A dual-arm picking robot mounting device

Abstract

The utility model belongs to robot technical field discloses a kind of dual-arm sorting robot mounting device.Dual-arm sorting robot mounting device includes mounting seat and connecting component, and mounting seat is fixedly connected in AGV dolly, and dual-arm sorting robot is fixedly connected in mounting seat;Connecting component includes first connecting piece, second connecting piece and third connecting piece, two second connecting pieces are symmetrically slidably arranged in the both ends of first connecting piece, and one third connecting piece is fixedly connected in the end of each second connecting piece away from first connecting piece, third connecting piece is provided with mounting space, dual-arm sorting robot is fixedly installed in the mounting space of third connecting piece, and first connecting piece or second connecting piece is provided with standard interface, for electrically connected with dual-arm sorting robot and AGV dolly.The utility model can improve the stability and reliability of dual-arm sorting robot long-term operation, reduce installation difficulty, improve installation efficiency.

Description

Technical Field

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

[0002] In warehousing and logistics, intelligent manufacturing, and other fields, dual-arm picking robots, with their collaborative dual-arm operation capabilities, can efficiently complete complex tasks such as material grasping, sorting, and transportation, significantly improving operational efficiency. To overcome the limitations of fixed-station operations, expand the robot's operational coverage, and further enhance overall operational flexibility and efficiency, the industry commonly installs dual-arm picking robots on AGVs (Automated Guided Vehicles) to form mobile intelligent picking systems. This enables dynamic material grasping and cross-regional transfer, meeting the demands of modern production for efficient and flexible logistics operations.

[0003] However, existing dual-arm picking robots and AGVs often use a single mounting flange for connection. This structure is insufficient to effectively resist the torsional and bending torques generated during collaborative operation and cannot effectively buffer vibrations. Over time, this leads to loosening of the connection between the robot and the AGV, causing the robot to shift or sway during operation, affecting material picking accuracy and reducing long-term reliability. Furthermore, the single flange structure lacks dedicated wiring channels, requiring additional routing and securing of power and signal lines between the robot and the AGV. This time-consuming and labor-intensive installation process demands high skills in wiring planning and installation, increasing construction difficulty and maintenance costs. Utility Model Content

[0004] The purpose of this invention is to provide an installation device for a dual-arm picking robot, which improves the long-term reliability of the dual-arm picking robot and reduces the installation difficulty.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A dual-arm picking robot mounting device, comprising:

[0007] The mounting base can be fixedly connected to the top surface of the AGV trolley, and the top surface of the mounting base can be fixedly connected to a dual-arm picking robot.

[0008] The connecting assembly includes a first connector, two second connectors, and two third connectors. The two second connectors are symmetrically arranged at both ends of the first connector and are slidable relative to the first connector. Each second connector has a third connector fixedly connected to its end away from the first connector. Each third connector has an installation space. One of the robot arms of the dual-arm picking robot is fixedly installed in the installation space of one of the third connectors, and the other robot arm of the dual-arm picking robot is fixedly installed in the installation space of the other third connector. The first connector or the second connector is provided with a standard interface for electrical connection with the dual-arm picking robot and the AGV.

[0009] The aforementioned dual-arm picking robot installation device includes a connecting component that further comprises two first connecting blocks, each of which is connected to one of the two second connecting members. The two ends of each first connecting member are symmetrically provided with first sliding grooves that extend along a first direction. The two first connecting blocks are slidably connected to the two first sliding grooves to drive the second connecting members to slide relative to the first connecting members.

[0010] In the aforementioned dual-arm picking robot mounting device, the cross-section of the first connecting block is T-shaped, and the cross-section of the first slide groove is T-shaped.

[0011] The aforementioned dual-arm picking robot mounting device further includes a first spring. Each of the two groove walls along the first direction of the first slide is fixedly connected to a first spring, and the other ends of the two first springs are respectively fixedly connected to the two ends of the first connecting block.

[0012] The aforementioned dual-arm picking robot mounting device includes a connecting component that further comprises two second connecting blocks, each of which is connected to one of the two second connecting members. Each first connecting block has a second groove at its end away from the first connecting member. The second groove extends along a second direction, and the first direction is perpendicular to the second direction. The second connecting block slides within the second groove to drive the second connecting member to slide relative to the first connecting member.

