Dual-arm robotic arm

Abstract

This utility model relates to the field of automatic assembly technology, specifically disclosing a dual-arm robotic arm. The dual-arm robotic arm includes a base and two robotic arms, which are spaced apart along the X-direction on the base and symmetrical about a vertical plane perpendicular to the X-direction. Each robotic arm includes a first drive assembly, an upper arm, a second drive assembly, and a middle arm. The first drive assembly is located on the base, one end of the upper arm is connected to a first output shaft extending along the X-direction of the first drive assembly, and the second drive assembly is located on the middle arm. A second output shaft extending along the X-direction of the second drive assembly is connected to the other end of the upper arm. The first and second drive assemblies are located on the same side of the upper arm. Specifically, within the same robotic arm, along the X-direction, the first and second drive assemblies are located on the same side of the upper arm. This arrangement allows the dual-arm robotic arm to operate flexibly in spaces with limited height.

Description

Technical Field

[0001] This utility model relates to the field of automatic assembly technology, and in particular to a dual-arm robotic arm. Background Technology

[0002] Robotic arms, with their unique operational flexibility, have been widely used in industrial assembly and other fields. In the assembly process of some products, the assembly space is small, but the parts to be assembled are heavy, requiring a high-power drive mechanism. This increases the total length of the robotic arm; otherwise, the drive mechanism cannot be installed. This results in a larger robotic arm height, occupying more space, and preventing it from operating flexibly in confined spaces.

[0003] Therefore, there is an urgent need to research a dual-arm robotic hand to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a dual-arm robotic arm to solve the problem that existing robotic arms are too tall to operate flexibly in spaces with limited height.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] Dual-arm robotic arms, including:

[0007] Base;

[0008] Two robotic arms are arranged at intervals along the X direction on the base and are symmetrical about a vertical plane perpendicular to the X direction.

[0009] The robotic arm includes a first drive assembly, an upper arm, a second drive assembly, and a middle arm; the first drive assembly is disposed on the base, one end of the upper arm is disposed on the first output shaft of the first drive assembly extending in the X direction, the second drive assembly is disposed on the middle arm, and the second output shaft of the second drive assembly extending in the X direction is connected to the other end of the upper arm. In the same robotic arm, the first drive assembly and the second drive assembly are located on the same side of the upper arm.

[0010] As an optional technical solution for a dual-arm robotic arm, the second drive assembly includes a second drive member and a cable. The second drive member is disposed on the middle arm. One end of the cable is electrically connected to the second drive member, and the other end is electrically connected to the first drive assembly. The cable is located on the side of the second drive member away from the upper arm, and on the side of the first drive assembly away from the upper arm.

[0011] As an optional technical solution for a dual-arm robotic arm, the second drive component also includes a corrugated pipe, through which the cable passes.

[0012] As an optional technical solution for a dual-arm robotic hand, the robotic hand further includes a third drive assembly and a lower arm. The third drive assembly is located in the middle arm, and the third output shaft of the third drive assembly is connected to the lower arm.

[0013] As an optional technical solution for a dual-arm robotic arm, the third output shaft of the third drive component extends along the X direction.

[0014] As an optional technical solution for a dual-arm robotic arm, the lower arm includes a pickup seat and two connectors spaced apart along the X direction on the pickup seat. The two connectors are respectively located on both sides of the middle arm along the X direction, and one of the connectors is connected to the third output shaft, while the other connector is rotatably connected to the middle arm.

[0015] As an optional technical solution for a dual-arm robotic arm, the pickup base and the connector are detachably connected; and / or,

[0016] The connector is rotatably connected to the middle arm via a bearing.

[0017] As an optional technical solution for a dual-arm robotic arm, the base is provided with an installation channel, and the first drive assembly includes a first housing and an external connector disposed on the first housing, the external connector being located in the installation channel.

