1. A transport manipulator for precision parts processing, includes that two desktops are in same horizontal plane and are used for placing processing platform (007) of processing part, are used for carrying mechanical arm subassembly (1) of part to and be used for installing the mounting bracket of mechanical arm subassembly (1), its characterized in that: the mechanical arm assembly (1) comprises a mechanical arm a (11) used for conveying parts and a mechanical arm b (12) used for assisting the mechanical arm a (11) to convey the parts together, wherein the mechanical arm a (11) comprises a conveyor belt (100) and a arm frame assembly (200);

the conveyor belt (100) is used for clamping and conveying parts, and the arm frame assembly (200) comprises an upper arm frame (210) and a lower arm frame (220) which are used for mounting, a limiting roller (230) which is used for limiting the conveyor belt (100), a driving roller (240) which is used for driving the conveyor belt (100), and a driving assembly (250) which is used for driving the driving roller (240);

except that the same component of the driving component (250) is not arranged in the structure of the mechanical arm b (12), the other structures of the mechanical arm b (12) are the same as the mechanical arm a (11), and the mechanical arm a (11) and the mechanical arm b (12) are symmetrically arranged in the clamping cavity of the two vertical plates (002).

2. The handling robot for machining precision parts according to claim 1, wherein: the mounting bracket includes square plate (001) that the level was placed, and the bottom surface fixed mounting of square plate (001) has the rail wheel of electricity drive, and this rail wheel bottom is provided with the guide rail, the top surface fixed mounting of square plate (001) has two riser (002) that are the front and back symmetry and set up, two parallel arrangement's slide bar (003) and two-way lead screw (004) about parallel arrangement are installed on the right side between riser (002), the top surface of square plate (001) still fixed mounting have be used for driving motor a (005) of two-way lead screw (004).

3. The handling robot for machining precision parts according to claim 2, wherein: the two ends of the sliding rod (003) and the two ends of the two-way screw rod (004) are respectively arranged on the two vertical plate bodies (002), and the rear end of the output end of the motor a (005) is connected with the rear end of the two-way screw rod (004) through a coupler.

4. The handling robot for machining precision parts according to claim 2, wherein: the end-to-end connection of conveyer belt (100) forms closed loop to the area face of conveyer belt (100) is perpendicular with the top surface of square slab (001), the ring chamber lateral wall at conveyer belt (100) middle part is provided with strengthening rib a (101), the ring chamber lateral wall at the upper and lower both ends of conveyer belt (100) is provided with strengthening rib b (102).

5. The handling robot for machining precision parts according to claim 4, wherein: the upper arm support (210) is a strip-shaped plate, limit roller mounting holes a (201a) penetrating through the upper surface and the lower surface of the upper arm support (210) are uniformly formed in the side edge portion of the upper arm support (210), a driving roller mounting hole a (202a), a gear carrier mounting hole a (203a) and a motor shaft mounting hole (204) penetrating through the upper surface and the lower surface of the upper arm support (210) are formed in the end portion of the upper arm support (210), and a mounting column a (205a) is further arranged on the bottom wall of the end portion of the upper arm support (210).

6. The handling robot for machining precision parts according to claim 5, wherein: the lower arm support (220) is a strip-shaped plate, the side edge part of the lower arm support (220) is uniformly provided with limiting roller mounting holes b (201b) penetrating through the upper surface and the lower surface of the lower arm support (220), the end part of the lower arm support (220) is provided with driving roller mounting holes b (202b) and gear carrier mounting holes b (203b) penetrating through the upper surface and the lower surface of the lower arm support (220), the bottom wall of the end part of the lower arm support (220) is further provided with mounting columns b (205b), the plate body of the lower arm support (220) is further provided with a preformed hole (206) for passing through an electric wire, the bottom wall of the middle part of the lower arm support (220) is provided with sliding blocks a (221) and sliding blocks b (222) which are symmetrically arranged, the sliding blocks a (221) are provided with threaded holes penetrating through the front wall and the rear wall of the sliding blocks a (221), the threaded holes are in threaded with two-way screw rods (004), and, the through hole is sleeved on the rod body of the sliding rod (003) in a sliding manner.

