CN106585759A - Novel mobile type double-arm robot - Google Patents
Novel mobile type double-arm robot Download PDFInfo
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- CN106585759A CN106585759A CN201611220425.9A CN201611220425A CN106585759A CN 106585759 A CN106585759 A CN 106585759A CN 201611220425 A CN201611220425 A CN 201611220425A CN 106585759 A CN106585759 A CN 106585759A
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- vehicle body
- axle
- component
- forearm
- swivel
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- 230000033001 locomotion Effects 0.000 claims abstract description 77
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 239000012530 fluid Substances 0.000 claims description 16
- 210000003141 lower extremity Anatomy 0.000 claims description 14
- 239000000758 substrate Substances 0.000 claims description 12
- 238000005266 casting Methods 0.000 claims description 11
- 125000006850 spacer group Chemical group 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 229910000746 Structural steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 230000009194 climbing Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- -1 3.10 Substances 0.000 description 1
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a novel mobile type double-arm robot. The novel mobile type double-arm robot includes wheel type chassis (1), supporting frames (2), a vehicle body movement assembly (3), electric driving body rotation assemblies (4), hydraulic leg lifting assemblies (2), a vehicle body (6); two wheel type chassis (1) are provided and are mounted at the bottom of the vehicle body movement assembly (3); the vehicle body (6) is mounted on the vehicle body movement assembly (3), so that the vehicle body (6) can move on the vehicle body movement assembly (3); and the vehicle body (6) is provided with a visual information collection device (7) and robot arm assemblies (8). The novel mobile type double-arm robot of the invention integrates the advantage of high speed of a fast wheel-type device and the advantage of obstacle surmounting ability of a leg-type device and can quickly enter a dangerous area. The novel mobile type double-arm robot, based on the vehicle body movement assembly and the double six-degree-of-freedom manipulators, can replace workers to perform complicated task. The operation space of the novel mobile type double-arm robot is large; and the work ability of the novel mobile type double-arm robot is strong.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of new mobile type tow-armed robot, belong to roboticses neck
Domain.
Background technology
In many deathtraps, personnel's manual work is often unsuitable for, at this moment generally needs locomotivity good and work
The strong robot of ability is replacing manually performing task.
In existing technical scheme, wheeled mobile device speed is fast but obstacle climbing ability is poor, lower limb formula mobile device obstacle climbing ability
It is strong but translational speed is slow；Additionally, the usual working place of existing robot is less, ability to work is poor, it is impossible to perform complex task.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of new mobile type tow-armed robot, its movement
Device combines the advantage that wheeled devices speed is fast and lower limb formula device obstacle climbing ability is strong, can rapidly enter deathtrap, pass through
The coordination exercise of vehicle body moving assembly and double six degree-of-freedom mechanical arm, replaces staff to perform complex task, and working place is big,
Ability to work is strong.
To achieve these goals, the technical solution used in the present invention is：A kind of new mobile type tow-armed robot, including
Wheel undercarriage, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly vehicle body, visual information collection
Device and robot assemblies；Two sets of wheel undercarriages provide translational speed fast wheel type mobile mode for tow-armed robot, vehicle body
Moving assembly adjusts the position of centre of gravity of robot, and electric drive swivel component and fluid pressure type lift leg assembly are provided for tow-armed robot and got over
The strong lower limb formula move mode of barrier ability, has translational speed concurrently soon and the new wheel lower limb of strong two advantages of obstacle climbing ability so as to be combined into
Formula tow-armed robot, quickly reaches deathtrap；Under the guidance of the visual information that four groups of visual information harvesters get,
By the coordination exercise of vehicle body moving assembly and two set of six shaft mechanical arm component, replace staff to perform complicated operation and appoint
Business；
Described wheel undercarriage is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described visual information harvester（7）Four groups are had, vehicle body is separately mounted to（6）The orientation of front, rear, left and right four；
The environmental information residing for robot is provided for operator, in order to the remote control of robot；
Described robot assemblies have two groups, are separately mounted to vehicle body both sides, including one component of axle, two component of axle, three component of axle,
Four component of axle, five component of axle, six component of axle and mechanical arm are electrically held；One component of axle, two component of axle, three component of axle, four groups of axle
Part, five component of axle and six component of axle are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, and electrically end is outer for mechanical arm
Power supply and signal receiving/transmission device are connect, so as to constitute the six degree of freedom machinery that complex task can be performed by staff's remote control
Both arms；
Described one component of axle includes pawl head, pawl head swivel bearing, pawl head electric rotating machine and pawl headstock；Pawl head electric rotating machine is embedding
Enter the rectangular opening the inner ring axially position by pawl head swivel bearing of pawl headstock；The Internal and external cycle of pawl head swivel bearing respectively with pawl head
Seat and pawl hook bolt connect；The output shaft of pawl head electric rotating machine is bonded with pawl head, and pawl head end can connect according to mission requirements
Clamping manipulator or exploring equipment；The rotational band pawl head of pawl head electric rotating machine output shaft around pawl head electric rotating machine axis direction is
Axle one is rotated, so as to realize the rotation of clamping manipulator or exploring equipment around axle one；
Described two component of axle includes pawl headstock electric motor end cap, pawl headstock electric rotating machine, pawl headstock swivel bearing and forearm；Pawl
The Internal and external cycle of headstock swivel bearing respectively with pawl headstock and forearm bolt connection, the output shaft of pawl headstock electric rotating machine and pawl headstock
It is bonded；Pawl headstock electric motor end cap Jing periphery holes are fixed with little arm bolt, then Jing inner ring hole fixed claw headstock electric rotating machines；Pawl head
The rotational band pawl headstock of seat electric rotating machine output shaft is that axle two rotates around pawl headstock electric rotating machine axis direction, so as to realize axle
Rotation of one component around axle two；
Described three component of axle includes forearm rotary connector, forearm swivel bearing, forearm electric rotating machine and little arm seat；Forearm
The Internal and external cycle of swivel bearing respectively with forearm rotary connector and little arm seat bolt connection, the other end of forearm rotary connector with
