CN111015624A - Omnidirectional movement formula both arms assembly robot based on initiative universal wheel - Google Patents
Omnidirectional movement formula both arms assembly robot based on initiative universal wheel Download PDFInfo
- Publication number
- CN111015624A CN111015624A CN201911371324.5A CN201911371324A CN111015624A CN 111015624 A CN111015624 A CN 111015624A CN 201911371324 A CN201911371324 A CN 201911371324A CN 111015624 A CN111015624 A CN 111015624A
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- China
- Prior art keywords
- transmission nut
- assembly robot
- arm assembly
- omnidirectional
- sliding shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses an omnidirectional moving type double-arm assembly robot based on a driving universal wheel, which comprises a moving platform with an omnidirectional moving function and an assembly robot with an assembly function, wherein the assembly robot comprises a base and a driving universal wheel; the mobile platform comprises a vehicle body, wherein four sets of active universal wheels and four sets of independently driven lifting supporting devices are installed on the vehicle body. The omnidirectional moving type double-arm assembly robot has an omnidirectional moving function and can freely shuttle in a narrow space; on the other hand, the four sets of independently driven lifting supporting devices are matched, so that the vehicle body can be firmly fixed on the ground even if the ground is uneven, and the assembling robot can carry out high-speed and high-precision assembling operation.
Description
Technical Field
The invention relates to a mobile assembly robot, in particular to an omnidirectional mobile double-arm assembly robot based on driving universal wheels.
Background
At present, in order to realize the function of omnidirectional movement, the mobile robot adopts an active universal wheel, which is a good solution. However, regardless of the wheels, when the mobile robot is in place, the mobile robot body may shake, shift or even tilt under the action of external force due to various reasons such as the transmission clearance of the driving wheels, the elasticity … of the damping device, and the like, which is very disadvantageous for the mobile assembly.
The utility model discloses a patent for 201721912660.2, the patent name is a mobile robot stabilizing mean and is equipped with this stabilizing mean's mobile robot's utility model patent to and 201822004210.4, the patent name is a mobile robot automatic locking device's that targets in place utility model patent, all disclose the technical scheme that sets up two sets of independent elevating gear in the mobile robot left and right sides, every set of elevating gear has two landing legs, thereby drives four landing legs and jack up in step. However, because the ground is complex in working condition, when the ground is uneven in height, a supporting leg is suspended inevitably, and therefore stability is affected. Patent No. 201320591698, the patent name is a utility model patent of intelligence removal assembly robot of qxcomm technology, adopts the mode that similar mike received the female wheel to realize the qxcomm technology, and this mode is very big to the friction on ground, and the motion is discontinuous when the side is walked and is turned to. The patent also mentions that the stability of the vehicle body is improved by adopting a mode of supporting the vehicle body by electric screws, but the patent does not further describe, and does not propose a method for ensuring that all four legs fall to the ground.
Disclosure of Invention
The invention provides an omnidirectional moving type double-arm assembly robot based on an active universal wheel aiming at the defects of the prior art, on one hand, the robot has an omnidirectional moving function and can freely shuttle in a narrow space; on the other hand, the four sets of independently driven lifting supporting devices are matched, so that the vehicle body can be firmly fixed on the ground even if the ground is uneven, and the assembling robot can carry out high-speed and high-precision assembling operation.
In order to achieve the purpose, the invention provides the following technical scheme: an omnidirectional moving type double-arm assembly robot based on a driving universal wheel comprises a moving platform with an omnidirectional moving function and an assembly robot with an assembly function; the mobile platform comprises a vehicle body, wherein four sets of active universal wheels and four sets of independently driven lifting supporting devices are installed on the vehicle body.
As a further improvement of the technical scheme, the lifting support device comprises a supporting leg, a motor driving the supporting leg to lift through a lead screw transmission mechanism, and a pressure sensor used for feeding back the landing state of the supporting leg to control the driving stroke of the motor.
As a further improvement of the above technical scheme, the screw transmission mechanism comprises a fixed sleeve fixedly connected with the vehicle body, a trapezoidal screw rod arranged in the fixed sleeve and driven by a motor, and a sliding shaft arranged in the fixed sleeve in a sliding manner; the sliding shaft is provided with a transmission nut, and the trapezoidal screw rod is in threaded fit with the transmission nut and drives the sliding shaft to lift in the fixed sleeve; the pressure sensor and the supporting leg are arranged at the lower end of the sliding shaft.
As a further improvement of the technical scheme, the inner wall of the fixed sleeve is provided with a guide groove, and the sliding shaft is provided with a guide flat key which is in sliding fit with the guide groove.