7. The handling robot for machining precision parts according to claim 6, wherein: spacing roller (230) include cylindric roller a (231), fixed being provided with two roll body a (232) that are the symmetry setting from top to bottom on the axis body of roller a (231), roll body a (232) and roller a (231) are the coaxial line setting, and the top of roller a (231) is pegged graft in the vestibule of spacing roller mounting hole a (201a), and the bottom of roller a (231) is pegged graft in the vestibule of spacing roller mounting hole b (201 b).

8. The handling robot for machining precision parts according to claim 6, wherein: the driving roller (240) comprises a cylindrical roller shaft b (241), the top end of the roller shaft b (241) is arranged in a hole cavity of the driving roller mounting hole a (202a), the bottom end of the roller shaft b (241) is arranged in the hole cavity of the driving roller mounting hole b (202b), a gear a (242) is fixedly mounted in the middle of a shaft body of the roller shaft b (241), two roller bodies b (243) which are symmetrically arranged up and down are further fixedly mounted on the shaft body of the roller shaft b (241), the gear a (242) is clamped between the two roller bodies b (243), and the roller shaft b (241), the gear a (242) and the roller body b (243) are coaxially arranged.

9. The handling robot for precision parts machining according to claim 8, wherein: the drive assembly (250) includes a carrier a (251), a carrier b (252), a carrier c (253), a mounting pad (254), and a motor b (255);

the gear carrier a (251) comprises a cylindrical rod body and a gear fixedly arranged in the middle of the rod body, the rod body and the gear in the gear carrier a (251) are coaxially arranged, the gear in the gear carrier a (251) is meshed with the gear a (242), the top end of the rod body in the gear carrier a (251) is arranged in a cavity of the gear carrier mounting hole a (203a), and the bottom end of the rod body in the gear carrier a (251) is arranged in a cavity of the gear carrier mounting hole b (203 b);

the gear rack b (252) comprises a cylindrical rod body and two gears fixedly installed at the middle part and the upper part of the rod body respectively, the rod body and the gears in the gear rack b (252) are coaxially arranged, the gears installed at the middle part of the rod body in the gear rack b (252) are meshed with the gears in the gear rack a (251), the top end of the rod body in the gear rack b (252) is arranged in a cavity of the gear rack installation hole a (203a), and the bottom end of the rod body in the gear rack b (252) is arranged in a cavity of the gear rack installation hole b (203 b);

the gear rack c (253) comprises a cylindrical rod body and a gear fixedly arranged in the middle of the rod body, the rod body and the gear in the gear rack c (253) are coaxially arranged, the gear in the gear rack c (253) is meshed with the gear arranged on the upper part of the rod body in the gear rack b (252), and the top end of the rod body in the gear rack c (253) is arranged in the hole cavity of the gear rack mounting hole a (203 a);

the mounting pad (254) is an oval plate body which is horizontally arranged, the middle part of the mounting pad (254) is provided with a shaft hole for mounting a gear carrier c (253), the bottom end of a rod body in the gear carrier c (253) is arranged in the shaft hole, two ends of the mounting pad (254) are provided with mounting holes for fixing the mounting pad (254), and the mounting holes are aligned with the mounting columns a (205 a);

the motor b (255) comprises a motor for driving and a gear fixedly arranged at the rotor head of the motor, the rotor in the motor b (255) and the gear arranged at the rotor head are arranged coaxially, the gear is meshed with the gear in the gear carrier c (253), the top end part of the rotor head in the motor b (255) is arranged in the hole of the motor shaft mounting hole (204), the bottom of the motor b (255) is provided with a mounting hole for fixing the motor b (255), and the mounting hole is aligned with the mounting column b (205 b).

Background

With the development of automation technology, the variety of manipulators is increasing, and the specific configurations of different manipulators are different according to different applied scenes.

For example, a carrying robot for machining precision parts disclosed in chinese patent application No. CN201821946931.0 and a fine positioning carrying robot for machining precision parts disclosed in chinese patent application No. CN201620906994.8 are disclosed.

The two types of robots have different structures, but have the same conveying characteristics, that is, the spatial position of the conveyed object is changed by changing the X-axis, the Y-axis and the Z-axis of the robot during the conveying process.

In this way, if there is no obstacle between the starting points of the transported objects and the starting points are located on the same horizontal plane, the X-axis and the Y-axis of the robot are still required to be changed by using the above-described robot, so that the spatial positions of the transported objects are changed, and the transported objects cannot be transported in a straight line.