Forearm bolt connection；Forearm electric rotating machine is embedded in the rectangular opening of little arm seat the simultaneously inner ring axially position of Jing forearm swivel bearings,
The output shaft of forearm electric rotating machine is bonded with forearm rotary connector；The rotation of forearm electric rotating machine output shaft drives forearm rotation
Turn connector around i.e. three rotation of axle in forearm electric rotating machine axis direction, so as to realize rotation of two component of axle around axle three；
Described four component of axle include little arm seat electric motor end cap, forearm seat rotating axis hold, little arm seat electric rotating machine and large arm；It is little
The Internal and external cycle of arm seat swivel bearing respectively with little arm seat and large arm bolt connection, output shaft and the little arm seat of little arm seat electric rotating machine
It is bonded；Little arm seat electric motor end cap Jing periphery holes are fixed with big arm bolt, then Jing inner ring holes fix little arm seat electric rotating machine；Forearm
It is that axle four rotates around little arm seat spin motor shaft line direction that the rotation of seat electric rotating machine output shaft drives forearm seat, so as to realize axle
Rotation of three components around axle four；
Described five component of axle includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Large arm is revolved
The Internal and external cycle that rotating shaft is held respectively with large arm and big arm seat bolt connection, the output shaft of large arm electric rotating machine is bonded with large arm；Greatly
Arm electric motor end cap Jing periphery holes are fixed with big arm seat bolt, then Jing inner ring holes fix large arm electric rotating machine；Large arm electric rotating machine is defeated
It is that axle five rotates around large arm electric rotating machine axis direction that the rotation of shaft drives large arm, so as to realize rotation of four component of axle around axle five
Turn；
Described six component of axle includes that big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and big arm seat revolve
Turn reducing motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis hold respectively with mechanical arm
Pedestal and big arm seat rotary connector bolt connection, the other end of big arm seat rotary connector and big arm seat bolt connection；Large arm
Seat rotational delay motor Jing is bolted on mechanical arm pedestal, and its output shaft is bonded with big arm seat rotary connector；Large arm
The big arm seat rotary connectors of rotation Jing of seat rotational delay motor output shaft drive big arm seat around big arm seat rotational delay motor shaft
Line direction is that axle six is rotated, so as to realize rotation of five component of axle around axle six；
Described vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body movement shaft coupling, vehicle body movement
Drive block, vehicle body mobile link part, vehicle body movement linear slider, vehicle body movement ball-screw, vehicle body movement line slide rail, vehicle body
Moving substrate, vehicle body movement lead screw shaft bearings and vehicle body movement leading screw bearing；Vehicle body mobile motor seat, vehicle body movement straight line are slided
Rail and vehicle body movement lead screw shaft bearings are bolted on vehicle body moving substrate, and vehicle body mobile motor and vehicle body are moved
Leading screw bearing is bolted on vehicle body mobile motor seat and vehicle body movement lead screw shaft bearings respectively；Vehicle body moves shaft coupling
Two ends connect respectively vehicle body movement ball-screw and vehicle body mobile motor output shaft, vehicle body movement ball-screw the other end with
Vehicle body moves the inner ring tight fit of leading screw bearing；Vehicle body both sides are moved linear slider by bolt and four vehicle bodies and are connected, middle
Fixed with vehicle body mobile link part by bolt, vehicle body mobile link part is fixed with vehicle body movement drive block bolt again；Vehicle body is moved
The inner ring of dynamic drive block is coordinated with vehicle body movement ball-screw screw thread, the rotation of vehicle body mobile motor output shaft, by ball wire
Thick stick is driven, and is converted to the movement that vehicle body movement drive block moves ball-screw axis direction along vehicle body, so as to realize vehicle body in car
Horizontal linear motion on body moving substrate；On the one hand vehicle body moving assembly is adjusted flexibly robot in robot kinematics
Position of centre of gravity, for fluid pressure type lift leg assembly work precondition is provided；On the other hand after robot reaches specified location,
The working place of mechanical arm is increased by transverse movement；
Described fluid pressure type lift leg assembly include rotatable base, vehicle body bracing frame, Barrel of Hydraulic Cylinders, hydraulic cylinder piston rod,
It is fixed that support rotates little bearing, bracing frame rotary shaft, the big bearing of bracing frame rotation, bracing frame rotation hubcap, hydraulic cylinder rotary shaft
Bit slice and hydraulic cylinder rotary shaft；Vehicle body bracing frame is connected with carriage bolt, and its two side holes is connected with bracing frame rotary shaft Jing spline
Connect and by the shaft shoulder and sleeve axially position；Bracing frame rotating shaft terminal rotates little bearing and bracing frame rotation respectively with bracing frame
The inner ring tight fit of big bearing, bracing frame rotates little bearing and bracing frame rotate the outer ring of big bearing respectively with rotatable base
Two counterbore tight fits, bracing frame rotation hubcap are adjacent to and are bolted on rotatable with the outer face of bracing frame rotary shaft
On pedestal, so as to realize the axially position of bracing frame rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and Barrel of Hydraulic Cylinders
Or the connection end internal surface gaps of hydraulic cylinder piston rod coordinate, both sides section outer surface and rotatable base or vehicle body bracing frame it is right
Hole position internal surface gaps are answered with merging Jing hydraulic cylinder rotary shafts spacers positioning, so as to by Barrel of Hydraulic Cylinders and hydraulic cylinder piston rod
Connection end be connected to the specified location of rotatable base or vehicle body bracing frame；Unilateral hydraulic cylinder piston rod is along its axis side
To linear motion rotation of the vehicle body bracing frame around bracing frame rotary shaft is converted to by linkage rod slide block mechanism, so as to by opposite side
Rotatable base lift, the work for electric drive swivel component provides precondition；
Described electric drive swivel component includes turning motor, swivel decelerator, turntable bearing, swivel set axle and set axle
Spacer；The two ends of turntable bearing respectively with rotatable base and scaffold bolt connection, swivel decelerator by bolt consolidate
It is scheduled on rotatable base, its power source comes from swivel motor；Swivel set axle one end and the output shaft for turning decelerator
Bonded, the other end is with scaffold Jing spline connections and by covering axle spacer axially position；The output of swivel motor
Torque Jing swivel decelerators amplify, then Jing swivel set axles are delivered on scaffold, on the premise of scaffold is maintained static,
Rotating backward for swivel decelerator is converted to, and so as to drive rotatable base to rotate, the motion of leg assembly is lifted with reference to fluid pressure type, it is real
The lower limb formula movement of existing Novel double-arm robot and obstacle detouring.