As a further improvement of the technical scheme, a screw cavity for accommodating the trapezoidal screw rod is formed in the sliding shaft, and the transmission nut consists of a first transmission nut and a second transmission nut which are fixed at the port of the screw cavity; the trapezoidal screw rod is matched with the first transmission nut and the second transmission nut through threads respectively.
As a further improvement of the above technical scheme, the first transmission nut and the second transmission nut are coaxially arranged side by side, and an installation gap is formed between the first transmission nut and the second transmission nut; an adjusting screw for adjusting the size of the mounting gap and a connecting screw for fixing the first transmission nut and the second transmission nut are arranged between the first transmission nut and the second transmission nut.
As a further improvement of the technical scheme, one end of the pressure sensor is fixedly connected with the supporting leg, and the other end of the pressure sensor is fixedly connected with the bottom end of the sliding shaft through the connecting flange.
As a further improvement of the technical scheme, the assembly robot is a double-arm assembly robot and comprises two mechanical arms which are symmetrically and obliquely arranged, and the mechanical arms are fixedly connected with a vehicle body of the mobile platform.
As a further improvement of the technical scheme, the assembly robot comprises a mechanical arm, and the mechanical arm is provided with a six-dimensional force sensor and an end effector.
Compared with the prior art, the omnidirectional mobile double-arm assembly robot has the following advantages:
1. the omnidirectional mobile platform of the basic driving universal wheel has stable rolling, is not easy to slip, is simple to control and can freely shuttle in a narrow space;
2. the four sets of lifting support devices which are independently driven and have pressure detection functions can adapt to the working condition of uneven ground, and the four support legs can be guaranteed to fall to the ground; and the double-transmission nut design can eliminate the transmission clearance of the screw rod, ensure the stability of the vehicle body to the maximum extent and improve the assembly precision.
3. Two cooperative arms of the double-arm assembly robot are coordinated and matched with each other, so that more complex assembly tasks which cannot be completed by a single arm can be completed.
Drawings
Fig. 1 is a front view of an omnidirectional mobile two-arm assembly robot.
Fig. 2 is a bottom view of an omni-directional mobile platform.
Figure 3 is a side view of an omnidirectional mobile two-arm assembly robot.
Fig. 4 is an internal structure view of the elevating support device in a contracted state.
Fig. 5 is an internal structure view of the elevating support device in a support state.
Fig. 6 is a partial enlarged view of the lifting support I.
Fig. 7 is a perspective view of an omnidirectional mobile two-arm assembly robot.
The reference numerals of figures 1 to 7 are: the device comprises a mobile platform 100, a double-arm assembly robot 200, an active universal wheel 101, a lifting support device 102, a support leg 102-1, a pressure sensor 102-2, a connecting flange 102-3, a sliding shaft 102-4, a trapezoidal screw rod 102-5, a guide flat key 102-6, a first transmission nut 102-7, a second transmission nut 102-8, a fixing sleeve 102-9, a speed reducer 102-10, a motor 102-11, an adjusting screw 102-12, a vehicle body 103, an installation gap 104, a mechanical arm 200-1, a six-dimensional force sensor 200-2 and an end effector 200-3.
Detailed Description
The invention will be described in further detail below with reference to examples and figures 1 to 7, it being noted that the following examples are intended to facilitate the understanding of the invention without any limitation thereto.
As shown in fig. 1 to fig. 3, the omnidirectional mobile dual-arm assembly robot of the present embodiment mainly includes a mobile platform 100 and a dual-arm assembly robot 200 having an assembly function. The mobile platform 100 comprises a vehicle body 103, wherein four sets of active universal wheels 101 and four sets of independently driven lifting supporting devices 102 are arranged on the vehicle body 103.
The two-arm assembly robot 200 mainly includes a robot arm 200-1, a six-dimensional force sensor 200-2, and various end effectors 200-3. The mechanical arm 200-1 is fixedly connected with the vehicle body 103 of the mobile platform 100.
The four sets of active universal wheels 101 enable the mobile platform 100 to have an omnidirectional movement function, and can move in any direction in a two-dimensional plane, so that the functions of straight movement, transverse movement, oblique movement, in-situ rotation and the like are realized, and the mobile platform can freely shuttle in a narrow space.
The lifting support device 102 comprises a support leg 102-1, a motor 102-11 for driving the support leg 102-1 to lift through a lead screw transmission mechanism, and a pressure sensor 102-2 for feeding back a landing state of the support leg 102-1 to control a driving stroke of the motor 102-11.
The screw transmission mechanism comprises a fixed sleeve 102-9 fixedly connected with the vehicle body 103, a trapezoidal screw rod 102-5 arranged in the fixed sleeve 102-9 and driven by a motor 102-11, and a sliding shaft 102-4 arranged in the fixed sleeve 102-9 in a sliding manner; the sliding shaft 102-4 is provided with a transmission nut in threaded fit with the trapezoidal screw rod 102-5; the pressure sensor 102-2 and the leg 102-1 are mounted on the lower end of the slide shaft 102-4.
