A multi-arm collaborative robot

Abstract

The utility model discloses a multi-arm cooperation robot, through setting up the mode of at least two can be controlled independently small arm subassembly on a small arm seat subassembly, can realize the cooperation of at least two small arms, can simultaneously grab the product on a line, also can simultaneously grab the product from two station lines, can also grab the product from different directions, has the advantages of action nimble, high work efficiency. The utility model discloses the following: the pedestal, the big arm subassembly, the small arm seat subassembly and at least two small arm subassembly of setting gradually, big arm subassembly installs on the pedestal, and can carry out multidirectional motion on the pedestal, the small arm seat subassembly includes small arm connecting seat, small arm rotary seat and rotary power, small arm connecting seat installs on big arm subassembly, small arm rotary seat passes through rotary power and installs on small arm connecting seat, and rotary power installs on small arm connecting seat and is used for driving small arm rotary seat to rotate on small arm connecting seat, small arm subassembly installs on small arm rotary seat.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a multi-arm collaborative robot. Background Technology

[0002] Collaborative robots, as the name suggests, are robots that work alongside humans on the production line, fully leveraging the efficiency of the robots and the intelligence of humans. These robots eliminate barriers to human-robot collaboration, freeing them from the constraints of fences or cages.

[0003] Existing collaborative robots mainly consist of a base, a large arm, and a small arm, with one small arm corresponding to one large arm. This means that a collaborative robot typically only has one small arm for operation, such as grasping products. Because this type of collaborative robot only has one small arm for operation, it suffers from relatively simple movements and slightly lower work efficiency. For example, when palletizing, this type of collaborative robot cannot grasp products from different directions, has a limited working range, and cannot grasp products from two different workstations simultaneously.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a multi-arm collaborative robot. By setting at least two independently controllable forearm components on a forearm base assembly, it can achieve the collaborative work of at least two forearms. It can simultaneously grasp products on one line, grasp products from two workstations simultaneously, or grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of the existing technology.

[0006] The multi-arm collaborative robot provided by this utility model includes: a base, a large arm assembly, a small arm base assembly, and at least two small arm assemblies arranged sequentially.

[0007] The boom assembly is mounted on the base and can move in multiple directions on the base;

[0008] The forearm mount assembly includes a forearm connecting seat, a forearm rotating seat, and a rotational power source. The forearm connecting seat is mounted on the boom assembly. The forearm rotating seat is mounted on the forearm connecting seat via the rotational power source, which is mounted on the forearm connecting seat and is used to drive the forearm rotating seat to rotate on the forearm connecting seat.

[0009] The forearm assembly is mounted on the forearm swivel mount.

[0010] Preferred,

[0011] The boom assembly includes a boom power unit, a boom and forearm base power unit arranged sequentially;

[0012] The boom is mounted on the base via the boom power unit;

[0013] The forearm mount assembly is mounted on the boom via the forearm mount power unit.

[0014] Preferred,

[0015] The boom power unit includes a first power unit, a second power unit, and a boom mounting base;

[0016] The first power source is used to drive the boom mounting base to rotate on the base;

[0017] The second power source is used to drive the boom to rotate on the boom mounting base.

[0018] Preferred,

[0019] The forearm power unit includes a third power source and a joint seat;

[0020] The joint seat is installed on the upper arm, and the forearm connector is installed on the joint seat.

[0021] The third power source is installed on the joint seat or the upper arm and is used to drive the joint seat to rotate on the upper arm.

[0022] Preferred,

[0023] The forearm power unit also includes a fourth power source, which is mounted on the joint seat and is used for the forearm connector to rotate on the joint seat.

[0024] Preferred,

[0025] The forearm connector includes a rotating base and a mounting plate arranged in a T-shape, wherein the rotating base is located at the vertical part of the T-shape and the mounting plate is located at the horizontal part of the T-shape;

[0026] The rotating base is mounted on the boom assembly, while the forearm rotating base and rotation power are mounted on the mounting plate.

[0027] The rotation center line of the output shaft of the rotary power is perpendicular to the mounting plate.

[0028] Preferred,

[0029] Includes two forearm components;

[0030] The two forearm assemblies are mounted on both ends of the mounting plate via forearm swivel seats and rotational power.

[0031] Preferred,

[0032] The forearm assembly includes a first forearm power unit, a forearm, and a second forearm power unit arranged sequentially.

[0033] The forearm is mounted on the forearm rotating seat via a first forearm power source, and the first forearm power source is used to control the rotation of the forearm.

