CN107511816A - A kind of tow-armed robot of special-shaped arm - Google Patents
A kind of tow-armed robot of special-shaped arm Download PDFInfo
- Publication number
- CN107511816A CN107511816A CN201710717317.0A CN201710717317A CN107511816A CN 107511816 A CN107511816 A CN 107511816A CN 201710717317 A CN201710717317 A CN 201710717317A CN 107511816 A CN107511816 A CN 107511816A
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- China
- Prior art keywords
- joint
- mechanical arm
- arm
- tow
- pitching
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of tow-armed robot of special-shaped arm, including pedestal, ring flange, main mechanical arm and secondary mechanical arm, main mechanical arm and secondary mechanical arm are connected on pedestal by ring flange, the main mechanical arm is seven axle series redundancy mechanical arms, and the secondary mechanical arm is five axles series connection multi-joint mechanical arm or six axles series connection multi-joint mechanical arm.Present invention saves the cost of whole tow-armed robot, can effectively handle the work of near field and far region, realizes that subregion works, greatly improves operating efficiency.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of tow-armed robot of special-shaped arm.
Background technology
Robot is a kind of high-tech automated production equipment to grow up in the past 30 years.Manipulator is the one of robot
Individual important branch.Its feature is can to complete various expected job tasks by programming, had concurrently on construction and performance people and
Machine each the advantages of, be especially embodied in the intelligence and adaptability of people, the accuracy of machinery operation and complete to make in various environment
The ability of industry.The existing largely research on multi-joint mechanical arm, such as《Building-block machine and automation process technology》, " space six
The research of the continuous swept volume emulation of free degree articulated robot ", Jiang Ying, Chen Zongyi, Gu Yuna.Also such as《Lathe and liquid
Pressure》, " research of General System Structure of Multi-joint Robot ", Wang Mulan, Zhang Chongwei, Rao Huaqiu.
Current most of industrial robots are to apply the occasion in one armed robot's operating alone.Such robot only fits
Should be in specific product and working environment, and provided special equipment and instrument are provided.Although tow-armed robot is than single
Arm robot has more an arm, but this is not only the problem of one-plus-one is equal to two.The redundancy and both arms of tow-armed robot
Coordinated manipulation substantially increases its operating characteristics, and this just makes one-plus-one be far longer than two, so the development of tow-armed robot will
Solve the problems, such as many lives, industry, national defence, the life to people brings more facilities.Tow-armed robot can be completed pair
The function being easily achieved for people, it is more more with practical value than two hands coordination robot, its high self-disciplining and study property, energy
Many complex environments are enough adapted to, it is used widely in industrial production, Risk Management, national defence, space flight and aviation etc..It is double
Arm robot is as Industrial Robot Market new highlight.Human cost sustainable growth in recent years, the big factory of assembling foundry and medium and small enterprise
Industry etc. human cost burden it is more heavy, aging population is serious, the national work shortage of manpower, both arms cooperate humanoid robot into
To reduce human cost, improve production efficiency and supply the solution of labour's breach etc..The work compound of multirobot is system
The inevitable requirement of industry development is made, tow-armed robot is exactly a kind of novel robot for adapting to this requirement and being developed.Relatively
In one armed robot, it can greatly enhance adaptability of the robot to Complex Assembly task, while can improve working space
Utilization ratio.
But two arms of traditional tow-armed robot are the same, and reality work in, one of arm from
Thing is simply to move, and which results in the joint of another arm to leave unused, and causes the waste of resource, while in processing not
With far and near region work when operation it is relatively troublesome, operating efficiency is than relatively low.
The content of the invention
The invention aims to solve shortcoming present in prior art, and a kind of both arms machine of the special-shaped arm proposed
Device people.
To achieve these goals, present invention employs following technical scheme：
A kind of tow-armed robot of special-shaped arm, including pedestal, ring flange, main mechanical arm and secondary mechanical arm, main mechanical arm and
Secondary mechanical arm is connected on pedestal by ring flange, and the main mechanical arm is seven axle series redundancy mechanical arms, the secondary machinery
Arm is five axles series connection multi-joint mechanical arm or six axles series connection multi-joint mechanical arm.
Preferably, the main mechanical arm includes seven articulated mechanical arms, and first joint is rotary joint, second joint
It is that pitching joint, the 3rd joint are that rotary joint, the 4th joint are pitching joints, the 5th joint is rotary joint,
Six joints are pitching joints, and the 7th joint is rotary joint.
