Multi-functional dual-arm compound robot automation assembly device

Abstract

This utility model discloses a multifunctional dual-arm composite robot automated assembly device, including a walking chassis. A first collaborative robotic arm and a second collaborative robotic arm are symmetrically mounted on one end of the top of the walking chassis. 3D vision cameras are mounted on the outer sides of the ends of both the first and second collaborative robotic arms. A mechanical gripper is mounted at the end of the second collaborative robotic arm, and a tightening mechanism for tightening assembly screws is mounted at the end of the first collaborative robotic arm. The beneficial effects of this utility model are: the robotic arm body adopts a high-precision, multi-joint design, enabling flexible complex spatial movements. Combined with a high-load walking chassis, the device possesses both assembly capabilities and high-load transport capabilities. The 3D vision camera integrates a high-precision camera and advanced image processing algorithms, enabling real-time capture and identification of assembly parts, achieving millimeter-level positioning accuracy and improving assembly efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, specifically a multifunctional dual-arm composite robot automated assembly device, which aims to improve the automation level, assembly accuracy and efficiency of the production line. Background Technology

[0002] With the development of industrial automation, traditional single-arm composite robots have gradually shown their limitations in complex assembly tasks, such as insufficient flexibility, low assembly efficiency, need for frequent switching of end effectors, need for complex auxiliary tooling fixation, and difficulty in product changeover. Traditional single-arm composite robots cannot complete collaborative assembly processes. To address this, we propose a multi-functional dual-arm composite robot automated assembly device. Utility Model Content

[0003] The purpose of this invention is to provide a multifunctional dual-arm composite robot automated assembly device to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a multifunctional dual-arm composite robot automated assembly device, including a walking chassis, on one end of the top of the walking chassis, a first collaborative robotic arm and a second collaborative robotic arm are symmetrically mounted, a 3D vision camera is mounted on the outer side of the end of the first collaborative robotic arm and the second collaborative robotic arm, a mechanical gripper is mounted on the end of the second collaborative robotic arm, and a tightening mechanism for tightening the screws to be assembled is mounted on the end of the first collaborative robotic arm.

[0005] Preferably, the tightening mechanism includes a mounting frame, a telescopic cylinder, a slider, a drive motor, a connecting shaft, and a tightening shaft. The mounting frame is installed at the end of the first collaborative robotic arm. The telescopic cylinder is fixedly installed at the bottom of the mounting frame, and a slider is fixedly connected to the piston rod end of the telescopic cylinder. The slider is slidably connected to the surface of the mounting frame. The drive motor is fixedly installed at the bottom of the mounting frame outside the telescopic cylinder, and the tightening shaft is connected to the output shaft end of the drive motor.

[0006] Preferably, one end of the slider has a mounting hole, the bottom end of the tightening shaft is rotatably connected to the mounting hole through a bearing, and a connecting shaft is slidably connected inside the tightening shaft. One end of the connecting shaft is fixedly connected to the end of the output shaft of the drive motor, and the other end of the connecting shaft is slidably connected inside the tightening shaft.

[0007] Preferably, the mounting bracket surface is provided with a guide rail, and the slider is slidably connected to the outside of the guide rail.

[0008] Preferably, a workpiece tray for storing workpieces to be assembled is provided on the top of the walking chassis between the first and second collaborative robotic arms.

[0009] Preferably, the outer side of the connecting shaft is integrally provided with symmetrical protrusions, and the inner wall of the tightening shaft is provided with symmetrical sliding grooves. The protrusions on the outer side of the connecting shaft are slidably connected in the sliding grooves on the inner wall of the tightening shaft.

[0010] Preferably, force sensors are installed at the ends of both the first and second collaborative robotic arms.

[0011] Compared with existing technologies, the advantages of this invention are as follows: This invention features a dual-arm, multi-joint robot body (including two independent robotic arms, each with a multi-joint design, enabling flexible spatial movement). The robotic arm body employs a high-precision, multi-joint design, allowing for flexible complex spatial movements. Combined with a high-load-bearing chassis, this device possesses both assembly and heavy-load transport capabilities. The 3D vision camera integrates a high-precision camera and advanced image processing algorithms, enabling real-time capture and identification of assembled parts, achieving millimeter-level positioning accuracy. Force sensors, installed at the end of the robotic arms, monitor contact forces during assembly in real time, ensuring gentle and precise assembly movements. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the tightening mechanism of this utility model;

[0014] Figure 3 For the present utility model Figure 2 Enlarged schematic diagram of the structure at point A in the middle;

[0015] Figure 4 This is a schematic diagram of the robot assembly process of this utility model.

[0016] In the diagram: 1. Walking chassis; 2. Workpiece pallet to be assembled; 3. First collaborative robotic arm; 4. Second collaborative robotic arm; 5. 3D vision camera; 6. Tightening mechanism; 7. Mechanical gripper; 8. Mounting frame; 9. Telescopic cylinder; 10. Slider; 11. Drive motor; 12. Connecting shaft; 13. Tightening shaft. Detailed Implementation

[0017] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figures 1-4 This utility model provides a technical solution: a multifunctional dual-arm composite robot automated assembly device, including a walking chassis 1. A first collaborative robotic arm 3 and a second collaborative robotic arm 4 are symmetrically mounted on one end of the top of the walking chassis 1. A 3D vision camera 5 is mounted on the outer side of the end of the first collaborative robotic arm 3 and the second collaborative robotic arm 4. A mechanical gripper 7 is mounted on the end of the second collaborative robotic arm 4. A tightening mechanism 6 for tightening the screws to be assembled is mounted on the end of the first collaborative robotic arm 3.

