CN108408395A - A kind of movable type asymmetric both arms cooperation robot - Google Patents

A kind of movable type asymmetric both arms cooperation robot Download PDF

Info

Publication number
CN108408395A
CN108408395A CN201810178201.9A CN201810178201A CN108408395A CN 108408395 A CN108408395 A CN 108408395A CN 201810178201 A CN201810178201 A CN 201810178201A CN 108408395 A CN108408395 A CN 108408395A
Authority
CN
China
Prior art keywords
arm
light
duty
heavy
robot
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.)
Granted
Application number
CN201810178201.9A
Other languages
Chinese (zh)
Other versions
CN108408395B (en
Inventor
张秋菊
赵宏磊
丁苏楠
张进
张思雨
王嵩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangnan University
Original Assignee
Jiangnan University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangnan University filed Critical Jiangnan University
Priority to CN201810178201.9A priority Critical patent/CN108408395B/en
Publication of CN108408395A publication Critical patent/CN108408395A/en
Application granted granted Critical
Publication of CN108408395B publication Critical patent/CN108408395B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • 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
    • 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
    • B25J19/06—Safety 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
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a kind of movable type asymmetric both arms cooperation robots,Including robot mobile station,Heavy arm and light-duty arm,Heavy arm includes sequentially connected heavy arm pedestal,Heavy arm modularized joint and heavy shoulder joint connector,Heavy arm pedestal is fixed on the upper of robot mobile station,The heavy heavy materials gripper of shoulder joint connector connection,Light-duty arm includes sequentially connected light-duty arm pedestal,Light-duty arm modularized joint and light-duty shoulder joint connector,Light-duty arm is connected to by light-duty arm pedestal in light-duty arm mobile station,Light-duty shoulder joint connector connection dexterous manipulation hand and vision camera,Light-duty arm mobile station is connected to by adapter in robot mobile station,Movable type asymmetric both arms cooperation robot,Robot mobile station is first passed through to transport robot in place,Then i.e. in combination with vision-based detection,The clamping to heavy material is completed by heavy arm,It carries and places,Dexterous manipulation is carried out by the heavy material that light-duty arm counterweight arm carries.

