CN106041896A - Mechanical-electrical integrated double-arm robot mounting base - Google Patents
Mechanical-electrical integrated double-arm robot mounting base Download PDFInfo
- Publication number
- CN106041896A CN106041896A CN201610613546.3A CN201610613546A CN106041896A CN 106041896 A CN106041896 A CN 106041896A CN 201610613546 A CN201610613546 A CN 201610613546A CN 106041896 A CN106041896 A CN 106041896A
- Authority
- CN
- China
- Prior art keywords
- tow
- pedestal
- robot
- mounting seat
- electromechanical integration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention provides a mechanical-electrical integrated double-arm robot mounting base. The mounting base comprises a base, a chassis arranged at the top of the base, and side bases for mounting double arms of a robot; the chassis is provided with an accommodating space; a controller and a main driving mechanism for driving each driving device of a double-arm robot to work are arranged in the accommodating space; the main driving mechanism is in signal connection with the controller; the two side bases are respectively arranged on two sides of the base; and one end of each side base is rotationally connected with the base, and the other end is used for mounting the arms of the robot. The mounting base is a mechanical-electrical integrated structure, can solve the problem of influence on the moving range and space of the double-arm robot by signal wire leakage of a traditional robot, and can widen the moving range of the double-arm robot and improve the working convenience of the robot. The mounting base can enable a common working area range between double arms of the robot to be optimized, so that mutual obstruction of double arms can be prevented to realize cooperative work of double arms, and the working range of double arms can be widened.
Description
Technical field
The present invention relates to robotics, more particularly, it relates to the tow-armed robot peace of a kind of electromechanical integration
Dress seat.
Background technology
Tow-armed robot is to obtain in robotics at present the most extensively and the automated machine dress of actual application
Put, its figure can be seen in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs and space probations.Producing
During, tow-armed robot can catch workpiece with left arm, and right arm uses corresponding instrument to be operated at same position, does not exists
Collision waiting area, solves the use bottleneck of current one armed robot, preferably meets the man-machine assistance of art production process
Function.
Existing tow-armed robot is the formula that the is connected to form one structure being realized two-arm by mounting seat.In general mounting seat
Being provided with the driving equipment for being connected and power supply with peripheral control unit signal, peripheral control unit controls to install by driving equipment
Arm in mounting seat both sides carries out collaborative work.This structure needs to believe with peripheral control unit from the internal holding wire of drawing of mounting seat
Number connecting, and mounting seat is fixed on ground mostly.It is solid in original place that the mounting seat of this structure is applicable to tow-armed robot
Fixed work, but for the tow-armed robot of walking, this mounting seat does not the most have the structure connecting walking mechanism, and
Holding wire leaks outside and can largely effect on range of movement and the space of tow-armed robot, thus reduces the practicality of tow-armed robot.
Meanwhile, in the course of the work, there is common working region, for the association of both arms between the both arms of tow-armed robot
With work, and tow-armed robot has the cooperation region of optimized scope and both arms not only can be avoided mutually to hinder realize both arms association
With work, and the working range of both arms can be increased.Owing to both arms realize installing by mounting seat, therefore, mounting seat
Shape and structure can determine the cooperation region between both arms.So, present stage how design and installation seat optimize both arms it
Between cooperation regional extent, be tow-armed robot need research an important topic.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that the both arms machine of a kind of electromechanical integration
Device people's mounting seat, this mounting seat is that electromechanical integrated structure can solve existing robot holding wire and leaks outside and cause affecting both arms machine
The range of movement of people and the problem in space；Further object is to provide one can make cooperation region between both arms
Scope optimized tow-armed robot mounting seat, thus both arms not only can be avoided mutually to hinder and realize both arms collaborative work, and
The working range of both arms can be increased.