[0019] It should be noted that the device also includes a host computer system, which includes a control module, an assembly strategy module, a human-machine interface, and a sensor information processing module. This system is used to receive sensor data, plan motion paths, send control commands, and process user input. The dual-arm robot can achieve dual-arm collaboration according to the instructions of the host computer system to jointly complete complex assembly tasks. The device also includes an industrial computer, which serves as a data processing center to integrate data acquisition, processing, and control functions.

[0020] This dual-arm composite robot is assembled from a walking chassis 1 and a multi-joint robotic arm. The device is equipped with a control system and an energy system, both of which are integrated into the walking chassis 1. By setting a high-load walking chassis 1, it can accommodate more energy carriers, including larger batteries and air compressors, enabling it to complete automated assembly work for a longer period of time and travel long distances, thus achieving cross-regional operations.

[0021] Please see Figures 2-3 The tightening mechanism 6 includes a mounting frame 8, a telescopic cylinder 9, a slider 10, a drive motor 11, a connecting shaft 12, and a tightening shaft 13. The end of the first collaborative robotic arm 3 is equipped with a mounting frame 8. The bottom end of the mounting frame 8 is fixedly equipped with a telescopic cylinder 9, and the piston rod end of the telescopic cylinder 9 is fixedly connected to a slider 10. The slider 10 is slidably connected to the surface of the mounting frame 8. The bottom end of the mounting frame 8 is located outside the telescopic cylinder 9 and is fixedly equipped with a drive motor 11. The output shaft end of the drive motor 11 is connected to the tightening shaft 13.

[0022] It should be noted that during the assembly process, in the initial state, the dual-arm composite robot sends an assembly request signal from the host computer system at the charging position. When a new product needs to be assembled at the assembly workstation, the host system sends an assembly request signal to the dual-arm composite robot. The walking chassis 1 at the bottom of the dual-arm composite robot carries the robot and first goes to the tool library to switch to the end effector needed for the work. Then it goes to the parts table to wait for the collaborative robotic arm to pick up the parts to be assembled and place the parts into the workpiece tray 2 on the walking chassis 1. The walking chassis 1 carries the collaborative robotic arm and the parts to be assembled. The part moves to the assembly workstation; the first collaborative robot, operated by three people, starts running and executes a vision photography program, enabling the 3D vision camera 5 to capture the position to be assembled, obtain the spatial coordinates of the assembly position, and record and save them in the PLC in the walking chassis 1; it picks up the parts on the workpiece tray 2 to be assembled on the walking chassis 1, and accurately places the parts into the assembly position by being guided by the spatial data obtained from the 3D vision; at this time, the second collaborative robotic arm 4 on the walking chassis also obtains the 3D vision data stored in the PLC, identifies the screw holes at the assembly position, and executes a tightening program to firmly fix the parts in the corresponding assembly position.

[0023] Please see Figures 2-3 The slider 10 has a mounting hole at one end. The bottom end of the tightening shaft 13 is rotatably connected to the mounting hole through a bearing. The tightening shaft 13 is slidably connected to the connecting shaft 12. One end of the connecting shaft 12 is fixedly connected to the output shaft end of the drive motor 11, and the other end of the connecting shaft 12 is slidably connected to the tightening shaft 13.

[0024] It should be noted that the drive motor 11 can drive the rotation of the connecting shaft 12, and the telescopic cylinder 9 can appropriately adjust the length of the tightening shaft 13 so that the end of the tightening shaft 13 is matched with the screw tightening position. Then, the drive motor 11 drives the connecting shaft 12 to rotate, so that the tightening shaft 13 rotates accordingly, thereby realizing the automatic tightening of the assembled parts.

[0025] Please see Figure 3 The mounting bracket 8 has a guide rail on its surface, and the slider 10 is slidably connected to the outside of the guide rail.

[0026] It should be noted that the guide rail on the mounting bracket 8 ensures the directional movement of the slider 10 on it.

[0027] Please see Figure 1 The top of the walking chassis 1 is located between the first collaborative robotic arm 3 and the second collaborative robotic arm 4, and a workpiece tray 2 for storing the workpieces to be assembled is provided.

[0028] It should be noted that the workpiece tray 2 is set up to store the workpieces to be assembled, so that the No. 1 collaborative robotic arm 3 can pick them up.

[0029] The outer side of the connecting shaft 12 is integrally provided with symmetrical protrusions, and the inner wall of the tightening shaft 13 is provided with symmetrical sliding grooves. The protrusions on the outer side of the connecting shaft 12 are slidably connected in the sliding grooves on the inner wall of the tightening shaft 13.