Description

A kind of movable type asymmetric both arms cooperation robot
Technical field
The present invention relates to Industrial Robot Technology field more particularly to a kind of movable type asymmetric both arms cooperation robots.
Background technology
With the development of robot technology, tow-armed robot has been applied in industrial circle.Tow-armed robot is more single Arm robot has larger flexibility, is cooperated by both arms, may be implemented the complex tasks such as to carry, assemble.
Existing tow-armed robot substantially belongs to symmetrical structure, both arms loading functional having the same.In addition, application Number disclose a kind of asymmetric double robot arm device, including robot mobile station for 201710756899.3 Chinese patent literature With two arms, two mechanical arms have asymmetry only in degree of freedom, are not directed to the load capacity of mechanical arm.
For certain techniques, it is desirable that the both arms of robot can carry out different operations, be cooperated by both arms, solve heavy The problems such as material clamping, carrying, positioning and accurate dexterous manipulation, currently without correlation machine people.
The applicant is directed to disadvantage mentioned above, has carried out Improvement, provides a kind of asymmetric both arms cooperation machine of movable type People.
The technical solution adopted in the present invention is as follows：
A kind of movable type asymmetric both arms cooperation robot, including robot mobile station, heavy arm and light-duty arm are described heavy Arm includes that sequentially connected heavy arm pedestal, heavy arm modularized joint and heavy shoulder joint connector, heavy arm pedestal are solid Due to the upper of robot mobile station, the heavy materials gripper of heavy type shoulder joint connector connection, the light-duty arm include according to Light-duty arm pedestal, light-duty arm modularized joint and the light-duty shoulder joint connector of secondary connection, the light-duty arm pass through light-duty arm bottom Seat is connected in light-duty arm mobile station, the light-duty shoulder joint connector connection dexterous manipulation hand and vision camera, described light-duty Arm mobile station is connected to by adapter in robot mobile station.
As a further improvement of the above technical scheme：
The robot mobile station is automated guided vehicle, and docking facilities, the docking is arranged in robot mobile station Device includes electric cylinders and docking telescopic rod, coordinates the Workbench base of the docking facilities setting with docking recess.
Robot mobile station front end also set up can attachment trolley groove structure.
The heavy type arm modularized joint uses heavy-duty motor.
The heavy type materials gripper is the clamping jaw type clamper of air pressure driving.
Light-duty arm modularized joint uses low-power machine.
The light-duty arm mobile station includes driving motor, lead screw sliding block, lead screw and connect base, and the connection of lead screw sliding block is light-duty Shoulder joint connector.
Light-duty arm mobile station can be connected in the robot mobile station 1 by adapter, is gone back in the light-duty arm mobile station Second group of light-duty arm mobile station can be connected by lead screw sliding block, the lead screw sliding block of second group of light-duty arm mobile station reconnects light-duty arm Light-duty shoulder joint connector.
Both arms cooperation robot also sets up both arms anti-collision system.
Beneficial effects of the present invention are as follows：1) heavy arm and light-duty arm are set, and heavy arm is carried out mainly for heavy material Gripping is carried and is placed, and light-duty arm is directed to heavy material and carries out dexterous manipulation；2) light-duty arm is arranged in light-duty arm mobile station On, light-duty arm can be driven to move in the horizontal plane, extend the working range of light-duty arm；3) vision camera is set, vision phase is passed through Heavy material on machine testing heavy type arm clamped by heavy materials gripper, control system control light-duty arm mobile station and light-duty arm Action makes dexterous manipulation hand reach corresponding position, and dexterous accurate operation is carried out to heavy material；4) both arms cooperate robot also Both arms anti-collision system is set, based on the detection method without outer force snesor, is according to the judgement of the current signal of both arms joint motor It is no to have collision；When the current signal of both arms joint motor mutates, control system is switched to anticollision control model, Emergency braking or variable rigidity control are implemented to both arms, ensure cooperation safety.
Description of the drawings
Fig. 1 is the structural schematic diagram of movable type provided by the invention asymmetric both arms cooperation robot.
Fig. 2 is the connection diagram of the asymmetric light-duty arm mobile station of both arms cooperation robot of movable type provided by the invention.
Fig. 3 is the vertical view of the asymmetric both arms cooperation robot machine people's mobile station of movable type provided by the invention.
In figure：1, robot mobile station；100, heavy arm；101, heavy arm pedestal；102, heavy arm modularized joint； 103, heavy shoulder joint connector；200, light-duty arm；201, light-duty arm pedestal；202, light-duty arm modularized joint；203, light-duty Shoulder joint connector；300, light-duty arm mobile station；301, driving motor；302, lead screw sliding block；303, lead screw；304, bottom is connected Seat；2, heavy materials gripper；3, dexterous manipulation hand；4, vision camera；5, adapter；6, telescopic rod is docked；7, work stylobate Seat；71, docking recess；8, electric cylinders；9, groove structure.
Specific implementation mode
Below in conjunction with the accompanying drawings, illustrate the specific implementation mode of the present invention.
As shown in Figure 1 and Figure 2, the movable type of the present embodiment asymmetric both arms cooperation robot, including robot mobile station 1, Heavy arm 100 with six-freedom degree and the light-duty arm 200 with six-freedom degree, heavy arm 100 include sequentially connected Heavy arm pedestal 101, heavy arm modularized joint 102 and heavy shoulder joint connector 103, heavy arm pedestal 101 is fixed on machine Device people mobile station 1 it is upper, heavy shoulder joint connector 103 connects heavy materials gripper 2, and light-duty arm 200 includes being sequentially connected 201, six light-duty arm modularized joints 202 of light-duty arm pedestal and light-duty shoulder joint connector 203, light-duty arm 200 is by light Arm pedestal 201 is connected in light-duty arm mobile station 300, and light-duty shoulder joint connector 203 connects dexterous manipulation hand 3 and vision phase Machine 4, light-duty arm mobile station 300 include driving motor 301, lead screw sliding block 302, lead screw 303 and connect base 304, lead screw sliding block The 302 light-duty shoulder joint connectors 203 of connection, connect base 304 are connected to by adapter 5 in robot mobile station 1, light-duty arm Mobile station 300 can drive 200 transverse shifting of light-duty arm, to expand the working range of light-duty arm 200.
