CN103182710A - Dual-arm atmospheric manipulator and robot with same - Google Patents
Dual-arm atmospheric manipulator and robot with same Download PDFInfo
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- CN103182710A CN103182710A CN2011104543982A CN201110454398A CN103182710A CN 103182710 A CN103182710 A CN 103182710A CN 2011104543982 A CN2011104543982 A CN 2011104543982A CN 201110454398 A CN201110454398 A CN 201110454398A CN 103182710 A CN103182710 A CN 103182710A
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Abstract
The invention discloses a dual-arm atmospheric manipulator and a robot with the same. The dual-arm atmospheric manipulator comprises a driving device, a transmission device, an arm assembly and a turnover driving device, wherein the driving device drives the arm assembly to act through the transmission device, the arm device comprises a left arm assembly and a right arm assembly, and the turnover driving device is used for driving a right finger to roll over. During use, the right arm assembly moves or extends and retracts up and down under the drive of the driving device but does not turn over, and the right arm assembly not only can move, extend and retract up and down, but also can turn over under the effect of the turnover driving device, so that multiple tasks and tasks which have turnover requirements can be better completed. The dual-arm atmospheric manipulator and the robot with the same disclosed by the invention have the advantages that not only can the existing defects be overcome, but also the problem in completing multiple tasks is solved, the tasks which have rollover requirements can be completed, i.e. the right finger can laterally turn over, and the effect of preventing interfering with the left arm in the turnover process can be realized.
Description
Technical field
The present invention relates to the automatically technical field of carrying, specifically, refer to a kind of both arms atmosphere manipulator and use its robot.
Background technology
Existing atmosphere manipulator arm structure mainly contains two kinds, and a kind of is singlehanded arm, and a kind of is the both hands arms.End effector (finger) but the manipulator of side direction upset only appear in the singlehanded arm mechanical hand, but this mechanical arm can only be finished a kind of task of moving, and can not satisfy for the requirement of finishing multitask.For example, carry same object to different environment (as dry, moistening etc.), singlehanded arm manipulator just can not be finished, the one or more manipulators of needs increase.But, if increase one or more manipulators, not only enlarged the space and increased cost again.Though and both hands arm manipulator has solved the problem of finishing multitask,, a lot of carrying occasions have the rollover requirement now, and both hands arm manipulator can not be finished the task that rollover requires.
In addition, existing atmosphere manipulator waterproof construction design is not in place, and the life-span that the manipulator that makes is dripped in easy leakage water inlet is affected.
Summary of the invention
The robot that main purpose of the present invention is to provide a kind of both arms atmosphere manipulator and uses it, it can overcome existing defective, not only solves the problem of finishing multitask, and can finish the task that rollover requires.
The robot that secondary objective of the present invention is to provide a kind of both arms atmosphere manipulator and uses it, it in use can prevent that sealing enters manipulator inside.
For achieving the above object, the present invention adopts following technical scheme:
A kind of both arms atmosphere manipulator, it comprises drive unit, transmission device, arm assembly, described drive unit is by described transmission device, driving described arm assembly moves, it also further includes overturning drive device, described arm assembly comprises left hand arm component and right arm assembly, and described overturning drive device is used for driving described right arm assembly rollover.
Above-mentioned both arms atmosphere manipulator, it also further includes water-tight device, and described water-tight device is located on described transmission device and/or the arm assembly.
Preferably, above-mentioned left hand arm component comprises that the big arm in a left side, left forearm, ancon connector and left hand refer to; The big arm in a described left side and left forearm flexibly connect by the ancon connector; Described left hand refers to be located at the end of described left forearm, and is hinged with described left forearm.
Preferably, above-mentioned right arm assembly comprises that right big arm, right forearm and the right hand refer to, the ancon of the big arm in the described right side and right forearm is hinged, and described overturning drive device is located at the end of described right forearm, and the described right hand refers to link to each other with the output of described overturning drive device.
Preferably, above-mentioned drive unit comprises two motors and control cabinet, and described two motors are located in the described control cabinet, controls rotation and the lifting of described transmission device respectively.
