected to a lifting device.

[0008] Preferably, the lifting device includes a motor, a gear, a rack, and a guide device. The rack is vertically mounted on the frame, the motor is mounted on the machine body, the gear is mounted on the output shaft of the motor, the gear meshes with the rack, and the guide device is located on both sides of the machine body to guide the machine body to move in the vertical direction.

[0009] Preferably, the frame has a height of ≤3.0 meters, a width of 0.4~0.5 meters, and the vertical members of the frame are anchored into the traveling chassis to a depth of ≥0.2 meters. The frame is made of aluminum alloy or carbon fiber.

[0010] Preferably, the lifting device includes a motor (420), a magnetic wheel, a magnetic wall surface, and a guide device; the motor (420) is mounted on the body (310), the magnetic wall surface is mounted on the output shaft of the motor (420), the magnetic wall surface is made of magnetic material, the magnetic wall surface is fixed on the frame (200), and the magnetic wall surface and the magnetic wheel magnetically engage; the guide device is arranged on both sides of the body (310) to guide the body (310) to move in the vertical direction.

[0011] Preferably, the lifting device includes a motor, a sprocket, a chain, a back plate, and a guide device; the motor is mounted on the machine body, the sprocket is mounted on the output shaft of the motor, and the back plate is fixed on the bracket; the chain is vertically fixed on the back plate, the sprocket cooperates with the chain, and the guide device is located on both sides of the machine body to guide the machine body to move in the vertical direction.

[0012] Preferably, the guiding device includes a guide rail seat and a guide block. The guide rail seat is vertically mounted on the machine body. The guide rail seat has a guide rail groove in the vertical direction. Guide bars are provided on both sides of the guide rail groove. The guide block has a guide groove on its side that cooperates with the guide bars.

[0013] Preferably, five guide blocks are provided on one side of the machine body, the guide blocks are arranged in a trapezoidal shape, and the guide blocks are cylindrical.

[0014] Preferably, the walking chassis includes a base plate, electric wheels, and a cargo box, with multiple electric wheels mounted on the bottom of the base plate and the cargo box fixedly connected to the base plate.

[0015] Preferably, the control module includes a voice control module, a vision module, and a controller; the voice control module, vision module, and controller are mounted on the robot body. The vision module, voice control module, robotic arm, motor, and electric wheels are all electrically connected to the controller.

[0016] This utility model has the following beneficial effects:

[0017] 1. Introducing robots for automated operations can not only significantly reduce labor costs and improve work efficiency, but also reduce errors caused by human factors, ensuring the accuracy and stability of operations, which is of great significance for improving the overall level of operation and management.

[0018] 2. The burden on the lifting device can be reduced by setting up a balancing device.

[0019] 3. By setting up a balancing device, the overturning moment can be reduced, making the fuselage more stable. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure provided in a specific embodiment of the present utility model;

[0021] Figure 2 This is a rear view diagram provided in a specific embodiment of the present utility model;

[0022] Figure 3 This is a schematic diagram of the guide rail base provided in a specific embodiment of the present utility model;

[0023] Figure 4 This is a schematic diagram of the guide block structure provided in a specific embodiment of the present utility model;

[0024] Figure 5 This is a cross-sectional schematic diagram provided in a specific embodiment of the present utility model.

[0025] Explanation of symbols for main components:

[0026] 100. Walking chassis; 110. Chassis; 120. Electric wheel; 130. Chamber body; 200. Frame; 300. Main body of the robotic arm; 310. Body; 320. Robotic arm; 410. Rack; 420. Motor; 421. Gear; 430. Guide rail base; 431. Guide rail groove; 4311. Guide bar; 440. Guide block; 441. Guide groove; 510. Cable; 520. Guide wheel; 530. Balance block. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] Example 1

[0029] like Figures 1-5This utility model provides a dual-arm lifting robot, comprising: a robot body and a control module. The control module includes a voice control module, a vision module, and a controller; the voice control module, vision module, and controller are mounted on the robot body. The robot body includes a walking chassis 100, a frame 200, a robotic arm body 300, a lifting device, and a body 310 balancing device. The frame 200 is mounted on the walking chassis 100, the lifting device is mounted on the frame 200, the robotic arm body 300 is mounted on the lifting device, and the body 310 balancing device is mounted on the frame 200. The body 310 balancing device and the robotic arm body 300 are located on opposite sides of the frame 200.

[0030] The frame 200 serves as the main support structure of the robot, providing a mounting base for other components such as the lifting device and the balancing device of the body 310, ensuring the relative positional relationship between the components and guaranteeing the stability and rigidity of the overall robot structure. The frame 200 is made of lightweight, high-strength materials. Specifically, high-strength aluminum alloy or carbon fiber can be used. The frame 200 has a height ≤ 3.0 meters, a width of 0.4~0.5 meters, and the vertical rods of the frame 200 are anchored into the walking chassis 100 to a depth ≥ 0.2 meters.