Preferably, the secondary mechanical arm is five axles series connection multi-joint mechanical arm, and five axles series connection multi-joint mechanical arm includes five
Individual articulated mechanical arm, first joint are rotary joints, and second joint is that pitching joint, the 3rd joint are pitching joints,
4th joint is that pitching joint, the 5th joint are rotary joints.
Preferably, the secondary mechanical arm is six axles series connection multi-joint mechanical arm, and six axles series connection multi-joint mechanical arm includes six
Individual articulated mechanical arm, first joint are rotary joints, and second joint is that pitching joint, the 3rd joint are pitching joints,
4th joint is that rotary joint, the 5th joint are pitching joints, and the 6th joint is rotary joint.
Preferably, the main mechanical arm and secondary mechanical arm are located at the both sides of pedestal respectively.
Preferably, the main mechanical arm is located at the top of pedestal, and secondary mechanical arm is located at the bottom of pedestal.
Compared with prior art, the beneficial effects of the invention are as follows：
In the present invention：
1st, by setting two groups of special-shaped mechanical arms, so, an arm joint number can determine according to actual conditions,
To meet need of work as target, so as to reduce the joint of an arm, the cost of whole tow-armed robot is saved；
2nd, by setting two groups of special-shaped mechanical arms, so, the mechanical arm of different joint numbers forms different length so that
Every mechanical arm can effectively handle the work of near field and far region, realize that subregion works, and greatly improve work effect
Rate.
Brief description of the drawings
Fig. 1 is that a kind of main mechanical arm of the tow-armed robot of special-shaped arm proposed by the present invention is connected multi-joint with five axles of use
The secondary mechanical arm of mechanical arm is horizontally mounted combination sketch；
Fig. 2 is that a kind of main mechanical arm of the tow-armed robot of special-shaped arm proposed by the present invention is connected multi-joint with six axles of use
The secondary mechanical arm of mechanical arm is horizontally mounted combination sketch；
Fig. 3 is that a kind of main mechanical arm of the tow-armed robot of special-shaped arm proposed by the present invention is connected multi-joint with five axles of use
The combination sketch of installation up and down of the secondary mechanical arm of mechanical arm；
Fig. 4 is that a kind of main mechanical arm of the tow-armed robot of special-shaped arm proposed by the present invention is connected multi-joint with six axles of use
The combination sketch of installation up and down of the secondary mechanical arm of mechanical arm.
In figure：1 main mechanical arm, 2 pedestals, 3 secondary mechanical arms.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Reference picture 1-4, a kind of tow-armed robot of special-shaped arm, including pedestal 2, ring flange, main mechanical arm 1 and secondary mechanical arm
3, main mechanical arm 1 and secondary mechanical arm 3 are connected on pedestal 2 by ring flange, and main mechanical arm 1 is seven axle series redundancys machinery
Arm, secondary mechanical arm 3 are that five axles series connection multi-joint mechanical arm or six axles series connection multi-joint mechanical arm, main mechanical arm 1 include seven passes
Mechanical arm is saved, first joint is rotary joint, and second joint is that pitching joint, the 3rd joint are rotary joint, the 4th
Individual joint is pitching joint, and the 5th joint is that rotary joint, the 6th joint are pitching joints, and the 7th joint is that rotation is closed
Section, secondary mechanical arm 3 are five axles series connection multi-joint mechanical arm, and five axles series connection multi-joint mechanical arm includes five articulated mechanical arms, the
One joint is rotary joint, and second joint is that pitching joint, the 3rd joint are pitching joints, and the 4th joint is pitching
Joint, the 5th joint are rotary joints, and secondary mechanical arm 3 is six axles series connection multi-joint mechanical arm, and six axles series connection multi-joint is mechanical
Arm includes six articulated mechanical arms, and first joint is rotary joint, and second joint is that pitching joint, the 3rd joint are to bow
Face upward joint, the 4th joint is that rotary joint, the 5th joint are pitching joints, and the 6th joint is rotary joint, main mechanical
Arm 1 and secondary mechanical arm 3 are located at the both sides of pedestal 2 respectively, and main mechanical arm 1 is located at the top of pedestal 2, and secondary mechanical arm 3 is located at pedestal 2
Bottom.
