CN205552540U - Both arms work robot - Google Patents
Both arms work robot Download PDFInfo
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- CN205552540U CN205552540U CN201620334928.8U CN201620334928U CN205552540U CN 205552540 U CN205552540 U CN 205552540U CN 201620334928 U CN201620334928 U CN 201620334928U CN 205552540 U CN205552540 U CN 205552540U
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Abstract
The utility model relates to a both arms work robot. Both arms work robot, including two robotic arm, each robotic arm all includes the arm and sets up the terminal manipulator of execution at the arm, the manipulator has the clamping jaw, two the manipulator has in opposite directions to closing so that the common bearing of the clamping jaw of two manipulators is snatched the position of object under the drive of arm separately. Consequently, to shape, size or material special object or the unsuitable object that presss from both sides tight mode and pick that adopts, both arms work robot can rely on the common bearing of clamping jaw of two manipulators to be picked the object through the cooperation of two manipulators, avoids leading to the fact the damage maybe can't pick to the object, has enlarged the range of application of robot, adapts to special operation demand.
Description
Technical field
This utility model relates to both arms Work robot.
Background technology
Development along with science and technology, robot is obtained for extensively application in many fields, such as machine-building, electronic technology, agricultural are plucked, are torn quick-fried operation etc. open, the control of robot motion is realized, it is achieved be difficult to rely on manpower to complete or need the work that a large amount of manpower just can complete by sensor, photographic head and control device.
At present, field is plucked in agricultural, major part machine artificially only has the one armed robot of a mechanical arm, mechanical arm includes mechanical arm and is arranged on the mechanical hand performing end of mechanical arm, mechanical hand uses corresponding mechanism to obtain required degree of freedom, to realize mechanical hand drives the position needed.Mechanical hand typically uses the form of jaw, and during use, mechanical hand is moved to correct position in the drive of mechanical arm, and then jaw contractive action realizes fruit, the crawl of vegetable.Owing to some crops has more branch and leaf, the artificial tow-armed robot of some machine, such as Application No. 201310454257.X, Authorization Notice No. is CN 103503639A, authorized announcement date is that a kind of both arms fruit and vegerable disclosed in the Chinese patent of 2016.01.27 are gathered robot system, it includes two mechanical arms, based on binocular vision, two mechanical arms are controlled, it is capable of collaborative gathering, one mechanical arm is responsible for pushing branch and leaf aside and is blocked, another mechanical arm is responsible for picking fruit under unobstructed situation, working performance can be further improved than artificial and the single armed fruit and vegerable robot that gathers, reduce labor intensity, reduce operating cost, promote economic benefit.
But, existing machine uses single mechanical hand to realize the crawl to object by clamping mode per capita, it is limited to the factors such as the shape of mechanical hand upper gripper jaw, size and action, the object that some shapes, size or material are special cannot be captured by existing machinery arm, and, some article are not suitable for using the mode of clamping to capture, such as to the higher vegetable of quality or fruit, the top layer using the mode of clamping to capture causing veterinary antibiotics is impaired, it is likely to cause fruit and vegerable cracking or drop from mechanical hand, have impact on the range of application of robot.
Utility model content
The purpose of this utility model is to provide a kind of both arms Work robot, the problem narrow to solve existing tow-armed robot range of application.
For achieving the above object, this utility model the technical scheme is that both arms Work robot, including two mechanical arms, each mechanical arm all includes mechanical arm and is arranged on the mechanical hand performing end of mechanical arm, described mechanical hand has jaw, and two described mechanical hands have the most involutory so that the crawl position of the crawled object of the common support of the jaw of two mechanical hands under the drive of respective mechanical arm.
Described mechanical hand includes that jaw matrix, described jaw are provided with more than 3, and each jaw is uniformly distributed along the circumference on jaw matrix.
On described jaw matrix, the palm of the hand position in mechanical hand is provided with infrared camera, infrared camera consistent towards the overhanging direction with jaw.
Described mechanical arm includes the underarm being connected with mechanical hand and the upper arm being connected with underarm, described upper arm is connected in mechanical arm mounting seat, described mechanical arm mounting seat is provided with pivot center the first steering wheel in the horizontal direction, it is connected the second steering wheel having for driving upper arm swing between outlet side and the upper end of upper arm of the first steering wheel, is connected between the lower end of upper arm and underarm and has for making the underarm the 3rd steering wheel relative to upper arm swing.
The 4th steering wheel having for driving jaw action it is connected between described jaw with jaw matrix.
Two mechanical arms are symmetrically arranged in mechanical arm mounting seat.
The leading flank of described mechanical arm mounting seat is provided with infrared camera.
Described mechanical arm mounting seat 360 degree is rotatably assembled on base.
The front side of described base and the side of the left and right sides are provided with supersonic sounding device.
