A double-end robot

Abstract

This utility model relates to a dual-headed robotic arm, comprising: a horizontal arm, a horizontal traveling mechanism, a vertical traveling mechanism, a first vertical traveling mechanism, and a second vertical traveling mechanism; the horizontal traveling mechanism is mounted on the horizontal arm; the vertical traveling mechanism is mounted on the horizontal traveling mechanism; the first and second vertical traveling mechanisms are mounted on the vertical traveling mechanism; grippers are respectively mounted at the lower ends of the first and second vertical traveling mechanisms. The vertical traveling mechanism is perpendicular to the horizontal traveling mechanism, the first vertical traveling mechanism is perpendicular to both the horizontal and vertical traveling mechanisms, and the second vertical traveling mechanism is perpendicular to both the horizontal and vertical traveling mechanisms. Compared to traditional three-axis dual-headed robotic arms, the dual-headed robotic arm provided by this utility model also includes a first and a second vertical traveling mechanism, enabling simultaneous gripping of multiple workpieces and placement of processed products, thus improving processing efficiency.

Description

Technical Field

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

[0002] Dual-head robotic arms are commonly used automation equipment in industrial production. They typically include three-axis and five-axis dual-head robotic arms. Three-axis dual-head robotic arms usually only have one longitudinal motion mechanism, on which grippers or clamps are mounted for grasping workpieces. However, existing dual-head robotic arms with a single longitudinal motion mechanism have a limited number of workpieces that can be grasped at once, which affects the workpiece grasping efficiency and makes it difficult to meet the demands of high-efficiency automation equipment development. Utility Model Content

[0003] This invention addresses the technical problem of low grasping efficiency in existing three-axis dual-head robotic arms, which makes it difficult to meet the demands of high-efficiency development in automated equipment. It provides a dual-head robotic arm.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A dual-headed robotic arm includes: a horizontal arm, a lateral traveling mechanism, a longitudinal traveling mechanism, a first vertical traveling mechanism, and a second vertical traveling mechanism; The lateral walking mechanism is mounted on the cross arm; The longitudinal traveling mechanism is mounted on the transverse traveling mechanism; The first vertical traveling mechanism and the second vertical traveling mechanism are mounted on the longitudinal traveling mechanism; clamps are respectively mounted on the lower ends of the first vertical traveling mechanism and the second vertical traveling mechanism; The longitudinal walking mechanism is distributed perpendicular to the transverse walking mechanism, the first vertical walking mechanism is distributed perpendicular to both the transverse and longitudinal walking mechanisms, and the second vertical walking mechanism is distributed perpendicular to both the transverse and longitudinal walking mechanisms.

[0005] Furthermore, the lateral travel mechanism includes: a first linear slide rail, a first slider, a first drive mechanism, and a lateral travel body; The first linear slide rail is fixed on the cross arm, and the first slider is disposed on the first linear slide rail; the transverse traveling body is fixed on the first slider; The first driving mechanism is connected to the first slider, and the first driving mechanism is used to drive the first slider to move linearly; The longitudinal walking mechanism is mounted on the transverse walking body.

[0006] Furthermore, the longitudinal traveling mechanism includes: a second linear slide rail, a second slider, a second drive mechanism, and a longitudinal traveling body; The second linear slide rail is fixed on the transverse traveling body and is perpendicular to the first linear slide rail; the second slider is disposed on the second linear slide rail; the longitudinal traveling body is fixed on the second slider; The second driving mechanism is connected to the second slider, and the second driving mechanism is used to drive the second slider to move linearly; The first vertical walking mechanism is mounted on the longitudinal walking body.

[0007] Furthermore, the first vertical traveling mechanism includes: a third linear slide rail, a third slider, a third drive mechanism, and a first vertical traveling body; The third linear slide rail is fixed on the first vertical walking body, and the third linear slide rail is perpendicular to the first linear slide rail and the second linear slide rail; the third slider is disposed on the third linear slide rail; the third slider is fixed on the first vertical walking body, and the third driving mechanism is used to drive the third linear slide rail to move linearly; A clamp is installed at the lower end of the first vertical walking body.

[0008] Furthermore, the second vertical traveling mechanism includes: a fourth linear slide rail, a fourth slider, a fourth drive mechanism, and a second vertical traveling body; The fourth linear slide rail is fixed on the second vertical walking body, and the fourth linear slide rail is perpendicular to the first linear slide rail and the second linear slide rail; the fourth slider is disposed on the fourth linear slide rail; the fourth slider is fixed on the second vertical walking body, and the fourth driving mechanism is used to drive the fourth linear slide rail to move linearly; A clamp is installed at the lower end of the second vertical walking body.

[0009] Furthermore, the first vertical traveling mechanism and the second vertical traveling mechanism are arranged facing each other.

[0010] Furthermore, it also includes: a support leg; the support leg is fixed to the lower end of the cross arm.