[0034] The second forearm power unit is installed at one end of the forearm and is used to connect to and drive the robotic arm.

[0035] Preferred,

[0036] The forearm rotation mount includes a mounting lug connected to the output end of the rotational power and a power mount for accommodating the first forearm power mounting.

[0037] The second forearm power unit includes a second forearm power unit and a robot arm mounting base, with the robot arm mounting base fixed to one end of the forearm;

[0038] The second forearm power unit is mounted on the robot arm mount and is used to drive the robot arm mounted on the robot arm mount.

[0039] This utility model discloses a multi-arm collaborative robot, comprising: a base, a large arm assembly, a forearm base assembly, and at least two forearm assemblies arranged sequentially; the large arm assembly is mounted on the base and can perform multi-directional movement on the base; the forearm base assembly includes a forearm connecting seat, a forearm rotating seat, and a rotational power source; the forearm connecting seat is mounted on the large arm assembly, and the forearm rotating seat is mounted on the forearm connecting seat via the rotational power source, which drives the forearm rotating seat to rotate on the forearm connecting seat; the forearm assemblies are mounted on the forearm rotating seats. By setting at least two independently controllable forearm assemblies on a forearm base assembly, this utility model's multi-arm collaborative robot can achieve the coordinated work of at least two forearms, enabling it to simultaneously grasp products on one workline, simultaneously grasp products from two workstations, and grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can overcome the shortcomings of existing technologies. Attached Figure Description

[0040] Figure 1 This is a structural schematic diagram of a multi-arm collaborative robot according to an embodiment of the present invention;

[0041] Figure 2 This is another structural schematic diagram of the multi-arm collaborative robot according to an embodiment of the present invention;

[0042] Figure 3 This is another structural schematic diagram of the multi-arm collaborative robot according to an embodiment of the present utility model;

[0043] Figure 4 This is an exploded view of the multi-arm collaborative robot according to an embodiment of the present invention. Detailed Implementation

[0044] This utility model discloses a multi-arm collaborative robot. By setting at least two independently controllable forearm components 4 on a forearm base component 3, it can achieve the collaborative work of at least two forearms. It can simultaneously grasp products on one line, grasp products from two workstations at the same time, and grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of the existing technology.

[0045] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 4 The multi-arm collaborative robot provided by this utility model includes: a base 1, a large arm assembly 2, a small arm base assembly 3 and at least two small arm assemblies 4 arranged sequentially.

[0046] The boom assembly 2 is mounted on the base 1 and can move in multiple directions on the base 1;

[0047] Forearm mount assembly 3 includes forearm connecting seat 31, forearm rotating seat 32 and rotating power 33. Forearm connecting seat 31 is mounted on upper arm assembly 2. Forearm rotating seat 32 is mounted on forearm connecting seat 31 via rotating power 33. Rotating power 33 is mounted on forearm connecting seat 31 and is used to drive forearm rotating seat 32 to rotate on forearm connecting seat 31.

[0048] Forearm assembly 4 is mounted on forearm rotator 32.

[0049] In this invention, the multi-arm collaborative robot can include multiple forearm components 4. More commonly, it can include two forearm components 4. The distance between the forearm components 4 is adjusted by driving the forearm rotating base 32 with a rotational power 33; this is not limited here. During operation, the upper arm component 2 moves the forearm base component 3 to a set position. The rotational power 33 controls the rotation of the forearm rotating base 32, thereby controlling the distance between the forearm components 4. The forearm components 4 pick up and place items. The above actions are not limited in sequence; they can be performed sequentially or simultaneously. This allows for the collaborative work of at least two forearms, enabling the robot to simultaneously grasp products on one line, from two workstations, or from different directions. It offers advantages such as flexible movement and high work efficiency, overcoming the shortcomings of existing technologies.

[0050] Preferred,

[0051] The boom assembly 2 includes a boom power unit 21, a boom 22, and a forearm base power unit 23 arranged sequentially.

[0052] The boom 22 is mounted on the base 1 via the boom power unit 21;

[0053] Forearm mount assembly 3 is mounted on boom 22 via forearm mount power component 23.

[0054] Preferred,

[0055] The boom power unit 21 includes a first power unit 211, a second power unit 212, and a boom mounting base 213;

[0056] The first power source 211 is used to drive the boom mounting base 213 to rotate on the base 1;

[0057] The second power source 212 is used to drive the boom 22 to rotate on the boom mounting base 213.