In order to achieve the above object, the technical scheme is that: the both arms of a kind of electromechanical integration
Robot mounting seat, for mounting robot arm；It is characterized in that: include pedestal, the cabinet being arranged on pedestal top and use
Side seat in mounting robot both arms；Described cabinet is provided with receiving space, is provided with controller and for driving in accommodating space
Total drive mechanism of dynamic tow-armed robot each driving means work, total drive mechanism is connected with controller signals；Two described sides
Seat is separately positioned on the both sides of pedestal, and one end of each side seat is rotatably connected with pedestal, and the other end is for mounting robot
Arm.
In such scheme, controller and total drive mechanism are arranged in the receiving space of cabinet, then both connect
Holding wire is arranged in receiving cavity, then can realize this mounting seat electromechanical integration, and tow-armed robot is when walking and work
Without being affected by the holding wire that leaks outside, can effectively solve existing robot holding wire and leak outside and cause affecting the fortune of tow-armed robot
Dynamic scope and the problem in space, thus increase the range of movement of tow-armed robot and improve the convenience of robot work.
Specifically, described pedestal is the pedestal of fan loop configuration.Pedestal of the present invention is designed as fanning loop configuration the most just
It is arranged on pedestal top in cabinet, and there is bottom it certain radian and make Robot Dual-Arm have coordinated cooperation
Space.
Having angle theta between described pedestal both ends, described angle theta is obtuse angle.
Described angle theta in the range of: 120 °≤θ≤130 °.
Two described side seats have angle β between the centrage that pedestal rotates, and described angle β is equal with angle theta.
The present invention designs pedestal both ends to be had angle theta and limits the scope of this angle theta, and the angle β between the seat of side
Equal with angle theta, i.e. limit and optimize the cooperative space of Robot Dual-Arm, this scope is to set according to human engineering
Meter, Robot Dual-Arm cooperation within the range is coordinated the most, thus realizes cooperation region model between both arms
The optimization enclosed, not only can avoid both arms mutually to hinder and realize both arms collaborative work, and can increase both arms work space and
Scope.
Described pedestal and two side seats connect the continuous circular arc line forming a same radian.This design can optimize further
The collaborative work region of Robot Dual-Arm.
Two described side seat specular are arranged on the both sides of pedestal.This design makes the arm being arranged on two side seats
Can mutually dodge, optimize the space of collaborative work further, increase the working range of both arms.
Each described side seat is provided with for driving its driving means one rotated around pedestal；Each side seat is connected with arm
One end be provided with driving means two and reductor, described driving means two is connected with reductor, is used for driving arm to work.
Described enclosure top is provided with for installing or hanging installed part on walking track.
Described installed part includes substrate and for the fastener being buckled on walking track and be connected with walking slide；
Described fastener is arranged on substrate.
Owing to the present invention can realize electromechanical integration by the cabinet of mounting seat, then holding wire is without leaking outside outside mounting seat
Portion so that tow-armed robot is the structure of integral type, the both arms of robot can be installed or hang by the installed part of mounting seat
On walking track, it is achieved it moves flexibly or walk and is processed workpiece, so can increase the range of movement of tow-armed robot
With the convenience improving robot work.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the tow-armed robot mounting seat of electromechanical integration of the present invention is electromechanical integrated structure, it is possible to resolve existing robot
Holding wire leaks outside the problem in the range of movement causing affecting tow-armed robot and space, thus can increase the motion of tow-armed robot
Scope and the convenience of raising robot work.
2, the tow-armed robot mounting seat of electromechanical integration of the present invention can make cooperation district between the both arms of robot
Territory scope optimization, thus both arms not only can be avoided mutually to hinder and realize both arms collaborative work, and the work of both arms can be increased
Scope.
Accompanying drawing explanation
Fig. 1 is the structural representation of the tow-armed robot mounting seat of electromechanical integration of the present invention；
Fig. 2 is that mounting seat of the present invention is provided with the schematic internal view of cabinet after both arms；
Fig. 3 is that Robot Dual-Arm is arranged on the schematic diagram on walking track by mounting seat；
Wherein, 1 be pedestal, 2 for cabinet, 3 for side seat, 4 for controller, 5 for total drive mechanism, 6 for signal communication board, 7
For wire casing, 8 be insulating barrier, 9 for driving means one, 10 for driving means two, 11 be reductor, 12 be substrate, 13 be fastener,
14 it is walking track, 15 is arm.
