CN107498539A - A kind of asymmetric double robot arm device - Google Patents
A kind of asymmetric double robot arm device Download PDFInfo
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- CN107498539A CN107498539A CN201710756899.3A CN201710756899A CN107498539A CN 107498539 A CN107498539 A CN 107498539A CN 201710756899 A CN201710756899 A CN 201710756899A CN 107498539 A CN107498539 A CN 107498539A
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- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000013329 compounding Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 239000007787 solid Substances 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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Abstract
The invention provides a kind of asymmetric double robot arm device, belong to Industrial Robot Technology field.It solves the technical problems such as the mechanical arm DOF (degree of freedom) redundance of existing tow-armed robot.This asymmetric double robot arm device includes base, mechanical arm one and mechanical arm two, and the inner end of mechanical arm one and mechanical arm two is connected with base, and the free degree L of the mechanical arm one and free degree M of mechanical arm two meets following relation：| L M |=N, wherein N=1,2,3,4,5,6.The mechanical arm one and mechanical arm two of the asymmetric double robot arm device are asymmetrical structure, the part of mechanical arm two is less than the part of mechanical arm one, i.e. mechanical arm two saves part, the structure can reduce the driving error between each part on mechanical arm two, this reduces the accumulated error of whole mechanical arm two, the manufacturing cost of system is saved simultaneously, also reduces the control difficulty of system.
Description
Technical field
The invention belongs to Industrial Robot Technology field, is related to a kind of asymmetric double robot arm device.
Background technology
With the development of science and technology, robot is obtained for extensive use, such as machine-building, electronics skill in many fields
Art, agricultural harvesting, tear quick-fried operation etc. open, the control of robot motion is realized by sensor, camera and control device, it is difficult to realize
With the work completed by manpower or need a large amount of manpowers to complete.Robot is divided into one-link robot system and more mechanical arms
System, Multi-arm robots have bright compared with common Single Mechanical arm in terms of load capacity, the dexterity and efficiency of operation
Aobvious advantage, it is contemplated that there is important application prospect in the field such as precision assembly and service robot.
The Chinese patent literature of Application No. 201610613940.7 discloses a kind of intelligent coordinated tow-armed robot, including
Mounting seat and two arms；Two arm speculars are arranged on mounting seat both sides；Each arm includes the shoulder arm being sequentially connected
Component, rear end arm component, elbow arm component, front end arm component and the wrist arm component for connecting end execution unit；Shoulder arm group
One end connection mounting seat of part, and can be rotated around mounting seat；One end of rear end arm component can with the side of the shoulder arm component other end
Rotatable connection；The other end of the one end side of elbow arm component and rear end arm component is rotatably connected；One end of front end arm component with
The other end connection of elbow arm component, and can be around its axial-rotation；One end of wrist arm component connects with the other end of front end arm component
Connect, and can be swung around the length direction of front end arm component, the other end of wrist arm component is used to connect end execution unit.
The weak point of above-mentioned tow-armed robot is that it uses symmetrical arm structure, and each joint of left and right arm is one by one
It is corresponding, therefore there is very high DOF (degree of freedom) redundance.On the one hand, the control difficulty and hardware cost of system are added, on the other hand,
In the industrial production, existing most of work does not need the both arms of robot to have the free degree as many, in this case,
Be operated using the robot of symmetrical both arms influences operating efficiency on the contrary, at the same also cause robot driving error and
Cumulative errors are larger.
The content of the invention
The present invention is directed to above mentioned problem existing for existing technology, there is provided a kind of asymmetric double robot arm device, the present invention
Technical problem to be solved is：How the driving error and cumulative errors of system is reduced.
The purpose of the present invention can be realized by following technical proposal：
A kind of asymmetric double robot arm device, including base, mechanical arm one and mechanical arm two, the mechanical arm one and machinery
The inner end of arm two is connected with the base, it is characterised in that the free degree L of the mechanical arm one and mechanical arm two from
Meet following relation by spending M：
| L-M |=N, wherein N=1,2,3,4,5,6.