[0013] The aforementioned dual-arm picking robot mounting device further includes a second spring. Each of the two groove walls along the second direction of the second slide is fixedly connected to a second spring, and the other ends of the two second springs are respectively fixedly connected to the two ends of the second connecting block.

[0014] In the aforementioned dual-arm picking robot mounting device, the second connecting block includes a connecting sliding part and a connecting part. The sliding part slides within the second sliding groove, and the connecting part has an installation groove along a first direction. The second connecting member is fixedly connected within the installation groove.

[0015] In the aforementioned dual-arm picking robot mounting device, the second connector has a first positioning hole, and the third connector is a clamp with a second positioning hole. The clamp can be engaged with the dual-arm picking robot, and the first positioning hole can be aligned with the second positioning hole.

[0016] The aforementioned dual-arm picking robot mounting device includes a mounting base with a cable channel, into which the AGV's cable can be stored and electrically connected to the standard interface.

[0017] In the aforementioned dual-arm picking robot mounting device, the mounting base is screwed with a connecting bolt, which can be threadedly connected to the AGV trolley.

[0018] The beneficial effects of this utility model are:

[0019] The dual-arm picking robot mounting device provided by this utility model features a mounting base installed on the AGV cart, with the dual-arm picking robot fixedly connected to the mounting base. This facilitates installation and allows for easy maintenance and replacement of the mounting base without damaging the AGV cart. The connecting component connects the two robotic arms of the dual-arm picking robot and fixes them at a higher position, reducing the offset or swaying of the robotic arms during collaborative operation. Simultaneously, the impact generated by the robotic arm vibration is transmitted to the third connecting component, and then to the second connecting component, causing the second connecting component to slide relative to the first connecting component, thus mitigating the impact and preventing loosening of the connection between the dual-arm picking robot and the AGV cart. This ensures picking accuracy and improves the long-term stability of the dual-arm picking robot. Furthermore, the first or second connecting component has a standard interface; during connection, only the cable plugs of the AGV cart and the dual-arm picking robot need to be connected to the standard interface, simplifying the installation process, reducing installation difficulty, and improving installation efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the dual-arm picking robot mounting device provided in this embodiment of the present invention from a first-view perspective;

[0021] Figure 2 This is a schematic diagram of the dual-arm picking robot mounting device provided in this embodiment of the present invention from a second perspective.

[0022] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0023] Figure 4 This is a schematic diagram of the structure of the connecting component provided in an embodiment of the present utility model;

[0024] Figure 5 yes Figure 4Enlarged view of point B in the middle;

[0025] Figure 6 This is a schematic diagram of the structure of the second connecting block provided in an embodiment of the present invention.

[0026] In the picture:

[0027] 1. Mounting base; 11. Cable channel; 112. Cable outlet;

[0028] 2. Connecting components; 21. First connector; 211. First slide groove; 22. Second connector; 221. First positioning hole; 222. Second mounting hole; 23. Third connector; 231. Installation space; 232. Second positioning hole; 24. First connecting block; 241. Second slide groove; 25. Second connecting block; 251. Sliding part; 252. Connecting part; 2521. Mounting groove; 2522. First mounting hole;

[0029] 3. First spring; 4. Second spring;

[0030] 100. Dual-arm picking robot. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] The dual-arm picking robot installation device provided by this utility model can improve the stability and reliability of the dual-arm picking robot during long-term operation, reduce the installation difficulty, and improve the installation efficiency.

[0036] like Figures 1-6 As shown, the dual-arm picking robot mounting device includes a mounting base 1 and a connecting component 2. The mounting base 1 can be fixedly connected to the top surface of the AGV cart, and the top surface of the mounting base 1 can be fixedly connected to the dual-arm picking robot 100. The connecting component 2 includes a first connector 21, two second connectors 22 and two third connectors 23. The two second connectors 22 are symmetrically arranged at both ends of the first connector 21, and the second connectors 22 can slide relative to the first connector 21. Each second connector 22 has a third connector 23 fixedly connected to the end away from the first connector 21. Each third connector 23 has an installation space 231. One of the robot arms of the dual-arm picking robot 100 is fixedly installed in the installation space 231 of one of the third connectors 23, and the other robot arm of the dual-arm picking robot 100 is fixedly installed in the installation space 231 of the other third connector 23. The first connector 21 or the second connector 22 is provided with a standard interface for electrical connection with the dual-arm picking robot 100 and the AGV cart.