Based on the above, the invention provides a carrying manipulator for machining precision parts, so as to solve the above problems.

Disclosure of Invention

The present invention is directed to provide a conveying robot for processing precision parts, which solves the problems of the prior art that there is no obstacle between the conveying starting points of the conveyed objects, and the starting points are located on the same horizontal plane, and the spatial positions of the conveyed objects cannot be conveyed in a straight line by changing the X-axis and the Y-axis of the robot with the use of the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a carrying manipulator for machining precision parts comprises two machining tables, a mechanical arm assembly and a mounting frame, wherein the two tables are positioned on the same horizontal plane and used for placing machined parts, the mechanical arm assembly is used for carrying the parts, the mounting frame is used for mounting the mechanical arm assembly, the mechanical arm assembly comprises a mechanical arm a used for conveying the parts and a mechanical arm b used for assisting the mechanical arm a to convey the parts together, and the mechanical arm a comprises a conveying belt and an arm frame assembly;

the conveying belt is used for clamping and conveying parts, and the arm support assembly comprises an upper arm support and a lower arm support which are used for mounting, a limiting roller used for limiting the conveying belt, a driving roller used for driving the conveying belt, and a driving assembly used for driving the driving roller;

except that the same component of the driving assembly is not arranged in the structure of the mechanical arm b, other structures of the mechanical arm b are the same as the mechanical arm a, and the mechanical arm a and the mechanical arm b are symmetrically arranged in the clamping cavities of the two vertical plates in the front-back direction.

Preferably, the mounting bracket includes the square plate that the level was placed, and the bottom surface fixed mounting of square plate has the rail wheel of electricity drive, and this rail wheel bottom is provided with the guide rail, the top surface fixed mounting of square plate has two risers that are the front and back symmetry and set up, two install the right side between the riser and be about parallel arrangement's slide bar and two-way lead screw, the top surface of square plate still fixed mounting have the motor an that is used for driving two-way lead screw.

Preferably, the two ends of the sliding rod and the two-way screw rod are respectively installed on the two vertical plate bodies through bearing seats, and the rear end of the output end of the motor a is connected with the rear end of the two-way screw rod through a coupler.

Preferably, the end-to-end connection of conveyer belt forms the closed loop to the area face of conveyer belt is perpendicular with the top surface of square slab, the ring chamber lateral wall at conveyer belt middle part is provided with strengthening rib a, the ring chamber lateral wall at the upper and lower both ends of conveyer belt is provided with strengthening rib b.

Preferably, the upper arm support is a strip-shaped plate, the side edge part of the upper arm support is uniformly provided with limiting roller mounting holes a penetrating through the upper surface and the lower surface of the upper arm support, the end part of the upper arm support is provided with driving roller mounting holes a penetrating through the upper surface and the lower surface of the upper arm support, a gear carrier mounting hole a and a motor shaft mounting hole, and the bottom wall of the end part of the upper arm support is further provided with a mounting column a.

Preferably, the lower arm support is a strip-shaped plate, limit roller mounting holes b penetrating through the upper surface and the lower surface of the lower arm support are uniformly formed in the side edge portion of the lower arm support, driving roller mounting holes b and gear carrier mounting holes b penetrating through the upper surface and the lower surface of the lower arm support are formed in the end portion of the lower arm support, mounting columns b are further arranged on the bottom wall of the end portion of the lower arm support, a reserved hole for penetrating a lead wire is further formed in a plate body of the lower arm support, a sliding block a and a sliding block b which are symmetrically arranged are arranged on the bottom wall of the middle portion of the lower arm support, threaded holes penetrating through the front wall and the rear wall of the sliding block a are formed in the sliding block a in a threaded mode, the threaded holes are in threaded connection with a bidirectional lead screw, through holes penetrating through the front wall and the rear wall of the sliding block b are formed in the sliding block body of the sliding rod in a sleeved mode.

Preferably, spacing roller includes cylindric roller a, fixed being provided with two roll body a that are symmetry setting from top to bottom on the axis body of roller a, roll body a and roller a are the coaxial line setting, and peg graft in the vestibule of spacing roller mounting hole a in the top of roller a, peg graft in the vestibule of spacing roller mounting hole b in the bottom of roller a.