The mechanical arm one and mechanical arm two of the asymmetric double robot arm device are both connected on base, the outer end of mechanical arm one
Portion is used for setting tool ring flange one, and tool flange disk one is used to executive item be fixed, and executive item can be mechanical paw
The operation instrument such as one or grinding head, laser head, electric drill rifle and welding gun, the outer end of mechanical arm two are used for solid mechanical
Paw two, mechanical paw two can be fixed by tool flange disk two, and mechanical paw two is operated for clamping needs
Parts, after mechanical arm one faces the outer end of mechanical arm one and the outer end of mechanical arm two by rotating, set
The parts being clamped on mechanical arm two can be operated accordingly in executive item of the mechanical arm on, preserve work
Be smoothed out.In the present apparatus, mechanical arm one and mechanical arm two are asymmetrical structure, specifically, the part of mechanical arm two
Less than the part of mechanical arm one, also less than the free degree of mechanical arm one, i.e. mechanical arm two saves portion for the free degree of the second tool arm
Part, the structure can reduce the driving error between each part on mechanical arm two, and this reduces the tired of whole mechanical arm two
Product error, while the manufacturing cost of system is saved, also reduce the control difficulty of system.
In a kind of above-mentioned asymmetric double robot arm device, the working space covering mechanical arm two of the mechanical arm one
Working space.The working space of mechanical arm one refers to that the outer end of the mechanical arm one during rotation of mechanical arm one can reach
Space, the working space of mechanical arm two refers to what the outer end of the mechanical arm two during rotation of mechanical arm two can reach
Space, the working space of the working space covering mechanical arm two of mechanical arm one, that is to say, that when the outer end of mechanical arm two is in
During any position, mechanical arm one can make the outer end of mechanical arm one make two around the outer end to mechanical arm two by rotating
Person can be engaged, and be smoothed out work.
In a kind of above-mentioned asymmetric double robot arm device, the power of motor is more than machine used by the mechanical arm two
The power of motor used by tool arm one.Because the parts of mechanical arm two are less, the space that it takes, therefore can with regard to less
The all parts on mechanical arm two are made to be made in volume bigger, it is each this makes it possible to be arranged on from more powerful motor
The inside of part, when mechanical arm two as fixture in use, more powerful motor makes the chucking power of mechanical arm two bigger.
In a kind of above-mentioned asymmetric double robot arm device, the load and torsion of decelerator used by the mechanical arm two
Load of the square more than decelerator used by mechanical arm one and moment of torsion.Because the parts of mechanical arm two are less, the sky of its occupancy
Between it is just less, therefore it is bigger that all parts on mechanical arm two can be made to be made in volume, and this makes it possible to from loading
The inside of each part is arranged on the bigger decelerator of moment of torsion, when mechanical arm two as fixture in use, load and moment of torsion are bigger
Decelerator make the chucking power of mechanical arm two bigger, mechanical arm two is preferably rotated.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm one includes revolute joint one, revolute joint
2nd, revolute joint three, rotating and swinging joint one and rotating and swinging joint two, the inner end of the revolute joint one are connected with the base,
The outer end of the revolute joint one is rotatablely connected with the rotating and swinging joint one, and inner end and the rotation of the revolute joint two are closed
The rotation connection of section one, outer end and the rotating and swinging joint two of revolute joint two be rotatablely connected, the inner end of the revolute joint three and
Rotating and swinging joint two is rotatablely connected.In the structure, revolute joint two can go around dynamic, the energy of revolute joint three relative to revolute joint
Enough to be rotated relative to revolute joint two, the outer end of revolute joint three is used to install executive item, is controlled and turned round by control system
Joint two and the rotation of revolute joint three, the executive item on mechanical arm one is set to carry out the parts being clamped on mechanical arm two
Corresponding operation, ensures being smoothed out for work.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm one also includes revolute joint four and rotation is closed
Section three, the outer end of the revolute joint three is rotatablely connected with the rotating and swinging joint three, the inner end of the revolute joint four and
Rotating and swinging joint three is rotatablely connected.In the structure, the outer end of revolute joint four is used to install executive item, increases the He of rotating and swinging joint three
After revolute joint four, by increasing capacitance it is possible to increase the free degree of mechanical arm one, mechanical arm one is carried out with mechanical arm two
Compounding practice.