Described rotatable base and vehicle body bracing frame are formed by rustless steel casting, are done on the basis of bearing capacity is ensured
Light-weight technologg.
The casting of described pawl headstock, forearm, little arm seat, large arm, big arm seat and mechanical arm pedestal is formed, and is ensureing to carry
Light-weight technologg is done on the basis of ability.
Described scaffold is welded using structural steel.
The present invention is a kind of new mobile type tow-armed robot, and its mobile device combines that wheeled devices speed is fast and lower limb formula
The strong advantage of device obstacle climbing ability, can rapidly enter deathtrap, by vehicle body moving assembly and double six degree-of-freedom mechanical arm
Coordination exercise, replace staff to perform complex task, working place is big, and ability to work is strong, vehicle body moving assembly and vehicle body
Combine so that overall robot structural formula can change center of gravity, by the position for adjusting vehicle body, to cause overall robot step by step
Irrigation canals and ditches etc depression area can easily be got over.
Description of the drawings
Fig. 1 is new wheel leg type tow-armed robot principle schematic provided in an embodiment of the present invention；
In figure：1st, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift lower limb
Component, 6, vehicle body, 7, visual information harvester, 8, robot assemblies.
Fig. 2 is new wheel leg type tow-armed robot front view provided in an embodiment of the present invention；
Fig. 3 is new wheel leg type tow-armed robot top view provided in an embodiment of the present invention；
Fig. 4 is new wheel leg type tow-armed robot side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1st, one component of axle, 8.2, two component of axle, 8.3, three component of axle, 8.4, four component of axle, 8.5, five component of axle,
8.6th, six component of axle, 8.7 mechanical arms are electrically held.
Fig. 6 is one assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.1.1, pawl head, 8.1.2, pawl head swivel bearing, 8.1.3, pawl head electric rotating machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock electric rotating machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Fig. 8 is three assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm electric rotating machine are 8.3.4, little
Arm seat.
Fig. 9 is four assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.4.1, little arm seat electric motor end cap, 8.4.2, forearm seat rotating axis hold, 8.4.3, little arm seat electric rotating machine,
8.4.4, large arm.
Figure 10 is five assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.5.1, large arm electric motor end cap, 8.5.2, large arm electric rotating machine, 8.5.3, large arm swivel bearing, 8.5.4, large arm
Seat.
Figure 11 is six assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis hold, and 8.6.3, mechanical arm pedestal, 8.6.4 are big
Arm seat rotational delay motor.
Figure 12 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1st, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body movement shaft coupling, 3.4, vehicle body movement
Drive block, 3.5, vehicle body mobile link part, 3.6, vehicle body movement linear slider, 3.7, vehicle body movement ball-screw, 3.8, vehicle body
Mobile line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body movement lead screw shaft bearings, 3.11, vehicle body movement leading screw bearing.
Figure 13 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Circle A enlarged drawings in Figure 14 fluid pressure type lift leg assembly principle schematics provided in an embodiment of the present invention；
In figure：5.1st, rotatable base, 5.2, vehicle body bracing frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5,
Support rotates little bearing, 5.6, bracing frame rotary shaft, 5.7, bracing frame rotate big bearing, 5.8, bracing frame rotation hubcap,
5.9th, hydraulic cylinder rotary shaft spacer, 5.10, hydraulic cylinder rotary shaft.
Figure 15 electric drive swivel component principle schematics provided in an embodiment of the present invention；
In figure：4.1st, turn motor, 4.2, swivel decelerator, 4.3, turntable bearing, 4.4, swivel set axle, 4.5, set axle it is fixed
Bit slice.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 to Fig. 4 is referred to, is a kind of new mobile type tow-armed robot principle schematic provided in an embodiment of the present invention
And three-view diagram, it includes wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift lower limb group
Part 5, vehicle body 6, visual information harvester 7 and robot assemblies 8；Two sets of wheel undercarriages 1 provide movement for tow-armed robot
Fireballing wheel type mobile mode, vehicle body moving assembly 3 adjust the position of centre of gravity of robot, electric drive swivel component 4 and hydraulic pressure
Formula lift leg assembly 5 provides obstacle climbing ability strong lower limb formula move mode for tow-armed robot, and so as to be combined into, to have translational speed concurrently fast
The new wheel leg type tow-armed robot of two advantages strong with obstacle climbing ability, quickly reaches deathtrap；Adopt in four groups of visual informations
Under the guidance of the visual information that acquisition means 7 get, by the coordination of vehicle body moving assembly 3 and two set of six shaft mechanical arm component 8
Motion, replaces staff to perform complicated operation task；
Described wheel undercarriage 1 is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described scaffold 2 is welded using structural steel；
Described visual information harvester 7 has four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body 6；For behaviour
Make the environmental information residing for personnel's offer robot, in order to the remote control of robot.