Robot mobile station 1 is wheeled automated guided vehicle, and robot mobile station 1 is according to operating mode, using suitably leading Boat mode is (such as：Magnetic stripe navigation, laser navigation), it is equipped with inductor below；When robot mobile station 1 works, inductor detection Navigation signal, and four wheels are coordinated by control system, realize that robot mobile station 1 is moved by defined circuit, you can will Robotic conveyance is to appointed place；Docking facilities are arranged in 1 side of robot mobile station, and the docking facilities include electric cylinders 8 and right Telescopic rod 6 is connect, coordinates the Workbench base 7 of the docking facilities setting with docking recess 71, passes through the cooperation pair of Workbench base 7 Connection device can position robot mobile station 1, not because the inertia that heavy arm 100 and light-duty arm 200 act is turned on one's side；Machine 1 front end of device people mobile station also set up can attachment trolley groove structure 9, pass through 9 attachment trolley of groove structure, you can Make material trolley and 1 synchronizing moving of robot mobile station, conveniently while transporting material.
Heavy arm modularized joint 102 uses heavy-duty motor, ensures that heavy arm 100 has enough power, to meet The movement of the clamping of heavy material and heavy arm 100.
Heavy materials gripper 2 is the clamping jaw type clamper of air pressure driving, realizes to open by air pressure and closes function, generated Chucking power is sufficiently large, meets the clamping requirement of heavy material.
Light-duty arm modularized joint 202 uses low-power machine, meanwhile, light-duty shoulder joint connector 203 uses lightweight material Material meets the dexterous movement of light-duty arm 200.
Light-duty arm mobile station 300 can be connected in robot mobile station 1 by adapter 5, may be used also in light-duty arm mobile station 300 Second group of light-duty arm mobile station 300 is connected by lead screw sliding block 302, the lead screw sliding block 302 of second group of light-duty arm mobile station 300 is again The light-duty shoulder joint connector 203 for connecting light-duty arm 200, by the way that light-duty arm mobile station 300 is arranged, you can drive light-duty arm 200 It moves in the horizontal plane, further expands the working range of light-duty arm 200.
Both arms cooperation robot also sets up both arms anti-collision system, and in both arms cooperation, control system acquisition is mobile non-right Claim both arms cooperation robot each joint instantaneous operating conditions information, extracts joint current break small-signal, melted by multi information Conjunction collide quickly detection and crash mode identification, and the extraction step of faint joint current signal is as follows：
Step 1：Spectrum analysis first is carried out to collected current signal, in spectrogram, if characteristic frequency is easy to point It distinguishes, then directly extracts amplitude, if characteristic frequency is flooded by noise, trap processing is carried out to signal；
Step 2：Obtained signal is modulated accidental resonance analysis, finds out characteristic frequency；
Step 3：After being handled the frequency spectrum of signal by D-J threshold values contraction algorithm, the spectrum estimation of noise is obtained.Frequently Less than D-J threshold values it is noise in spectrum, and the Fourier Transform Coefficients more than D-J threshold values are considered as useful signal；
Step 4：Noise estimation is carried out using D-J threshold noise estimation theories, and then obtains noise intensity, and utilizes and obtains Noise intensity and Stochastic Resonance Theory, obtain the estimated amplitude of characteristic frequency.
According to the collision alarm that the above-mentioned collision detection stage obtains, in conjunction with mobile asymmetric both arms cooperation robot model With working condition, current risk of collision index is determined；System switching control pattern, using risk of collision index decreased rate as mesh Scalar functions, integrated use control for brake and variable rigidity control strategy immediately, make risk of collision index decline with optimal path, maximum Degree avoids collision injury.
Control for brake is by Comprehensive Control joint mechanical part and electronic switch component immediately, using mechanical braking, electricity A variety of modes of braking such as magnetic brake, regenerative braking are realized.Mechanical braking part is real using backing pin, the band-type brake of control intra articular It is existing；Electromagnetic braking mainly generates opposing torque by changing the method for phase sequence so that rotating speed is opposite with the direction of torque；Regeneration system It moves as dynamic braking, but to ensure that motor itself does not overheat, in the loop a braking resistor in parallel, and is sending out braking instruction Resistance access is controlled by power tube break-make afterwards, energy is consumed in the braking resistor except motor.
The purpose of variable rigidity control is that robot is made to change its transmission system rigidity after collision occurs, and is controlled by reducing Gain reduces system rigidity, and to reduce inertia, becoming smaller for transmission stiffness is effective used when will reduce machine person to person shock Amount, to reduce shocking damage with the thinking of joints' compliance design.
The asymmetric both arms cooperation robot of the movable type in use, robot mobile station 1 drive robot thereon and The material trolley of connection moves to appointed place together, and then the control of electric cylinders 8 docking telescopic rod 6, which stretches out, is inserted into docking recess 71 It is interior, the connection positioning of robot mobile station 1 and Workbench base 7 is completed, after the completion of connection positioning, the heavy arm of controller control The heavy materials gripper 2 of 100 movements, 100 end of heavy arm grips the small interior heavy material of material to a certain specific position, gently The vision camera 4 of 200 end of arm detects to be needed on the heavy material clamped by heavy materials gripper 2, and heavy material Carry out the location point of dexterous manipulation.Vision camera 4 will detect signal and feed back to controller, and controller drives light-duty arm 200 light It is moved in arm mobile station 300, then controls the movement of light-duty arm 200 in place, 3 counterweight of dexterous manipulation hand of 200 end of light-duty arm Heavy material clamped by type materials gripper 2 carries out dexterous manipulation, while heavy arm 100 can adjust heavy material position. Finally, the heavy material that operation is completed is put into designated position by heavy arm 100, completes the control docking telescopic rod 6 of electric cylinders 8 after operation It shrinks, release robot mobile station 1, robot mobile station 1 can go to next operating point or return with mobile robot.
Above description is explanation of the invention, is not the restriction to invention, limited range of the present invention is referring to right It is required that without prejudice to the basic structure of the present invention, the present invention can make any type of modification.

