CN108247608A - Tow-armed robot - Google Patents
Tow-armed robot Download PDFInfo
- Publication number
- CN108247608A CN108247608A CN201711485800.7A CN201711485800A CN108247608A CN 108247608 A CN108247608 A CN 108247608A CN 201711485800 A CN201711485800 A CN 201711485800A CN 108247608 A CN108247608 A CN 108247608A
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- China
- Prior art keywords
- arm
- monomer
- arm monomer
- trunk
- hand
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
The present invention provides tow-armed robot, including trunk, left hand arm component, right hand arm component and carrying column, trunk is rotationally supported on above carrying column, left hand arm component is stretched out by the left side of trunk, right hand arm component is stretched out by the right side of trunk, the front end of left hand arm component is provided with the first manipulator, and the front end of right hand arm component is provided with the second manipulator.Compared with prior art, the tow-armed robot construction package is simple, and trunk is flexible, and double-manipulator can cooperate as the both hands of people.
Description
Technical field
The present invention relates to robot field more particularly to tow-armed robots.
Background technology
Robot (Robot) is the automatic installations for performing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as the work of production industry, construction industry or danger.
With the sustainable development progress of robot technology, robot has gradually started to start to replace the mankind in all trades and professions
It works.But in hospital or chemical experiment room, when replacing man-hour using robot, needing in robot
Manipulator is flexible as human hand, can clamp the facility of various sizes, can also be pressed and touched operation, it is also necessary to
Different manipulators can cooperate as the both hands of people.Small scale robot of the prior art due to the limitation of structure,
Its each arm respectively independently working, no normal direction human hand equally cooperates, and the motion module of existing small scale robot is main
It concentrates at arm, trunk can not move, thus equally flexible without image of Buddha people.And existing heavy-duty machines are artificial as real as possible
Existing more function, the structure composition of robot are extremely complex, it is difficult to position, control program is complicated, and short life is of high cost.
Invention content
For overcome the deficiencies in the prior art, the present invention provides tow-armed robots.
Specifically, technical solution is as follows：
A kind of tow-armed robot, including trunk, left hand arm component, right hand arm component and carrying column, the trunk
It is rotationally supported on above the carrying column, the left hand arm component is stretched out by the left side of the trunk, the right side
Arm component is stretched out by the right side of the trunk, and the front end of the left hand arm component is provided with the first manipulator, the right hand
The front end of arm component is provided with the second manipulator.
In some preferred embodiments, the left hand arm component is sequentially connected with by multiple left arm monomers, respectively
It is connected between the left arm monomer by articulation；
The right hand arm component is sequentially connected with by multiple right arm monomers, by joint between each right arm monomer
Rotation connection.
In some preferred embodiments, the left hand arm component includes the first left arm monomer, the second left arm list
Body, third left arm monomer, the 4th left arm monomer and the 5th left arm monomer, the tail end of the first left arm monomer can turn
Be arranged on dynamicly on the left of the trunk, the tail end of the front end of the first left arm monomer and the second left arm monomer it
Between connected by the first left articulation, between the front end of the second left arm monomer and the tail end of the third left arm monomer
By the second left articulation connection, between the front end of the third left arm monomer and the tail end of the 4th left arm monomer by
Third left articulation connection, by the between the front end of the 4th left arm monomer and the tail end of the 5th left arm monomer
Four left articulation connections, the front end of first manipulator and the 5th left arm monomer is rotatablely connected.
In some preferred embodiments, the described first left joint, the second left joint, the left joint of the third and
The 4th left joint is both provided with arm monomer device of rotation driving, for driving the left hand before and after each left joint
It is relatively rotated between arm monomer.
In some preferred embodiments, the right hand arm component includes the first right arm monomer, the second right arm list
Body, third right arm monomer, the 4th right arm monomer and the 5th right arm monomer, the tail end of the first right arm monomer can turn
Be arranged on dynamicly on the right side of the trunk, the tail end of the front end of the first right arm monomer and the second right arm monomer it
Between connected by the first right articulation, between the front end of the second right arm monomer and the tail end of the third right arm monomer
By the second right articulation connection, between the front end of the third right arm monomer and the tail end of the 4th right arm monomer by
Third right articulation connection, by the between the front end of the 4th right arm monomer and the tail end of the 5th right arm monomer
Four right articulation connections, the front end of second manipulator and the 5th right arm monomer is rotatablely connected.
In some preferred embodiments, the described first right joint, the second right joint, the right joint of the third and
The 4th right joint is both provided with arm monomer device of rotation driving, for driving the right hand before and after each right joint
It is relatively rotated between arm monomer.