[0011] Compared with the prior art, the dual-headed robotic arm provided by this utility model has the following beneficial effects: The dual-headed manipulator provided by this utility model has a horizontal traveling mechanism mounted on a horizontal arm; a vertical traveling mechanism mounted on the horizontal traveling mechanism; and a first vertical traveling mechanism and a second vertical traveling mechanism mounted on the vertical traveling mechanism. Grippers are respectively mounted at the lower ends of the first and second vertical traveling mechanisms. The vertical traveling mechanism is perpendicular to the horizontal traveling mechanism, the first vertical traveling mechanism is perpendicular to both the horizontal and vertical traveling mechanisms, and the second vertical traveling mechanism is perpendicular to both the horizontal and vertical traveling mechanisms. Compared to traditional three-axis dual-headed manipulators, the dual-headed manipulator provided by this utility model also includes a first vertical traveling mechanism and a second vertical traveling mechanism, enabling simultaneous gripping of multiple workpieces and placement of processed products, thus improving processing efficiency. Attached Figure Description

[0012] Figure 1 A schematic diagram of the dual-headed robotic arm structure provided in this embodiment of the utility model; Figure 2 A schematic diagram of the first vertical walking mechanism and the second vertical walking mechanism provided for embodiments of this utility model.

[0013] Among them, 1-horizontal arm, 2-lateral walking mechanism, 3-longitudinal walking mechanism, 4-first vertical walking mechanism, 5-second vertical walking mechanism, 6-support leg. Detailed Implementation

[0014] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0016] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0017] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediary element.

[0018] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0019] See Figure 1 and Figure 2 This utility model embodiment provides a dual-headed robotic arm, which mainly includes: a horizontal arm 1, a horizontal traveling mechanism 2, a vertical traveling mechanism 3, a first vertical traveling mechanism 4, and a second vertical traveling mechanism 5. The functions and positional relationships of each component are as follows: A transverse traveling mechanism 2 is mounted on a horizontal arm 1 and travels in a straight line in the front-to-back direction of the horizontal arm 1. A support leg 6 is fixed to the lower end of the horizontal arm 1. A first longitudinal traveling mechanism 3 and a second longitudinal traveling mechanism 3 are mounted on the transverse traveling mechanism 2 and travel in a straight line in the left-to-right direction of the transverse traveling mechanism 2. A first vertical traveling mechanism 4 is mounted on the longitudinal traveling mechanism 3 and travels in the up-down direction of the longitudinal traveling mechanism 3; a second vertical traveling mechanism 5 is mounted on the longitudinal traveling mechanism 3 and travels in the up-down direction of the longitudinal traveling mechanism 3. Clamps are respectively mounted at the lower ends of the first vertical traveling mechanism 4 and the second vertical traveling mechanism 5. The first vertical traveling mechanism 4 and the second vertical traveling mechanism 5 are arranged facing each other. The longitudinal traveling mechanism 3 is distributed perpendicular to the transverse traveling mechanism 2, the first vertical traveling mechanism 4 is distributed perpendicular to both the transverse traveling mechanism 2 and the longitudinal traveling mechanism 3, and the second vertical traveling mechanism 5 is distributed perpendicular to both the transverse traveling mechanism 2 and the longitudinal traveling mechanism 3.

[0020] In a preferred embodiment of this utility model, the lateral traveling mechanism 2 includes: a first linear slide rail, a first slider, a first drive mechanism, and a lateral traveling body. The first linear slide rail is fixed on the horizontal arm 1, and the first slider is disposed on the first linear slide rail, allowing the first slider to move linearly along the first linear slide rail. The lateral traveling body is fixed on the first slider, and the movement of the first slider drives the lateral traveling body to move synchronously. The first drive mechanism is connected to the first slider and is used to drive the first slider to move linearly. The first drive mechanism adopts a transmission structure of motor and gear rack. The longitudinal traveling mechanism 3 is mounted on the lateral traveling body.

[0021] The longitudinal traveling mechanism 3 includes: a second linear slide rail, a second slider, a second drive mechanism, and a longitudinal traveling body. The longitudinal traveling body is perpendicular to the transverse traveling body. The second linear slide rail is fixed to the transverse traveling body and is perpendicular to the first linear slide rail. The second slider is mounted on the second linear slide rail and can move linearly along it. The longitudinal traveling body is fixed to the second slider, and the second slider drives the longitudinal traveling body to move synchronously during its movement. The second drive mechanism is connected to the second slider and is used to drive the second slider to move linearly. The second drive mechanism adopts a transmission structure of motor and gear rack. The first vertical traveling mechanism 4 is mounted on the longitudinal traveling body.

[0022] The first vertical traveling mechanism 4 includes: a third linear slide rail, a third slider, a third drive mechanism, and a first vertical traveling body. The first vertical traveling body is perpendicular to both the horizontal and vertical traveling bodies. The third linear slide rail is fixed to the first vertical traveling body and is perpendicular to the first, second, and third linear slide rails. The third slider is mounted on the third linear slide rail and can move linearly along it. The first vertical traveling body is fixed to the third slider, and the third slider drives the first vertical traveling body to move synchronously during its movement. The third drive mechanism drives the third slider to move linearly. A clamp is connected to the lower end of the first vertical traveling body.