Claims (9)

  1. The robot 1. a kind of asymmetric both arms of movable type cooperate, it is characterised in that：Including robot mobile station (1), heavy arm (100) and light-duty arm (200), the heavy type arm (100) include sequentially connected heavy arm pedestal (101), heavy arm modularization Joint (102) and heavy shoulder joint connector (103), heavy arm pedestal (101) are fixed on the upper of robot mobile station (1), institute The heavy heavy materials gripper (2) of shoulder joint connector (103) connection is stated, the light-duty arm (200) includes sequentially connected light Arm pedestal (201), light-duty arm modularized joint (202) and light-duty shoulder joint connector (203), the light-duty arm (200) are logical The arm that kicks the beam pedestal (201) is connected on light-duty arm mobile station (300), and light-duty shoulder joint connector (203) connection is dexterous Manipulator (3) and vision camera (4), the light-duty arm mobile station (300) are connected to robot mobile station by adapter (5) (1) on.
  2. The robot 2. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：The robot movement Platform (1) be automated guided vehicle, and robot mobile station (1) be arranged docking facilities, the docking facilities include electric cylinders (8) and Telescopic rod (6) is docked, the Workbench base (7) of the docking facilities setting with docking recess (71) is coordinated.
  3. The robot 3. the asymmetric both arms of movable type according to claim 2 cooperate, it is characterised in that：The robot movement Platform (1) front end also set up can attachment trolley groove structure (9).
  4. The robot 4. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：The heavy type arm module Change joint (102) and uses heavy-duty motor.
  5. The robot 5. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：The heavy type material clamp Holder (2) is the clamping jaw type clamper of air pressure driving.
  6. The robot 6. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：Light-duty arm modularization is closed It saves (202) and uses low-power machine.
  7. The robot 7. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：The light-duty arm movement Platform (300) includes driving motor (301), lead screw sliding block (302), lead screw (303) and connect base (304), lead screw sliding block (302) Connect light-duty shoulder joint connector (203).
  8. The robot 8. the asymmetric both arms of movable type according to claim 7 cooperate, it is characterised in that：The robot movement Light-duty arm mobile station (300) can be connected on platform 1 by adapter (5), can also pass through lead screw on the light-duty arm mobile station (300) Sliding block (302) connects second group of light-duty arm mobile station (300), and the lead screw sliding block (302) of second group of light-duty arm mobile station (300) is again Connect the light-duty shoulder joint connector (203) of light-duty arm (200).
  9. The robot 9. the asymmetric both arms of movable type according to claim 1 cooperate, it is characterised in that：The both arms cooperation machine Device people also sets up both arms anti-collision system.
CN201810178201.9A 2018-03-05 2018-03-05 Movable asymmetric double-arm cooperative robot Active CN108408395B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810178201.9A CN108408395B (en) 2018-03-05 2018-03-05 Movable asymmetric double-arm cooperative robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810178201.9A CN108408395B (en) 2018-03-05 2018-03-05 Movable asymmetric double-arm cooperative robot