[0030] It should be noted that the sliding of the protrusion on the connecting shaft 12 into the inner wall of the tightening shaft 13 allows the connecting shaft 12 and the tightening shaft 13 to be stably connected, so that the connecting shaft 12 drives the tightening shaft 13 to rotate during the rotation, thereby achieving the tightening of the assembled workpiece by the tightening shaft 13.

[0031] Please see Figure 1 Force sensors are installed at the ends of both the No. 1 collaborative robotic arm 3 and the No. 2 collaborative robotic arm 4.

[0032] It should be noted that during use, technicians debug the program of the dual-arm composite robot and edit the routine program for each workstation in the work scene. Through wireless communication technology, the walking chassis 1 of the dual-arm composite robot is scheduled so that it can reach the corresponding position to perform tool switching, parts picking, and two-piece assembly. After the walking chassis 1, carrying the parts to be assembled, and the first and second collaborative robotic arms 3 and 4 reach the corresponding workstation, the walking chassis 1 transmits the arrival signal to the six-axis collaborative robotic arms. The robot starts to execute the 3D vision photography program to identify the location of the assembly location or the location of the tool library and store the visual data, so that both collaborative robotic arms can obtain vision for trajectory guidance. The two collaborative robotic arms on the walking chassis 1, the first collaborative robotic arm 3, is responsible for grasping and placing parts, and the second collaborative robotic arm 4 is responsible for tightening the assembly, realizing the dual-machine collaborative work. Through the function of automatically switching the end effector, the compatibility of assembling various parts is achieved.

[0033] In summary, this utility model has advantages such as long battery life, dual-machine collaboration, modular design, and compatibility with multiple processes. The device combines the advantages of traditional single-arm composite robots while innovatively upgrading the dual-arm robot collaborative control system and the high-load walking chassis 1. It realizes complex processes of collaborative assembly and greater process compatibility. It adopts visual data sharing technology to achieve real-time guidance of the trajectory of the dual-arm multi-joint collaborative robotic arm by a single industrial camera. It adopts an end effector electric switching system to realize free switching between multiple tools, which greatly improves the system's compatibility. The whole system has advantages such as strong anti-interference ability, wide range of application processes, low failure rate, and easy maintenance, thus improving overall work efficiency.

[0034] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multifunctional dual-arm composite robot automated assembly device, characterized in that, The system includes a walking chassis (1), on one end of the top of which a first collaborative robotic arm (3) and a second collaborative robotic arm (4) are symmetrically mounted. A 3D vision camera (5) is mounted on the outer side of the ends of the first collaborative robotic arm (3) and the second collaborative robotic arm (4). A mechanical gripper (7) is mounted on the end of the second collaborative robotic arm (4), and a tightening mechanism (6) for tightening the screws being assembled is mounted on the end of the first collaborative robotic arm (3).

2. The multifunctional dual-arm composite robot automated assembly device according to claim 1, characterized in that: The tightening mechanism (6) includes a mounting frame (8), a telescopic cylinder (9), a slider (10), a drive motor (11), a connecting shaft (12), and a tightening shaft (13). The end of the first collaborative robotic arm (3) is equipped with a mounting frame (8). The bottom end of the mounting frame (8) is fixedly equipped with a telescopic cylinder (9), and the piston rod end of the telescopic cylinder (9) is fixedly connected to a slider (10). The slider (10) is slidably connected to the surface of the mounting frame (8). The bottom end of the mounting frame (8) is located outside the telescopic cylinder (9) and a drive motor (11) is fixedly installed. The output shaft end of the drive motor (11) is connected to a tightening shaft (13).

3. The multifunctional dual-arm composite robot automated assembly device according to claim 2, characterized in that: One end of the slider (10) is provided with an installation hole. The bottom end of the tightening shaft (13) is rotatably connected to the installation hole through a bearing. A connecting shaft (12) is slidably connected inside the tightening shaft (13). One end of the connecting shaft (12) is fixedly connected to the output shaft end of the drive motor (11), and the other end of the connecting shaft (12) is slidably connected inside the tightening shaft (13).

4. The multifunctional dual-arm composite robot automated assembly device according to claim 2, characterized in that: The mounting bracket (8) has a guide rail on its surface, and the slider (10) is slidably connected to the outside of the guide rail.

5. The multifunctional dual-arm composite robot automated assembly device according to claim 1, characterized in that: The top of the walking chassis (1) is provided with a workpiece tray (2) for storing workpieces to be assembled, located between the first collaborative robotic arm (3) and the second collaborative robotic arm (4).

6. The multifunctional dual-arm composite robot automated assembly device according to claim 3, characterized in that: The outer side of the connecting shaft (12) is symmetrically provided with protruding rods, and the inner wall of the tightening shaft (13) is symmetrically provided with sliding grooves. The protruding rods on the outer side of the connecting shaft (12) are slidably connected in the sliding grooves on the inner wall of the tightening shaft (13).

7. The multifunctional dual-arm composite robot automated assembly device according to claim 1, characterized in that: Force sensors are installed at the ends of both the No. 1 cooperative robotic arm (3) and the No. 2 cooperative robotic arm (4).

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