There is the boss one in annular in a kind of above-mentioned asymmetric double robot arm device, on the base, it is described
Revolute joint one is cylindrical, and revolute joint one is connected on the base around own axis, the revolute joint one
Inner end is located in boss one and the lateral surface of the inner end of revolute joint one mutually reclines with the inwall of boss one.Revolute joint one
It is rotatably connected on base, can further increases the free degree of mechanical arm one, the structure makes mechanical arm one can not only be in water
Square to movement, additionally it is possible to it is moved in vertical direction, increase the opereating specification of mechanical arm one, in practical work process,
Mechanical arm one can adjust the position of executive item in the horizontal direction and on vertical direction, easily get around barrier；Boss one with
It the structure that revolute joint one is engaged, can prevent revolute joint one from being shaken during rotation, improve mechanical arm one
Stability in rotation process.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm two includes revolute joint five and rotating and swinging joint
Four, the inner end of the revolute joint five is connected with base, and the outer end of revolute joint five rotates with the rotating and swinging joint four to be connected
Connect.In the structure, rotating and swinging joint four is used for solid mechanical paw two, and rotating and swinging joint four can rotate relative to revolute joint five,
Control rotating and swinging joint four to rotate by control system, mechanical arm one is carried out cooperation behaviour with mechanical arm two
Make.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm two also includes revolute joint six, described time
The inner end and the rotating and swinging joint four for turning joint six are rotatablely connected.In the structure, the outer end of revolute joint six is used to fix
Mechanical paw two, after increasing revolute joint six, by increasing capacitance it is possible to increase the free degree of mechanical arm two, can more easily make mechanical arm one
Compounding practice is carried out with mechanical arm two.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm two also includes rotating and swinging joint five, the pendulum
Turn joint five and the outer end of the revolute joint six to be rotatablely connected.In the structure, the outer end of rotating and swinging joint five is used to fix
Mechanical paw two, after increasing rotating and swinging joint five, by increasing capacitance it is possible to increase the free degree of mechanical arm two, can more easily make mechanical arm one
Compounding practice is carried out with mechanical arm two.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm two also includes revolute joint seven, described time
The inner end and the rotating and swinging joint five for turning joint seven are rotatablely connected.In the structure, the outer end of revolute joint seven is used to fix
Mechanical paw two, after increasing revolute joint seven, by increasing capacitance it is possible to increase the free degree of mechanical arm two, can more easily make mechanical arm one
Compounding practice is carried out with mechanical arm two.
In a kind of above-mentioned asymmetric double robot arm device, the mechanical arm two also includes rotating and swinging joint six, the pendulum
Turn joint six to be rotatablely connected with the revolute joint seven.In the structure, the outer end of rotating and swinging joint six is used for solid mechanical paw
Two, after increasing rotating and swinging joint six, by increasing capacitance it is possible to increase the free degree of mechanical arm two, can more easily make mechanical arm one and mechanical arm
Two carry out compounding practice.
There is the boss two in annular in a kind of above-mentioned asymmetric double robot arm device, on the base, it is described
Revolute joint five is cylindrical, and revolute joint five is connected on the base around own axis, the revolute joint five
Inner end is located in boss two and the lateral surface of the inner end of revolute joint five mutually reclines with the inwall of boss two.Revolute joint five
It is rotatably connected on base, can further increases the free degree of mechanical arm two, the structure makes mechanical arm two can not only be in water
Square to movement, additionally it is possible to it is moved in vertical direction, increase the opereating specification of mechanical arm two, in practical work process,
Mechanical arm two can adjust the position of mechanical paw two in the horizontal direction and on vertical direction, easily get around barrier；Boss
Two structures being engaged with revolute joint five, can prevent revolute joint five from being shaken during rotation, improve machinery
Stability in the rotation process of arm two.
Compared with prior art, advantages of the present invention is as follows：
1st, the mechanical arm one of the device and mechanical arm two are asymmetrical structure, and the part of mechanical arm two is less than mechanical arm one
Part, the free degree of mechanical arm two is also less than the free degree of mechanical arm one, i.e. mechanical arm two saves part, and the structure can
The driving error between each part on mechanical arm two is reduced, this reduces the accumulated error of whole mechanical arm two.
2nd, the revolute joint one of the asymmetric double robot arm device is rotatably connected on base, can further increase machinery
The free degree of arm one, the structure make mechanical arm one to move in the horizontal direction, additionally it is possible to and it is moved in vertical direction,
Increase the opereating specification of mechanical arm one.
3rd, the working space of the working space covering mechanical arm two of mechanical arm one, when the outer end of mechanical arm two is in any
During position, mechanical arm one can make the outer end of mechanical arm one enable the two around the outer end to mechanical arm two by rotating
Enough it is engaged, is smoothed out work.