Operation principle：Main mechanical arm 1 can be rotated based on the rotary shaft vertical with pedestal 2, containing 7 degree of freedom, be used for
Complete high-precision main assembly work；Secondary mechanical arm 3 contains four frees degree, including two types, and one kind is connected more for five axles
Articulated mechanical arm, another kind are six axles series connection multi-joint mechanical arm, and secondary mechanical arm 3 is used to assist main mechanical arm 1 to complete assembler
Make.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of tow-armed robot of special-shaped arm, including pedestal (2), ring flange, main mechanical arm (1) and secondary mechanical arm (3), main frame
Tool arm (1) and secondary mechanical arm (3) are connected on pedestal (2) by ring flange, it is characterised in that the main mechanical arm (1) is
Seven axle series redundancy mechanical arms, the secondary mechanical arm (3) are five axles series connection multi-joint mechanical arm or six axles series connection multi-joint machinery
Arm.
A kind of 2. tow-armed robot of special-shaped arm according to claim 1, it is characterised in that main mechanical arm (1) bag
Include seven articulated mechanical arms, first joint is rotary joint, and second joint is that pitching joint, the 3rd joint are that rotation is closed
Section, the 4th joint are pitching joints, and the 5th joint is that rotary joint, the 6th joint are pitching joints, the 7th joint
It is rotary joint.
3. the tow-armed robot of a kind of special-shaped arm according to claim 1, it is characterised in that the secondary mechanical arm (3) is
Five axles series connection multi-joint mechanical arm, five axles series connection multi-joint mechanical arm include five articulated mechanical arms, and first joint is rotation
Joint, second joint are that pitching joint, the 3rd joint are pitching joints, and the 4th joint is pitching joint, the 5th pass
Section is rotary joint.
4. the tow-armed robot of a kind of special-shaped arm according to claim 1, it is characterised in that the secondary mechanical arm (3) is
Six axles series connection multi-joint mechanical arm, six axles series connection multi-joint mechanical arm include six articulated mechanical arms, and first joint is rotation
Joint, second joint are that pitching joint, the 3rd joint are pitching joints, and the 4th joint is rotary joint, the 5th pass
Section is pitching joint, and the 6th joint is rotary joint.
A kind of 5. tow-armed robot of special-shaped arm according to claim 1, it is characterised in that the main mechanical arm (1) and
Secondary mechanical arm (3) is located at the both sides of pedestal (2) respectively.
A kind of 6. tow-armed robot of special-shaped arm according to claim 1, it is characterised in that main mechanical arm (1) position
In the top of pedestal (2), secondary mechanical arm (3) is located at the bottom of pedestal (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717317.0A CN107511816A (en) | 2017-08-21 | 2017-08-21 | A kind of tow-armed robot of special-shaped arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717317.0A CN107511816A (en) | 2017-08-21 | 2017-08-21 | A kind of tow-armed robot of special-shaped arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107511816A true CN107511816A (en) | 2017-12-26 |
Family
ID=60722245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710717317.0A Pending CN107511816A (en) | 2017-08-21 | 2017-08-21 | A kind of tow-armed robot of special-shaped arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107511816A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989382A (en) * | 2017-12-27 | 2018-05-04 | 三筑工科技有限公司 | Mounting robot and installation system |
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN109605335A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of stepping type multiple degrees of freedom apery type tow-armed robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110107866A1 (en) * | 2009-11-10 | 2011-05-12 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN203765607U (en) * | 2014-03-07 | 2014-08-13 | 何价来 | Combined double-arm multifunctional robot |
| CN204766371U (en) * | 2015-05-19 | 2015-11-18 | 牛留栓 | Recovered robot of both arms 6 -degree of freedom upper limbs |
| CN107000201A (en) * | 2014-12-26 | 2017-08-01 | 川崎重工业株式会社 | Tow-armed robot |
-
2017
- 2017-08-21 CN CN201710717317.0A patent/CN107511816A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110107866A1 (en) * | 2009-11-10 | 2011-05-12 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN203765607U (en) * | 2014-03-07 | 2014-08-13 | 何价来 | Combined double-arm multifunctional robot |
| CN107000201A (en) * | 2014-12-26 | 2017-08-01 | 川崎重工业株式会社 | Tow-armed robot |
| CN204766371U (en) * | 2015-05-19 | 2015-11-18 | 牛留栓 | Recovered robot of both arms 6 -degree of freedom upper limbs |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989382A (en) * | 2017-12-27 | 2018-05-04 | 三筑工科技有限公司 | Mounting robot and installation system |
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN109605335A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of stepping type multiple degrees of freedom apery type tow-armed robot |
| CN109605335B (en) * | 2019-01-09 | 2020-11-10 | 北京精密机电控制设备研究所 | Stepping type multi-degree-of-freedom humanoid double-arm robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171226 |
|
| RJ01 | Rejection of invention patent application after publication |