[0058] It should be noted that the boom 22 is mounted on the boom mounting base 213, and its position is changed by changing the position of the boom mounting base 213. That is, the boom power unit 21 enables multi-directional movement on the boom mounting base 213. Specifically, the first power unit 211 drives the boom mounting base 213 to rotate on the base 1, and the second power unit 212 drives the boom 22 to rotate on the boom mounting base 213. In addition, the first power unit 211 can be mounted on the boom mounting base 213 or on the base 1. In this utility model, the example of the first power unit 211 being mounted on the boom mounting base 213 is used for illustration. The second power unit 212 can be mounted on the boom mounting base 213 or on the boom 22. In this utility model, the example of the first power unit 211 being mounted on the boom mounting base 213 is used for illustration.

[0059] Preferred,

[0060] Forearm seat power component 23 includes a third power 231 and a joint seat 232;

[0061] The joint seat 232 is mounted on the upper arm 22, and the forearm connecting seat 31 is mounted on the joint seat 232.

[0062] The third power source 231 is mounted on the joint seat 232 or the upper arm 22 and is used to drive the joint seat 232 to rotate on the upper arm 22.

[0063] Preferred,

[0064] The forearm seat power unit 23 also includes a fourth power source, which is mounted on the joint seat 232 and is used to drive the forearm connecting seat 31 to rotate on the joint seat 232.

[0065] It should be noted that, depending on the requirements, the forearm seat power component 23 may include at least one power source, such as a third power source 231 for driving the joint seat 232 to rotate on the upper arm 22, or a fourth power source for driving the forearm connecting seat 31 to rotate on the joint seat 232, which is not limited here.

[0066] Preferred,

[0067] The forearm connecting seat 31 includes a rotating seat 311 and a mounting plate 312 arranged in a T-shape, wherein the rotating seat 311 is located in the vertical part of the T-shape and the mounting plate 312 is located in the horizontal part of the T-shape;

[0068] The rotating seat 311 is mounted on the boom assembly 2, and the forearm rotating seat 32 and the rotating power 33 are mounted on the mounting plate 312;

[0069] The rotation center line of the output shaft of the rotary power 33 is perpendicular to the mounting plate 312.

[0070] It should be noted that when multiple forearm assemblies 4 are included, the multiple forearm assemblies 4 can be arranged side by side on the mounting plate 312. In order to ensure that the movement between the multiple forearm assemblies 4 is not interfered with as much as possible, the length of the mounting plate 312 can be increased. The specific setting can be set according to actual needs, and no limitation is made here.

[0071] Preferred,

[0072] Includes two forearm components 4;

[0073] The two forearm assemblies 4 are mounted on both ends of the mounting plate 312 via the forearm rotating seat 32 and the rotation power 33.

[0074] Preferred,

[0075] Forearm assembly 4 includes a first forearm power unit 41, a forearm 42 and a second forearm power unit 43 arranged sequentially.

[0076] The forearm 42 is mounted on the forearm rotating seat 32 via the first forearm power 41, and the first forearm power 41 is used to control the rotation of the forearm 42.

[0077] The second forearm power unit 43 is installed at one end of the forearm 42 and is used to connect to and drive the robotic arm.

[0078] Preferred,

[0079] The forearm rotation base 32 includes a mounting ear 321 connected to the output end of the rotation power 33 and a power base 322 for accommodating the first forearm power 41.

[0080] The second forearm power unit 43 includes a second forearm power unit 431 and a robot arm mounting base 432, with the robot arm mounting base 432 fixed to one end of the forearm 42.

[0081] The second forearm power unit 431 is mounted on the robot arm mounting base 432 and is used to drive the robot arm mounted on the robot arm mounting base 432.

[0082] It should be noted that the first forearm power unit 41 is installed inside the power base 322, and can drive the forearm 42 by directly connecting the output shaft to the forearm 42. A robot arm mounting base 432 is provided at the other end of the forearm 42. The robot arm mounting base 432 can be fixedly mounted on the forearm 42 or movably mounted on the forearm 42; this is not limited here. The aforementioned robot arm mounting base 432 can be an integrated design with the forearm 42 or a separate design; the specific solution can be selected according to actual needs, and is not limited here.