4th, force sensor is set between the mechanical paw two and tool flange disk two of the device, mechanical paw two is operating
Or gather force signal in assembling process and feed back to control system, to coordinate the motion of mechanical arm one and mechanical arm two.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram that mechanical arm one is in extended configuration.
Fig. 3 is the schematic diagram that mechanical arm two is in extended configuration.
In figure, 1, base；1a, boss one；1b, boss two；2nd, mechanical arm one；2a, revolute joint one；2b, revolute joint
Two；2c, revolute joint three；2d, rotating and swinging joint one；2e, rotating and swinging joint two；2f, revolute joint four；2g, rotating and swinging joint three；3rd, machine
Tool arm two；3a, revolute joint five；3b, rotating and swinging joint four；3c, revolute joint six；3d, rotating and swinging joint five；3e, revolute joint seven；
3f, rotating and swinging joint six；4th, tool flange disk one；5th, executive item；6th, tool flange disk two；7th, mechanical paw two.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
As shown in figure 1, the asymmetric double robot arm device includes base 1, mechanical arm 1 and mechanical arm 23, mechanical arm one
2 and the inner end of mechanical arm 23 be connected with base 1, the free degree L of mechanical arm 1 expires with the free degree M of mechanical arm 23
The following relation of foot：
| L-M |=N, wherein N=1,2,3,4,5,6.
Preferably, the working space of the working space covering mechanical arm 23 of mechanical arm 1.The working space of mechanical arm 1
Refer to the space that the outer end of the mechanical arm 1 during rotation of mechanical arm 1 can reach, the work sky of mechanical arm 23
Between refer to the space that the outer end of the mechanical arm 23 during rotation of mechanical arm 23 can reach, the work of mechanical arm 1
Space covers the working space of mechanical arm 23, that is to say, that when the outer end of mechanical arm 23 is in any position, mechanical arm
One 2 can make the outer end of mechanical arm 1 the two is engaged around the outer end to mechanical arm 23 by rotating, suitable
Profit is operated.
Preferably, used by mechanical arm 23 motor power be more than mechanical arm 1 used by motor power.
Because the parts of mechanical arm 23 are less, the space that it takes can make all parts on mechanical arm 23 with regard to less
It is made in volume more greatly, this makes it possible to the inside that each part is arranged on from more powerful motor, when mechanical arm 23
As fixture in use, more powerful motor makes the chucking power of mechanical arm 23 bigger.
Preferably, the load of decelerator and moment of torsion are more than decelerator used by mechanical arm 1 used by mechanical arm 23
Load and moment of torsion.Because the parts of mechanical arm 23 are less, the space that it takes can make mechanical arm 23 with regard to less
On all parts be made in volume bigger, this makes it possible to be arranged on each portion from load and the bigger decelerator of moment of torsion
The inside of part, when mechanical arm 23 as fixture in use, load and the bigger decelerator of moment of torsion make the chucking power of mechanical arm 23
It is bigger, mechanical arm 23 is preferably rotated.
The mechanical arm 1 and mechanical arm 23 of the device are both connected on base 1, and the outer end of mechanical arm 1 is used to fix
Tool flange disk 1, tool flange disk 1 are used to executive item 5 be fixed, and executive item 5 can be mechanical paw one, also may be used
To be the operation instruments such as grinding head, laser head, electric drill rifle and welding gun, the outer end of mechanical arm 23 is used for solid mechanical paw two
7, mechanical paw 27 can be fixed by tool flange disk 26, and mechanical paw 27, which is used to clamp, needs what is operated
Parts, after mechanical arm 1 makes the outer end of mechanical arm 1 be faced with the outer end of mechanical arm 23 by rotating, set
The parts being clamped on mechanical arm 23 can just be operated accordingly, ensured in the executive item 5 on mechanical arm 1
Work is smoothed out.Preferably, force snesor, manipulator can also be set between mechanical paw 27 and tool flange disk 26
Pawl 27 gathers force signal in operation or assembling process and feeds back to control system, to coordinate mechanical arm 1 and mechanical arm 23
Motion.In the present apparatus, mechanical arm 1 and mechanical arm 23 are asymmetrical structure, and specifically, the part of mechanical arm 23 is less than
The part of mechanical arm 1, also less than the free degree of mechanical arm 1, i.e. mechanical arm 23 saves portion for the free degree of the second tool arm
Part, the structure can reduce the driving error between each part on mechanical arm 22, and this reduces whole mechanical arm 22
Accumulated error, while the manufacturing cost of system is saved, also reduce the control difficulty of system.