The inner wall of the fixed sleeve 102-9 is provided with a guide groove, and the sliding shaft 102-4 is provided with a guide flat key 102-6 which is in sliding fit with the guide groove.
A screw cavity for accommodating the trapezoidal screw rod 102-5 is formed in the sliding shaft 102-4, and the transmission nut consists of a first transmission nut 102-7 and a second transmission nut 102-8 which are fixed at the port of the screw cavity; the trapezoidal lead screw 102-5 is in threaded fit with the first transmission nut 102-7 and the second transmission nut 102-8.
The first transmission nut 102-7 and the second transmission nut 102-8 are coaxially arranged side by side, and an installation gap 104 is formed between the first transmission nut and the second transmission nut; an adjusting screw 102-12 for adjusting the size of the mounting gap 104 and a connecting screw for fixing the first transmission nut 102-7 and the second transmission nut 102-8 are arranged between the first transmission nut 102-7 and the second transmission nut 102-8.
During assembly, the first transmission nut 102-7 is connected with the sliding shaft 102-4; then, 3 adjusting screws 102-12 uniformly distributed along the circumferential direction of the second transmission nut 102-8 are used for adjusting the gap between the first transmission nut 102-7 and the second transmission nut 102-8, so that the gap of screw rod transmission is eliminated, and the stability of the mobile platform 100 is improved to the maximum extent; and finally, fixedly connecting the second transmission nut 102-8 with the first transmission nut 102-7 through a connecting screw.
One end of the pressure sensor 102-2 is fixedly connected with the support leg 102-1, and the other end is fixedly connected with the sliding shaft 102-4 through a connecting flange 102-3. The pressure sensor 102-2 is used for detecting whether the bar support leg 102-1 falls to the ground or not, and if the lifting support device 102 does not fall to the ground, the lifting support device 102 extends further until the bar support leg 102-1 falls to the ground, so that the four support legs 102-1 can all fall to the ground even if the ground is uneven, and the condition that the support leg 102-1 is suspended is avoided.
The fixed sleeve 102-9 is connected with the vehicle body 103 of the mobile platform 100 through screws; the support leg 102-1, the pressure sensor 102-2, the connecting flange 102-3, the sliding shaft 102-4, the guide flat key 102-6, the first transmission nut 102-7 and the second transmission nut 102-8 are all connected into a whole through screws to form a linear motion unit; the motor 102-11 rotates and is decelerated by the speed reducer 102-10 to enable the trapezoidal screw rod 102-5 to rotate, the trapezoidal screw rod 102-5, the first transmission nut 102-7 and the second transmission nut 102-8 form a screw rod pair, and therefore the rotary motion of the motor 102-11 is converted into the linear motion of the linear motion unit. The guide flat key 102-6 moves in the guide groove of the fixing sleeve 102-9, and the upper limit position and the lower limit position of the guide groove determine the maximum stroke of the lifting support device 102.
The double-arm assembly robot 200 is two multi-joint mechanical arms 200-1 which are symmetrically and obliquely arranged, a six-dimensional force sensor 200-2 and different types of end effectors 200-3 are arranged at the tail ends of the mechanical arms 200-1, and the two mechanical arms 200-1 are coordinated with each other to complete more complex assembly tasks which cannot be completed by a single arm.
In summary, the specific operation mode of the omnidirectional moving type double-arm assembly robot based on the active universal wheels is as follows: the four sets of active universal wheels 101 enable the mobile platform 100 to have an omnidirectional movement function; when the mobile platform 100 moves to a certain station, the mobile platform 100 stops moving, four sets of lifting support devices 102 which are independently driven and have the pressure detection function start to lift synchronously, the whole mobile platform 100 is lifted to a certain height and is firmly fixed at the position by virtue of the self-locking function of the screw rod kinematic pair, and at the moment, four sets of active universal wheels 101 are suspended and are not contacted with the ground; then, the double-arm assembly robot 200 can perform high-speed and high-precision assembly operation according to the assembly task, and when the station assembly task is finished and the station needs to be changed, the four sets of lifting support devices 102 synchronously descend to the initial positions; at this time, the four sets of active universal wheels 101 are restored to the initial state, and the mobile platform 100 starts to move to the next station, so that the operation is circulated.
The technical solutions of the present invention are described in detail in the above embodiments, it should be understood that the above embodiments are only specific examples of the present invention, and are not intended to limit the present invention, and any modification, supplement or similar substitution made within the scope of the principles of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An omnidirectional moving type double-arm assembly robot based on a driving universal wheel comprises a moving platform (100) with an omnidirectional moving function and an assembly robot with an assembly function; the method is characterized in that: the moving platform (100) comprises a vehicle body (103), wherein four sets of active universal wheels (101) and four sets of independently driven lifting supporting devices (102) are mounted on the vehicle body (103).