Detailed description of the invention
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1 to Figure 3, the tow-armed robot mounting seat of electromechanical integration of the present invention, is for mounting robot hands
Arm 15, this mounting seat includes pedestal 1, the cabinet 2 being arranged on pedestal 1 top and the side seat 3 for mounting robot both arms, its
In, cabinet 2 is provided with receiving space, is provided with controller 4, for driving tow-armed robot each driving means work in accommodating space
Total drive mechanism 5 of making, signal communication board 6 and for receiving the wire casing 7 of holding wire, total drive mechanism 5 is with controller 4 signal even
Connecing, wire casing 7 is arranged on the both sides of controller 4.In order to improve the safety of mounting seat, the present invention is arranged in the medial wall of cabinet 2
There is insulating barrier 8.And two side seats 3 are separately positioned on the both sides of pedestal 1, one end of each side seat 3 and pedestal 1 are rotatably connected,
The other end is for the arm 15 of mounting robot.
The pedestal 1 of the present invention is the pedestal of fan loop configuration, and pedestal 1 has angle theta between both ends, and this angle theta is
130°.And two side seats 3 have angle β between the centrage that pedestal 1 rotates, β is equal with angle theta for this angle.This design can
Pedestal 1 and two side seats 3 are made to connect the continuous circular arc line forming a same radian.The present invention designs pedestal 1 both ends tool
There is angle theta and limit the scope of this angle theta, and the angle β between side seat 3 is equal with angle theta, i.e. limits and optimizes machine
The cooperative space of people's both arms, this scope is according to ergonomic designs, and Robot Dual-Arm is the most common
Work is coordinated the most, thus realizes the optimization of cooperation regional extent between both arms, and both arms not only can be avoided mutual
Obstruction realizes both arms collaborative work, and can increase work space and the scope of both arms.Work is worked in coordination with in order to optimize both arms further
The space made, two side seat 3 specular are arranged on the both sides of pedestal 1, and this design makes the arm being arranged on two side seats 3
15 can mutually dodge, thus increase the working range of both arms.
The present invention each side seat 3 is provided with for driving its driving means 1 rotated around pedestal 1, side seat 3 and arm
15 one end connected are provided with driving means 2 10 and reductor 11, and driving means 2 10 is connected with reductor 11, is used for driving
Arm 15 works.
The top of the cabinet 2 of the present invention is provided with for installing or hanging installed part on walking track 14, this installation
Part includes substrate 12 and for the fastener 13 being buckled on walking track 14 and be slidably connected with walking track 14, fastener 13
Arrange on the substrate 12.Owing to the present invention can realize electromechanical integration by the cabinet 2 of mounting seat, then holding wire is without leaking outside
Outside mounting seat so that tow-armed robot is the structure of integral type, the both arms of robot can be installed by the installed part of mounting seat
Or hanging is on walking track 14, it is achieved it moves flexibly or walk and is processed workpiece, so can increase tow-armed robot
Range of movement and improve robot work convenience.