As a kind of scheme, mechanical arm 1 includes the 2a of revolute joint one, the 2b of revolute joint two, the 2c of revolute joint three, rotation
The 2d of the joint one and 2e of rotating and swinging joint two, the 2a of revolute joint one inner end are connected with base 1, the 2a of revolute joint one outer end
It is rotatablely connected with the 2d of rotating and swinging joint one, the 2b of revolute joint two inner end and the 2d of rotating and swinging joint one are rotatablely connected, revolute joint two
2b outer end is rotatablely connected with the 2e of rotating and swinging joint two, and the 2c of revolute joint three inner end and the 2e of rotating and swinging joint two are rotatablely connected.
The 2a of revolute joint one, the 2b of revolute joint two, the 2c of revolute joint three, the 2d of rotating and swinging joint one and the 2e of rotating and swinging joint two are cylindrical,
The axis perpendicular of the 2a of revolute joint one axis and the 2b of revolute joint two axis with the 2d of rotating and swinging joint one, revolute joint two
The axis perpendicular of 2b axis and the 2c of revolute joint three axis with the 2e of rotating and swinging joint two.In the structure, revolute joint two
2b can go around dynamic relative to revolute joint, and the 2c of revolute joint three can rotate relative to the 2b of revolute joint two, revolute joint
Three 2c outer end is used to install executive item 5, and the 2b of the revolute joint two and 2c of revolute joint three rotation is controlled by control system,
The executive item 5 on mechanical arm 1 is operated the parts being clamped on mechanical arm 23 accordingly, ensure work
It is smoothed out.
As shown in Figure 1-2, it is preferred that mechanical arm 1 also includes the 2f of the revolute joint four and 2g of rotating and swinging joint three, revolute joint
Three 2c outer end is rotatablely connected with the 2g of rotating and swinging joint three, and the 2f of revolute joint four inner end rotates with the 2g of rotating and swinging joint three to be connected
Connect.The 2f of the revolute joint four and 2g of rotating and swinging joint three is cylindrical and the axis perpendicular of the two.In the structure, revolute joint four
2f outer end is used to install executive item 5, after increasing the 2g of the rotating and swinging joint three and 2f of revolute joint four, by increasing capacitance it is possible to increase mechanical arm 1
The free degree, mechanical arm 1 and mechanical arm 23 is carried out compounding practice.
As shown in figure 1, having the 1a of boss one in annular in the present embodiment, on base 1, the 2a of revolute joint one is in cylinder
Shape, the 2a of revolute joint one are connected on base 1 around own axis, and the 2a of revolute joint one inner end is located in the 1a of boss one
And the inwall of the lateral surface of the 2a of revolute joint one inner end and the 1a of boss one mutually reclines.The 2a of revolute joint one is rotatably connected on bottom
On seat 1, it can further increase the free degree of mechanical arm 1, the structure makes mechanical arm 1 to move in the horizontal direction
It is dynamic, additionally it is possible to it is moved in vertical direction, increase the opereating specification of mechanical arm 1, in practical work process, mechanical arm one
2 can adjust the position of executive item 5 in the horizontal direction and on vertical direction, easily get around barrier；The 1a of boss one and revolution
It the structure that the 2a of joint one is engaged, can prevent the 2a of revolute joint one from being shaken during rotation, improve mechanical arm 1
Stability in rotation process.
As a kind of scheme, mechanical arm 23 includes the 3a of the revolute joint five and 3b of rotating and swinging joint four, and the 3a's of revolute joint five is interior
End is connected with base 1, and the 3a outer ends of revolute joint five are rotatablely connected with the 3b of rotating and swinging joint four.The 3a of revolute joint five and rotation
The 3b of joint four is cylindrical and the axis perpendicular of the two.In the structure, the 3b of rotating and swinging joint four is used for solid mechanical paw two
7, the 3b of rotating and swinging joint four can rotate relative to the 3a of revolute joint five, control the 3b of rotating and swinging joint four to rotate by control system, energy
It is enough mechanical arm 1 is carried out compounding practice with mechanical arm 23.
Preferably, mechanical arm 23 also includes the 3c of revolute joint six, the 3c of revolute joint six inner end and the 3b of rotating and swinging joint four
Rotation connection.The 3c of revolute joint six is cylindrical and the axis perpendicular of the 3c of revolute joint six axis and the 3b of rotating and swinging joint four.