2. An omnidirectional mobile dual-arm assembly robot as recited in claim 1, wherein: the lifting support device (102) comprises a supporting leg (102-1), a motor (102-11) for driving the supporting leg (102-1) to lift through a lead screw transmission mechanism, and a pressure sensor (102-2) for feeding back the landing state of the supporting leg (102-1) to control the driving stroke of the motor (102-11).
3. An omnidirectional mobile dual-arm assembly robot as recited in claim 2, wherein: the lead screw transmission mechanism comprises a fixed sleeve (102-9) fixedly connected with the vehicle body (103), a trapezoidal lead screw (102-5) arranged in the fixed sleeve (102-9) and driven by a motor (102-11), and a sliding shaft (102-4) arranged in the fixed sleeve (102-9) in a sliding manner; the sliding shaft (102-4) is provided with a transmission nut, the trapezoidal screw rod (102-5) is in threaded fit with the transmission nut, and the sliding shaft (102-4) is driven to lift in the fixed sleeve (102-9); the pressure sensor (102-2) and the support leg (102-1) are arranged at the lower end of the sliding shaft (102-4).
4. An omnidirectional mobile dual-arm assembly robot according to claim 3, wherein: the inner wall of the fixed sleeve (102-9) is provided with a guide groove, and the sliding shaft (102-4) is provided with a guide flat key (102-6) in sliding fit with the guide groove.
5. An omnidirectional mobile dual-arm assembly robot as recited in claim 4, wherein: a screw cavity for accommodating the trapezoidal screw rod (102-5) is formed in the sliding shaft (102-4), and the transmission nut consists of a first transmission nut (102-7) and a second transmission nut (102-8) which are fixed at the port of the screw cavity; the trapezoidal screw rod (102-5) is matched with the first transmission nut (102-7) and the second transmission nut (102-8) through threads respectively.
6. An omnidirectional mobile dual-arm assembly robot according to claim 5, wherein: the first transmission nut (102-7) and the second transmission nut (102-8) are coaxially arranged side by side, and an installation gap (104) is formed between the first transmission nut and the second transmission nut; an adjusting screw (102-12) used for adjusting the size of the mounting gap (104) and a connecting screw used for fixing the first transmission nut (102-7) and the second transmission nut (102-8) are arranged between the first transmission nut (102-7) and the second transmission nut (102-8).
7. An omnidirectional mobile dual-arm assembly robot according to claim 3, wherein: one end of the pressure sensor (102-2) is fixedly connected with the supporting leg (102-1), and the other end of the pressure sensor is fixedly connected with the bottom end of the sliding shaft (102-4) through a connecting flange (102-3).
8. An omnidirectional mobile dual-arm assembly robot as recited in claim 1, wherein: the assembly robot is a double-arm assembly robot (200) and comprises two mechanical arms (200-1) which are symmetrically and obliquely arranged, and the mechanical arms (200-1) are fixedly connected with a vehicle body (103) of the mobile platform (100).
9. An omnidirectional mobile dual-arm assembly robot according to claim 8, wherein: the assembly robot comprises a mechanical arm (200-1), wherein a six-dimensional force sensor (200-2) and an end effector (200-3) are mounted on the mechanical arm (200-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371324.5A CN111015624A (en) | 2019-12-26 | 2019-12-26 | Omnidirectional movement formula both arms assembly robot based on initiative universal wheel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911371324.5A CN111015624A (en) | 2019-12-26 | 2019-12-26 | Omnidirectional movement formula both arms assembly robot based on initiative universal wheel |
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| CN111015624A true CN111015624A (en) | 2020-04-17 |
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| CN201911371324.5A Pending CN111015624A (en) | 2019-12-26 | 2019-12-26 | Omnidirectional movement formula both arms assembly robot based on initiative universal wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421505A (en) * | 2020-05-21 | 2020-07-17 | 广东电网有限责任公司东莞供电局 | Manipulator capable of screwing bolt |
| EP4082728A3 (en) * | 2021-04-09 | 2023-02-22 | STILL GmbH | Mobile picking robot |
-
2019
- 2019-12-26 CN CN201911371324.5A patent/CN111015624A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421505A (en) * | 2020-05-21 | 2020-07-17 | 广东电网有限责任公司东莞供电局 | Manipulator capable of screwing bolt |
| CN111421505B (en) * | 2020-05-21 | 2021-04-27 | 广东电网有限责任公司东莞供电局 | Manipulator capable of screwing bolt |
| EP4082728A3 (en) * | 2021-04-09 | 2023-02-22 | STILL GmbH | Mobile picking robot |
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