[0018] As an optional technical solution for a dual-arm robotic arm, the base is provided with a plurality of threaded holes, the first housing is provided with mounting holes, mounting screws pass through the mounting holes and are screwed into the threaded holes, and the plurality of threaded holes are arranged at intervals on the outer periphery of the mounting channel.

[0019] As an optional technical solution for a dual-arm robotic arm, the load of any one of the robotic arms is greater than or equal to 20 kg.

[0020] This utility model has at least the following beneficial effects:

[0021] This invention provides a dual-arm robotic arm, comprising a base and two robotic arms. The two robotic arms are spaced apart on the base along the X-direction and are symmetrical about a vertical plane perpendicular to the X-direction. Each robotic arm includes a first drive assembly, an upper arm, a second drive assembly, and a middle arm. The first drive assembly is located on the base, with one end of the upper arm connected to a first output shaft extending along the X-direction of the first drive assembly. The second drive assembly is located on the middle arm, with a second output shaft extending along the X-direction connected to the other end of the upper arm. Within the same robotic arm, the first and second drive assemblies are located on the same side of the upper arm. The arrangement of two robotic arms doubles the load capacity of the dual-arm robotic arm without requiring a more powerful drive mechanism, thus helping to shorten the overall arm length, occupy less space, and facilitate flexible operation in spaces with limited height. Furthermore, this structure, while maintaining the same dimension of the base along the X-direction, effectively shortens the distance between the two middle arms along the X-direction, enabling the picking up of small but heavy workpieces. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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 the content of the embodiments of this utility model and these drawings without creative effort.

[0023] Figure 1 This is a first-view structural diagram of the dual-arm robotic arm in an embodiment of the present invention;

[0024] Figure 2 This is a second-view structural diagram of the dual-arm robotic arm in an embodiment of the present invention;

[0025] Figure 3 This is a third-view structural diagram of the dual-arm robotic arm in an embodiment of this utility model.

[0026] In the picture:

[0027] 100. Base; 110. Mounting channel; 120. Threaded hole;

[0028] 200. Robotic arm;

[0029] 210. First drive assembly; 211. External connector; 212. Mounting hole; 220. Upper arm; 230. Second drive assembly; 231. Bellows; 240. Middle arm; 250. Lower arm; 251. Pick-up base; 252. Connector. Detailed Implementation

[0030] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0031] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0032] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0033] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0034] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​not using relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0035] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0036] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0037] like Figures 1 to 3 As shown, this embodiment provides a dual-arm robotic arm, which includes a base 100 and two robotic arms 200. The two robotic arms 200 are arranged at intervals along the X-direction on the base 100 and are symmetrical about a vertical plane perpendicular to the X-direction. Each robotic arm 200 includes a first drive assembly 210, an upper arm 220, a second drive assembly 230, and a middle arm 240. The first drive assembly 210 is disposed on the base 100. One end of the upper arm 220 is disposed on a first output shaft extending along the X-direction of the first drive assembly 210. The second drive assembly 230 is disposed on the middle arm 240, and a second output shaft extending along the X-direction of the second drive assembly 230 is connected to the other end of the upper arm 220. The first drive assembly 210 and the second drive assembly 230 are located on the same side of the upper arm 220. Within the same robotic arm 200, along the X-direction, the first drive assembly 210 and the second drive assembly 230 are located on the same side of the upper arm 220. The vertical plane is parallel to the Y-direction and the Z-direction.

[0038] The arrangement of two robotic arms 200 doubles the load capacity of the dual-arm robotic arm without requiring a more powerful drive mechanism. This helps to shorten the overall arm length, reduce space requirements, and facilitate flexible operation in spaces with limited height. Furthermore, this structure, while maintaining the same dimension of the base 100 along the X-direction, effectively shortens the distance between the two middle arms 240 along the X-direction, enabling flexible picking, transferring, and assembling of small but heavy workpieces.