In the structure, the 3c of revolute joint six outer end is used for solid mechanical paw 27, after increasing the 3c of revolute joint six, by increasing capacitance it is possible to increase
The free degree of mechanical arm 23, mechanical arm 1 can be more easily set to carry out compounding practice with mechanical arm 23.
Preferably, mechanical arm 23 also includes rotating and swinging joint five 3d, the 3d of rotating and swinging joint five and the 3c of revolute joint six outer end
Portion is rotatablely connected.The 3d of rotating and swinging joint five is cylindrical and the axis perpendicular of its axis and the 3c of revolute joint six.In the structure, pendulum
The outer end for turning the 3d of joint five is used for solid mechanical paw 27, after increasing the 3d of rotating and swinging joint five, by increasing capacitance it is possible to increase mechanical arm 23
The free degree, mechanical arm 1 can be more easily set to carry out compounding practice with mechanical arm 23.
Preferably, mechanical arm 23 also includes the 3e of revolute joint seven, the 3e of revolute joint seven inner end and the 3d of rotating and swinging joint five
Rotation connection.The 3e of revolute joint seven is cylindrical and its axis and the 3d of rotating and swinging joint five are perpendicular.In the structure, revolute joint seven
3e outer end is used for solid mechanical paw 27, after increasing the 3e of revolute joint seven, by increasing capacitance it is possible to increase the free degree of mechanical arm 23, energy
It is enough mechanical arm 1 is carried out compounding practice with mechanical arm 23.
As shown in Figure 1,3, in the present embodiment, mechanical arm 23 also includes rotating and swinging joint six 3f, the 3f of rotating and swinging joint six and revolution
The 3e of joint seven is rotatablely connected.The 3f of rotating and swinging joint six is cylindrical and its axis and the 3e of revolute joint seven are perpendicular.In the structure, pendulum
The outer end for turning the 3f of joint six is used for solid mechanical paw 27, after increasing the 3f of rotating and swinging joint six, by increasing capacitance it is possible to increase mechanical arm 23
The free degree, mechanical arm 1 can be more easily set to carry out compounding practice with mechanical arm 23.
As shown in figure 1, preferably, there is the 1b of boss two in annular, the 3a of revolute joint five is in cylinder on base 1
Shape, the 3a of revolute joint five are connected on base 1 around own axis, and the 3a of revolute joint five inner end is located in the 1b of boss two
And the inwall of the lateral surface of the 3a of revolute joint five inner end and the 1b of boss two mutually reclines.The 3a of revolute joint five is rotatably connected on bottom
On seat 1, it can further increase the free degree of mechanical arm 23, the structure makes mechanical arm 23 to move in the horizontal direction
It is dynamic, additionally it is possible to it is moved in vertical direction, increase the opereating specification of mechanical arm 23, in practical work process, mechanical arm two
3 can adjust the position of mechanical paw 27 in the horizontal direction and on vertical direction, easily get around barrier；The 1b of boss two with
It the structure that the 3a of revolute joint five is engaged, can prevent the 3a of revolute joint five from being shaken during rotation, improve machinery
Stability in the rotation process of arm 23.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (13)
1. a kind of asymmetric double robot arm device, including base (1), mechanical arm one (2) and mechanical arm two (3), the mechanical arm
The inner end of one (2) and mechanical arm two (3) is connected with the base (1), it is characterised in that the mechanical arm one (2)
Free degree L and mechanical arm two (3) free degree M meet following relation：
| L-M |=N,
Wherein N=1,2,3,4,5,6.
2. a kind of asymmetric double robot arm device according to claim 1, it is characterised in that the mechanical arm one (2)
The working space of working space covering mechanical arm two (3).
A kind of 3. asymmetric double robot arm device according to claim 1, it is characterised in that mechanical arm two (3) institute
Power of the power of the motor of use more than motor used by mechanical arm one (2).
A kind of 4. asymmetric double robot arm device according to claim 1, it is characterised in that mechanical arm two (3) institute
The load of the load of the decelerator of use and moment of torsion more than decelerator used by mechanical arm one (2) and moment of torsion.