Preferably, above-mentioned transmission device comprises lifting assembly, column and arm driven unit, described lifting assembly and column and wherein a motor link to each other, drive described column and be rotated under described driven by motor, described arm driven unit links to each other with described column.
Preferably, above-mentioned lifting assembly comprises screw mandrel, slide block, fixed guide, screw and elevating bracket, and described slide block is connected with described column by described elevating bracket; Described screw is engaged on the described screw mandrel, and described screw mandrel links to each other with the output shaft of motor; Described slide block slides at fixed guide.
Preferably, above-mentioned arm driven unit comprises motor and arm driving box, described motor is installed in the described arm driving box, described arm driving box is fixedlyed connected with described column, and described motor comprises that left motor and right motor are respectively applied to control described left hand arm component and right arm assembly.
Preferably, above-mentioned water-tight device, it is wrist ring plate and/or boss and/or band seam and/or anti-water pond and/or bucker.
A kind of robot, it includes above-mentioned both arms atmosphere manipulator.
After adopting technique scheme, during use, the left hand arm component carries out upper and lower displacement or flexible under the drive of drive unit, but do not overturn, the right arm assembly not only can move up and down, flexible, and can under the effect of overturning drive device, overturn, thereby can better finishing multitask and having upset to require of task.The present invention can overcome existing defective, not only solves the problem of finishing multitask, and can finish the task that rollover requires, and namely the right hand refers to and can side direction overturn, and can realize not interfering with left arm in the process of upset.
Description of drawings
Fig. 1 is the structural representation of atmosphere manipulator of the present invention.
Fig. 2 is the partial enlarged drawing of Fig. 1.
Fig. 3 is the cutaway view of atmosphere manipulator of the present invention.
Fig. 4 is the partial enlarged drawing of Fig. 3.
Fig. 5 is the vertical view of Fig. 1.
Fig. 6 is the structural representation of the big arm housing of manipulator of the present invention.
Fig. 7 is the partial enlarged drawing of Fig. 5.
Fig. 8 is the structural representation of the big arm lid of manipulator of the present invention.
Fig. 9 is the arm installation diagram of manipulator of the present invention.
Figure 10 is the right arm rollover location diagram of manipulator of the present invention.
Figure 11 is the structural representation of the side-looking after the present invention overturns.
Figure 12 is the vertical view of rollover states of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
Shown in figure 1-12, the invention discloses a kind of both arms atmosphere manipulator, it comprises: drive unit 1, transmission device 2, arm assembly 3, overturning drive device 4 and water-tight device, wherein:
With reference to shown in Figure 3, drive unit 1, it comprise two motors 11,12 and control cabinet 13, two motors 11,12 be located in the control cabinet 13.
Cooperate shown in Figure 3ly, transmission device 2 comprises lifting assembly 21, column 22 and arm driven unit 23, wherein:
Lifting assembly 21 comprises screw mandrel 211, slide block 212, fixed guide 213, screw (not shown) and elevating bracket 214, and slide block 212 is connected with column 22 by elevating bracket 214; Above-mentioned screw is engaged on the screw mandrel 211, and screw mandrel 211 links to each other with the output shaft of motor 12; Slide block 212 slides at fixed guide 213.During use, screw mandrel 211 rotates under the drive of motor 12, slides at fixed guide 213 thereby drive slide block 212, and column 22 is connected with slide block 212, and therefore, column 22 is under the drive of slide block 212, and in the vertical direction is done elevating movement.
The output shaft of motor 11 is connected with column 22, and it can drive column 22 and rotate.