[0037] The dual-arm picking robot installation device provided by this utility model allows for easy installation and maintenance of the dual-arm picking robot 100. The mounting base 1 is installed on the AGV cart, and the dual-arm picking robot 100 is fixedly connected to the mounting base 1. This facilitates installation and maintenance, and the mounting base 1 can be easily replaced without damaging the AGV cart. The connecting component 2 connects the two robotic arms of the dual-arm picking robot 100 and fixes them at a higher position. This reduces the offset or shaking of the robotic arms during collaborative work. Simultaneously, the impact generated by the vibration of the robotic arms is transmitted to the third connecting member 23, and then to the second connecting member 22, causing the second connecting member 22 to slide relative to the first connecting member 21, thus mitigating the impact and preventing loosening of the connection between the dual-arm picking robot 100 and the AGV cart. This ensures picking accuracy and improves the long-term motion stability of the dual-arm picking robot 100. Meanwhile, the first connector 21 or the second connector 22 has a standard interface. When connecting, you only need to connect the cable plugs of the AGV and the dual-arm picking robot 100 to the standard interface, which simplifies the installation process, reduces the installation difficulty, and improves the installation efficiency.

[0038] In this embodiment, the mounting base 1 is plate-shaped and has weight-reduction holes. The size and position of the weight-reduction holes are determined by topology optimization analysis, so as to reduce the weight of the mounting base 1 while meeting the strength requirements.

[0039] For example, see Figure 1 and Figure 4 The connecting component 2 also includes two first connecting blocks 24, which are connected one-to-one to two second connecting members 22. The two ends of the first connecting member 21 are symmetrically provided with first sliding grooves 211, which extend along the first direction. The two first connecting blocks 24 are slidably connected to the two first sliding grooves 211 to drive the second connecting member 22 to slide relative to the first connecting member 21. The structure is simple and easy to process.

[0040] Further, see Figures 2 to 6 The dual-arm picking robot mounting device also includes first springs 3. Each first slide 211 has a first spring 3 fixedly connected to each of its two sides. The other ends of the two first springs 3 are respectively fixedly connected to the two ends of the first connecting block 24. The first direction is as follows: Figure 4 As shown in the X direction. A first connecting block 24 is sandwiched between the two first springs 3. When the second connecting piece 22 is subjected to vibration and impact from the dual-arm picking robot 100, it moves, causing the first connecting block 24 to move, thereby compressing the first springs 3, absorbing the impact, reducing the impact on the mounting base 1, preventing the connection from loosening, and improving the working stability.

[0041] Furthermore, the two first springs 3 are exactly the same. When the two first springs 3 are in a free state, the first connecting block 24 is located in the middle part of the first slide 211. After absorbing the impact, the first spring 3 resets and drives the first connecting block 24 to move to the initial position, thereby ensuring that the dual-arm picking robot 100 performs picking operations in the original position, improving the picking accuracy and thus improving the picking efficiency.

[0042] Optionally, see Figure 1 and Figure 4 The cross-section of the first connecting block 24 is T-shaped, and the cross-section of the first slide groove 211 is T-shaped, which can ensure that the first connecting block 24 slides in the first slide groove 211 along the first direction, prevent the first connecting block 24 from disengaging from the first slide groove 211, further improve the stability of the movement, and ensure the picking efficiency of the dual-arm picking robot 100.

[0043] In other embodiments, the cross-sections of the first connecting block 24 and the first slide groove 211 may also be wedge-shaped or dovetail-shaped.

[0044] To further absorb the impact generated during the operation of the dual-arm picking robot 100, in this embodiment, see... Figures 4 to 6 The connecting component 2 also includes two second connecting blocks 25, which are connected one-to-one to two second connecting members 22. Each first connecting block 24 has a second groove 241 at its end away from the first connecting member 21. The second groove 241 extends along a second direction, with the first direction perpendicular to the second direction. The second connecting block 25 slides within the second groove 241 to drive the second connecting member 22 to slide relative to the first connecting member 21. The second connecting block 25 drives the second connecting member 22 to move along the second direction, which can absorb the impact in the second direction and further improve the working stability of the dual-arm picking robot 100. The second direction is as follows: Figure 4 Shown in the Y direction.