Publications (2)

Publication Number Publication Date
CN108408395A true CN108408395A (en) 2018-08-17
CN108408395B CN108408395B (en) 2023-07-11

Family

ID=63129983

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810178201.9A Active CN108408395B (en) 2018-03-05 2018-03-05 Movable asymmetric double-arm cooperative robot

Country Status (1)

Country Link
CN (1) CN108408395B (en)

Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003048183A (en) * 2001-08-03 2003-02-18 Mitsubishi Heavy Ind Ltd Working device system, and excavation method
CN101134313A (en) * 2007-09-29 2008-03-05 北京博创兴盛机器人技术有限公司 Robot for eliminating exploding and danger
JP2009269110A (en) * 2008-05-02 2009-11-19 Olympus Corp Assembly equipment
CN101774170A (en) * 2010-01-29 2010-07-14 华北电力大学 Nuclear power plant working robot and control system thereof
US20110017030A1 (en) * 2009-01-16 2011-01-27 Paul Chambers Universal cutting tool for use with legacy and new generation explosive ordinance disposal (eod) robots
CN102672701A (en) * 2012-04-27 2012-09-19 华东交通大学 Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination
US20130011234A1 (en) * 2010-03-01 2013-01-10 John Pretlove Mobile Robot For A Harsh, Corrosive Outdoor Environment
US20130231779A1 (en) * 2012-03-01 2013-09-05 Irobot Corporation Mobile Inspection Robot
CN103522291A (en) * 2013-10-29 2014-01-22 中国人民解放军总装备部军械技术研究所 Target capturing system and method of explosive ordnance disposal robot
CN103552056A (en) * 2013-10-30 2014-02-05 重庆科技学院 EOD (Explosive Ordnance Disposal) robot
US20150190925A1 (en) * 2014-01-07 2015-07-09 Irobot Corporation Remotely Operating a Mobile Robot
JP2016120585A (en) * 2014-12-25 2016-07-07 ファナック株式会社 Robot identification system
CN105758271A (en) * 2016-03-08 2016-07-13 北京空间飞行器总体设计部 Wheel-leg-arm-tank combined explosive disposal robot
CN205552540U (en) * 2016-04-20 2016-09-07 河南科技大学 Both arms work robot
CN206416171U (en) * 2016-12-13 2017-08-18 西安飞东电子科技有限责任公司 A kind of separable explosive-removal robot with shock-absorbing function
CN107471225A (en) * 2017-09-21 2017-12-15 上海合时安防技术有限公司 Airport explosive-removal robot
CN107498558A (en) * 2017-09-19 2017-12-22 北京阿丘科技有限公司 Full-automatic hand and eye calibrating method and device
CN208086768U (en) * 2018-03-05 2018-11-13 江南大学 A kind of movable type asymmetric both arms cooperation robot

