A double-mechanical-arm double-row single-beam structure
Patent Information
- Application Number
- CN202522056188.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-24
- Publication Date
- 2026-09-08
- Estimated Expiration
- 2035-09-24
AI Technical Summary
[0002]在工业自动化领域，机械臂广泛应用于物料搬运、分拣、装配等作业中，现有的机械臂系统多采用单机械臂设计，工作效率有限，无法实现双工位同时操作，尤其在物流分拣、大型工件双侧加工等场景中表现不足，虽然有些系统尝试通过增加机械臂数量提升效率，但其结构设计常导致运动空间干涉、控制系统复杂等问题，因此，在现有技术中仍存在缺点和不足之处
[0010] The beneficial effects of this utility model are as follows: (1) The two robotic arm mechanisms of this utility model can move horizontally along their respective main beams without affecting each other, so that the two robotic arms can work independently or in coordination, which is suitable for scenarios that require high efficiency, large coverage, dual-station operation or simultaneous operation on both sides of a large workpiece; (2) By setting anti-roll wheels on both sides of the track, the situation of the robotic arm tilting or shaking during the gripping operation can be reduced, thereby improving stability.
Smart Images
Figure CN224725903U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, specifically to a double-arm, double-row, single-beam structure. Background Technology
[0002] In the field of industrial automation, robotic arms are widely used in material handling, sorting, assembly and other operations. Most existing robotic arm systems adopt a single robotic arm design, which has limited work efficiency and cannot achieve simultaneous operation of two workstations. They are particularly inadequate in scenarios such as logistics sorting and double-sided processing of large workpieces. Although some systems have tried to improve efficiency by increasing the number of robotic arms, their structural design often leads to problems such as interference in motion space and complexity of control systems. Therefore, there are still shortcomings and deficiencies in the existing technology. Utility Model Content
[0003] This invention provides a double-arm, double-row, single-beam structure to solve the problems mentioned in the background art.
[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a double-arm, double-row, single-beam structure, including multiple columns arranged in a straight line, two main beams that are fixedly connected to each other on the same side of the multiple columns, and rails fixedly connected to the top and bottom surfaces of the main beams. A mounting plate is provided on the outer side of the main beams, and multiple roller mechanisms located on the upper and lower sides of the main beams are installed on the inner side of the mounting plate. The roller mechanisms slide with the rails. A drive mechanism for driving the mounting plate to slide along the main beams is installed on the mounting plate. A robotic arm mechanism is installed on the outer side of the mounting plate, and a robotic arm is installed at the end of the robotic arm mechanism away from the mounting plate.
[0005] Preferably, the roller mechanism includes a mounting block fixedly connected to the mounting plate, a roller is mounted on the inner side of the mounting block, and two anti-rollers located on both sides of the track are mounted on the side of the mounting block near the track, with the anti-rollers having clearance fit with the side of the track.
[0006] Preferably, a rack and pinion guide is fixedly connected to the outer side of the main beam along its length direction, and the drive mechanism includes a servo motor mounted on the mounting plate. The output shaft of the servo motor passes through the mounting plate and is coaxially fixed with a helical gear that meshes with the rack and pinion guide.
[0007] Preferably, a lead frame is fixedly connected to the mounting plate, a drag chain is provided along the length of the main beam, a cable is provided inside the drag chain, one end of the cable is connected to an external power source, and the other end of the cable is connected to the drive mechanism and the robotic arm mechanism through the lead frame.
[0008] Preferably, a laser position sensor is installed on the robotic arm.
[0009] Preferably, limit switches are installed at both ends of the inner side of the mounting plate.
[0010] The beneficial effects of this utility model are as follows: (1) The two robotic arm mechanisms of this utility model can move horizontally along their respective main beams without affecting each other, so that the two robotic arms can work independently or in coordination, which is suitable for scenarios that require high efficiency, large coverage, dual-station operation or simultaneous operation on both sides of a large workpiece; (2) By setting anti-roll wheels on both sides of the track, the situation of the robotic arm tilting or shaking during the gripping operation can be reduced, thereby improving stability. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a front view of the structure of this utility model; Figure 3 for Figure 2 Schematic diagram of the cross section at point aa; Figure 4 This is a schematic diagram of the connection between the roller mechanism, the drive mechanism, and the mounting plate of this utility model.
[0012] Reference numerals: 1. Column, 2. Main beam, 3. Track, 4. Mounting plate, 5. Roller mechanism, 51. Mounting block, 52. Roller, 53. Anti-roller, 6. Drive mechanism, 61. Servo motor, 62. Helical gear, 7. Robotic arm mechanism, 8. Robotic arm, 9. Rack and pinion guide, 10. Lead wire frame, 11. Cable chain, 12. Limit switch. Detailed Implementation
[0013] The present invention will now be further described with reference to the accompanying drawings.
[0014] like Figure 1-4 As shown, this utility model provides a double-arm, double-row, single-beam structure, including multiple columns 1 arranged in a straight line. Two main beams 2, spaced vertically, are fixedly connected to the same side of the multiple columns 1. Tracks 3 are fixedly connected to the top and bottom surfaces of the main beams 2. A mounting plate 4 is provided on the outer side of the main beams 2. Multiple roller mechanisms 5 located on the upper and lower sides of the main beams 2 are installed on the inner side of the mounting plate 4. The roller mechanisms 5 slide smoothly in cooperation with the tracks 3. A drive mechanism 6 is installed on the mounting plate 4 to drive the mounting plate 4 to slide along the main beams 2. A robotic arm mechanism 7 is installed on the outer side of the mounting plate 4. The robotic arm mechanism 7 is a multi-axis industrial robotic arm. A robotic hand 8 is installed at the end of the robotic arm mechanism 7 away from the mounting plate 4. The robotic hand 8 can be selected as an electric two-finger gripper or a vacuum suction cup according to the operation requirements.