Preferably, the drive roller includes cylindric roller b, the top setting of roller b is in the vestibule of drive roller mounting hole a, the bottom setting of roller b is in the vestibule of drive roller mounting hole b, shaft body middle part fixed mounting of roller b has gear a, still fixed mounting has two roll body b that are the longitudinal symmetry setting on gear a's the shaft body, and gear a presss from both sides between two roll body b, and roller b, gear a and roll body b are the coaxial line setting.

Preferably, the drive assembly includes a carrier a, a carrier b, a carrier c, a mounting pad, and a motor b;

the gear carrier a comprises a cylindrical rod body and a gear fixedly arranged in the middle of the rod body, the rod body and the gear in the gear carrier a are coaxially arranged, the gear in the gear carrier a is meshed with the gear a, the top end of the rod body in the gear carrier a is arranged in a hole cavity of the gear carrier mounting hole a, and the bottom end of the rod body in the gear carrier a is arranged in a hole cavity of the gear carrier mounting hole b;

the gear rack b comprises a cylindrical rod body and two gears which are fixedly arranged at the middle part and the upper part of the rod body respectively, the rod body and the gears in the gear rack b are arranged coaxially, the gears arranged at the middle part of the rod body in the gear rack b are meshed with the gears in the gear rack a, the top end of the rod body in the gear rack b is arranged in a hole cavity of the gear rack mounting hole a, and the bottom end of the rod body in the gear rack b is arranged in the hole cavity of the gear rack mounting hole b;

the gear rack c comprises a cylindrical rod body and a gear fixedly arranged in the middle of the rod body, the rod body and the gear in the gear rack c are coaxially arranged, the gear in the gear rack c is meshed with the gear arranged on the upper part of the rod body in the gear rack b, and the top end of the rod body in the gear rack c is arranged in a hole cavity of the gear rack mounting hole a;

the mounting pad is an oval plate body which is horizontally arranged, the middle part of the mounting pad is provided with a shaft hole for mounting the gear carrier c, the bottom end of the rod body in the gear carrier c is arranged in the shaft hole, two ends of the mounting pad are provided with mounting holes for fixing the mounting pad, and the mounting holes are aligned with the mounting columns a;

the motor b comprises a motor for driving and a gear fixedly arranged at the rotor end of the motor, the rotor of the motor b and the gear arranged at the rotor end are coaxially arranged, the gear is meshed with the gear in the gear carrier c, the top end part of the rotor end of the motor b is arranged in the hole cavity of the motor shaft mounting hole, the bottom of the motor b is provided with a mounting hole for fixing the motor b, and the mounting hole is aligned with the mounting column b.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the mechanical arm a and the mechanical arm b are symmetrically arranged and can be driven by the motor to mutually approach, so that the object can be clamped, the clamped object can be conveyed in a straight line under the matching operation of the mechanical arm a and the mechanical arm b, and the defect that the conveyed object cannot be conveyed in a straight line in the background art is overcome.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a top schematic view of the present invention;

FIG. 3 is a schematic view of a robot arm a according to the present invention;

FIG. 4 is an enlarged view taken at A of FIG. 3 according to the present invention;

FIG. 5 is a cross-sectional view taken at a-a of FIG. 2 in accordance with the present invention;

FIG. 6 is a schematic representation of the conveyor belt of the present invention;

FIG. 7 is a cross-sectional view of the conveyor belt of FIG. 2 taken along line a-a thereof in accordance with the present invention;

FIG. 8 is a schematic view of the arm support assembly of the present invention;

FIG. 9 is an enlarged view taken at B of FIG. 8 in accordance with the present invention;

FIG. 10 is a schematic view of the upper arm support structure of the present invention;

FIG. 11 is a schematic view of the lower arm support structure of the present invention;

FIG. 12 is a schematic view of a spacing roller according to the present invention;

FIG. 13 is a schematic view of the drive roller configuration of the present invention;

FIG. 14 is a schematic view of the connection of the drive roller to the conveyor belt of the present invention;

fig. 15 is a schematic view of the connection of the drive roller to the drive assembly of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