Arm driven unit 23 comprises motor 231 and arm driving box 232, and motor 231 is installed in the arm driving box 232, and arm driving box 232 is fixedlyed connected with column 22, with lifting and the rotation of control arm assembly 3.Motor 231 comprises left motor 2311 and right motor 2312, is respectively applied to control right-hand man's arm component;
Shown in figure 1,3, arm assembly 3, it comprises left hand arm component 31 and right arm assembly 32, left hand arm component 31 comprises that the big arm 311 in a left side, left forearm 312, ancon connector 313 and left hand refer to 314; Shown in figure 6,8, the big arm 311 in a left side comprises big arm housing 3111 and big arm lid 3112, and big arm lid 3112 lids are located on the big arm housing 3111; Cooperate shown in Figure 4ly, the big arm 311 in a left side links to each other with left motor shaft 2311, and the big arm 311 in a left side and left forearm 312 are by 313 flexible connections of ancon connector; Left hand refers to that 314 are located at the end of left forearm 312, and is hinged with left forearm 312; Right arm assembly 32 comprises that right big arm 321, right forearm 322 and the right hand refer to 323, and right big arm 321 links to each other with right motor shaft 2312, and the ancon of right big arm 321 and right forearm 322 is hinged, and the right hand refers to that 323 are located at the end of right forearm 322, and is hinged with right forearm 322;
The height of ancon connector 313, determined left hand refer to 314 and the right hand refer to 323 at hard Nogata to certain distance is arranged, as shown in Figure 9, two the finger hard Nogata to distance be 10mm, avoided like this two the finger at hard Nogata to bumping.In order not interfere with the left side arm in the process that is implemented in right side finger upset, to the Position Design of two arms as shown in figure 10, wherein H1 is the terminal plan range to center line of right side forearm, H2 is the terminal plan range to center line of left side forearm, and the right side finger overturns during and value that given H1 certain minimum as H2.
Shown in figure 5,11, overturning drive device 4 is located at the end of right forearm 322, refers to that with the right hand 323 link to each other, and it can drive the right hand and refer to that 323 overturn.
In the present embodiment, water-tight device, it includes wrist ring plate 51, boss 52, band seam 53, anti-water pond 54 and bucker 55, with reference to shown in Figure 2, refer to leftward 314 with the junction of left forearm 312, it is provided with wrist ring plate 51, its can prevent sealing enter left hand refer to 314 with the junction of left forearm 312; With reference to shown in Figure 1, outside control cabinet 13, be provided with bucker 55; In the junction of column 22 with control cabinet 13, be provided with anti-water pond 54, anti-water pond 54 is set in outside the column 22.
Shown in figure 6,7, in the big arm housing of arm assembly 3, be provided with boss 52, can prevent that sealing enters in the arm.Simultaneously, on big arm 311 about arm assembly 3,321 lid, also be provided with band seam 53.
In addition, for antiseptic and rustproof all outer surfaces has all been carried out the Teflon processing.
During use, shown in Figure 11,12, when with the present invention wafer A being carried, left hand refers to that 314 do not rotate, and during and value that given H1 certain minimum as H2, the right hand refers to that 323 overturn under the drive of overturning drive device 4.Both arms atmosphere manipulator of the present invention, it can overcome existing defective, not only solves the problem of finishing multitask, and can finish the task that rollover requires, be that the right hand refers to that 323 can side direction overturn, and in the process of upset, can realize not interfering with left arm.In addition, the setting of water-tight device makes the present invention's waterproof comprehensively.
The invention also discloses a kind of robot, it has the both arms atmosphere manipulator of said structure, its in use, wherein an arm is turning, and has waterproof action.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. both arms atmosphere manipulator, it comprises drive unit, transmission device, arm assembly, described drive unit is by described transmission device, driving described arm assembly moves, it is characterized in that: it also further includes overturning drive device, described arm assembly comprises left hand arm component and right arm assembly, and described overturning drive device is used for driving described right arm assembly rollover.
2. both arms atmosphere manipulator according to claim 1, it is characterized in that: it also further includes water-tight device, and described water-tight device is located on described transmission device and/or the arm assembly.
3. both arms atmosphere manipulator according to claim 1 and 2 is characterized in that: described left hand arm component comprises that the big arm in a left side, left forearm, ancon connector and left hand refer to; The big arm in a described left side and left forearm flexibly connect by the ancon connector; Described left hand refers to be located at the end of described left forearm, and is hinged with described left forearm.
