CN109366523B - Movable space-adjustable double-arm robot base device - Google Patents
Movable space-adjustable double-arm robot base device Download PDFInfo
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- CN109366523B CN109366523B CN201811353342.6A CN201811353342A CN109366523B CN 109366523 B CN109366523 B CN 109366523B CN 201811353342 A CN201811353342 A CN 201811353342A CN 109366523 B CN109366523 B CN 109366523B
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- height adjusting
- horizontal
- longitudinal height
- mechanical arm
- plate
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a movable space-adjustable double-arm robot base device which comprises a horizontal adjusting plate, a height rod and a rectangular aluminum profile underframe which are sequentially connected from top to bottom, wherein two mechanical arm installation assemblies with adjustable horizontal positions are fixedly arranged on the horizontal adjusting plate, the bottom of the aluminum profile underframe is provided with a support Ma Lun and a hoof foot, each mechanical arm installation assembly comprises a longitudinal height adjusting assembly and a height adjusting member installation plate which are sequentially connected from top to bottom, and the top end of each longitudinal height adjusting assembly is provided with a replaceable 45-degree inclined mechanical arm installation member or a horizontal mechanical arm installation member. The base device of the movable space-adjustable double-arm robot provided by the invention enables the operation space of the mechanical arm to be more diversified, the movement to be more convenient, the support to be more stable and the occupied space to be more saved.
Description
Technical Field
The invention relates to the field of double-arm robots, in particular to a movable space-adjustable double-arm robot base device.
Background
The two-arm robot system has obvious advantages in terms of flexibility and load capacity compared with the single-arm robot system, so that with the rapid increase of the overall demand of the robot, the two-arm robot becomes an important component of the future robot increment market. The operating space of the robot is determined by the structure of the robot arm, and the operating space of the robot arm will be fixed after the robot arm is mounted. However, when facing an operation object variously, a variety of operation spaces are required. Currently, the base of a double-arm robot is mostly fixed and difficult to move.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned problems in the prior art, the present invention provides a movable space-adjustable dual-arm robot base device, in which a T-shaped longitudinal height adjusting member is adjustable in a height direction relative to a right-side longitudinal height adjusting member and a left-side longitudinal height adjusting member, so as to implement a change in a vertical height direction of an operation space of the dual-arm robot; the height adjusting piece mounting plate and the horizontal adjusting plate can be adjusted in the horizontal direction, so that the change of the operating space of the double-arm robot in the horizontal direction is realized; the installation posture of the mechanical arm is changed through the replacement of the 45-degree inclined mechanical arm installation piece and the horizontal mechanical arm installation piece; the support of the foot support Ma Lun and the foot support ensures that the base device can adapt to different ground conditions and ensures the level of the base; the support and the rolling of the Fuma wheel well realize the movement of the base; the torque support rod can prevent the base and the mechanical arm from toppling over, and space can be saved after the torque support rod rotates around the hinge. The whole base makes the operation space of the mechanical arm diversified, moves more conveniently, supports more firmly, and occupies more space.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a movable space adjustable both arms robot base device, includes from top to bottom horizontal adjustment board, altitude mixture control pole, the rectangle aluminium alloy chassis that connects gradually, the fixed arm installation component that is provided with two horizontal position adjustable on the horizontal adjustment board, aluminium alloy chassis bottom be provided with Fu Ma Lun and hoof foot the arm installation component include from top to bottom longitudinal height adjustment subassembly and altitude mixture control piece mounting panel that connects gradually, longitudinal height adjustment subassembly top is provided with interchangeable 45 degrees slant arm installation piece or horizontal arm installation piece.
Further, the longitudinal height adjusting assembly comprises a T-shaped longitudinal height adjusting piece connected with the horizontal mechanical arm mounting piece and a longitudinal height adjusting piece fixed on the horizontal adjusting plate through bolts, and the T-shaped longitudinal height adjusting piece is uniformly provided with a plurality of threaded holes connected with the longitudinal height adjusting piece through bolts along the height direction. The longitudinal height adjusting piece can be adjusted in the height direction by selecting the threaded holes, so that the change of the operating space of the double-arm robot in the vertical height direction is realized.
Further, the longitudinal height adjusting piece comprises an L-shaped right longitudinal height adjusting piece and a left longitudinal height adjusting piece which are symmetrically arranged, and the T-shaped longitudinal height adjusting piece is clamped between the right longitudinal height adjusting piece and the left longitudinal height adjusting piece through bolts.
Further, torque support rods are connected to two sides of the aluminum profile underframe through movable hinges, and hoof feet are arranged at the free ends of the torque support rods. The torque support rod can prevent the base and the mechanical arm from toppling over, and space can be saved after the torque support rod rotates around the hinge.
Further, the torque support rod adopts an aluminum profile, and the aluminum profile underframe is mainly formed by connecting a plurality of aluminum profiles, corner fittings and bolts.
Further, a section cover plate is arranged on the section of the aluminum profile.