001-square plate, 002-vertical plate, 003-slide bar, 004-bidirectional screw rod, 005-motor a, 006-bearing, 007-processing table, 1-mechanical arm assembly, 11-mechanical arm a, 100-conveyor belt, 101-reinforcing rib a, 102-reinforcing rib b, 200-arm frame assembly, 210-upper arm frame, 201 a-limiting roller mounting hole a, 202 a-driving roller mounting hole a, 203 a-gear frame mounting hole a, 204-motor shaft mounting hole, 205 a-mounting column a, 220-lower arm frame, 201 b-limiting roller mounting hole b, 202 b-driving roller mounting hole b, 203 b-gear frame mounting hole b, 205 b-mounting column b, 206-preformed hole, 221-slide block a, 222-slide block b, 230-limiting roller, 231-roller a, 232-roller a, 240-drive roller, 241-roller b, 242-gear a, 243-roller b, 250-drive assembly, 251-carrier a, 252-carrier b, 253-carrier c, 254-mounting pad, 255-motor b, 12-robot arm b.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and 2, the present invention provides a technical solution for carrying precision parts in a straight line, and in particular, a carrying manipulator for processing precision parts, including:

the two processing tables 007 are used for placing processed parts, the table tops of the two processing tables 007 are located on the same horizontal plane, and no obstacle exists in the space between the two processing tables 007, so that the carrying operation of the equipment in the invention is prevented from being hindered.

A set of robotic arm assemblies 1 for handling parts comprising a robotic arm a11 and a robotic arm b 12. The robot a11 and the robot b12 grip a part to be handled from both sides thereof, and perform position transfer of the part by mechanical movement of the robot a11 and the robot b12 themselves.

A pair of mounting brackets for mounting the robot arm assembly 1 for controlling the robot arm a11 and the robot arm b12 to perform a gripping or releasing action. In addition, the mechanical arm assembly 1 can be driven to perform directional linear displacement.

Further, the mounting bracket for mounting the robot arm assembly 1 includes: the device comprises a square plate 001, two vertical plates 002, a sliding rod 003, a bidirectional screw 004, a motor a005, four track wheels and two guide rails.

The square plate 001 is placed horizontally, that is, the square plate 001 is kept horizontal with the ground, and as the trunk of the mounting rack, the square plate 001 is used for connecting other parts of the mounting rack.

Two riser 002 are the front and back symmetry setting to fixed mounting is at the top surface of square plate 001, and the antetheca of riser 002, the top surface of back wall, left wall and the equal perpendicular to square plate 001 of right wall, set up the mounting hole that runs through two walls around this riser 002 on the plate body of riser 002, and fixed mounting has the bearing frame in this mounting hole, and slide bar 003 and two-way lead screw 004 are installed in the double-layered chamber that two riser 002 formed through this bearing frame.

The two ends of the sliding rod 003 and the two-way screw rod 004 are respectively installed on the two vertical plate 002 plate bodies through bearing seats, and the sliding rod 003 and the two-way screw rod 004 are arranged in a left-right parallel mode. Wherein, the rear end of the bidirectional screw 004 penetrates through the shaft cavity of the bearing seat installed on the vertical plate 002 and is arranged behind the vertical plate 002. The sliding rod 003 and the bidirectional screw 004 support the mechanical arm assembly 1 together.

The motor a005 is fixedly installed on the top surface of the square plate 001 and is arranged behind the bidirectional screw rod 004, the output end of the motor a005 (namely the outer end of the rotor of the motor a 005) is connected with the rear end of the bidirectional screw rod 004 through a coupler, and the forward and reverse rotation of the bidirectional screw rod 004 is controlled through the forward and reverse rotation of the motor a 005.

The four rail wheels are fixedly arranged on the bottom surface of the square plate 001 in a rectangular array, wherein the rail wheels are rail wheels with electric driving devices on the market. The two guide rails are straight rails and are fixedly paved on the ground in a front-back parallel manner. The four track wheels are grouped in pairs and divided into two groups, the two groups of track wheels are respectively arranged on the two guide rails, and the track wheels are driven by the electric drive device to run along the guide rails.

Referring to fig. 3 to 5, the present invention provides a robot arm a11, including: a conveyor belt 100 for holding and transferring parts and a pair of arm assemblies 200 for mounting and driving the conveyor belt 100.