[0031] The balancing device includes a balance block 530, a guide wheel 520, and a cable 510. The guide wheel 520 is fixedly installed on the top of the frame 200. The cable 510 passes around the guide wheel 520, with one end fixedly connected to the balance block 530 and the other end fixedly connected to the robot body 300. The balance block 530 is connected to the robot body 300 via the cable 510, providing balance to the robot body 310 when the robot body 300 is operating. This counteracts the unbalanced torque generated during the movement of the robot arm 320, preventing the robot from tipping over due to a shift in its center of gravity, and improving the robot's stability and safety. Different weight balance blocks 530 can be replaced or the number of balance blocks 530 can be increased as needed. Vertical vertical movement guides for the balance block 530 can be added during use to ensure its stability, depending on the specific application scenario.

[0032] During use, when the robotic arm body 300 rises, the balance block 530 descends to reduce the load on the lifting power component; conversely, when the robotic arm body 300 descends, the balance block 530 rises to similarly reduce the load on the power component. Under normal conditions, the weight of the balance block 530 is less than the weight of the robotic arm body 300. The height of the balance block 530 does not exceed the height of the robotic arm body 310.

[0033] The robotic arm body 300 is the direct actuator for the robot to complete various operational tasks. It can perform multiple operations such as grasping, transporting, and assembling objects, and is a key component for the robot to realize its functions. In this embodiment, the robotic arm body 300 includes a body 310 and a robotic arm 320. The robotic arm 320 is mounted on the body 310, and the body 310 is connected to a lifting device. The robotic arm 320 can be a commercially available product.

[0034] In this embodiment, after receiving walking information (voice, infrared signal, or internet), the robot walks along a predetermined route. After the robot's vision module captures target information, the controller directs the robot's operation via an image model. The robot raises or lowers the height of its body 310 according to the position of the target information captured by the vision module, ensuring the target is within the operating range of the robotic arm 320. The robotic arm 320 performs its operations according to the controller's instructions.

[0035] The vision module, voice control module, robotic arm 320, motor 420, and electric wheels 120 are all electrically connected to the controller. Installing the voice control module, vision module, and controller on the robot body facilitates the integration of these components, making the robot a cohesive whole. This allows for unified control and collaborative operation, improves the robot's stability and reliability, and reduces the impact of external interference on each module. The voice control module and vision module are existing technologies and are commercially available.

[0036] The lifting device is mounted on the frame 200 and connected to the robot body 300. It allows adjustment of the robot body 300's height, enabling the robot to adapt to tasks at different heights and increasing its vertical operational flexibility and working range. The lifting device includes a motor 420, a gear 421, a rack 410, and a guide device. The rack 410 is vertically mounted on the frame 200. The motor 420 is mounted on the body 310. The gear 421 is mounted on the output shaft of the motor 420 and meshes with the rack 410. The guide device is located on both sides of the body 310 to ensure the meshing of the gear 421 with the rack 410 and to guide the body 310's vertical movement.

[0037] The guiding device includes a guide rail seat 430 and a guide block 440. The guide rail seat 430 is vertically mounted on the machine body 310. The guide rail seat 430 has a guide rail groove 431 in the vertical direction. Guide bars 4311 are provided on both sides of the guide rail groove 431. The guide block 440 has a guide groove 441 on its side that cooperates with the guide bars 4311.

[0038] In this embodiment, five guide blocks 440 are provided on one side of the body 310. The guide blocks 440 are arranged in a trapezoidal shape and are cylindrical. The guiding device is provided on both sides of the body 310, which can effectively guide the body 310 to move in the vertical direction, ensuring the smoothness and straightness of the body 310 during the lifting process. The cooperation structure between the guide rail seat 430 and the guide blocks 440, through the tight cooperation of the guide bar 4311 and the guide groove 441, restricts the swaying and offset of the body 310 in the horizontal direction, so that the body 310 can only make precise linear movements in the vertical direction, avoiding the impact of the body 310 swaying on the robot operation, and ensuring the stability and accuracy of the robot when performing tasks.

[0039] The guide rail base 430 is vertically mounted on the body 310, serving not only as a guide but also enhancing the structural rigidity of the body 310. The guide rail base 430 and the body 310 form a rigid, integrated structure, enabling the robot to withstand greater external forces and torques during operation, especially when the robotic arm 320 performs grasping and handling operations. This prevents deformation of the body 310 due to stress, further improving the robot's operational stability and reliability.

[0040] The mobile chassis 100 provides the robot with mobility, enabling it to move flexibly in different work scenarios, reach designated locations to perform tasks, and expand the robot's working range. The mobile chassis 100 includes a base plate, electric wheels 120, and a housing 130. Multiple electric wheels 120 are mounted on the bottom of the base plate, and the housing 130 is fixedly connected to the base plate. A battery is installed inside the housing 130 to provide power to the robot.