Fig. 5 is referred to, is a kind of new mobile type tow-armed robot robot assemblies principle provided in an embodiment of the present invention
Schematic diagram, including one component 8.1 of axle, two component 8.2 of axle, three component 8.3 of axle, four component 8.4 of axle, five component 8.5 of axle, six groups of axle
Part 8.6 and mechanical arm electrically hold 8.7；One component 8.1 of axle, two component 8.2 of axle, three component 8.3 of axle, four component 8.4 of axle, axle five
Component 8.5 and six component 8.6 of axle are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, and mechanical arm electrically holds 8.7
External power supply and signal receiving/transmission device, so as to constitute the six degree of freedom machine that complex task can be performed by staff's remote control
Tool both arms.
Fig. 6 is referred to, is a kind of one principle schematic of new mobile type tow-armed robot axle provided in an embodiment of the present invention,
It includes pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head electric rotating machine 8.1.3 and pawl headstock 8.1.4；Pawl head electric rotating
The rectangular opening the inner ring axially position by pawl head swivel bearing 8.1.2 of the embedded pawl headstock 8.1.4 of machine 8.1.3；Pawl head rotary shaft
Hold the Internal and external cycle of 8.1.2 respectively with pawl headstock 8.1.4 and pawl head 8.1.1 bolt connections；The output shaft of pawl head electric rotating machine 8.1.3
Bonded with pawl head 8.1.1, pawl head 8.1.1 ends can connect clamping manipulator or exploring equipment according to mission requirements；Pawl head revolves
The rotational band pawl head 8.1.1 of rotating motor 8.1.3 output shafts is that axle one is rotated around pawl head electric rotating machine 8.1.3 axis directions, from
And realize the rotation of clamping manipulator or exploring equipment around axle one；
Described pawl headstock 8.1.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 7 is referred to, is that a kind of two assembly principle of new mobile type tow-armed robot axle provided in an embodiment of the present invention shows
It is intended to, it includes pawl headstock electric motor end cap 8.2.1, pawl headstock electric rotating machine 8.2.2, pawl headstock swivel bearing 8.2.3 and little
Arm 8.2.4；The Internal and external cycle of pawl headstock swivel bearing 8.2.3 respectively with pawl headstock 8.1.4 and forearm 8.2.4 bolt connections, pawl head
The output shaft of seat electric rotating machine 8.2.2 is bonded with pawl headstock 8.1.4；Pawl headstock electric motor end cap 8.2.1 Jing periphery holes and forearm
8.2.4 bolt is fixed, then Jing inner ring hole fixed claw headstock electric rotating machine 8.2.2；Pawl headstock electric rotating machine 8.2.2 output shafts turn
Dynamic band pawl headstock 8.1.4 is that axle two rotates around pawl headstock electric rotating machine 8.2.2 axis directions, so as to realize one component 8.1 of axle
Around the rotation of axle two；
Described forearm 8.2.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 8 is referred to, is that a kind of three assembly principle of new mobile type tow-armed robot axle provided in an embodiment of the present invention shows
It is intended to, it includes forearm rotary connector 8.3.1, forearm swivel bearing 8.3.2, forearm electric rotating machine 8.3.3 and little arm seat
8.3.4；The Internal and external cycle of forearm swivel bearing 8.3.2 is connected with forearm rotary connector 8.3.1 and little arm seat 8.3.4 bolts respectively
Connect, the other end and the forearm 8.2.4 bolt connections of forearm rotary connector 8.3.1；Forearm electric rotating machine 8.3.3 is embedded in little arm seat
The inner ring axially position of the interior simultaneously Jing forearm swivel bearing 8.3.2 of rectangular opening 8.3.4, the output shaft of forearm electric rotating machine 8.3.3
It is bonded with forearm rotary connector 8.3.1；The rotation of forearm electric rotating machine 8.3.3 output shafts drives forearm rotary connector
8.3.1 it is that axle three is rotated around forearm electric rotating machine 8.3.3 axis directions, so as to realize rotation of two component 8.1 of axle around axle three；
Described little arm seat 8.3.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Fig. 9 is referred to, is that a kind of four assembly principle of new mobile type tow-armed robot axle provided in an embodiment of the present invention shows
It is intended to, it includes that little arm seat electric motor end cap 8.4.1, forearm seat rotating axis hold 8.4.2, little arm seat electric rotating machine 8.4.3 and big
Arm 8.4.4；Forearm seat rotating axis hold the Internal and external cycle of 8.4.2 respectively with little arm seat 8.3.4 and the little arm seat of large arm 8.4.4 bolt connection
The output shaft of electric rotating machine 8.4.3 is bonded with little arm seat 8.3.4；Little arm seat electric motor end cap 8.4.1 Jing periphery holes and large arm
8.4.4 bolt is fixed, then Jing inner ring holes fix little arm seat electric rotating machine 8.4.3；Little arm seat electric rotating machine 8.4.3 output shafts turn
It is dynamic to drive little arm seat 8.3.4 to be that axle four rotates around little arm seat electric rotating machine 8.4.3 axis directions, so as to realize three component 8.3 of axle
Around the rotation of axle four；
Described large arm 8.4.4 casting is formed, and on the basis of bearing capacity is ensured does light-weight technologg.