[0015] Specifically, during use, the drive mechanism 6 drives the corresponding mounting plate 4 to move horizontally along their respective main beams 2, so that the two robotic arm mechanisms 7 can move horizontally along their respective main beams 2 without affecting each other. In this way, the two robotic arms can work independently or collaboratively, which is suitable for scenarios that require high efficiency, large coverage, dual-station operation, or simultaneous operation on both sides of large workpieces, such as in a logistics warehouse, where a single beam spans the sorting line and the two arms simultaneously grab different packages for sorting or palletizing.
[0016] In some embodiments, the roller mechanism 5 includes a mounting block 51 fixedly connected to the mounting plate 4. A roller 52 is mounted on the inner side of the mounting block 51. The roller 52 makes rolling contact with the side of the track 3 away from the main beam 2 and is used to bear the load in the vertical direction. Two anti-rollers 53 are mounted on the side of the mounting block 51 near the track 3. The anti-rollers 53 are clearance-fitted with the side of the track 3. The anti-rollers 53 can prevent the mounting plate 4 from tilting or laterally displacing when the robotic arm grabs an object, thereby improving the stability of the system.
[0017] In some embodiments, a rack guide rail 9 is fixedly connected to the outer side of the main beam 2 along its length. The drive mechanism 6 includes a servo motor 61 mounted on the mounting plate 4. The output shaft of the servo motor 61 passes through the mounting plate 4 and is coaxially fixed with a helical gear 62 that meshes with the rack guide rail 9. Specifically, in use, the servo motor 61 drives the helical gear 62 to rotate, causing the helical gear 62 to move along the rack guide rail 9, thereby driving the mounting plate 4 to move along the main beam 2.
[0018] In some embodiments, a cable guide frame 10 is fixedly connected to the mounting plate 4, and a cable carrier 11 is provided along the length of the main beam 2. A cable is provided inside the cable carrier 11, one end of which is connected to an external power source, and the other end of which is connected to the drive mechanism 6 and the robotic arm mechanism 7 through the cable guide frame 10. Specifically, when the mounting plate 4 moves, the cable carrier 11 moves with the installation and orderly winds up and unwinds the cable, thereby reducing the phenomenon of cable tangling.
[0019] In some embodiments, a laser position sensor is installed on the robotic arm 8. The laser position sensor can capture the position information of the object so that the robotic arm mechanism 7 can adjust its posture so that the robotic arm 8 can accurately grasp the object.
[0020] In some embodiments, limit switches 12 are installed at both ends of the inner side of the mounting plate 4. When the mounting plate 4 moves to the end of the main beam 2, the limit switch 12 triggers a signal to cut off the power supply of the servo motor 61 and prevent overtravel collision.
[0021] This utility model is equipped with a control system, which is connected to a servo motor 61, a robotic arm mechanism 7, a robotic arm 8, and a laser position sensor. Taking a logistics sorting scenario as an example, the usage process is as follows: the mounting plate 4 moves along the main beam 2 to above the sorting line under the drive of the servo motor 61. The laser position sensor scans the package position and transmits it to the control system. The control system calculates the coordinates of the gripping point. Then, the control system controls the robotic arm mechanism 7 to adjust the joint angle so that the robotic arm 8 can accurately grip the package. The two robotic arms can grip different packages at the same time and place them on the designated shelf, resulting in high package sorting efficiency.
[0022] The above embodiments can be combined with each other.
[0023] The above embodiments are not intended to limit the shape, material, structure, etc. of this utility model in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model shall fall within the protection scope of this utility model.
Claims
1. A double-row single-beam structure with dual robotic arms, comprising multiple columns arranged in a straight line, characterized in that: Two main beams, spaced vertically apart, are fixedly connected to the same side of the multiple columns. Tracks are fixedly connected to the top and bottom surfaces of the main beams. A mounting plate is provided on the outer side of the main beams. Multiple roller mechanisms located on the upper and lower sides of the main beams are installed on the inner side of the mounting plate. The roller mechanisms slide with the tracks. A drive mechanism for driving the mounting plate to slide along the main beams is installed on the mounting plate. A robotic arm mechanism is installed on the outer side of the mounting plate. A robotic arm is installed at the end of the robotic arm mechanism away from the mounting plate.
2. The double-arm, double-row, single-beam structure according to claim 1, characterized in that: The roller mechanism includes a mounting block fixedly connected to the mounting plate. Rollers are installed on the inner side of the mounting block. Two anti-rollers located on both sides of the track are installed on the side of the mounting block near the track. The anti-rollers are clearance-fitted with the side of the track.
3. The double-arm, double-row, single-beam structure according to claim 1, characterized in that: A rack and pinion guide is fixedly connected to the outer side of the main beam along its length. The drive mechanism includes a servo motor mounted on the mounting plate. The output shaft of the servo motor passes through the mounting plate and is coaxially fixed with a helical gear that meshes with the rack and pinion guide.
4. The double-arm, double-row, single-beam structure according to claim 1, characterized in that: A lead frame is fixedly connected to the mounting plate. A drag chain is provided along the length of the main beam. A cable is provided inside the drag chain. One end of the cable is connected to an external power source, and the other end of the cable is connected to the drive mechanism and the robotic arm mechanism through the lead frame.
5. A double-arm, double-row, single-beam structure according to claim 1, characterized in that: The robotic arm is equipped with a laser position sensor.
6. The double-arm, double-row, single-beam structure according to claim 1, characterized in that: Limit switches are installed at both ends of the inner side of the mounting plate.