Further, be provided with a plurality of screw holes that are used for connecting the altitude mixture control spare mounting panel along the horizontal direction on the horizontal regulating plate, but the relative position of the adjustable altitude mixture control spare mounting panel in the horizontal direction of selection through the screw hole realizes the change of both arms robot operating space in the horizontal direction.
Further, the horizontal adjusting plate mainly comprises a plurality of aluminum profiles which are arranged in parallel.
Further, the height rod comprises a rod body, and the upper end and the lower end of the rod body are respectively and fixedly connected with the horizontal adjusting plate and the aluminum profile underframe through connecting plates.
Further, the upper end and/or the lower end of the rod body is/are rotatably connected with the connecting plate and provided with a locking device.
Compared with the prior art, the invention has the following advantages and technical effects:
the base device of the movable space-adjustable double-arm robot provided by the invention enables the operation space of the mechanical arm to be more diversified, the movement to be more convenient, the support to be more stable and the occupied space to be more saved.
Drawings
Fig. 1 is a schematic structural view of an end effector of an upper limb rehabilitation robot.
Fig. 1 includes: 1-45 degrees slant arm mounting piece, 2-horizontal arm mounting piece, 3-T shape vertical height adjustment piece, 4-right side vertical height adjustment piece, 5-left side vertical height adjustment piece, 6-height adjustment piece mounting panel, 7-corner fitting, 8-living hinge, 9-Fu Ma Lun, 10-horizontal regulating plate, 11-height pole, 12-aluminium alloy chassis, 13-moment of torsion bracing piece, 14-section apron, 15-hoof.
Detailed Description
The invention will be further illustrated with reference to specific examples, but is not limited thereto.
The base device of the movable space-adjustable double-arm robot comprises a horizontal adjusting plate 10, a height rod 11 and a rectangular aluminum profile underframe 12 which are sequentially connected from top to bottom, two mechanical arm installation components with adjustable horizontal positions are fixedly arranged on the horizontal adjusting plate 10, a Fuma wheel 9 and a hoof foot 15 are arranged at the bottom of the aluminum profile underframe 12, the mechanical arm installation components comprise a longitudinal height adjusting component and a height adjusting piece installation plate 6 which are sequentially connected from top to bottom, the top end of the longitudinal height adjusting component is provided with a replaceable 45-degree inclined mechanical arm installation piece 1 or a horizontal mechanical arm installation piece 2, and the installation posture of the mechanical arm is changed by replacing the 45-degree inclined mechanical arm installation piece 1 and the horizontal mechanical arm installation piece 2. The support of the Fuma wheel 9 and the hoof foot 15 ensures that the base device can adapt to different ground conditions and ensures the level of the base.
The vertical height adjusting assembly comprises a T-shaped vertical height adjusting piece 3 connected with the horizontal mechanical arm mounting piece 2 and a vertical height adjusting piece fixed on the horizontal adjusting plate 10 through bolts, and the T-shaped vertical height adjusting piece 3 is uniformly arranged in a plurality of threaded holes connected with the vertical height adjusting piece through bolts along the height direction. The longitudinal height adjusting parts comprise symmetrically arranged L-shaped right longitudinal height adjusting parts 4 and left longitudinal height adjusting parts 5, and the T-shaped longitudinal height adjusting parts 3 are clamped between the right longitudinal height adjusting parts 4 and the left longitudinal height adjusting parts 5 through bolts. The longitudinal height adjusting piece can be adjusted in the height direction by selecting the threaded holes, so that the change of the operating space of the double-arm robot in the vertical height direction is realized.
The two sides of the aluminum profile underframe 12 are also connected with torque support rods 13 through movable hinges 8, and the free ends of the torque support rods 13 are provided with hooves 15. The torque support rod can prevent the base and the mechanical arm from toppling over, and space can be saved after the torque support rod rotates around the hinge.
The torque support rod 13 is made of an aluminum profile, and the aluminum profile underframe 12 is mainly formed by connecting a plurality of aluminum profiles, corner fittings 7 and bolts. The section of the aluminum profile is provided with a section cover plate 14
The horizontal adjusting plate 10 mainly comprises a plurality of aluminum profiles which are arranged in parallel. The horizontal adjusting plate 10 is provided with a plurality of threaded holes for connecting the height adjusting piece mounting plate 6 along the horizontal direction, and the relative positions of the height adjusting piece mounting plate 6 and the horizontal adjusting plate 10 in the horizontal direction can be adjusted through the selection of the threaded holes, so that the change of the operating space of the double-arm robot in the horizontal direction is realized.
The height rod 11 comprises a rod body, and the upper end and the lower end of the rod body are respectively and fixedly connected with the horizontal adjusting plate 10 and the aluminum profile underframe 12 through connecting plates.
In a possible embodiment, the upper and/or lower end of the rod body is rotatably connected to the connection plate and provided with locking means, so that the horizontal adjustment plate 10 can be rotated and locked in a desired position when required.
The base device of the movable space-adjustable double-arm robot provided by the embodiment enables the operation space of the mechanical arm to be more diversified, the movement to be more convenient, the support to be more stable, and the occupied space to be more saved.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention.