In some preferred embodiments, holder is further included, the holder is rotatably arranged in the trunk
Top is provided with camera on the holder；
And/or trunk device of rotation driving is provided between the carrying column and the trunk, for driving
Trunk is stated relative to the carrying column rotation.
In some preferred embodiments, first manipulator and second manipulator include manipulator base
Seat, straight line driving mechanism and clamp assemblies, the robot base are arranged on the left hand arm component or the right arm group
The front end of part, the straight line driving mechanism are arranged in the robot base, the output terminal setting of the straight line driving mechanism
It is useful for installing and drives the slide block assembly that each grip block moves along a straight line in the clamp assemblies；
The shape of each grip block matches in the clamp assemblies, folder during for mutually closing up between the grip block
The grasping part for clamping part to be held can be formed between block by holding.
In some preferred embodiments, the first left arm monomer, the second left arm monomer, the third
Left arm monomer, the 4th left arm monomer, the 5th left arm monomer and first manipulator pivot center in
At least three be not parallel to each other.
In some preferred embodiments, the first right arm monomer, the second right arm monomer, the third
Right arm monomer, the 4th right arm monomer, the 5th right arm monomer and second manipulator pivot center in
At least three be not parallel to each other.
The present invention at least has the advantages that：
According to tow-armed robot provided by the invention, trunk is rotationally supported on above carrying column so that machine
Device people can flexibly turn round as people.Its left hand arm component is stretched out by the left side of trunk, and right hand arm component is by trunk
Right side is stretched out, and the front end of left hand arm component is provided with the first manipulator, and the front end of right hand arm component is provided with the second manipulator, with
The prior art is compared, and the tow-armed robot construction package is simple, and trunk is flexible, and double-manipulator can be assisted as the both hands of people
Make.
Further, left hand arm component include the first left arm monomer, the second left arm monomer, third left arm monomer,
4th left arm monomer and the 5th left arm monomer, right hand arm component include the first right arm monomer, the second right arm monomer, the
Three right arm monomers, the 4th right arm monomer and the 5th right arm monomer are connected between each arm monomer by articulation, carried
The flexibility of the arm of Gao Liao robots, with reference to rotatable trunk, the first manipulator and the second manipulator can be in three-dimensionals
Position operation in space.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the oblique view of tow-armed robot in the embodiment of the present invention；
Fig. 2 is the explosive view of trunk in the embodiment of the present invention, left hand arm component and right hand arm component assembly；
Fig. 3 is the oblique view of the first manipulator of the first in the embodiment of the present invention；
Fig. 4 is the explosive view of the first manipulator of the first in the embodiment of the present invention；
Fig. 5 is the oblique view of second of first manipulators in the embodiment of the present invention；
Fig. 6 is the explosive view of second of first manipulators in the embodiment of the present invention.
Main element symbol description：
100- tow-armed robots；The first manipulators of 1000-；1001- strip sources；1100- pedestals；1110- base enclosures；
1120- backboards；1130- side plates；1140- bottom plates；1200- straight line driving mechanisms；The first sliding blocks of 1310-；The second sliding blocks of 1320-；
The first grip blocks of 1410-；The second grip blocks of 1420-；The first grasping parts of 1510-；The second grasping parts of 1520-；1530- thirds
Grasping part；The first fixed blocks of 1610-；The second fixed blocks of 1620-；1700- front ends camera；1800- through slots；1900- columns；
The second manipulators of 2000-；3000- carries column；4100- left hand arm components；4110- the first left arm monomers；4120- second is left
Arm monomer；4130- third left arm monomers；The 4th left arm monomers of 4140-；The 5th left arm monomers of 4150-；4200- is right
Arm component；4210- the first right arm monomers；4220- the second right arm monomers；4230- third right arm monomers；4240-
Four right arm monomers；The 5th right arm monomers of 4250-；5000- trunks；The upper trunks of 5100-；5200- lower torso members；
6000- holders；6100- holder cameras；7000- branch sleeves；The first left joints of 8110-；The second left joints of 8120-；8210-
One right joint；The second right joints of 8220-.
Specific embodiment
Hereinafter, various embodiments of the present invention will be described more fully.The present invention can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that：There is no various embodiments of the present invention are limited to spy disclosed herein
Determine the intention of embodiment, but should invention is construed as cover to fall into the spirit and scope of various embodiments of the present invention
All adjustment, equivalent and/or alternative.
Hereinafter, disclosed in the term " comprising " that can be used in various embodiments of the present invention or " may include " instruction
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.In addition, such as exist
Used in various embodiments of the present invention, term " comprising ", " having " and its cognate are meant only to represent special characteristic, number
Word, step, operation, the combination of element, component or aforementioned item, and be understood not to exclude first one or more other
Feature, number, step, operation, element, component or aforementioned item combination presence or increase one or more features, number,
Step, operation, element, component or aforementioned item combination possibility.
In various embodiments of the present invention, "or" or " at least one of A or/and B " are stated including what is listed file names with
Any combinations of word or all combinations.For example, statement " A or B " or " at least one of A or/and B " may include A, may include
B may include A and B both.
The statement (" first ", " second " etc.) used in various embodiments of the present invention can be modified in various implementations
Various constituent element in example, but respective sets can not be limited into element.For example, presented above be not intended to limit the suitable of the element
Sequence and/or importance.The purpose presented above for being only used for differentiating an element and other elements.For example, the first user fills
It puts and indicates different user device with second user device, although the two is all user apparatus.For example, not departing from each of the present invention
In the case of the range of kind embodiment, first element is referred to alternatively as second element, and similarly, second element is also referred to as first
Element.
It should be noted that：In the present invention, unless otherwise specific regulation and definition, the arts such as " installation ", " connection ", " fixation "
Language should be interpreted broadly, for example, it may be being fixedly connected, can also be detachably connected or be integrally connected；It can be machine
Tool is connected or is electrically connected；Can be directly connected to and can be indirectly connected by intermediary；It can be two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the present invention, those of ordinary skill in the art are it is to be appreciated that indicating position or position relationship in text
Term be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
The term used in various embodiments of the present invention is used only for the purpose of describing specific embodiments and not anticipates
In limitation various embodiments of the present invention.As used herein, singulative is intended to also include plural form, unless context is clear
Chu it is indicated otherwise.Unless otherwise defined, otherwise all terms (including technical terms and scientific terms) used herein have
There is the meaning identical with the normally understood meaning of various embodiments of the present invention one skilled in the art.The term
(term such as limited in the dictionary generally used) is to be interpreted as having and situational meaning in the related technical field
Identical meaning and the meaning that Utopian meaning or too formal will be interpreted as having, unless in the various of the present invention
It is clearly defined in embodiment.
Embodiment
Present embodiments provide a kind of tow-armed robot 100, such as Fig. 1, the tow-armed robot 100 include trunk 5000,
Left hand arm component 4100, right hand arm component 4200 and carrying column 3000.Wherein, trunk 5000, which is rotationally supported on, holds
3000 top of column is carried, left hand arm component 4100 is stretched out by the left side of trunk 5000, and right hand arm component 4200 is by trunk
5000 right side is stretched out, and the front end of left hand arm component 4100 is provided with the first manipulator 1000, the front end of right hand arm component 4200
It is provided with the second manipulator 2000.
In the present embodiment, trunk 5000 is the main body of tow-armed robot 100, internal to have cavity, the sky
Chamber is used to set the electric elements such as power supply, cable, circuit board.The outside of trunk 5000 is preferably the change of cylinder or cylindroid
Shape structure, front and rear sides are more flat so that the trunk 5000 of robot is closer to the trunk 5000 of human body.
Preferably, trunk 5000 includes upper trunk 5100 and lower torso member 5200, and upper trunk 5100 is under
The front of trunk 5200 to tow-armed robot 100 is obliquely installed.The left side connection left hand arm component 4100 of upper trunk 5100,
The right side connection right hand arm component 4200 of upper trunk 5100.
In the present embodiment, carrying column 3000 is located at the lower side of tow-armed robot 100, top connection trunk
5000 and accept the weight of trunk 5000, left hand arm component 4100, the other components of right hand arm component 4200 and robot.As
A kind of preferred carrying column 3000, is cylinder-like structure, the top and bottom of carrying column 3000 are both provided with connection method
Orchid, the pedestal outside the connecting flange connection of carrying column 3000 bottom, such as the pedestal of laboratory workbench are arranged on
Pedestal on ground.
Preferably, it carries between column 3000 and lower torso member 5200 and is provided with branch sleeve 7000, lower torso member 5200
Lower part be set in branch sleeve 7000, the lower end of branch sleeve 7000 is provided with connecting flange, with carry column 3000
The connecting flange at top matches, and passes through the connection of the fasteners such as bolt.Branch sleeve 7000 is internally provided with trunk
5000 device of rotation driving, the stator of 5000 device of rotation driving of trunk are fixed in branch sleeve 7000, trunk 5000
The mover of device of rotation driving is fixedly connected with the inner surface of lower torso member 5200.When startup 5000 device of rotation driving of trunk
When, mover just drives trunk 5000 to be rotated relative to carrying column 3000.
Preferably, 5000 device of rotation driving of trunk is servo motor.Since servo motor has feedback characteristics, thus
The rotational angle of trunk 5000 can be accurately controlled, realizes the exact localization operation of tow-armed robot 100.
Preferably, it is left to include the first left arm monomer 4110, the second left arm monomer 4120, third for left hand arm component 4100
Arm monomer 4130, the 4th left arm monomer 4140 and the 5th left arm monomer 4150.The tail end of first left arm monomer 4110
5000 left side of trunk is rotatably arranged in, specifically, the tail end of the first left arm monomer 4110 is rotatably arranged in
The left side of trunk 5100.By first between the tail end of the front end of first left arm monomer 4110 and the second left arm monomer 4120
Left joint 8110 is rotatablely connected, by between the front end of the second left arm monomer 4120 and the tail end of third left arm monomer 4130
Two left joints 8120 are rotatablely connected, between the front end of third left arm monomer 4130 and the tail end of the 4th left arm monomer 4140 by
The left joint (not shown) rotation connection of third, front end and the 5th left arm monomer 4150 of the 4th left arm monomer 4140
It is rotatablely connected between tail end by the 4th left joint (not shown), the first manipulator 1000 and the 5th left arm monomer 4150
Front end is rotatablely connected.
Preferably, the first left joint 8110, the second left joint 8120, the left joint of third and the 4th left joint are both provided with hand
Arm monomer device of rotation driving is relatively rotated for driving between the left arm monomer before and after each left joint.
In the present embodiment, the first left arm monomer 4110, the second left arm monomer 4120, third left arm monomer
4130th, the 4th left arm monomer 4140 and the 5th left arm monomer 4150 are hollow structure, in their internal hollow structures
Cable and setting arm monomer device of rotation driving can be worn.
Preferably, the first left arm monomer 4110, the second left arm monomer 4120, third left arm monomer the 4130, the 4th
At least three articles in the pivot center of left arm monomer 4140, the 5th left arm monomer 4150 and the first manipulator 1000 are mutually uneven
Row.In the present embodiment, due to the first left arm monomer 4110, the second left arm monomer 4120, third left arm monomer 4130,
At least three articles in the pivot center of four left arm monomers 4140, the 5th left arm monomer 4150 and the first manipulator 1000 are not mutually
It is parallel so that the first manipulator 1000 can have multiple degree of freedom, can arbitrarily be moved in preset spatial dimension.Into one
Step is preferred, and the pivot center of the second left arm monomer 4120 is vertical with the pivot center of the first left arm monomer 4110, and third is left
The pivot center of arm monomer 4130, the 4th left arm monomer 4140 and the 5th left arm monomer 41 50 with the second left arm
The pivot center of monomer 4120 is parallel, the pivot center of the first manipulator 1000 and the pivot center of the 5th left arm monomer 4150
Vertically.
Preferably, it is right to include the first right arm monomer 4210, the second right arm monomer 4220, third for right hand arm component 4200
Arm monomer 4230, the 4th right arm monomer 4240 and the 5th right arm monomer 4250, the tail end of the first right arm monomer 4210
It is rotatably arranged in the tail on 5000 right side of trunk, the front end of the first right arm monomer 4210 and the second right arm monomer 4220
It is rotatablely connected between end by the first right joint 8210, the front end of the second right arm monomer 4220 and third right arm monomer 4230
It is rotatablely connected between tail end by the second right joint 8220, the front end of third right arm monomer 4230 and the 4th right arm monomer 4240
Tail end between be rotatablely connected by the right joint (not shown) of third, front end and the 5th right hand of the 4th right arm monomer 4240
It is rotatablely connected between the tail end of arm monomer 4250 by the 4th right joint (not shown), the second manipulator 2000 and the 5th right hand
The front end rotation connection of arm monomer 4250.
Preferably, the first right joint 8210, the second right joint 8220, the right joint of third and the 4th right joint are both provided with hand
Arm monomer device of rotation driving is relatively rotated for driving between the right arm monomer before and after each right joint.
Preferably, the first right arm monomer 4210, the second right arm monomer 4220, third right arm monomer the 4230, the 4th
At least three articles in the pivot center of right arm monomer 4240, the 5th right arm monomer 4250 and the first manipulator 1000 are mutually uneven
Row.In the present embodiment, due to the first right arm monomer 4210, the second right arm monomer 4220, third right arm monomer 4230,
At least three articles in the pivot center of four right arm monomers 4240, the 5th right arm monomer 4250 and the first manipulator 1000 are not mutually
It is parallel so that the first manipulator 1000 can have multiple degree of freedom, can arbitrarily be moved in preset spatial dimension.Into one
Step is preferred, and the pivot center of the second right arm monomer 4220 is vertical with the pivot center of the first right arm monomer 4210, and third is right
The pivot center of arm monomer 4230, the 4th right arm monomer 4240 and the 5th right arm monomer 4250 with the second right arm list
The pivot center of body 4220 is parallel, and the pivot center of the pivot center and the 5th right arm monomer 4250 of the first manipulator 1000 hangs down
Directly.
It should be noted that in the present embodiment, joint refers to the connecting portion between the arm monomer being mutually rotatablely connected
Position, joint can be combined by each a part of structure of two arm monomers and be formed, and not necessarily be independent component.Specifically,
As shown in Fig. 2, by taking the first left joint 8110 as an example, the front end of the first left arm monomer 4110 has U-shaped connecting portion, the second left hand
The tail end of arm monomer 4120 has cylindrical coupler portion, and the stator and mover of arm monomer device of rotation driving are separately positioned on this
In U-shaped connecting portion and the cylindrical coupler portion.The U-shaped connecting portion, the cylindrical coupler portion and the arm between them as a result,
Monomer device of rotation driving forms the first left joint 8110.In the present embodiment, other joints are formed based on same principle, no longer
It is further discussed below.
Preferably, arm monomer device of rotation driving is servo motor in the present embodiment.Since servo motor has feedback
Characteristic, it is thus possible to accurately control the rotational angle between each arm monomer, that realizes tow-armed robot 100 is accurately positioned behaviour
Make.
Preferably, in the present embodiment, gyroscope is provided in each left joint and right joint, for accurately measuring each left joint
With the rotational angle of the arm monomer before and after right joint, convenient for accurately controlling the athletic posture of tow-armed robot 100.
Preferably, holder 6000 is further included, holder 6000 is rotatably arranged in the top of trunk 5000, holder 6000
On be provided with holder camera 6100.Due to being provided with the holder 6000 with camera, the holder camera 6100 in holder 6000 can
The image around machine is acquired, and utilizes the self-contained picture recognition module positioning target of robot, the first manipulator 1000
With the second manipulator 2000.Preferably, the holder camera 6100 on holder 6000 is stereoscopic camera.
In the present embodiment, mode is preferably rotatablely connected as the one kind of holder 6000 at the top of trunk 5000,
6000 device of rotation driving of holder is provided between holder 6000 and upper trunk 5100,6000 device of rotation driving of holder moves
Son connection holder 6000, the upper trunk 5100 of stator connection of 6000 device of rotation driving of holder.Preferably, holder 6000 rotates
Driving device is servo motor.
The first preferred first manipulator 1000 is present embodiments provided, specifically, please refers to Fig. 3 and Fig. 4, the first machine
Tool hand 1000 includes robot base 1100, straight line driving mechanism 1200 and clamp assemblies, and straight line driving mechanism 1200 is arranged on
In robot base 1100, the output terminal of straight line driving mechanism 1200 is provided with respectively to be clamped for installing and driving in clamp assemblies
The slide block assembly that block moves along a straight line.
Wherein, as a kind of preferred robot base 1100, including base enclosure 1110, backboard 1120 and side plate 1130.
The main body of base enclosure 1110 is U-shaped structure, when straight line driving mechanism 1200 is arranged in robot base 1100,1110 energy of base enclosure
It enough covers on straight line driving mechanism 1200, the surface of left, lower three sides.Backboard 1120 is arranged on the back of base enclosure 1110, side plate
1130 are arranged on the side of the opening of base enclosure 1110 side, and the front of base enclosure 1110 is provided with opening, for supplying straight line driving mechanism
1200 output terminal stretches out.
In the present embodiment, straight line driving mechanism 1200 is used to providing that each grip block in clamp assemblies moves along a straight line to be dynamic
Power.As a kind of preferred straight line driving mechanism 1200, straight line driving mechanism 1200 includes electric cylinders, and the primary structure of electric cylinders includes
Driving motor, transmission mechanism, the linear guide and slide block assembly.Wherein, driving motor is preferably servo motor or stepper motor, by
In using the driving motor of servo motor or stepper motor as electric cylinders, the output quantity of driving motor can be accurately controlled, such as
The rotational angle of motor output shaft, and then the displacement of accurate control slide block.Wherein, transmission mechanism is preferably leading screw or tooth band,
Their input terminal is engaged with the gear in driving motor output shaft, their output terminal linear movement output.In slide block assembly
Sliding block and transmission mechanism output terminal connect, it is thus possible to move along a straight line.Sliding block in slide block assembly is arranged on straight line and leads
On rail so that sliding block can only be moved linearly under the limitation of the linear guide.
In the present embodiment, the shape of each grip block matches in clamp assemblies, during for mutually closing up between grip block
The grasping part for clamping part to be held can be formed between grip block.
As a kind of preferred clamp assemblies and slide block assembly, clamp assemblies include the first grip block 1410 and the second clamping
Block 1420, slide block assembly include the first sliding block 1310 and the second sliding block 1320.Wherein, the first grip block 1410 is fixed on the first cunning
On block 1310, the second grip block 1420 is fixed on the second sliding block 1320, the first grip block 1410 and the second grip block 1420
Shape matches, and it is empty can to form clamping when mutually closing up for the first grip block 1410 and the second grip block 1420 therebetween
Between.
Preferably, it is integrated on the first grip block 1410 to be provided with the first fixed block 1610, the first fixed block 1610 and
It is fixedly connected between one sliding block 1310 by fasteners such as bolts.It is integrated on second grip block 1420 to be provided with the second fixed block
1620, it is fixedly connected between the second fixed block 1620 and the second sliding block 1320 by fasteners such as bolts.
Further preferably, the quantity of grasping part is multiple, and multiple grasping parts edges are from clamp assemblies far from slide block assembly
One end set respectively to one end close to slide block assembly.
Further preferably, it is interconnected between adjacent grasping part.
Further preferably, it is empty to include the first grasping part 1510, the second grasping part 1520 and third clamping for grasping part
Between 1530.
Wherein, the first grasping part 1510 is by the separate slide block assembly of the first grip block 1410 and the second grip block 1420
One end is formed, in the first grasping part 1510, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held
Face is a pair of plane being mutually parallel.
Further preferably, the first grip block 1410 and second one end of grip block 1420 far from slide block assembly are respectively provided with one
Protrusion, the first grasping part 1510 are formed by plane opposite between protrusion.By in the first grip block 1410 and the second clamping
One end setting protrusion of the block 1420 far from slide block assembly, can not only play the role of forming the first grasping part 1510, additionally it is possible to
Pressing is performed using the finger of embossed mould personification, stirs, the actions such as twist.
Wherein, third grasping part 1530 by the first grip block 1410 and the second grip block 1420 close to slide block assembly
One end is formed, in third grasping part 1530, the cooperation of the first grip block 1410 and the second grip block 1420 and part to be held
Face is a pair of plane being mutually parallel.
Further preferably, in third grasping part 1530, the first grip block 1410 and the second grip block 1420 are pressed from both sides with waiting
Spacing between the mating surface of gripping member be more than in the first grasping part 1,510 first grip block 1410 and the second grip block 1420 with
Spacing between the mating surface of part to be held.Thus, it is possible to the root using the first grip block 1410 and the second grip block 1420
Clamping needs the part to be held of larger chucking power.
It should be noted that in the present embodiment, in the first grasping part 1510 and in third grasping part 1530, the
Spacing between one grip block 1410 and the second grip block 1420 and the mating surface of part to be held refers to, the first grip block 1410 with
The contact surface of part to be held is to the distance of the second grip block 1420 and the contact surface of part to be held.
Wherein, the second grasping part 1520 between the first grasping part 1510 and third grasping part 1530 and is distinguished
The first grasping part 1510 and third grasping part 1530 are connected, in the second grasping part 1520,1410 He of the first grip block
It is empty along being clamped from the first grasping part 1510 to third that the mating surface of second grip block 1420 and part to be held includes a pair of of spacing
Between 1530 directions gradually increased inclined-plane, a pair of plane being mutually parallel and a pair of of cambered surface.
It should be noted that in the present embodiment, in the second grasping part 1520, the inclined-plane on the first grip block 1410
With on the second grip block 1420 inclined-plane, the plane, the cambered surface that are mutually parallel all be arranged in pairs, when on the first grip block 1410
When inclined-plane is contacted with part to be held, the inclined-plane on the second clamping piece is also contacted with part to be held, plane, the cambered surface being mutually parallel
It is to use same pairing mechanism, is no longer further discussed below in the present embodiment.
In the present embodiment, since 1,520 first grip block 1410 of the second grasping part and the second grip block 1420 are pressed from both sides with waiting
The mating surface of gripping member had both included a pair of of spacing edge and had gradually increased from the first grasping part 1510 to 1530 direction of third grasping part
Inclined-plane, and including the plane that is mutually parallel of a pair and a pair of of cambered surface, thus the second grasping part 1520 can be used in fixture
It is round or rectangular there are many part to be held of shape, it is regular or irregular.With setting multiple sets of fixtures in the prior art
Or the first manipulator 1000 is designed to that imitative finger shape is compared, structure is greatly simplified, and be easy to position, control program
Simply, service life is long.
Further preferably, through slot 1800, through slot are both provided on the first grip block 1410 and the second grip block 1420
1800 run through the first grip block 1410 and the second grip block 1420, can be used in wearing cable, column class object.
Further preferably, the outer surface of the first grip block 1410 and the second grip block 1420 is both provided with column 1900, stands
Column 1900 is extended perpendicularly out by a side external surface of the first grip block 1410 and the second grip block 1420, can be used in performing positioning,
The actions such as suspension, pressing.
Further preferably, the main body of the first grip block 1410 and the second grip block 1420 be slab construction, the first grip block
1410 and second are each provided with more than two columns 1900 on grip block 1420.When the first grip block 1410 and the second grip block
1420 when closing up, and each column 1900 surrounds the shapes such as rectangular, round, thus, it is possible to utilize the first grip block 1410 and the second folder
The apish palm carrying pallet of plate face, the barreled object of block 1420 are held, and column 1900 is then carried out positioned at the periphery of carried object
Limiting.
Preferably, the first manipulator 1000 further includes front end camera 1700, for acquiring the image in front of clamp assemblies.Its
In, front end camera 1700 is located in robot base 1100, and the camera lens of front end camera 1700 stretches out robot base 1100.Into one
Step is preferred, and the camera lens of front end camera 1700 is stretched out from the top of the linear guide, and the direction of camera lens and the first grip block 1410, the
The direction of two grip blocks 1420 is identical.Due to being provided with the image that can be acquired in front of clamp assemblies on the first manipulator 1000.
When the first manipulator 1000 is installed on the arm monomer of robot, before front end camera 1700 acquires the first manipulator 1000
The exact image of side is accurately positioned the first manipulator 1000 for robot.
Preferably, the quantity of front end camera 1700 is multiple, for obtaining the stereo-picture of clamp assemblies front space.It is logical
It crosses using multiple front end cameras 1700, the even more mesh camera shootings of binocular can be carried out as human eye, stereo-picture are obtained, convenient for machine
Device people accurately manipulates the first manipulator 1000 in three dimensions.
The present embodiment additionally provides second of first manipulators 1000, please refers to Fig. 5 and Fig. 6, with the first the first machinery
Hand 1000 is compared, and the main distinction of second of first manipulators 1000 is：
The quantity of front end camera 1700 is one, is arranged on the top of the linear guide.Moreover, under front end camera 1700
Side is provided with strip source 1001.
In the present embodiment, robot base 1100 includes base enclosure 1110, backboard 1120 and bottom plate 1140.Base enclosure 1110
Main body is U-shaped structure, and when straight line driving mechanism 1200 is arranged in robot base 1100, base enclosure 1110 can cover straight line
In driving mechanism 1200, the surface of left and right three side.
The other feature of second of first manipulators 1000 is identical with the first first manipulator 1000 in the present embodiment,
No longer it is further discussed below.
In the present embodiment, the concrete structure of the second manipulator 2000 can be identical with the first manipulator 1000, can also
It is different from the first manipulator 1000, the first first manipulator 1000 that can also be provided from the present embodiment and second first
One is selected in manipulator 1000 as the second manipulator 2000.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out respective change and is located at the one or more dresses for being different from this implement scene
In putting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
The invention described above serial number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of tow-armed robot, which is characterized in that including trunk, left hand arm component, right hand arm component and carrying column, institute
It states trunk to be rotationally supported on above the carrying column, the left hand arm component on the left of the trunk by stretching
Going out, the right hand arm component is stretched out by the right side of the trunk, and the front end of the left hand arm component is provided with the first manipulator,
The front end of the right hand arm component is provided with the second manipulator.
2. tow-armed robot according to claim 1, which is characterized in that the left hand arm component is by multiple left arm monomers
It is sequentially connected with, is connected between each left arm monomer by articulation；
The right hand arm component is sequentially connected with by multiple right arm monomers, by articulation between each right arm monomer
Connection.
3. tow-armed robot according to claim 2, which is characterized in that the left hand arm component includes the first left arm list
Body, the second left arm monomer, third left arm monomer, the 4th left arm monomer and the 5th left arm monomer, first left hand
The tail end of arm monomer is rotatably arranged on the left of the trunk, the front end of the first left arm monomer and second left side
It is connected between the tail end of arm monomer by the first left articulation, the front end of the second left arm monomer and the third left hand
It is connected between the tail end of arm monomer by the second left articulation, the front end of the third left arm monomer and the 4th left arm
It is connected between the tail end of monomer by the left articulation of third, front end and the 5th left arm list of the 4th left arm monomer
It is connected between the tail end of body by the 4th left articulation, the front end of first manipulator and the 5th left arm monomer rotates
Connection.
4. tow-armed robot according to claim 3, which is characterized in that the first left joint, the second left joint,
The left joint of third and the 4th left joint are both provided with arm monomer device of rotation driving, for driving each left pass
It is relatively rotated between the front and rear left arm monomer of section.
5. tow-armed robot according to claim 2, which is characterized in that the right hand arm component includes the first right arm list
Body, the second right arm monomer, third right arm monomer, the 4th right arm monomer and the 5th right arm monomer, first right hand
The tail end of arm monomer is rotatably arranged on the right side of the trunk, the front end of the first right arm monomer and second right side
It is connected between the tail end of arm monomer by the first right articulation, the front end of the second right arm monomer and the third right hand
It is connected between the tail end of arm monomer by the second right articulation, the front end of the third right arm monomer and the 4th right arm
It is connected between the tail end of monomer by the right articulation of third, front end and the 5th right arm list of the 4th right arm monomer
It is connected between the tail end of body by the 4th right articulation, the front end of second manipulator and the 5th right arm monomer rotates
Connection.
6. tow-armed robot according to claim 5, which is characterized in that the first right joint, the second right joint,
The right joint of third and the 4th right joint are both provided with arm monomer device of rotation driving, for driving each right pass
It is relatively rotated between the front and rear right arm monomer of section.
7. tow-armed robot according to claim 1, which is characterized in that further include holder, the holder is rotationally set
It puts and is provided with camera on the top of the trunk, the holder；
And/or trunk device of rotation driving is provided between the carrying column and the trunk, for driving the body
Cadre is relative to the carrying column rotation.
8. tow-armed robot according to claim 1, which is characterized in that first manipulator and second manipulator
Include robot base, straight line driving mechanism and clamp assemblies, the robot base be arranged on the left hand arm component or
The front end of right hand arm component described in person, the straight line driving mechanism are arranged in the robot base, the straight line driving
The output terminal of structure is provided with to install and drive the slide block assembly that each grip block moves along a straight line in the clamp assemblies；
The shape of each grip block matches in the clamp assemblies, grip block during for mutually closing up between the grip block
Between can form the grasping part for clamping part to be held.
9. tow-armed robot according to claim 3, which is characterized in that the first left arm monomer, second left side
Arm monomer, the third left arm monomer, the 4th left arm monomer, the 5th left arm monomer and first machine
At least three in the pivot center of tool hand are not parallel to each other.
10. tow-armed robot according to claim 5, which is characterized in that the first right arm monomer, second right side
Arm monomer, the third right arm monomer, the 4th right arm monomer, the 5th right arm monomer and second machine
At least three in the pivot center of tool hand are not parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485800.7A CN108247608A (en) | 2017-12-30 | 2017-12-30 | Tow-armed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485800.7A CN108247608A (en) | 2017-12-30 | 2017-12-30 | Tow-armed robot |
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| Publication Number | Publication Date |
|---|---|
| CN108247608A true CN108247608A (en) | 2018-07-06 |
Family
ID=62725420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485800.7A Pending CN108247608A (en) | 2017-12-30 | 2017-12-30 | Tow-armed robot |
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| CN (1) | CN108247608A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227593A (en) * | 2018-10-22 | 2019-01-18 | 长沙开元仪器有限公司 | A kind of crucible and tripod transfer device |
| CN112847417A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Mechanical arm tail end execution device |
| CN114559229A (en) * | 2022-03-17 | 2022-05-31 | 江苏卓尔越电力科技有限公司 | Power transformer assembling equipment based on industrial manipulator and machining method thereof |
| CN114762976A (en) * | 2021-01-14 | 2022-07-19 | 株式会社东芝 | Holding device and conveying device |
-
2017
- 2017-12-30 CN CN201711485800.7A patent/CN108247608A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227593A (en) * | 2018-10-22 | 2019-01-18 | 长沙开元仪器有限公司 | A kind of crucible and tripod transfer device |
| CN112847417A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Mechanical arm tail end execution device |
| CN112847417B (en) * | 2020-12-31 | 2022-07-29 | 洛阳尚奇机器人科技有限公司 | Mechanical arm tail end execution device |
| CN114762976A (en) * | 2021-01-14 | 2022-07-19 | 株式会社东芝 | Holding device and conveying device |
| CN114559229A (en) * | 2022-03-17 | 2022-05-31 | 江苏卓尔越电力科技有限公司 | Power transformer assembling equipment based on industrial manipulator and machining method thereof |
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Application publication date: 20180706 |