[0041] Example 2

[0042] The difference between this embodiment and Embodiment 1 is that the lifting device includes a motor 420, a magnetic wheel, a magnetic wall surface, and a guide device. The motor (420) is mounted on the body 310, and the magnetic wall surface is mounted on the output shaft of the motor 420. The magnetic wall surface is made of magnetic material and is fixed to the frame 200, with the magnetic wall surface and magnetic wheel magnetically engaging. The guide device is located on both sides of the body 310 to guide the body 310 to move vertically. In this embodiment, the magnetic wall surface is a wall surface that can be attracted by a magnet, such as a wall surface made of iron sheet, or a wall surface made of materials containing iron, cobalt, and nickel, or a wall surface made of magnets.

[0043] Example 3:

[0044] The difference between this embodiment and Embodiment 1 is that the lifting device includes a motor 420, a sprocket, a chain, a back plate, and a guide device. The motor 420 is mounted on the body 310, the sprocket is mounted on the output shaft of the motor 420, and the back plate is fixed on the bracket. The back plate is made of lightweight high-strength plastic or carbon fiber. The chain is vertically fixed on the back plate, and the sprocket cooperates with the chain. The rotation of the sprocket drives the body 310 to rise or fall. The guide device is located on both sides of the body 310 and is used to guide the body 310 to move in the vertical direction.

[0045] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual-arm lifting robot, characterized by, include: Robot body and control module; The robot body includes a walking chassis (100), a frame (200), a robotic arm body (300), a lifting device, and a body (310) balancing device; The frame (200) is made of lightweight and high-strength material. The frame (200) is mounted on the walking chassis (100). The lifting device is mounted on the frame (200). The main body of the robot (300) is mounted on the lifting device. The body (310) balancing device is mounted on the frame (200). The body (310) balancing device and the main body of the robot (300) are located on both sides of the frame (200). The balancing device includes a balancing block (530), a guide wheel (520), and a cable (510). The guide wheel (520) is fixedly installed on the top of the frame (200). The cable (510) passes around the guide wheel (520). One end of the cable (510) is fixedly connected to the balancing block (530), and the other end is fixedly connected to the main body of the robot (300).

2. The dual-arm lifting robot according to claim 1, characterized in that: The main body (300) of the robotic arm includes a body (310) and a robotic arm (320), the robotic arm (320) is mounted on the body (310), and the body (310) is connected to a lifting device.

3. The dual-arm lifting robot according to claim 1, characterized in that: The lifting device includes a motor (420), a gear (421), a rack (410), and a guide device. The rack (410) is vertically mounted on the frame (200). The motor (420) is mounted on the body (310). The gear (421) is mounted on the output shaft of the motor (420) and meshes with the rack (410). The guide device is located on both sides of the body (310) to guide the body (310) to move in the vertical direction.

4. A dual-arm lifting robot according to claim 1, characterized in that: The frame (200) has a height of ≤3.0 meters and a width of 0.4~0.5 meters. The vertical rods of the frame (200) are anchored into the walking chassis (100) to a depth of ≥0.2 meters. The frame (200) is made of aluminum alloy or carbon fiber.

5. A dual-arm lifting robot according to claim 1, characterized in that: The lifting device includes a motor (420), a magnetic wheel, a magnetic wall, and a guide device; the motor (420) is mounted on the body (310), the magnetic wall is mounted on the output shaft of the motor (420), the magnetic wall is made of magnetic material, the magnetic wall is fixed on the frame (200), and the magnetic wall and the magnetic wheel are magnetically attracted to each other; the guide device is set on both sides of the body (310) to guide the body (310) to move in the vertical direction.

6. A dual-arm lifting robot according to claim 1, characterized in that: The lifting device includes a motor (420), a sprocket, a chain, a back plate, and a guide device; the motor (420) is mounted on the body (310), the sprocket is mounted on the output shaft of the motor (420), the back plate is fixed on the bracket, the chain is vertically fixed on the back plate, the sprocket cooperates with the chain, and the guide device is on both sides of the body (310) to guide the body (310) to move in the vertical direction.

7. A dual-arm lifting robot according to any one of claims 5-6, characterized in that: The guiding device includes a guide rail seat (430) and a guide block (440). The guide rail seat (430) is vertically mounted on the body (310). The guide rail seat (430) has a guide rail groove (431) in the vertical direction. Guide bars (4311) are provided on both sides of the guide rail groove (431). The guide block (440) has a guide groove (441) on its side that cooperates with the guide bars (4311).

8. A dual-arm lifting robot according to claim 6, characterized in that: Five guide blocks (440) are provided on one side of the fuselage (310). The guide blocks (440) are arranged in a trapezoidal shape and are cylindrical.

9. A dual-arm lifting robot according to claim 1, characterized in that: The walking chassis (100) includes a base plate, electric wheels (120) and a cargo box (130). Multiple electric wheels (120) are installed at the bottom of the base plate, and the cargo box (130) is fixedly connected to the base plate.

10. A dual-arm lifting robot according to claim 1, characterized in that: The control module includes a vision module, a voice control module, and a controller, which are installed on the robot body. The vision module, voice control module, and controller are all electrically connected to the controller.

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