A kind of 5. asymmetric double robot arm device according to claim 1-4 any one, it is characterised in that the machinery
Arm one (2) includes revolute joint one (2a), revolute joint two (2b), revolute joint three (2c), rotating and swinging joint one (2d) and rotation
Joint two (2e), the inner end of the revolute joint one (2a) are connected with the base (1), the revolute joint one (2a)
Outer end is rotatablely connected with the rotating and swinging joint one (2d), inner end and the rotating and swinging joint one (2d) of the revolute joint two (2b)
Rotation connection, outer end and the rotating and swinging joint two (2e) of revolute joint two (2b) are rotatablely connected, the revolute joint three (2c)
Inner end is rotatablely connected with rotating and swinging joint two (2e).
6. a kind of asymmetric double robot arm device according to claim 5, it is characterised in that the mechanical arm one (2) is also
Including revolute joint four (2f) and rotating and swinging joint three (2g), outer end and the rotating and swinging joint three of the revolute joint three (2c)
(2g) is rotatablely connected, and inner end and the rotating and swinging joint three (2g) of the revolute joint four (2f) are rotatablely connected.
7. a kind of asymmetric double robot arm device according to claim 6, it is characterised in that have on the base (1)
In the boss one (1a) of annular, the revolute joint one (2a) is cylindrical, and revolute joint one (2a) is around own axis
It is connected on the base (1), the inner end of the revolute joint one (2a) is located in boss one (1a) and revolute joint one
The inwall of the lateral surface of the inner end of (2a) and boss one (1a) mutually reclines.
A kind of 8. asymmetric double robot arm device according to claim 7, it is characterised in that mechanical arm two (3) bag
Revolute joint five (3a) and rotating and swinging joint four (3b) are included, the inner end of the revolute joint five (3a) is connected with base (1), returns
Turn (3a) outer end of joint five to be rotatablely connected with the rotating and swinging joint four (3b).
9. a kind of asymmetric double robot arm device according to claim 8, it is characterised in that the mechanical arm two (3) is also
Including revolute joint six (3c), the inner end of the revolute joint six (3c) is rotatablely connected with the rotating and swinging joint four (3b).
10. a kind of asymmetric double robot arm device according to claim 9, it is characterised in that the mechanical arm two (3) is also
Including rotating and swinging joint five (3d), the outer end of the rotating and swinging joint five (3d) and the revolute joint six (3c) is rotatablely connected.
A kind of 11. asymmetric double robot arm device according to claim 10, it is characterised in that the mechanical arm two (3)
Also include revolute joint seven (3e), the inner end of the revolute joint seven (3e) is rotatablely connected with the rotating and swinging joint five (3d).
A kind of 12. asymmetric double robot arm device according to claim 11, it is characterised in that the mechanical arm two (3)
Also include rotating and swinging joint six (3f), the rotating and swinging joint six (3f) is rotatablely connected with the revolute joint seven (3e).
13. a kind of asymmetric double robot arm device according to claim 11, it is characterised in that have on the base (1)
There is the boss two (1b) in annular, the revolute joint five (3a) is cylindrical, and revolute joint five (3a) turns around own axes
Dynamic to be connected on the base (1), the inner end of the revolute joint five (3a) is located in boss two (1b) and revolute joint five
The inwall of the lateral surface of the inner end of (3a) and boss two (1b) mutually reclines.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710756899.3A CN107498539A (en) | 2017-08-29 | 2017-08-29 | A kind of asymmetric double robot arm device |
| PCT/CN2017/101686 WO2019041384A1 (en) | 2017-08-29 | 2017-09-14 | Asymmetrical double-mechanical arm apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710756899.3A CN107498539A (en) | 2017-08-29 | 2017-08-29 | A kind of asymmetric double robot arm device |
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| CN107498539A true CN107498539A (en) | 2017-12-22 |
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| CN201710756899.3A Pending CN107498539A (en) | 2017-08-29 | 2017-08-29 | A kind of asymmetric double robot arm device |
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| Country | Link |
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| CN (1) | CN107498539A (en) |
| WO (1) | WO2019041384A1 (en) |
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| CN109005911A (en) * | 2018-09-03 | 2018-12-18 | 江苏大学 | A kind of portable high empty string fruit high-adaptability picker |
| CN111421531A (en) * | 2020-03-27 | 2020-07-17 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Flexible mechanical arm for redundant backup of driving rope |
| CN116079481A (en) * | 2023-04-07 | 2023-05-09 | 河北林桐机械制造有限公司 | Manipulator for processing thrust rod |
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| TWI725739B (en) * | 2020-02-18 | 2021-04-21 | 昱展科技有限公司 | Picking device of machine tool |
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| WO2019041384A1 (en) | 2019-03-07 |
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