[0039] In use, the two robotic arms 200 can be used individually or in combination to increase the load capacity. Each robotic arm 200 can have a load capacity of 20 kg or more. The total load capacity of the two robotic arms 200 is greater than or equal to 40 kg, meeting the needs for transferring heavy workpieces in confined spaces.

[0040] Along the X direction, the two upper arms 220 are located between the two first drive components 210, and the two upper arms 220 are located between the two middle arms 240.

[0041] In some embodiments, the second drive assembly 230 includes a second drive member and a cable. The second drive member is disposed on the middle arm 240. One end of the cable is electrically connected to the second drive member, and the other end is electrically connected to the first drive assembly 210. The cable is located on the side of the second drive member away from the upper arm 220, and also on the side of the first drive assembly 210 away from the upper arm 220. The cable has a shorter downward distance from the first drive assembly 210, and the way the cable is arranged on the outside helps to simplify the internal structure of the upper arm 220 and reduce the cost of cable arrangement.

[0042] To protect the cable, in some embodiments, the second drive assembly 230 further includes a corrugated tube 231 through which the cable passes. The corrugated tube 231 helps to improve the protection of the cable, reduce the corrosion of the cable by impurities such as oil, and in addition, the corrugated tube 231 can maintain a large radius of curvature when bent, avoiding the cable from forming corners and improving the cable life.

[0043] In some embodiments, the second drive assembly 230 further includes a second reducer, the input end of which is connected to the output end of the second drive member, and the output shaft of the second reducer forms a second output shaft. The second reducer helps improve driving torque and control accuracy. The second drive member is a servo motor. In some embodiments, the second drive assembly 230 further includes a second housing, where both the second drive member and the second reducer are disposed, and the second housing is connected to the middle arm 240.

[0044] In other embodiments, the first drive assembly 210 also includes a first housing, a first drive member, and a first reducer. The first housing is disposed on the base 100, the first drive member is disposed on the first housing, the input end of the first reducer is connected to the output end of the first drive member, and the output end of the first reducer is connected to the upper arm 220 to improve the driving torque and control accuracy of the upper arm 220. The first drive member is a servo motor.

[0045] During the workpiece transfer process, the workpiece needs to be rotated to multiple positions to achieve assembly at different angles. For this purpose, the robot 200 also includes a third drive assembly and a lower arm 250. The third drive assembly is located on the middle arm 240, and the third output shaft of the third drive assembly, which extends along the X direction, is connected to the lower arm 250. The third output shaft, together with the first output shaft and the second output shaft, forms a three-axis transmission mechanism that is parallel to the X direction. This helps to improve the flexibility of flipping the workpiece to meet the assembly of the workpiece at different angles and improve the convenience of installation.

[0046] Specifically, the lower arm 250 includes a pickup seat 251 and two connecting members 252 spaced apart along the X-direction from the pickup seat 251. The two connecting members 252 are respectively located on both sides of the middle arm 240 along the X-direction, with one connecting member 252 connected to the third output shaft and the other connecting member 252 rotatably connected to the middle arm 240. The arrangement of the two connecting members 252 helps improve the force balance and rotational stability of the lower arm 250. Furthermore, the connecting member 252 and the middle arm 240 are rotatably connected via bearings.

[0047] For ease of assembly, the pickup base 251 and the connector 252 are detachably connected. During assembly, first assemble the two connectors 252, then assemble the pickup base 251 to the two connectors 252. The pickup base 251 is screwed to the bottom end of the connector 252. In some embodiments, the bottom of the pickup base 251 is provided with a suction cup to facilitate workpiece adsorption. The pickup base 251 has a through hole to facilitate the passage of a pipe communicating with the suction cup. In some embodiments, the pickup base 251 has a limiting channel and a connecting hole located on the outer periphery of the limiting channel. The gripper mechanism includes a vertical rod and a fixing hole located on the outer periphery of the vertical rod. The vertical rod passes through the limiting channel, and a fixing screw passes through the fixing hole and is screwed into the connecting hole.