Figure 10 is referred to, is that a kind of five assembly principle of new mobile type tow-armed robot axle provided in an embodiment of the present invention shows
It is intended to, it includes large arm electric motor end cap 8.5.1, large arm electric rotating machine 8.5.2, large arm swivel bearing 8.5.3 and big arm seat
8.5.4；The Internal and external cycle of large arm swivel bearing 8.5.3 respectively with large arm 8.4.4 and big arm seat 8.5.4 bolt connections, large arm rotation
The output shaft of motor 8.5.2 is bonded with large arm 8.4.4；Large arm electric motor end cap 8.5.1 Jing periphery holes and big arm seat 8.5.4 bolts
It is fixed, then Jing inner ring holes fixation large arm electric rotating machine 8.5.2；The rotation of large arm electric rotating machine 8.5.2 output shafts drives large arm
8.4.4 it is that axle five rotates around large arm electric rotating machine 8.5.2 axis directions, so as to realize rotation of four component 8.4 of axle around axle five；
Described big arm seat 8.5.4 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Figure 11 is referred to, is that a kind of six assembly principle of new mobile type tow-armed robot axle provided in an embodiment of the present invention shows
It is intended to, it includes that big arm seat rotary connector 8.6.1, large arm seat rotating axis hold 8.6.2, mechanical arm pedestal 8.6.3 and large arm
Seat rotational delay motor 8.6.4；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 6, and large arm seat rotating axis hold 8.6.2
Internal and external cycle respectively with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 bolt connections, big arm seat rotary connector
8.6.1 the other end and big arm seat 8.5.4 bolt connections；Big arm seat rotational delay motor 8.6.4 Jing are bolted to mechanical arm
On pedestal 8.6.3, its output shaft is bonded with big arm seat rotary connector 8.6.1；Big arm seat rotational delay motor 8.6.4 outputs
The big arm seat rotary connector 8.6.1 of rotation Jing of axle drive big arm seat 8.5.4 around big arm seat rotational delay motor 8.6.4 axis sides
Rotate to i.e. axle six, so as to realize rotation of five component 8.5 of axle around axle six；
The mechanical arm pedestal 8.6.3 castings are formed, and on the basis of bearing capacity is ensured do light-weight technologg.
Figure 12 is referred to, is that a kind of new mobile type tow-armed robot vehicle body moving assembly provided in an embodiment of the present invention is former
Reason schematic diagram, it includes that vehicle body mobile motor 3.1, movement shaft coupling 3.3, the vehicle body movement of vehicle body mobile motor seat 3.2, vehicle body drive
Motion block 3.4, movement linear slider 3.6, vehicle body movement ball-screw 3.7, the vehicle body movement of vehicle body mobile link part 3.5, vehicle body are straight
Line slide rail 3.8, vehicle body moving substrate 3.9, vehicle body movement lead screw shaft bearings 3.10 and vehicle body movement leading screw bearing 3.11；Vehicle body
Mobile motor seat 3.2, vehicle body moves line slide rail 3.8 and vehicle body movement lead screw shaft bearings 3.10 are bolted on car
On body moving substrate 3.9, vehicle body mobile motor 3.1 and vehicle body movement leading screw bearing 3.11 are bolted on vehicle body shifting respectively
On galvanic electricity support 3.2 and vehicle body movement lead screw shaft bearings 3.10；3.3 two ends of vehicle body movement shaft coupling connect vehicle body movement rolling respectively
The output shaft of ballscrew 3.7 and vehicle body mobile motor 3.1, the other end of vehicle body movement ball-screw 3.7 move leading screw with vehicle body
The inner ring tight fit of bearing 3.11；6 both sides of vehicle body are moved linear slider by bolt and four vehicle bodies and are connected, middle to pass through bolt
Fix with vehicle body mobile link part 3.5, vehicle body mobile link part 3.5 is fixed with vehicle body movement 3.4 bolt of drive block again；Vehicle body is moved
The inner ring of dynamic drive block 3.4 is coordinated with vehicle body 3.7 screw thread of movement ball-screw, and the rotation of 3.1 output shaft of vehicle body mobile motor is led to
Ball-screw-transmission is crossed, the movement that vehicle body movement drive block 3.4 moves 3.7 axis direction of ball-screw along vehicle body is converted to, from
And realize horizontal linear motion of the vehicle body 6 on vehicle body moving substrate 3.9；3 one side of vehicle body moving assembly is in robot motion
During the position of centre of gravity of robot is adjusted flexibly, the work for lifting leg assembly 5 for fluid pressure type provides precondition；On the other hand exist
After robot reaches specified location, the working place of mechanical arm is increased by transverse movement；
Figure 13 and 14 is referred to, is a kind of fluid pressure type lift lower limb group of new mobile type tow-armed robot provided in an embodiment of the present invention
The schematic diagram of part principle schematic and wherein round A, it includes rotatable base 5.1, vehicle body bracing frame 5.2, Barrel of Hydraulic Cylinders
5.3rd, hydraulic cylinder piston rod 5.4, bracing frame rotate little bearing 5.5, bracing frame rotary shaft 5.6, bracing frame rotate big bearing 5.7,
Bracing frame rotation hubcap 5.8, hydraulic cylinder rotary shaft spacer 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body bracing frame 5.2 with
3.9 bolt connection of vehicle body moving substrate, its two side holes pass through the shaft shoulder and sleeve axial direction with 5.6 Jing spline connections of bracing frame rotary shaft
Positioning；5.6 two ends of bracing frame rotary shaft rotate little bearing 5.5 with bracing frame respectively and bracing frame rotates the inner ring of big bearing 5.7
Tight fit, bracing frame rotates little bearing 5.5 and bracing frame rotates the outer ring of big bearing 5.7 respectively with rotatable base 5.1 two
The outer face of counterbore tight fit, bracing frame rotation hubcap 5.8 and bracing frame rotary shaft 5.6 is adjacent to and is bolted on can
On rotating basiss 5.1, so as to realize the axially position of bracing frame rotary shaft 5.6；The interlude appearance of hydraulic cylinder rotary shaft 5.10
The connection end internal surface gaps of face and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4 coordinate, both sides section outer surface with it is rotatable
The corresponding hole position internal surface gaps of pedestal 5.1 or vehicle body bracing frame 5.2 are positioned with Jing hydraulic cylinder rotary shafts spacer 5.9 is merged,
So as to the connection end of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body support
The specified location of frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is changed by linkage rod slide block mechanism along the linear motion of its axis direction
For vehicle body bracing frame 5.2 around bracing frame rotary shaft 5.6 rotation, so as to the rotatable base 5.1 of opposite side is lifted, be electricity
The work of swivel component 4 is driven to provide precondition；
Described rotatable base 5.1 and vehicle body bracing frame 5.2 are formed by rustless steel casting, on the basis of bearing capacity is ensured
Do light-weight technologg.