[0023] The second vertical traveling mechanism 5 includes: a fourth linear slide rail, a fourth slider, a fourth drive mechanism, and a second vertical traveling body. The second vertical traveling body is perpendicular to both the horizontal and vertical traveling bodies. The fourth linear slide rail is fixed to the second vertical traveling body and is perpendicular to the first, second, and third linear slide rails. The fourth slider is mounted on the fourth linear slide rail and can move linearly along it. The second vertical traveling body is fixed to the fourth slider, and the fourth slider drives the second vertical traveling body to move synchronously during its movement. The fourth drive mechanism drives the fourth slider to move linearly. A clamp is connected to the lower end of the second vertical traveling body.

[0024] See Figure 1 and Figure 2 The dual-headed robotic arm provided in this embodiment of the invention has the following beneficial effects: The dual-headed manipulator provided by this utility model has a horizontal traveling mechanism 2 mounted on a horizontal arm 1; a vertical traveling mechanism 3 mounted on the horizontal traveling mechanism 2; and a first vertical traveling mechanism 4 and a second vertical traveling mechanism 5 mounted on the vertical traveling mechanism 3. Grippers are respectively mounted at the lower ends of the first vertical traveling mechanism 4 and the second vertical traveling mechanism 5. The vertical traveling mechanism 3 is perpendicular to the horizontal traveling mechanism 2, the first vertical traveling mechanism 4 is perpendicular to both the horizontal traveling mechanism 2 and the vertical traveling mechanism 3, and the second vertical traveling mechanism 5 is perpendicular to both the horizontal traveling mechanism 2 and the vertical traveling mechanism 3. Compared to traditional three-axis dual-headed manipulators, the dual-headed manipulator provided by this utility model also includes a first vertical traveling mechanism 4 and a second vertical traveling mechanism 5, enabling simultaneous gripping of multiple workpieces and placement of processed products, thus improving processing efficiency.

[0025] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual head robot characterized by: include: A horizontal arm, a lateral traveling mechanism, a longitudinal traveling mechanism, a first vertical traveling mechanism, and a second vertical traveling mechanism; The lateral walking mechanism is mounted on the cross arm; The longitudinal traveling mechanism is mounted on the transverse traveling mechanism; The first vertical traveling mechanism and the second vertical traveling mechanism are mounted on the longitudinal traveling mechanism; clamps are respectively mounted on the lower ends of the first vertical traveling mechanism and the second vertical traveling mechanism; The longitudinal walking mechanism is distributed perpendicular to the transverse walking mechanism, the first vertical walking mechanism is distributed perpendicular to both the transverse and longitudinal walking mechanisms, and the second vertical walking mechanism is distributed perpendicular to both the transverse and longitudinal walking mechanisms.

2. The dual head robot of claim 1, wherein: The lateral travel mechanism includes: a first linear slide rail, a first slider, a first drive mechanism, and a lateral travel body; The first linear slide rail is fixed on the cross arm, and the first slider is disposed on the first linear slide rail; the transverse traveling body is fixed on the first slider; The first driving mechanism is connected to the first slider, and the first driving mechanism is used to drive the first slider to move linearly; The longitudinal walking mechanism is mounted on the transverse walking body.

3. The dual head robot of claim 2, wherein: The longitudinal traveling mechanism includes: a second linear slide rail, a second slider, a second drive mechanism, and a longitudinal traveling body; The second linear slide rail is fixed on the transverse traveling body and is perpendicular to the first linear slide rail; the second slider is disposed on the second linear slide rail; the longitudinal traveling body is fixed on the second slider; The second driving mechanism is connected to the second slider, and the second driving mechanism is used to drive the second slider to move linearly; The first vertical walking mechanism is mounted on the longitudinal walking body.

4. The dual head robot of claim 3, wherein: The first vertical traveling mechanism includes: a third linear slide rail, a third slider, a third drive mechanism, and a first vertical traveling body; The third linear slide rail is fixed on the first vertical walking body, and the third linear slide rail is perpendicular to the first linear slide rail and the second linear slide rail; the third slider is disposed on the third linear slide rail; the third slider is fixed on the first vertical walking body, and the third driving mechanism is used to drive the third linear slide rail to move linearly; A clamp is installed at the lower end of the first vertical walking body.

5. The dual head robot of claim 4, wherein: The second vertical traveling mechanism includes: a fourth linear slide rail, a fourth slider, a fourth drive mechanism, and a second vertical traveling body; The fourth linear slide rail is fixed on the second vertical walking body, and the fourth linear slide rail is perpendicular to the first linear slide rail and the second linear slide rail; the fourth slider is disposed on the fourth linear slide rail; the fourth slider is fixed on the second vertical walking body, and the fourth driving mechanism is used to drive the fourth linear slide rail to move linearly; A clamp is installed at the lower end of the second vertical walking body.

6. The dual head robot of claim 1, wherein: The first vertical traveling mechanism and the second vertical traveling mechanism are arranged facing each other.

7. The dual head robot of claim 1, wherein: Also includes: Support leg; the support leg is fixed to the lower end of the cross arm.

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