[0048] In some embodiments, the base 100 is provided with a mounting channel 110, and the first drive assembly 210 includes an external connector 211 disposed on the first housing, the external connector 211 being located in the mounting channel 110. The mounting channel 110 can avoid the external connector 211, thereby allowing external wiring to pass through the mounting channel 110 and connect to the external connector 211, and also helps to reduce the height of the dual-arm robotic arm; at the same time, it also provides protection for the external connector 211.

[0049] The base 100 has several threaded holes 120, and the first housing has mounting holes 212. Mounting screws pass through the mounting holes 212 and are screwed into the threaded holes 120. The several threaded holes 120 are spaced apart on the outer periphery of the mounting channel 110. The screwing method ensures a firm connection between the base 100 and the first housing, and the spaced arrangement of the several threaded holes 120 on the outer periphery of the mounting holes 212 improves the balance of force distribution.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A dual-arm robot, characterized by, include: Base (100); Two robotic arms (200) are arranged at intervals along the X direction on the base (100) and are symmetrical about a vertical plane perpendicular to the X direction; The robotic arm (200) includes a first drive assembly (210), an upper arm (220), a second drive assembly (230), and a middle arm (240); the first drive assembly (210) is disposed on the base (100), one end of the upper arm (220) is disposed on the first output shaft of the first drive assembly (210) extending in the X direction, the second drive assembly (230) is disposed on the middle arm (240), and the second output shaft of the second drive assembly (230) extending in the X direction is connected to the other end of the upper arm (220). In the same robotic arm (200), the first drive assembly (210) and the second drive assembly (230) are located on the same side of the upper arm (220).

2. The dual-arm robotic hand according to claim 1, characterized in that, The second drive assembly (230) includes a second drive member and a cable. The second drive member is disposed on the middle arm (240). One end of the cable is electrically connected to the second drive member, and the other end is electrically connected to the first drive assembly (210). The cable is located on the side of the second drive member away from the upper arm (220) and on the side of the first drive assembly (210) away from the upper arm (220).

3. The dual-arm robotic hand according to claim 2, characterized in that, The second drive assembly (230) also includes a corrugated pipe (231) through which the cable passes.

4. The dual-arm robotic hand according to claim 2, characterized in that, The robotic arm (200) also includes a third drive assembly and a lower arm (250). The third drive assembly is located on the middle arm (240), and the third output shaft of the third drive assembly is connected to the lower arm (250).

5. The dual-arm robotic hand according to claim 4, characterized in that, The third output shaft of the third drive component extends along the X direction.

6. The dual-arm robotic hand according to claim 5, characterized in that, The lower arm (250) includes a pickup seat (251) and two connectors (252) spaced apart along the X direction from the pickup seat (251). The two connectors (252) are respectively disposed on both sides of the middle arm (240) along the X direction, and one of the connectors (252) is connected to the third output shaft, while the other connector (252) is rotatably connected to the middle arm (240).

7. The dual-arm robotic hand according to claim 6, characterized in that, The pickup base (251) and the connector (252) are detachably connected; and / or, The connector (252) is rotatably connected to the middle arm (240) via a bearing.

8. The dual-arm robotic hand according to any one of claims 1-7, characterized in that, The base (100) is provided with an installation channel (110), and the first drive assembly (210) includes a first housing and an external connector (211) disposed on the first housing, the external connector (211) being located in the installation channel (110).

9. The dual-arm robotic hand according to claim 8, characterized in that, The base (100) is provided with a plurality of threaded holes (120), the first housing is provided with mounting holes (212), mounting screws pass through the mounting holes (212) and are screwed into the threaded holes (120), and the plurality of threaded holes (120) are arranged at intervals on the outer periphery of the mounting channel (110).

10. The dual-arm robotic hand according to any one of claims 1-7, characterized in that, The load of any one of the robotic arms (200) is greater than or equal to 20 kg.

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