Referring to fig. 6 and 7, the present invention provides a conveyor belt 100 in which the conveyor belt 100 is connected end to form a closed loop and the belt surface of the conveyor belt 100 is perpendicular to the top surface of the square plate 001. The side wall of the ring cavity in the middle of the conveyor belt 100 is provided with a reinforcing rib a101, and the side walls of the ring cavity at the upper end and the lower end of the conveyor belt 100 are provided with a reinforcing rib b 102. The reinforcing ribs a101 and the reinforcing ribs b102 are all components of the conveyor belt 100, and the conveyor belt 100 can be made of elastic materials such as PVC and PU, and hard materials such as metal are not used, so as to prevent damage to parts clamped and conveyed by the conveyor belt.

Referring to fig. 8 and 9, a sub-boom assembly 200 according to the present invention includes an upper boom 210, a lower boom 220, a plurality of limit rollers 230, two driving rollers 240, and a set of driving assemblies 250.

Referring to fig. 10 and 11, in an upper arm support 210 and a lower arm support 220 provided by the present invention, the upper arm support 210 and the lower arm support 220 are both square strip-shaped plate bodies, and the upper arm support 210 and the lower arm support 220 are arranged in an up-down parallel manner, and are used for limiting other parts of the arm support assembly 200.

Further, the plate body of one side portion of the upper arm frame 210 is uniformly provided with limit roller mounting holes a201a penetrating through the upper and lower surfaces of the upper arm frame 210, and the plate body of one side portion of the lower arm frame 220 is uniformly provided with limit roller mounting holes b201b penetrating through the upper and lower surfaces of the lower arm frame 220. The bump roller mounting holes a201a and the bump roller mounting holes b201b are on the same side of the upper arm frame 210 and the lower arm frame 220, and the bump roller mounting holes a201a and the bump roller mounting holes b201b are aligned with each other for bump limiting the bump rollers 230.

Further, the left and right ends of the upper arm frame 210 are respectively opened with a driving roller mounting hole a202a penetrating the upper and lower surfaces of the upper arm frame 210, and the left and right ends of the lower arm frame 220 are respectively opened with a driving roller mounting hole b202b penetrating the upper and lower surfaces of the lower arm frame 220. The drive roller mounting hole a202a and the drive roller mounting hole b202b are aligned with each other for restraining the drive roller 240.

Furthermore, three gear rack mounting holes a203a are formed in the left end of the upper arm frame 210 and are arranged in a straight line and penetrate through the upper and lower surfaces of the upper arm frame 210, and the three gear rack mounting holes a203a are all positioned on the right of the driving roller mounting hole a202a formed in the left end of the upper arm frame 210.

Further, of the three carrier mounting holes a203a, one motor shaft mounting hole 204 penetrating the upper and lower surfaces of the upper arm 210 is opened on the right side of the rightmost carrier mounting hole a203a, and the motor shaft mounting hole 204 communicates with the rightmost carrier mounting hole a203 a.

Further, of the three carriage mounting holes a203a, one cylindrical mounting column a205a is provided at each of the front and rear sides of the rightmost carriage mounting hole a203a, and the top surface of the mounting column a205a is fixedly connected to the bottom surface of the upper arm frame 210. One screw hole is formed in each of the front and rear parts of the rightmost carriage mounting hole a203a to penetrate the top surface of the upper arm frame 210, and the screw hole also penetrates the bottom surface of the mounting post a205 a.

Further, two gear rack mounting holes b203b are formed at the left end of the lower arm frame 220, which are arranged in a left-right symmetrical manner and penetrate through the upper and lower surfaces of the lower arm frame 220, and the two gear rack mounting holes b203b are both positioned at the right side of the driving roller mounting hole b202b formed at the left end of the lower arm frame 220.

Further, of the two carrier mounting holes b203b, the carrier mounting hole b203b located on the left is aligned with the leftmost carrier mounting hole a203a, and the carrier mounting hole b203b located on the right is aligned with the carrier mounting hole a203a located in the middle.

Further, of the two carriage mounting holes b203b, four mounting columns b205b are provided on the right side of the carriage mounting hole b203b located on the right side in a rectangular array, and the bottom surfaces of the mounting columns b205b are fixedly connected to the top surface of the lower arm frame 220. Four screw holes are formed at the right side of the carrier mounting hole b203b on the right side, and the screw holes penetrate the bottom surface of the lower arm 220 in a rectangular array, and the screw holes also penetrate the top surface of the mounting column b205 b.

In addition, the plate body of the lower arm frame 220 is further opened with a prepared hole 206 for passing an electric wire, so that an external electric wire passes through the prepared hole 206 to be connected with the driving assembly 250.

Further, the bottom wall in the middle of the lower arm frame 220 is provided with a slider a221 and a slider b222 which are arranged in a bilateral symmetry manner, the slider a221 is provided with a threaded hole penetrating through the front wall and the rear wall of the slider a221, the threaded hole is in threaded connection with the bidirectional screw rod 004, the slider b222 is provided with a through hole penetrating through the front wall and the rear wall of the slider b222, and the through hole is in sliding sleeve connection with the rod body of the sliding rod 003. The bidirectional screw 004 rotates forwards and backwards to drive the lower arm support 220 to slide forwards and backwards along the rod body of the slide rod 003.

Referring to fig. 12, the present invention provides a spacing roller 230 including a cylindrical roller shaft a 231. The top end of the roller shaft a231 is inserted into the hole cavity of the limiting roller mounting hole a201a and can rotate in the hole cavity of the limiting roller mounting hole a201 a; the bottom end of the roller shaft a231 is inserted into the hole cavity of the limit roller mounting hole b201b and can rotate in the hole cavity of the limit roller mounting hole b201 b.

In addition, two roller bodies a232 which are symmetrically arranged up and down are fixedly arranged on the shaft body of the roller shaft a231, the roller bodies a232 and the roller shaft a231 are coaxially arranged, the roller surfaces of the roller bodies a232 are in rolling contact with the side wall of the annular cavity of the conveyor belt 100, and the conveyor belt 100 is prevented from sinking into the clamping cavity formed by the upper arm support 210 and the lower arm support 220.

Referring to fig. 13 and 14, the driving roller 240 according to the present invention includes a cylindrical roller shaft b241, and bearings 006 are respectively installed at upper and lower ends of the roller shaft b 241. The bearing 006 on which the upper end of the roller shaft b241 is mounted in the bore of the drive roller mounting hole a202a such that the upper end of the roller shaft b241 can rotate in the bore of the drive roller mounting hole a202 a; the bearing 006 to which the lower end of the roller shaft b241 is mounted in the bore of the drive roller mounting hole b202b such that the lower end of the roller shaft b241 can rotate in the bore of the drive roller mounting hole b202 b.

In addition, a gear a242 is fixedly installed in the middle of the shaft body of the roller b241, two roller bodies b243 which are arranged in an up-down symmetrical mode are further fixedly installed on the shaft body of the roller b241, the gear a242 is clamped between the two roller bodies b243, the roller b241, the gear a242 and the roller body b243 are arranged in a coaxial mode, and the roller surface of the roller body b243 is in transmission contact with the annular cavity side wall of the conveyor belt 100 and used for obtaining the conveyor belt 100 to conduct conveying movement.

Referring to fig. 15, the present invention provides a set of drive assemblies 250 comprising a pinion carrier a251, a pinion carrier b252, a pinion carrier c253, a mounting pad 254 and a motor b 255.

Further, the carrier a251 includes a cylindrical rod and a gear fixedly installed at a central portion of the rod, the rod in the carrier a251 and the gear installed thereto are coaxially disposed, and the gear in the carrier a251 is engaged with the gear a 242.

Further, one bearing 006 is mounted on each of upper and lower end portions of the rod body in the carrier a 251. Bearings 006 mounted on the upper ends of the rods in carrier a251 are mounted in the bore of the leftmost carrier mounting hole a203a so that the upper ends of the rods in carrier a251 can rotate in the bore of carrier mounting hole a203 a; the bearings 006 to which the lower ends of the rods in carrier a251 are mounted in the bore of carrier mounting hole b203b located to the left so that the lower ends of the rods in carrier a251 can rotate in the bore of carrier mounting hole b203 b.

Further, the carrier b252 includes a cylindrical rod and two gears fixedly installed at the middle and upper portions of the rod, respectively, the rod in the carrier b252 and the gear installed thereto are coaxially disposed, and the gear installed at the middle of the rod in the carrier b252 is engaged with the gear in the carrier a 251.