Claims (4)
1. The utility model provides a movable space adjustable both arms robot base device which characterized in that: the automatic lifting device comprises a horizontal adjusting plate (10), a height rod (11) and a rectangular aluminum profile underframe (12) which are sequentially connected from top to bottom, wherein two mechanical arm installation components with adjustable horizontal positions are fixedly arranged on the horizontal adjusting plate (10), a fuma wheel (9) and a hoof foot (15) are arranged at the bottom of the aluminum profile underframe (12), the mechanical arm installation components comprise a longitudinal height adjusting component and a height adjusting component installation plate (6) which are sequentially connected from top to bottom, and an exchangeable 45-degree inclined mechanical arm installation part (1) or a horizontal mechanical arm installation part (2) are arranged at the top end of the longitudinal height adjusting component; the longitudinal height adjusting assembly comprises a T-shaped longitudinal height adjusting piece (3) connected with the horizontal mechanical arm mounting piece (2) and a longitudinal height adjusting piece fixed on the horizontal adjusting plate (10) through bolts, and the T-shaped longitudinal height adjusting piece (3) is uniformly provided with a plurality of threaded holes connected with the longitudinal height adjusting piece through bolts along the height direction; the longitudinal height adjusting parts comprise symmetrically arranged L-shaped right longitudinal height adjusting parts (4) and left longitudinal height adjusting parts (5), and the T-shaped longitudinal height adjusting parts (3) are clamped between the right longitudinal height adjusting parts (4) and the left longitudinal height adjusting parts (5) through bolts; two sides of the aluminum profile underframe (12) are also connected with torque support rods (13) through movable hinges 8, and the free ends of the torque support rods (13) are provided with hooves (15);
a plurality of threaded holes for connecting the height adjusting piece mounting plate (6) are formed in the horizontal adjusting plate (10) along the horizontal direction; the height rod (11) comprises a rod body, and the upper end and the lower end of the rod body are fixedly connected with the horizontal adjusting plate (10) and the aluminum profile underframe (12) through connecting plates respectively; the upper end and/or the lower end of the rod body is/are rotatably connected with the connecting plate and provided with a locking device.
2. The mobile spatially adjustable double arm robot base unit of claim 1, wherein: the torque support rod (13) is made of an aluminum profile, and the aluminum profile underframe (12) is formed by connecting a plurality of aluminum profiles, corner pieces (7) and bolts.
3. The mobile spatially adjustable double arm robot base unit of claim 2, wherein: a section cover plate (14) is arranged on the section of the aluminum profile.
4. The mobile spatially adjustable double arm robot base unit of claim 1, wherein: the horizontal adjusting plate (10) consists of a plurality of aluminum profiles which are arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811353342.6A CN109366523B (en) | 2018-11-14 | 2018-11-14 | Movable space-adjustable double-arm robot base device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811353342.6A CN109366523B (en) | 2018-11-14 | 2018-11-14 | Movable space-adjustable double-arm robot base device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109366523A CN109366523A (en) | 2019-02-22 |
| CN109366523B true CN109366523B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811353342.6A Active CN109366523B (en) | 2018-11-14 | 2018-11-14 | Movable space-adjustable double-arm robot base device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008058154A1 (en) * | 2008-11-20 | 2010-05-27 | Dr.Ing.H.C.F.Porsche Aktiengesellschaft | Repairing device for industrial robot for handling and assembling motor vehicle, has lifting devices provided with base ends for supporting at underground and/or at base, and lifting drive changing distance between base and manipulator ends |
| KR20110115097A (en) * | 2010-04-14 | 2011-10-20 | 가부시키가이샤 고베 세이코쇼 | Method for determining standard position of industrial robot arm and industrial robot |
| CN204800234U (en) * | 2015-08-06 | 2015-11-25 | 歌尔声学股份有限公司 | Spatial position adjusting device |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN107443363A (en) * | 2016-05-17 | 2017-12-08 | 康茂股份公司 | Automation equipment with removable frame, particularly robot |
| CN207788940U (en) * | 2017-12-21 | 2018-08-31 | 长安大学 | A kind of double mechanical arms put together machines people |
-
2018
- 2018-11-14 CN CN201811353342.6A patent/CN109366523B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008058154A1 (en) * | 2008-11-20 | 2010-05-27 | Dr.Ing.H.C.F.Porsche Aktiengesellschaft | Repairing device for industrial robot for handling and assembling motor vehicle, has lifting devices provided with base ends for supporting at underground and/or at base, and lifting drive changing distance between base and manipulator ends |
| KR20110115097A (en) * | 2010-04-14 | 2011-10-20 | 가부시키가이샤 고베 세이코쇼 | Method for determining standard position of industrial robot arm and industrial robot |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN204800234U (en) * | 2015-08-06 | 2015-11-25 | 歌尔声学股份有限公司 | Spatial position adjusting device |
| CN107443363A (en) * | 2016-05-17 | 2017-12-08 | 康茂股份公司 | Automation equipment with removable frame, particularly robot |
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN207788940U (en) * | 2017-12-21 | 2018-08-31 | 长安大学 | A kind of double mechanical arms put together machines people |
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| CN109366523A (en) | 2019-02-22 |
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