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003048183A (en) * 2001-08-03 2003-02-18 Mitsubishi Heavy Ind Ltd Working device system, and excavation method
CN101134313A (en) * 2007-09-29 2008-03-05 北京博创兴盛机器人技术有限公司 Robot for eliminating exploding and danger
JP2009269110A (en) * 2008-05-02 2009-11-19 Olympus Corp Assembly equipment
US20110017030A1 (en) * 2009-01-16 2011-01-27 Paul Chambers Universal cutting tool for use with legacy and new generation explosive ordinance disposal (eod) robots
CN101774170A (en) * 2010-01-29 2010-07-14 华北电力大学 Nuclear power plant working robot and control system thereof
US20130011234A1 (en) * 2010-03-01 2013-01-10 John Pretlove Mobile Robot For A Harsh, Corrosive Outdoor Environment
US20130231779A1 (en) * 2012-03-01 2013-09-05 Irobot Corporation Mobile Inspection Robot
CN102672701A (en) * 2012-04-27 2012-09-19 华东交通大学 Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination
CN103522291A (en) * 2013-10-29 2014-01-22 中国人民解放军总装备部军械技术研究所 Target capturing system and method of explosive ordnance disposal robot
CN103552056A (en) * 2013-10-30 2014-02-05 重庆科技学院 EOD (Explosive Ordnance Disposal) robot
US20150190925A1 (en) * 2014-01-07 2015-07-09 Irobot Corporation Remotely Operating a Mobile Robot
JP2016120585A (en) * 2014-12-25 2016-07-07 ファナック株式会社 Robot identification system
CN105758271A (en) * 2016-03-08 2016-07-13 北京空间飞行器总体设计部 Wheel-leg-arm-tank combined explosive disposal robot
CN205552540U (en) * 2016-04-20 2016-09-07 河南科技大学 Both arms work robot
CN206416171U (en) * 2016-12-13 2017-08-18 西安飞东电子科技有限责任公司 A kind of separable explosive-removal robot with shock-absorbing function
CN107498558A (en) * 2017-09-19 2017-12-22 北京阿丘科技有限公司 Full-automatic hand and eye calibrating method and device
CN107471225A (en) * 2017-09-21 2017-12-15 上海合时安防技术有限公司 Airport explosive-removal robot
CN208086768U (en) * 2018-03-05 2018-11-13 江南大学 A kind of movable type asymmetric both arms cooperation robot

Also Published As

Publication number Publication date
CN108408395B (en) 2023-07-11

Similar Documents

Publication Publication Date Title
CN108393870A (en) A kind of asymmetric both arms cooperation robot
US11839981B2 (en) Autonomous moving transfer robot
US11471927B2 (en) Loading method for a machine tool and tool transfer device
CN101913076A (en) Industrial robot-based assembly method and device of piston, piston pin and connecting rod
CN208086768U (en) A kind of movable type asymmetric both arms cooperation robot
CN209425426U (en) A kind of composite industrial cooperation robot
CN210639861U (en) Teaching is with automatic logistics production line
CN106182054B (en) Finger tip vision crest line identifies adaptive robot arm device
CN110435784B (en) All-terrain mobile platform and robot comprising same
CN108408395A (en) A kind of movable type asymmetric both arms cooperation robot
CN213562563U (en) Robot capable of freely moving
CN207953850U (en) A kind of asymmetric both arms cooperation robot
CN209491751U (en) A kind of Intelligent transfer robot
CN207724330U (en) A kind of material grasping mechanism
JP2008264901A (en) Mobile robot, its automatic coupling method, and drive control method for parallel link mechanism
CN113752895B (en) Motor replacing robot, power replacing system and working method of motor replacing robot
CN210678741U (en) Clamping jaw
WO2020177621A1 (en) Commodity picking robot
CN217703454U (en) Servo gripping apparatus with three gripping points
CN212502765U (en) Grabbing device and intelligent carrying device
WO2021017091A1 (en) Product grasping device and system for industrial robot
CN211415164U (en) Gripper device and truss robot
CN216736362U (en) Intelligent transfer trolley
CN218195227U (en) Robot gripping apparatus
CN109748096A (en) The multiple degrees of freedom cylinder body danger workpiece grabbing mechanism of view-based access control model positioning system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant