阅读说明：本技术 一种双臂机器人 (Double-arm robot ) 是由 莫子扬 孔令超 于 2021-09-22 设计创作，主要内容包括：本申请提供了一种双臂机器人,该双臂机器人包括：基座、装配在所述基座上的减速机构以及两个机械臂；所述减速机构同步驱动所述两个机械臂转动；所述两个机械臂分别与所述减速机构可拆卸地固定连接,其中,所述两个机械臂之间的夹角角度可调。以上描述中可以看出,在一个减速机构上安装两个机械臂,减少减速机的使用量,从而降低制造成本；两个机械臂之间的夹角角度可进行调整,结合不同的应用程序点位,可实现多角度,多工位的应用,提升生产效率。(The application provides a double-arm robot, this double-arm robot includes: the robot comprises a base, a speed reducing mechanism assembled on the base and two mechanical arms; the speed reducing mechanism synchronously drives the two mechanical arms to rotate; the two mechanical arms are respectively and fixedly connected with the speed reducing mechanism in a detachable mode, wherein the included angle between the two mechanical arms is adjustable. As can be seen from the above description, two mechanical arms are mounted on one speed reducing mechanism, so that the use amount of the speed reducer is reduced, and the manufacturing cost is reduced; the included angle between two arms can be adjusted, combines different application program point positions, can realize the application of multi-angle, multistation, promotes production efficiency.)

1. A dual-arm robot, comprising: the robot comprises a base, a speed reducing mechanism assembled on the base and two mechanical arms; wherein the content of the first and second substances,

the speed reducing mechanism synchronously drives the two mechanical arms to rotate; the two mechanical arms are respectively and fixedly connected with the speed reducing mechanism in a detachable mode, wherein the included angle between the two mechanical arms is adjustable.

2. The dual-arm robot of claim 1, wherein the deceleration mechanism comprises: the motor is arranged in the base, an output shaft of the motor is connected with a speed reducer, and the two mechanical arms are assembled on two opposite surfaces of the speed reducer relatively.

3. The dual-arm robot of claim 2, wherein the motor is fixedly mounted to the base by a base flange.

4. The dual-arm robot according to claim 3, wherein the speed reducer comprises: the flexible gear comprises a steel wheel, a flexible gear matched with the steel wheel and a wave generator sleeved in the flexible gear; wherein the content of the first and second substances,

the steel wheel is detachably and fixedly assembled on the base flange;

the wave generator is connected with an output shaft of the motor;

the assembly of contained angle angularly adjustable between two arms is in the relative two sides of flexbile gear.

5. The dual-arm robot of claim 4, wherein the flexible wheels have mounting surfaces on opposite sides thereof for one-to-one engagement with the two robot arms.

6. The dual-arm robot of claim 5, wherein the two robot arms are a first arm and a second arm, respectively;

the first arm and the second arm are relatively connected with the flexible gear, and the first arm and the second arm are attached and fixed with the corresponding assembling surfaces.

7. The dual-arm robot according to claim 6,

the first arm is in contact assembly with an assembly surface on the upper part of the flexible gear;

and the second arm is assembled with the assembly surface at the lower part of the flexible gear in a contact manner through a speed reducer mounting flange.

8. The dual-arm robot of claim 6, wherein the first arm, the second arm and the flexible wheel are detachably and fixedly connected with each other by a fixing screw.

9. The dual-arm robot of claim 8, wherein the flexible wheel is circumferentially provided with a plurality of first through holes;

the first arm is provided with second through holes which are correspondingly superposed with the first through holes one by one;

threaded holes which are correspondingly overlapped with the first through holes and the second through holes one by one are formed in the speed reducer mounting flange;

and the fixing screws penetrate through the corresponding first through holes and the corresponding second through holes and are in threaded connection with the corresponding threaded holes.

10. The dual-arm robot as claimed in any one of claims 1 to 9, wherein the angle between the two robot arms is between 30 ° and 180 °.

Technical Field

The application relates to the technical field of robots, in particular to a double-arm robot.

Background

A SCARA Robot (Selective Compliance Assembly Robot Arm) has four axes and four degrees of freedom of motion, (including translational degrees of freedom in the X, Y, Z directions and rotational degrees of freedom about the Z axis). The SCARA robot has compliance in the X, Y directions and good stiffness in the Z-axis direction, which is a characteristic particularly suitable for assembly work.

The SCARA robot is applied to 3C electron trade more, is applied to processes such as spare part assembly, location and snatching on producing the line conveyer belt, and the space is utilized in the improvement to many parallel design overall arrangement on the production line, and along with the explosive growth of 3C industry, the demand of SCARA robot obviously increases.

However, conventional single-arm SCARA robots are assembled on existing production lines; a conventional single-arm SCARA robot is shown in fig. 1, and has a base 1, a large arm 2 connected to the base 1 via a reduction gear, and a small arm 3 connected to the large arm 2. Therefore, one station process needs to correspond to one SCARA robot to meet the requirement of production rhythm, and the single-arm SCARA robot cannot be simultaneously responsible for a plurality of station processes, so that higher production equipment cost is generated. Along with the production of some double-arm robots on the market, the existing double-arm robot is difficult to manufacture, the process is complicated, more speed reducers are used, the known harmonic speed reducer is high in price, the manufacturing cost is high, and the market competitiveness is not achieved.

Disclosure of Invention

The application provides a double-arm robot which is used for solving the problems that the robot cannot be responsible for a plurality of station processes at the same time, the production efficiency is low, the beat cannot be kept up with the robot or the production cost caused by using a plurality of robots is high; the using amount of the speed reducer is reduced, and the manufacturing cost is reduced.

The utility model provides a two arm robot, this two arm robot adopts the mounting structure form of two arms of same speed reducer installation, reduces the cost, realizes the multi-angle and adjusts. The double-arm robot comprises: the robot comprises a base, a speed reducing mechanism assembled on the base and two mechanical arms; wherein the content of the first and second substances,

the speed reducing mechanism synchronously drives the two mechanical arms to rotate; the two mechanical arms are respectively and fixedly connected with the speed reducing mechanism in a detachable mode, wherein the included angle between the two mechanical arms is adjustable.

As can be seen from the above description, two mechanical arms are mounted on one speed reducing mechanism, so that the use amount of the speed reducer is reduced, and the manufacturing cost is reduced; the included angle between two arms can be adjusted, combines different application program point positions, can realize the application of multi-angle, multistation, promotes production efficiency.

In one possible embodiment, the speed reducing mechanism includes: the motor is arranged in the base, an output shaft of the motor is connected with a speed reducer, and the two mechanical arms are assembled on two opposite surfaces of the speed reducer relatively. The two mechanical arms are driven by a speed reducer to move synchronously.

In one embodiment, the motor is fixedly mounted to the base by a base flange. Used for fixedly assembling the motor.

In one possible embodiment, the reducer comprises: the flexible gear comprises a steel wheel, a flexible gear matched with the steel wheel and a wave generator sleeved in the flexible gear; wherein the content of the first and second substances,

the steel wheel is detachably and fixedly assembled on the base flange;

the wave generator is connected with an output shaft of the motor;

the assembly of contained angle angularly adjustable between two arms is in the relative two sides of flexbile gear. Two arms assemble simultaneously on the flexspline, and manufacturing process is simple, reduces manufacturing cost.

In one possible embodiment, the angle between the two arms is between 30 ° and 180 °. The included angle between two arms can realize the operating range in different spaces, can deal with the space requirement of different production lines, promotes space utilization.

In one embodiment, the flexible wheel has two opposite surfaces with mounting surfaces that mate with the two robotic arms in a one-to-one correspondence. Two mechanical arms are assembled on the two assembling surfaces in a one-to-one correspondence mode.

In one possible embodiment, the two mechanical arms are a first arm and a second arm, respectively;

the first arm and the second arm are relatively connected with the flexible gear, and the first arm and the second arm are attached and fixed with the corresponding assembling surfaces.

The first arm is in contact assembly with an assembly surface on the upper part of the flexible gear;

and the second arm is assembled with the assembly surface at the lower part of the flexible gear in a contact manner through a speed reducer mounting flange. The first arm and the second arm are jointed with the corresponding contact surfaces and then are fixedly connected with the flexible gear.

In one embodiment, the first arm, the second arm, and the flexible gear are detachably fixedly connected by a fixing screw.

A plurality of first through holes are formed in the circumferential direction of the flexible gear;

the first arm is provided with second through holes which are correspondingly superposed with the first through holes one by one;

threaded holes which are correspondingly overlapped with the first through holes and the second through holes one by one are formed in the speed reducer mounting flange;

and the fixing screws penetrate through the corresponding first through holes and the corresponding second through holes and are in threaded connection with the corresponding threaded holes. After the first through hole, the second through hole and the threaded hole are overlapped, the screw sequentially penetrates through the second through hole and then is in threaded connection with the threaded hole, and therefore the first arm, the flexible wheel and the second arm are fixedly connected.

Drawings

FIG. 1 is a schematic diagram of a conventional single arm SCARA robot;

fig. 2 is a schematic perspective view of a dual-arm robot provided in an embodiment of the present application;

fig. 3 is a top view of a dual-arm robot provided in an embodiment of the present application;

fig. 4 is an exploded view of a dual-arm robot provided in an embodiment of the present application;

FIG. 5 is a cross-sectional view of a dual-arm robot according to an embodiment of the present disclosure

Fig. 6 is an exploded view of a speed reducer of a two-arm robot according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings.

To facilitate understanding of the dual-arm robot provided in the embodiments of the present application, first, an application scenario is described, as shown in fig. 1, a conventional single-arm SCARA robot has a base 1, a large arm 2 is connected to the base 1 through a speed reducer, and a small arm 3 is connected to the large arm 2.

Therefore, one station process needs to correspond to one SCARA robot to meet the requirement of production rhythm, and the single-arm SCARA robot cannot be simultaneously responsible for a plurality of station processes, so that higher production equipment cost is generated. And the existing double-arm robot is difficult to manufacture, complex in process and high in manufacturing cost, and does not have market competitiveness. In view of this, the embodiment of the present application provides a dual-arm robot which is simple to manufacture and reduces the production cost.

Referring to fig. 2 and 3, fig. 2 and 3 are a schematic perspective view and a top view of a dual-arm robot provided by an embodiment of the present application; the double-arm robot that this application embodiment provided includes: a base 10; the base 10 is fixedly mounted on the working floor and is used for supporting the mechanical arm to operate.

In this embodiment, two robot arms are connected by a speed reducing mechanism provided in the base 10. The two mechanical arms are respectively detachably connected to one speed reducing mechanism, so that the manufacturing cost is reduced.

Through detachably fixed connection, can make the angle adjust between two arms, thereby form an contained angle between two arms at a distance, this contained angle is promptly big arm contained angle 40, big arm contained angle 40 adjusts according to the application space of predesigned when the assembly, can carry out the size regulation of contained angle according to specific application scene, this contained angle can be selected between 30-180 and adjust, the operating range in different spaces can be realized to different big arm contained angles 40, can deal with the space requirement of different production lines, promote space utilization.

The two mechanical arms are respectively a first arm and a second arm. The first arm includes: the first large arm 20 is connected with a first small arm 21 of the first large arm 20 through a small arm driving joint; one end of the first small arm 21, which is far away from the first large arm 20, is an operation end for performing process operation in combination with a program application point position, and the small arm driving joint drives the first small arm 21 to perform multidirectional operation along the directions of the first large arm 20X, Y and Z, so that the fixed-point station work is completed.

The second arm includes: the second large arm 30 is connected with a second small arm 31 of the second large arm 30 through a small arm driving joint; one end of the second small arm 31, which is far away from the second large arm 30, is an operation end for performing procedure operation in combination with a program application point position, and the small arm driving joint drives the second small arm 31 to perform multidirectional operation along the directions of the second large arm 30X, Y and Z, so that the fixed-point station work is completed.

It can be seen from the above description that the first arm and the second arm of the dual-arm robot are installed on one base 10, and the first arm and the second arm can simultaneously perform the process operation on two fixed-point stations, and after the speed reduction mechanism drives the first arm and the second arm to perform synchronous movement, the first arm and the second arm can be combined with different application program points, so that the multi-angle and multi-station application can be realized, and the production efficiency can be improved.

Referring to fig. 4 and 5, fig. 4 and 5 provide an exploded view and a cross-sectional view of a two-arm robot. When the speed reducing mechanism is assembled, the speed reducing mechanism is detachably and fixedly assembled inside the base 10.

Specifically, the speed reduction mechanism includes: the motor 70 is arranged in the base 10, a mounting cavity matched with the motor 70 is formed in the base 10, and the motor 70 is fixedly assembled on the base 10 through the base flange 11. The motor 70 adopts a servo motor 70 and is arranged on the base 10 through the base flange 11, so that the motor is convenient to detach and fix, and convenient to maintain and replace.

The output shaft of the motor 70 is connected to a speed reducer 60, and the speed reducer 60 is a harmonic speed reducer, so that the speed reducer 60 outputs low-speed power to drive the first arm and the second arm to operate after the motor 70 drives the speed reducer 60 to operate.

This speed reducer 60 includes: the flexible gear comprises a steel gear 61, a flexible gear 62 matched with the steel gear 61 and a wave generator 63 sleeved inside the flexible gear 62; wherein, the steel wheel 61 is detachably and fixedly assembled on the base flange 11; during normal operation, the steel wheel 61 is fixedly mounted.

The wave generator 63 is connected with an output shaft of the motor 70; the two arms are mounted on opposite sides of the flexspline 62 at an angularly adjustable angle. As can be seen from the above description, the motor 70 rotates the wave generator 63, and since the steel wheel 61 is fixed, the flexible wheel 62 rotates to rotate the first arm and the second arm synchronously.

Specifically, when two mechanical arms are mounted on one flexible wheel 62 and the included angle between the two mechanical arms can be adjusted, as shown in fig. 6, two opposite surfaces of the flexible wheel 62 have assembling surfaces that are in one-to-one correspondence with the two mechanical arms.

The two assembly faces are respectively: an upper mounting surface 621 which is located on the upper surface of the flexible wheel 62 and is in contact fit with the first large arm 20; and the second large arm 30 is in contact assembly with the lower assembly surface 623 through a reducer mounting flange 32, and the second large arm 30 is fixedly connected (welded or bolted) with the reducer mounting flange 32.

Through the speed reducer mounting flange 32, the base 10 has a certain supporting and rotating effect on the speed reducer mounting flange 32, so that unsmooth rotation of the second arm due to stress is avoided, and the output shaft of the motor 70 penetrates through the assembly hole of the speed reducer mounting flange 32 and then is connected with the wave generator 63.

With reference to fig. 2 to 6, the first large arm 20 and the second large arm 30 are fixed to the flexible gear 62 by the fixing screw 50, and the included angle between the first large arm 20 and the second large arm 30 can be adjusted, so that the flexible gear can be applied to various operating conditions.

Specifically, the flexible gear 62 is circumferentially provided with a plurality of first through holes 622; the first big arm 20 is provided with second through holes 22 which are correspondingly superposed with the first through holes 622 one by one; the reducer mounting flange 32 is provided with threaded holes 33 which are correspondingly overlapped with the first through holes 622 and the second through holes 22 one by one.

The fixing screws 50 are inserted through the corresponding first through holes 622 and second through holes 22, and then screwed into the corresponding screw holes 33. After the first through hole 622, the second through hole 22 and the threaded hole 33 are overlapped, the fixing screw 50 sequentially penetrates through the first through hole 622 and the second through hole 22 and then is in threaded connection with the threaded hole 33, and therefore the first large arm 20, the flexible gear 62 and the second large arm 30 are fixedly connected.

Through the structure, the first large arm 20 and the second large arm 30 are fixedly mounted on the flexible gear 62 of the same speed reducer 60 through the fixing screw 50, the upper mounting surface 621 on the flexible gear 62 is in contact assembly with the first large arm 20, and the lower mounting surface 623 on the flexible gear 62 is in contact assembly with the speed reducer mounting flange 32 on the second large arm 30.

The reducer mounting flange 32 is circumferentially provided with a plurality of threaded holes 33, and the fixing screws 50 are fastened and fastened through the second through holes 22 on the first large arm 20, the first through holes 622 on the flexible gear 62 and the threaded holes 33 on the reducer mounting flange 32. The wave generator 63 on the speed reducer 60 is connected and fixed with the shaft of the motor 70 as an input end, the base flange 11 and the steel wheel 61 of the speed reducer 60 are fastened through screws, the wave generator 63 is pressed into the flexible wheel 62, the base flange 11 is fixed on the base 10, and the flexible wheel 62 serves as an output end to drive the first large arm 20 and the second large arm 30 to operate.

Through the input of motor 70 one end, use the flexbile gear 62 output of same speed reducer 60, realize the simultaneous operation of first big arm 20 and second big arm 30, this structural style is simple easily to be realized, and assembly process is the same with single-armed robot, and the use of high-cost subassembly such as effectual reduction speed reducer 60 simultaneously reduces the manufacturing cost of robot, makes the robot possess stronger competitive advantage.

Meanwhile, different overlapping positions of the second through hole 22 on the first large arm 20, the first through hole 622 on the flexible gear 62 and the plurality of holes of the threaded hole 33 on the speed reducer mounting flange 32 are adjusted, so that the included angle between the first arm and the second arm can be selectively adjusted between 30 degrees and 180 degrees.

Thus, the large arm angle 40 between the first and second arms is adjusted during assembly according to the pre-designed application space; different big arm contained angles 40 can realize the operating range in different spaces, can deal with the space requirement of different production lines, promote space utilization.

Meanwhile, only one controller is needed to control operation, the investment and the use of driving and controlling equipment are reduced, and the manufacturing cost of the robot is reduced. Specifically, a series of control systems for controlling the operation of the motor 70 and controlling the operation of the forearm drive joint according to the application program point positions to realize multi-angle and multi-station application are common control systems in the existing SCARA robot, and are not described herein in detail.

In the invention, two mechanical arms are arranged on one speed reducing mechanism, so that the use amount of the speed reducer 60 is reduced, and the manufacturing cost is reduced; the included angle between two arms can be adjusted, combines different application program point positions, can realize the application of multi-angle, multistation, promotes production efficiency.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.