[0045] Specifically, the dual-arm picking robot mounting device also includes a second spring 4. Each second slide 241 has a second spring 4 fixedly connected to each of the two slide walls along the second direction. The other ends of the two second springs 4 are respectively fixedly connected to the two ends of the second connecting block 25. The second connecting block 25 is sandwiched between the two second springs 4. After the second connecting piece 22 is subjected to the vibration impact of the dual-arm picking robot 100, it moves, causing the second connecting block 25 to move, thereby compressing the second spring 4, absorbing the impact from the second direction, and improving stability.

[0046] Furthermore, the two second springs 4 are exactly the same. When the two second springs 4 are in a free state, the first connecting block 24 is located in the middle part of the second slide 241. After absorbing the impact, the second spring 4 resets and drives the second connecting block 25 to move to the initial position, thereby ensuring that the dual-arm picking robot 100 performs picking operations in the original position, improving the picking accuracy and thus improving the picking efficiency.

[0047] Furthermore, the second connecting block 25 includes a sliding part 251 and a connecting part 252 connected to each other. The sliding part 251 slides in the second sliding groove 241, and the connecting part 252 has an installation groove 2521 along the first direction. The second connecting member 22 is fixedly connected in the installation groove 2521. The installation groove 2521 plays a role in coarse positioning of the second connecting member 22, reducing the difficulty of installation.

[0048] Specifically, the connecting part 252 has a first mounting hole 2522, and the second connecting member 22 has a second mounting hole 222. The position of the second connecting member 22 in the mounting groove 2521 is adjusted to align the first mounting hole 2522 and the second mounting hole 222. Existing bolts are selected and pass through the first mounting hole 2522 and the second mounting hole 222 to fix the second connecting member 22 and the second connecting block 25.

[0049] This embodiment does not specifically limit the number of the first mounting hole 2522 and the second mounting hole 222. Optionally, there are two first mounting holes 2522, and the two first mounting holes 2522 are spaced apart along the first direction, which can prevent the second connector 22 from twisting relative to the second connector block 25.

[0050] The cross-sectional shape of the connecting part 252 can be T-shaped, wedge-shaped or dovetail-shaped. The cross-sectional shape of the second slide groove 241 is the same as that of the connecting part 252, ensuring that the second connecting block 25 slides in the second slide groove 241.

[0051] In other embodiments, the sliding between the first connector 21 and the second connector 22 can be achieved by a guide rail, which is arranged along a first direction and a second direction to mitigate the impact from the first direction and the second direction.

[0052] For example, see Figure 1 Both the first connector 21 and the second connector 22 are plate-shaped, which is convenient for processing and manufacturing.

[0053] To further improve the installation efficiency of the second connector 22 and the third connector 23, for example, the second connector 22 is provided with a first positioning hole 221, and the third connector 23 is a clamp and is provided with a second positioning hole 232. The clamp can be clamped onto the dual-arm picking robot 100. The first positioning hole 221 can be aligned with the second positioning hole 232. After the first positioning hole 221 and the second positioning hole 232 are aligned, existing bolts and nuts can be used for fixing, which is convenient for connection.

[0054] This embodiment does not specifically limit the number of the first positioning hole 221 and the second positioning hole 232. For example, one first positioning hole 221 and one second positioning hole 232 are provided to facilitate connection.

[0055] It should be noted that clamps are common components, and this embodiment does not elaborate on their shape, structure, and usage. In use, they can be fixed to parts of the dual-arm picking robot 100 prone to vibration, absorbing impact, improving connection stability, and ensuring work efficiency.

[0056] The installation space 231 of the third connector 23 can be a rectangular space or a circular space, depending on the shape of the robotic arm, to ensure that the robotic arm can be installed in the installation space 231.

[0057] In this embodiment, see Figure 1 and Figure 2 The mounting base 1 is equipped with a cable channel 11, which can store the cables of the AGV and can be electrically connected to the standard interface. The cable channel 11 can plan the cables of the AGV and improve space utilization.

[0058] Specifically, the mounting base 1 has cable outlets 112, and four cable channels 11 are connected to the cable outlets 112. The cable outlets 112 are located below the standard interface of the first connector 21 for easy connection. In use, the AGV's power cables, control cables, communication cables, and sensor cables are respectively housed within the four cable channels 11, converging at the cable outlets 112 and connecting to the standard interface. Exposed cables can be wrapped with cable conduit for physical protection, preventing insulation wear and extending service life.