Further, one bearing 006 is mounted on each of upper and lower ends of the rod body in the carrier b 252. Bearings 006 mounted to the upper ends of the rods in carrier b252 are mounted in the bores of the central carrier mounting hole a203a such that the upper ends of the rods in carrier b252 can rotate in the bores of carrier mounting hole a203 a; the bearings 006 to which the lower ends of the rods in carrier b252 are mounted in the bore of carrier mounting hole b203b located to the right so that the lower ends of the rods in carrier b252 can rotate in the bore of carrier mounting hole b203 b.

Further, the carrier c253 includes a cylindrical rod and a gear fixedly installed at the middle portion of the rod, the rod in the carrier c253 and the gear installed thereto are coaxially disposed, and the gear in the carrier c253 is engaged with the gear installed at the upper portion of the rod in the carrier b 252.

Further, one bearing 006 is mounted on each of upper and lower end portions of the rod body in the carrier c 253. Bearings 006, to which the upper ends of the rods in carrier c253 are mounted, are mounted in the bore of the rightmost carrier mounting hole a203a so that the upper ends of the rods in carrier c253 can rotate in the bore of carrier mounting hole a203 a.

Further, the mounting pad 254 is a horizontally disposed elliptic plate, a shaft hole is opened in the middle of the mounting pad 254, and the bearing 006 mounted on the lower end of the rod body in the carrier c253 is mounted in the bore of the shaft hole, so that the lower end of the rod body in the carrier c253 can rotate in the bore of the shaft hole.

The top surface of the mounting pad 254 abuts the bottom surface of the mounting post a205a, and mounting holes are formed at the front and rear ends of the mounting pad 254, respectively, and the mounting holes are aligned with the screw holes of the mounting post a205a and fixedly connected thereto by bolts.

Further, the motor b255 includes a motor for driving and a gear fixedly installed at an output end of the motor (i.e., an outer end of the rotor of the motor b 255), the rotor of the motor b255 and the gear installed thereto are coaxially arranged, and the gear installed at the rotor of the motor b255 is engaged with the gear in the carrier c 253.

Further, the upper end of the rotor in motor b255 is mounted with a bearing 006, the bearing 006 being mounted in the bore of the motor shaft mounting hole 204 such that the upper end of the rotor in motor b255 can rotate in the bore of the motor shaft mounting hole 204.

In addition, the bottom of the motor b255 is placed on the top wall of the mounting post b205b, and the bottom of the motor b255 is provided with mounting holes distributed in a rectangular array, which are aligned with the threaded holes of the mounting post b205b and fixedly connected by bolts.

In addition to the above, it should be noted that, in the present invention, the robot arm a11 and the robot arm b12 have substantially the same structure, and the robot arm a11 and the robot arm b12 are symmetrically disposed in the front-back direction, and the position-limiting rollers 230 in the robot arm a11 and the position-limiting rollers 230 in the robot arm b12 are respectively located at the front and back sides of the nip formed by the robot arm a11 and the robot arm b 12. The configuration of the robot arm a11 differs from the configuration of the robot arm b12 in the following two points:

first, arm b12 is constructed without drive assembly 250, and arm b12 is used to assist in the co-operation of arms a11 to effect the gripping and transfer of parts. The driving assembly 250 of the robot arm a11 is used to drive the conveyor belt 100 of the robot arm a 11. In the clamped state of the conveyor belt 100 in the robot arm a11 and the conveyor belt 100 in the robot arm b12, the conveyor belt 100 in the robot arm b12 moves synchronously with the conveyor belt 100 in the robot arm a11, so that the parts are conveyed linearly.

Secondly, the thread direction of the threaded hole formed in the slider a221 of the mechanical arm a11 is opposite to that of the threaded hole formed in the slider a221 of the mechanical arm b12, and the two sliders a221 are respectively screwed on rod bodies of the bidirectional screw rod 004 in different rotation directions, so that the mechanical arm a11 and the mechanical arm b12 can be simultaneously close to each other or simultaneously move away from each other under the rotation of the bidirectional screw rod 004.

In the foregoing, exemplary embodiments of the proposed solution of the present disclosure have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above and various combinations of the technical features and structures presented in the present disclosure may be made without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the appended claims.