[0083] This utility model discloses a multi-arm collaborative robot, comprising: a base 1, a large arm assembly 2, a forearm base assembly 3, and at least two forearm assemblies 4 arranged sequentially; the large arm assembly 2 is mounted on the base 1 and can move in multiple directions on the base 1; the forearm base assembly 3 includes a forearm connecting seat 31, a forearm rotating seat 32, and a rotational power source 33, the forearm connecting seat 31 is mounted on the large arm assembly 2, the forearm rotating seat 32 is mounted on the forearm connecting seat 31 via the rotational power source 33, and the rotational power source 33 is mounted on the forearm connecting seat 31 and is used to drive the forearm rotating seat 32 to rotate on the forearm connecting seat 31; the forearm assemblies 4 are mounted on the forearm rotating seat 32. By setting at least two independently controllable forearm assemblies 4 on a forearm base assembly 3, this utility model's multi-arm collaborative robot can achieve the collaborative work of at least two forearms, which can simultaneously grasp products on one line, simultaneously grasp products from two workstations, and grasp products from different directions, with the advantages of flexible movement and high work efficiency, and can solve the defects of the prior art.

[0084] The multi-arm collaborative robot provided by this utility model has been described in detail above. For those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A multi-arm collaborative robot, characterized in that, include: The base (1), the boom assembly (2), the forearm base assembly (3), and at least two forearm assemblies (4) are arranged sequentially. The boom assembly (2) is mounted on the base (1) and can move in multiple directions on the base (1); The forearm mount assembly (3) includes a forearm connecting seat (31), a forearm rotating seat (32), and a rotational power source (33). The forearm connecting seat (31) is mounted on the upper arm assembly (2). The forearm rotating seat (32) is mounted on the forearm connecting seat (31) via the rotational power source (33). The rotational power source (33) is mounted on the forearm connecting seat (31) and is used to drive the forearm rotating seat (32) to rotate on the forearm connecting seat (31). The forearm assembly (4) is mounted on the forearm rotator (32).

2. The multi-arm collaborative robot according to claim 1, characterized in that, The boom assembly (2) includes a boom power unit (21), a boom (22) and a forearm seat power unit (23) arranged sequentially. The boom (22) is mounted on the base (1) via the boom power unit (21); The forearm mount assembly (3) is mounted on the boom (22) via the forearm mount power unit (23).

3. The multi-arm collaborative robot according to claim 2, characterized in that, The boom power unit (21) includes a first power unit (211), a second power unit (212), and a boom mounting base (213); The first power source (211) is used to drive the boom mounting base (213) to rotate on the base (1); The second power source (212) is used to drive the boom (22) to rotate on the boom mounting base (213).

4. The multi-arm collaborative robot according to claim 2, characterized in that, The forearm seat power unit (23) includes a third power source (231) and a joint seat (232); The joint seat (232) is mounted on the upper arm (22), and the forearm connecting seat (31) is mounted on the joint seat (232). The third power source (231) is mounted on the joint seat (232) or the upper arm (22) and is used to drive the joint seat (232) to rotate on the upper arm (22).

5. The multi-arm collaborative robot according to claim 4, characterized in that, The forearm power unit (23) also includes a fourth power unit, which is mounted on the joint seat (232) and is used to drive the forearm connecting seat (31) to rotate on the joint seat (232).

6. The multi-arm collaborative robot according to claim 1, characterized in that, The forearm connecting seat (31) includes a rotating seat (311) and a mounting plate (312) arranged in a T-shape, wherein the rotating seat (311) is located in the vertical part of the T-shape and the mounting plate (312) is located in the horizontal part of the T-shape; The rotating seat (311) is mounted on the boom assembly (2), and the forearm rotating seat (32) and the rotation power (33) are mounted on the mounting plate (312); The rotation center line of the output shaft of the rotary power (33) is perpendicular to the mounting plate (312).

7. The multi-arm collaborative robot according to claim 6, characterized in that, Includes two forearm components (4); Two forearm assemblies (4) are mounted on both ends of the mounting plate (312) via a forearm swivel seat (32) and a rotational power (33).

8. The multi-arm collaborative robot according to claim 1, characterized in that, The forearm assembly (4) includes a first forearm power unit (41), a forearm (42) and a second forearm power unit (43) arranged sequentially. The forearm (42) is mounted on the forearm rotating seat (32) via a first forearm power (41), and the first forearm power (41) is used to control the rotation of the forearm (42); The second forearm power unit (43) is installed at one end of the forearm (42) and is used to connect to and drive the robot.

9. The multi-arm collaborative robot according to claim 8, characterized in that, The forearm rotation base (32) includes a mounting ear (321) connected to the output end of the rotational power (33) and a power base (322) for accommodating the first forearm power (41); The second forearm power unit (43) includes a second forearm power unit (431) and a robot arm mounting base (432), with the robot arm mounting base (432) fixed to one end of the forearm (42); The second forearm power unit (431) is mounted on the robot arm mounting base (432) and is used to drive the robot arm mounted on the robot arm mounting base (432).

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