[0059] Further, see Figure 2 Each cable channel 11 is also equipped with a T-shaped groove, which can be sealed with a T-shaped sealing cap after the cable is placed in the cable channel 11, further improving the protection of the cable.

[0060] Specifically, the first connector 21 and the second connector 22 are provided with cable clamping grooves to fix the cables of the dual-arm picking robot 100, so as to prevent the cables from getting tangled during operation and ensure the stable operation of the dual-arm picking robot 100.

[0061] In this embodiment, the mounting base 1 is screwed with connecting bolts, which can be threadedly connected to the AGV trolley for easy connection. Specifically, the connecting bolts are spaced apart along the circumference of the mounting base 1 to improve connection stability.

[0062] 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 other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations 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 mounting device for a dual-arm picking robot, characterized in that, include: Mounting base (1) can be fixedly connected to the top surface of AGV trolley, and the top surface of mounting base (1) can be fixedly connected to dual-arm picking robot (100). The connecting component (2) includes a first connector (21), two second connectors (22) and two third connectors (23). The two second connectors (22) are symmetrically arranged at both ends of the first connector (21), and the second connectors (22) can slide relative to the first connector (21). Each second connector (22) has a third connector (23) fixedly connected to the end away from the first connector (21). Each third connector (23) has an installation space (231). One of the robot arms of the dual-arm picking robot (100) is fixedly installed in the installation space (231) of one of the third connectors (23), and the other robot arm of the dual-arm picking robot (100) is fixedly installed in the installation space (231) of the other third connector (23). The first connector (21) or the second connector (22) is provided with a standard interface for electrical connection with the dual-arm picking robot (100) and the AGV.

2. The dual-arm picking robot mounting device according to claim 1, characterized in that, The connecting component (2) further includes two first connecting blocks (24), which are connected one-to-one to two second connecting members (22). The two ends of the first connecting member (21) are symmetrically provided with first sliding grooves (211), which extend along a first direction. The two first connecting blocks (24) are slidably connected to the two first sliding grooves (211) to drive the second connecting member (22) to slide relative to the first connecting member (21).

3. The dual-arm picking robot mounting device according to claim 2, characterized in that, The first connecting block (24) has a T-shaped cross-section, and the first slide groove (211) has a T-shaped cross-section.

4. The dual-arm picking robot mounting device according to claim 2, characterized in that, It also includes a first spring (3), and each of the two groove walls along the first direction of the first groove (211) is fixedly connected to a first spring (3), and the other ends of the two first springs (3) are respectively fixedly connected to the two ends of the first connecting block (24).

5. The dual-arm picking robot mounting device according to claim 2, characterized in that, The connecting component (2) further includes two second connecting blocks (25), which are connected one-to-one to two second connecting members (22). Each first connecting block (24) has a second sliding groove (241) at one end away from the first connecting member (21). The second sliding groove extends along a second direction, which is perpendicular to the second direction. The second connecting block (25) slides in the second sliding groove (241) to drive the second connecting member (22) to slide relative to the first connecting member (21).

6. The dual-arm picking robot mounting device according to claim 5, characterized in that, It also includes a second spring (4), and each of the two groove walls along the second direction of the second groove (241) is fixedly connected to a second spring (4), and the other ends of the two second springs (4) are respectively fixedly connected to the two ends of the second connecting block (25).

7. The dual-arm picking robot mounting device according to claim 5, characterized in that, The second connecting block (25) includes a connecting sliding part (251) and a connecting part (252). The sliding part (251) slides in the second sliding groove (241). The connecting part (252) has an installation groove (2521) along the first direction. The second connecting member (22) is fixedly connected in the installation groove (2521).

8. The dual-arm picking robot mounting device according to claim 1, characterized in that, The second connector (22) has a first positioning hole (221), and the third connector (23) is a clamp and has a second positioning hole (232). The clamp can be clamped onto the dual-arm picking robot (100), and the first positioning hole (221) can be aligned with the second positioning hole (232).

9. The dual-arm picking robot mounting device according to claim 1, characterized in that, The mounting base (1) is provided with a cable channel (11), and the cable of the AGV can be stored in the cable channel (11) and electrically connected to the standard interface.

10. The mounting device for the dual-arm picking robot according to claim 1, characterized in that, The mounting base (1) is screwed with a connecting bolt, which can be threadedly connected to the AGV trolley.

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