4. both arms atmosphere manipulator according to claim 3, it is characterized in that: described right arm assembly comprises that right big arm, right forearm and the right hand refer to, the ancon of the big arm in the described right side and right forearm is hinged, described overturning drive device is located at the end of described right forearm, and the described right hand refers to link to each other with the output of described overturning drive device.
5. both arms atmosphere manipulator according to claim 1, it is characterized in that: described drive unit comprises two motors and control cabinet, described two motors are located in the described control cabinet, control rotation and the lifting of described transmission device respectively.
6. both arms atmosphere manipulator according to claim 5, it is characterized in that: described transmission device, comprise lifting assembly, column and arm driven unit, described lifting assembly reaches wherein with column, and a motor links to each other, drive described column and be rotated under described driven by motor, described arm driven unit links to each other with described column.
7. both arms atmosphere manipulator according to claim 6, it is characterized in that: described lifting assembly comprises screw mandrel, slide block, fixed guide, screw and elevating bracket, described slide block is connected with described column by described elevating bracket; Described screw is engaged on the described screw mandrel, and described screw mandrel links to each other with the output shaft of motor; Described slide block slides at fixed guide.
8. both arms atmosphere manipulator according to claim 6, it is characterized in that: described arm driven unit comprises motor and arm driving box, described motor is installed in the described arm driving box, described arm driving box is fixedlyed connected with described column, and described motor comprises that left motor and right motor are respectively applied to control described left hand arm component and right arm assembly.
9. both arms atmosphere manipulator according to claim 2 is characterized in that: described water-tight device, it is wrist ring plate and/or boss and/or band seam and/or anti-water pond and/or bucker.
10. a robot is characterized in that; It includes the arbitrary described both arms atmosphere manipulator of claim 1～9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104543982A CN103182710A (en) | 2011-12-29 | 2011-12-29 | Dual-arm atmospheric manipulator and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104543982A CN103182710A (en) | 2011-12-29 | 2011-12-29 | Dual-arm atmospheric manipulator and robot with same |
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| Publication Number | Publication Date |
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| CN103182710A true CN103182710A (en) | 2013-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011104543982A Pending CN103182710A (en) | 2011-12-29 | 2011-12-29 | Dual-arm atmospheric manipulator and robot with same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707294A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工程大学 | Perforating charge assembly manipulator |
| CN104647398A (en) * | 2015-01-12 | 2015-05-27 | 上海交通大学 | Collaborative double manipulators used for fruit picking |
| CN111376232A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Both arms transfer robot |
| CN112811165A (en) * | 2021-02-04 | 2021-05-18 | 深圳新益昌科技股份有限公司 | Double-arm type crystal ring replacing mechanism |
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
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| WO1997002933A1 (en) * | 1995-07-10 | 1997-01-30 | Kensington Laboratories, Inc. | Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities |
| JPH10223721A (en) * | 1997-02-03 | 1998-08-21 | Hitachi Techno Eng Co Ltd | Wafer carrier |
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| WO1997002933A1 (en) * | 1995-07-10 | 1997-01-30 | Kensington Laboratories, Inc. | Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707294A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工程大学 | Perforating charge assembly manipulator |
| CN103707294B (en) * | 2013-12-18 | 2015-12-02 | 哈尔滨工程大学 | Perforating bullet assembly manipulator |
| CN104647398A (en) * | 2015-01-12 | 2015-05-27 | 上海交通大学 | Collaborative double manipulators used for fruit picking |
| CN111376232A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Both arms transfer robot |
| CN111376232B (en) * | 2018-12-30 | 2023-09-29 | 昆山智能装备研究院 | Double-arm transfer robot |
| CN112811165A (en) * | 2021-02-04 | 2021-05-18 | 深圳新益昌科技股份有限公司 | Double-arm type crystal ring replacing mechanism |
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
| CN117690857B (en) * | 2024-01-31 | 2024-05-03 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
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Application publication date: 20130703 |