Figure 15 is referred to, is a kind of electric drive swivel group of new mobile type tow-armed robot provided in an embodiment of the present invention
Part principle schematic, it include turn motor 4.1, swivel decelerator 4.2, turntable bearing 4.3, swivel set axle 4.4 and
Set axle spacer 4.5；The two ends of turntable bearing 4.3 respectively with 2 bolt connection of rotatable base 5.1 and scaffold, swivel subtracts
Fast device 4.2 is bolted on rotatable base 5.1, and its power source comes from swivel motor 4.1；Swivel set axle
4.4 one end are bonded with the output shaft of swivel decelerator 4.2, and the other end is with 2 Jing spline connections of scaffold and fixed by covering axle
4.5 axially position of bit slice；The output torque Jing swivel decelerator 4.2 of swivel motor 4.1 amplifies, then Jing swivel set axles 4.4
It is delivered on scaffold 2, on the premise of scaffold 2 is maintained static, is converted to rotating backward for swivel decelerator 4.2,
So as to drive rotatable base 5.1 to rotate, the motion of leg assembly 5 is lifted with reference to fluid pressure type, realize the lower limb formula of Novel double-arm robot
Mobile and obstacle detouring.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Claims (10)
1. a kind of new mobile type tow-armed robot, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electricity
Drive swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body（6）；Two sets of wheel undercarriages（1）With two sets, two wheeled bottoms
Disk（1）Installed in vehicle body moving assembly（3）Bottom, vehicle body（6）Installed in vehicle body moving assembly（3）On so that vehicle body（6）In car
Body moving assembly（3）Upper movement, vehicle body（6）Visual information harvester is installed（7）And robot assemblies（8）.
2. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described visual information is adopted
Acquisition means（7）Four groups are had, vehicle body is separately mounted to（6）The orientation of front, rear, left and right four；Robot is provided for operator
Residing environmental information, in order to the remote control of robot.
3. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described robot assemblies
（8）There are two groups, be separately mounted to vehicle body（6）Both sides, including one component of axle（8.1）, two component of axle（8.2）, three component of axle
（8.3）, four component of axle（8.4）, five component of axle（8.5）, six component of axle（8.6）And mechanical arm is electrically held（8.7）；One component of axle
（8.1）, two component of axle（8.2）, three component of axle（8.3）, four component of axle（8.4）, five component of axle（8.5）And six component of axle
（8.6）It is sequentially connected, is combined into the mechanical part of sixdegree-of-freedom simulation, mechanical arm is electrically held（8.7）External power supply and signal
R-T unit.
4. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described one component of axle
（8.1）Including pawl head（8.1.1）, pawl head swivel bearing（8.1.2）, pawl head electric rotating machine（8.1.3）And pawl headstock
（8.1.4）；Pawl head electric rotating machine（8.1.3）Embedded pawl headstock（8.1.4）Rectangular opening and by pawl head swivel bearing（8.1.2）'s
Inner ring axially position；Pawl head swivel bearing（8.1.2）Internal and external cycle respectively with pawl headstock（8.1.4）With pawl head（8.1.1）Bolt
Connection；Pawl head electric rotating machine（8.1.3）Output shaft and pawl head（8.1.1）It is bonded, pawl head（8.1.1）End can be according to task
Demand connects clamping manipulator or exploring equipment；Pawl head electric rotating machine（8.1.3）The rotational band pawl head of output shaft（8.1.1）Around
Pawl head electric rotating machine（8.1.3）Axis direction is that axle one is rotated, so as to realize the rotation of clamping manipulator or exploring equipment around axle one
Turn；
Described two component of axle（8.2）Including pawl headstock electric motor end cap（8.2.1）, pawl headstock electric rotating machine（8.2.2）, pawl headstock
Swivel bearing（8.2.3）And forearm（8.2.4）；Pawl headstock swivel bearing（8.2.3）Internal and external cycle respectively with pawl headstock
（8.1.4）And forearm（8.2.4）Bolt connection, pawl headstock electric rotating machine（8.2.2）Output shaft and pawl headstock（8.1.4）It is bonded
Connect；Pawl headstock electric motor end cap（8.2.1）Jing periphery holes and forearm（8.2.4）Bolt is fixed, then the rotation of Jing inner ring hole fixed claws headstock
Rotating motor（8.2.2）；Pawl headstock electric rotating machine（8.2.2）The rotational band pawl headstock of output shaft（8.1.4）Rotate around pawl headstock
Motor（8.2.2）Axis direction is that axle two rotates, so as to realize one component of axle（8.1）Around the rotation of axle two；
Described three component of axle（8.3）Including forearm rotary connector（8.3.1）, forearm swivel bearing（8.3.2）, forearm rotation
Motor（8.3.3）And little arm seat（8.3.4）；Forearm swivel bearing（8.3.2）Internal and external cycle respectively with forearm rotary connector
（8.3.1）With little arm seat（8.3.4）Bolt connection, forearm rotary connector（8.3.1）The other end and forearm（8.2.4）Bolt
Connection；Forearm electric rotating machine（8.3.3）It is embedded in little arm seat（8.3.4）Rectangular opening in and Jing forearm swivel bearings（8.3.2）'s
Inner ring axially position, forearm electric rotating machine（8.3.3）Output shaft and forearm rotary connector（8.3.1）It is bonded；Forearm revolves