Embodiment two
The present embodiment and embodiment one the difference is that only: the angle theta between pedestal both ends is 120 °, and side seat around
Angle β between the centrage that pedestal rotates also is 120 °.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment three
The present embodiment and embodiment one the difference is that only: the angle theta between pedestal both ends is 125 °, and side seat around
Angle β between the centrage that pedestal rotates also is 125 °.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. a tow-armed robot mounting seat for electromechanical integration, for mounting robot arm；It is characterized in that: include base
Seat, it is arranged on the cabinet at pedestal top and for the side seat of mounting robot both arms；Described cabinet is provided with receiving space, accommodates
Be provided with controller in space and for the total drive mechanism driving each driving means of tow-armed robot to work, total drive mechanism with
Controller signals connects；Two described side seats are separately positioned on the both sides of pedestal, and one end of each side seat rotatably connects with pedestal
Connecing, the other end is for the arm of mounting robot.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 1, it is characterised in that: described pedestal is fan
The pedestal of loop configuration.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 2, it is characterised in that: described pedestal two ends
Having angle theta between portion, described angle theta is obtuse angle.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 3, it is characterised in that: described angle theta
Scope is: 120 °≤θ≤130 °.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 3, it is characterised in that: two described side seats
Having angle β between the centrage that pedestal rotates, described angle β is equal with angle theta.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 5, it is characterised in that: described pedestal and two
Individual side seat connects the continuous circular arc line forming a same radian.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 1, it is characterised in that: two described side seats
Specular is arranged on the both sides of pedestal.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 1, it is characterised in that: each described side seat
It is provided with for driving its driving means one rotated around pedestal；One end that each side seat is connected with arm is provided with driving means
Two and reductor, described driving means two is connected with reductor, is used for driving arm to work.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 1, it is characterised in that: described enclosure top
It is provided with for installing or hanging installed part on walking track.
The tow-armed robot mounting seat of electromechanical integration the most according to claim 9, it is characterised in that: described installed part
Including substrate with for the fastener being buckled on walking track and be connected with walking slide；Described fastener is arranged on base
On plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613546.3A CN106041896A (en) | 2016-07-28 | 2016-07-28 | Mechanical-electrical integrated double-arm robot mounting base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613546.3A CN106041896A (en) | 2016-07-28 | 2016-07-28 | Mechanical-electrical integrated double-arm robot mounting base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041896A true CN106041896A (en) | 2016-10-26 |
Family
ID=57195833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610613546.3A Pending CN106041896A (en) | 2016-07-28 | 2016-07-28 | Mechanical-electrical integrated double-arm robot mounting base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041896A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146590A (en) * | 2021-05-21 | 2021-07-23 | 莱茵科斯特智能科技(青岛)有限公司 | Workstation for installing product accessories and manipulator for installing accessories |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197464A (en) * | 1994-12-28 | 1996-08-06 | Samsung Electronics Co Ltd | Dual arm robot |
| CN102649269A (en) * | 2011-02-24 | 2012-08-29 | 康茂股份公司 | Manipulator robot |
| CN104020768A (en) * | 2014-06-13 | 2014-09-03 | 广西电网公司崇左供电局 | Infrared temperature measurement track inspection robot |
| CN104411466A (en) * | 2012-06-19 | 2015-03-11 | 株式会社安川电机 | Robotic system and method for manufacturing processed goods |
| CN105313103A (en) * | 2014-07-31 | 2016-02-10 | 精工爱普生株式会社 | Double arm robot |
| CN105500338A (en) * | 2016-01-06 | 2016-04-20 | 上海大学 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN205889165U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechatronic's double arm robot mount pad |
-
2016
- 2016-07-28 CN CN201610613546.3A patent/CN106041896A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197464A (en) * | 1994-12-28 | 1996-08-06 | Samsung Electronics Co Ltd | Dual arm robot |
| CN102649269A (en) * | 2011-02-24 | 2012-08-29 | 康茂股份公司 | Manipulator robot |
| CN104411466A (en) * | 2012-06-19 | 2015-03-11 | 株式会社安川电机 | Robotic system and method for manufacturing processed goods |
| CN104020768A (en) * | 2014-06-13 | 2014-09-03 | 广西电网公司崇左供电局 | Infrared temperature measurement track inspection robot |
| CN105313103A (en) * | 2014-07-31 | 2016-02-10 | 精工爱普生株式会社 | Double arm robot |
| CN105500338A (en) * | 2016-01-06 | 2016-04-20 | 上海大学 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN205889165U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechatronic's double arm robot mount pad |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146590A (en) * | 2021-05-21 | 2021-07-23 | 莱茵科斯特智能科技(青岛)有限公司 | Workstation for installing product accessories and manipulator for installing accessories |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181008 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Applicant after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Applicant before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |
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| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |
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| RJ01 | Rejection of invention patent application after publication |