Rotating motor（8.3.3）The rotation of output shaft drives forearm rotary connector（8.3.1）Around forearm electric rotating machine（8.3.3）Axis side
Rotate to i.e. axle three, so as to realize two component of axle（8.1）Around the rotation of axle three；
Described four component of axle（8.4）Including little arm seat electric motor end cap（8.4.1）, forearm seat rotating axis hold（8.4.2）, little arm seat
Electric rotating machine（8.4.3）And large arm（8.4.4）；Forearm seat rotating axis hold（8.4.2）Internal and external cycle respectively with little arm seat
（8.3.4）And large arm（8.4.4）Bolt connection, little arm seat electric rotating machine（8.4.3）Output shaft and little arm seat（8.3.4）It is bonded
Connect；Little arm seat electric motor end cap（8.4.1）Jing periphery holes and large arm（8.4.4）Bolt is fixed, then Jing inner ring holes fix little arm seat rotation
Rotating motor（8.4.3）；Little arm seat electric rotating machine（8.4.3）The rotation of output shaft drives forearm seat（8.3.4）Rotate around little arm seat
Motor（8.4.3）Axis direction is that axle four rotates, so as to realize three component of axle（8.3）Around the rotation of axle four；
Described five component of axle（8.5）Including large arm electric motor end cap（8.5.1）, large arm electric rotating machine（8.5.2）, large arm rotary shaft
Hold（8.5.3）And big arm seat（8.5.4）；Large arm swivel bearing（8.5.3）Internal and external cycle respectively with large arm（8.4.4）And large arm
Seat（8.5.4）Bolt connection, large arm electric rotating machine（8.5.2）Output shaft and large arm（8.4.4）It is bonded；Large arm electric motor end cap
（8.5.1）Jing periphery holes and big arm seat（8.5.4）Bolt is fixed, then Jing inner ring holes fix large arm electric rotating machine（8.5.2）；Large arm
Electric rotating machine（8.5.2）The rotation of output shaft drives large arm（8.4.4）Around large arm electric rotating machine（8.5.2）Axis direction is axle five
Rotation, so as to realize four component of axle（8.4）Around the rotation of axle five；
Described six component of axle（8.6）Including big arm seat rotary connector（8.6.1）, large arm seat rotating axis hold（8.6.2）, machinery
Arm pedestal（8.6.3）And big arm seat rotational delay motor（8.6.4）；Mechanical arm pedestal（8.6.3）It is bolted on car
Body（6）On, large arm seat rotating axis hold（8.6.2）Internal and external cycle respectively with mechanical arm pedestal（8.6.3）It is rotatably connected with big arm seat
Part（8.6.1）Bolt connection, big arm seat rotary connector（8.6.1）The other end and big arm seat（8.5.4）Bolt connection；Large arm
Seat rotational delay motor（8.6.4）Jing is bolted to mechanical arm pedestal（8.6.3）On, its output shaft is rotatably connected with big arm seat
Part（8.6.1）It is bonded；Big arm seat rotational delay motor（8.6.4）The big arm seat rotary connectors of rotation Jing of output shaft
（8.6.1）Drive big arm seat（8.5.4）Around big arm seat rotational delay motor（8.6.4）Axis direction is that axle six is rotated, so as to reality
Five component of existing axle（8.5）Around the rotation of axle six.
5. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described vehicle body movement group
Part（3）Including vehicle body mobile motor（3.1）, vehicle body mobile motor seat（3.2）, vehicle body movement shaft coupling（3.3）, vehicle body movement drive
Motion block（3.4）, vehicle body mobile link part（3.5）, vehicle body movement linear slider（3.6）, vehicle body movement ball-screw（3.7）, car
Body moves line slide rail（3.8）, vehicle body moving substrate（3.9）, vehicle body movement lead screw shaft bearings（3.10）And vehicle body movable wire
Thick stick bearing（3.11）；Vehicle body mobile motor seat（3.2）, vehicle body movement line slide rail（3.8）And vehicle body movement lead screw shaft bearings
（3.10）Vehicle body moving substrate is bolted on（3.9）On, vehicle body mobile motor（3.1）Leading screw bearing is moved with vehicle body
（3.11）Vehicle body mobile motor seat is bolted on respectively（3.2）Lead screw shaft bearings are moved with vehicle body（3.10）On；Vehicle body
Mobile shaft coupling（3.3）Two ends connect vehicle body movement ball-screw respectively（3.7）With vehicle body mobile motor（3.1）Output shaft,
Vehicle body moves ball-screw（3.7）The other end and vehicle body move leading screw bearing（3.11）Inner ring tight fit；Vehicle body（6）Both sides
Linear slider is moved by bolt and four vehicle bodies（3.6）It is connected, it is middle to pass through bolt and vehicle body mobile link part（3.5）Gu
It is fixed, vehicle body mobile link part（3.5）Drive block is moved with vehicle body again（3.4）Bolt is fixed；Vehicle body moves drive block（3.4）It is interior
Circle moves ball-screw with vehicle body（3.7）Screw thread coordinates, vehicle body mobile motor（3.1）The rotation of output shaft, by ball-screw
Transmission, is converted to vehicle body movement drive block（3.4）Ball-screw is moved along vehicle body（3.7）The movement of axis direction, so as to realize
Vehicle body（6）In vehicle body moving substrate（3.9）On horizontal linear motion；Vehicle body moving assembly（3）On the one hand in robot motion
During the position of centre of gravity of robot is adjusted flexibly, be fluid pressure type lift leg assembly（5）Work provide precondition；On the other hand
After robot reaches specified location, the working place of mechanical arm is increased by transverse movement.
6. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described fluid pressure type lift lower limb
Component（5）Including rotatable base（5.1）, vehicle body bracing frame（5.2）, Barrel of Hydraulic Cylinders（5.3）, hydraulic cylinder piston rod（5.4）、
Bracing frame rotates little bearing（5.5）, bracing frame rotary shaft（5.6）, bracing frame rotate big bearing（5.7）, bracing frame rotation shaft end
Lid（5.8）, hydraulic cylinder rotary shaft spacer（5.9）And hydraulic cylinder rotary shaft（5.10）；Vehicle body bracing frame（5.2）Move with vehicle body
Dynamic substrate（3.9）Bolt connection, its two side holes and bracing frame rotary shaft（5.6）Jing spline connections and pass through the shaft shoulder and sleeve axial direction
Positioning；Bracing frame rotary shaft（5.6）Two ends rotate little bearing with bracing frame respectively（5.5）Big bearing is rotated with bracing frame（5.7）
Inner ring tight fit, bracing frame rotates little bearing（5.5）Big bearing is rotated with bracing frame（5.7）Outer ring respectively with rotatable base
Seat（5.1）Two counterbore tight fits, bracing frame rotation hubcap（5.8）With bracing frame rotary shaft（5.6）Outer face be adjacent to simultaneously
It is bolted on rotatable base（5.1）On, so as to realize bracing frame rotary shaft（5.6）Axially position；Hydraulic cylinder revolves
Rotating shaft（5.10）Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic cylinder piston rod（5.4）Connection end inner surface between
Gap cooperation, both sides section outer surface and rotatable base（5.1）Or vehicle body bracing frame（5.2）Corresponding hole position internal surface gaps coordinate
And Jing hydraulic cylinder rotary shaft spacers（5.9）Positioning, so as to by Barrel of Hydraulic Cylinders（5.3）And hydraulic cylinder piston rod（5.4）Company
Connect end and be connected to rotatable base（5.1）Or vehicle body bracing frame（5.2）Specified location；Unilateral hydraulic cylinder piston rod
（5.4）Linear motion along its axis direction is converted to vehicle body bracing frame by linkage rod slide block mechanism（5.2）Rotate around bracing frame
Axle（5.6）Rotation, so as to by the rotatable base of opposite side（5.1）Lift, be electric drive swivel component（4）Work carry
For precondition.
7. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described electric drive swivel
Component（4）Including swivel motor（4.1）, swivel decelerator（4.2）, turntable bearing（4.3）, swivel set axle（4.4）And
Set axle spacer（4.5）；Turntable bearing（4.3）Two ends respectively with rotatable base（5.1）And scaffold（2）Bolt connects
Connect, turn decelerator（4.2）It is bolted on rotatable base（5.1）On, its power source comes from swivel motor
（4.1）；Swivel set axle（4.4）One end and swivel decelerator（4.2）Output shaft it is bonded, the other end and scaffold（2）Jing
Spline connection simultaneously passes through to cover axle spacer（4.5）Axially position；Swivel motor（4.1）Output torque Jing swivel decelerator
（4.2）Amplify, then Jing swivel set axles（4.4）It is delivered to scaffold（2）On, in scaffold（2）On the premise of maintaining static,
Be converted to swivel decelerator（4.2）Rotate backward, so as to drive rotatable base（5.1）Rotation, lifts lower limb group with reference to fluid pressure type
Part（5）Motion, realize Novel double-arm robot lower limb formula movement and obstacle detouring.
8. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described rotatable base
（5.1）With vehicle body bracing frame（5.2）Formed by rustless steel casting, light-weight technologg is done on the basis of bearing capacity is ensured.
9. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described pawl headstock
（8.1.4）, forearm（8.2.4）, little arm seat（8.3.4）, large arm（8.4.4）, big arm seat（8.5.4）And mechanical arm pedestal
（8.6.3）Casting is formed, and on the basis of bearing capacity is ensured does light-weight technologg.
10. a kind of new mobile type tow-armed robot according to claim 1, it is characterised in that described scaffold
（2）It is welded using structural steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611220425.9A CN106585759A (en) | 2016-12-26 | 2016-12-26 | Novel mobile type double-arm robot |
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| CN201611220425.9A CN106585759A (en) | 2016-12-26 | 2016-12-26 | Novel mobile type double-arm robot |
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| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN109304700A (en) * | 2018-10-31 | 2019-02-05 | 河南工学院 | A kind of hydraulic clamping robot of industrial production |
| CN109366523A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of adjustable tow-armed robot base device in packaged type space |
| CN112828859A (en) * | 2020-12-28 | 2021-05-25 | 天津三花福达智能科技有限公司 | Six-freedom-degree differential manipulator for automobile wind control assembly |
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| CN108619683A (en) * | 2018-05-03 | 2018-10-09 | 北京工业大学 | A kind of robot of pickup various ball |
| CN109304700A (en) * | 2018-10-31 | 2019-02-05 | 河南工学院 | A kind of hydraulic clamping robot of industrial production |
| CN109366523A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of adjustable tow-armed robot base device in packaged type space |
| CN109366523B (en) * | 2018-11-14 | 2023-09-26 | 华南理工大学 | Movable space-adjustable double-arm robot base device |
| CN112828859A (en) * | 2020-12-28 | 2021-05-25 | 天津三花福达智能科技有限公司 | Six-freedom-degree differential manipulator for automobile wind control assembly |
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Application publication date: 20170426 |