Described both arms Work robot uses cterpillar drive, cterpillar drive includes the main crawler belt being arranged on the left and right sides, robot chassis, be respectively provided on two sides with before and after each main crawler belt leading crawler belt and after lead crawler belt, described leading crawler belt and after lead crawler belt and be connected to two ends before and after chassis by single rotary shaft respectively.
This utility model uses technique scheme, two described mechanical hands have the most involutory so that the crawl position of the crawled object of the common support of the jaw of two mechanical hands under the drive of respective mechanical arm, therefore, the object special for shape, size or material or be not suitable for using the object that captures of mode of clamping, both arms Work robot can be by the cooperation of two mechanical hands, rely on the jaw crawled object of common support of two mechanical hands, avoid object causes damage maybe cannot capture, expand the range of application of robot, adapt to special job requirements.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of both arms Work robot；
Tu2Shi Tu1Zhong robot chassis and the structural representation of mechanical arm mounting seat；
Fig. 3 is the structural representation of robotic manipulator in Fig. 1；
The control block diagram of Tu4Shi Tu1Zhong robot.
Corresponding entitled of each reference in figure: 10-robot chassis, 20-runing rest, 21-Nogata body fixed part, rotary shaft in the middle of 22-, 23-U shape support, 30-supersonic sounding device, the main crawler belt of 41-, the leading crawler belt of 42-, lead crawler belt after 43-, 50-mechanical arm mounting seat, infrared camera before 51-, 60-mechanical arm, 61-mechanical arm, 62-mechanical hand, 63-jaw matrix, 64-jaw, 65-jaw photographic head, 70-receives advertiser.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is described further.
Implement such as shown in Fig. 1 ~ Fig. 4 for one of the present utility model, it it is a kind of both arms of based on binocular vision intelligent operations robot, including robot chassis 10, mechanical arm 60, the runing rest 20 being connected between robot chassis 10 and mechanical arm 60, binocular vision control system, it is possible to rely on binocular to control to provide the control realized robot motion.
Robot chassis 10 uses overall chassis structure, it is possible to ensure the balance of both arms intelligent operations robot.The left and right sides on robot chassis 10 arranges cterpillar drive, and cterpillar drive includes the main crawler belt 41 being arranged on the left and right sides, robot chassis 10, be respectively provided on two sides with before and after each main crawler belt 41 leading crawler belt 42 and after lead crawler belt 43.Main crawler belt 41 is driven by motor, it is achieved the advance of fuselage and retrogressing.Leading crawler belt 42 and after lead crawler belt 43 and be connected to two ends before and after robot chassis 10 by the most single rotary shaft respectively, can with leading crawler belt 42, after to lead crawler belt 43 respectively shape at a certain angle, during obstacle detouring, three can cooperate, it is greatly improved both arms intelligent operation robot equilibrant and earth-grasping force, complete the operation of complex ground, adapt to particular job environment that the gradient is higher, physical features is complex.
Runing rest 20 includes Nogata body fixed part 21, middle rotary shaft 22, U-bracket 23.Nogata body fixed part 21 bottom is fixed on top, robot chassis 10, and top rotates rotary shaft 22 in the middle of assembling.The bottom of U-bracket 23 is fixed on the upper end of middle rotary shaft 22, and supported on both sides arranges mechanical arm mounting seat 50, and mechanical arm mounting seat 50 rotates along horizontal axis and is assemblied on U-bracket 23.Can be possessed the work visual field of 360 ° by rotary shaft 22 in the middle of utilizing as waist rotational structure, mechanical arm mounting seat 50 and mechanical arm 60, be no longer rely on traditional fuselage and rotate the conversion realizing the work visual field, possess higher motility.
The front side of Nogata body fixed part 21 and the side of the left and right sides are provided with supersonic sounding device 30, it is possible to realize automatically moving of fuselage in automatic mode.The leading flank of mechanical arm mounting seat 50 is provided with front infrared camera 51, it is possible to practical situation is observed by person convenient to operate.Above-mentioned Nogata body fixed part 21 is high-strength metal material hollow body, internal places power supply, realizes self function for both arms intelligent operations robot and provides power resources；It addition, the control core device of both arms intelligent operations robot is also placed in this.
Mechanical arm 60 is symmetrically arranged in mechanical arm mounting seat 50, and each mechanical arm 60 is all included the mechanical arm 61 being connected by steering wheel with mechanical arm mounting seat 50 and is arranged on mechanical arm 61 and performs the mechanical hand 62 of end.Mechanical arm 61 is capable of six degree of freedom work, and concrete employing two-part structure, including the underarm being connected with mechanical hand 62 and the upper arm being connected with underarm, upper arm is first paragraph, and underarm is second segment.Mechanical arm mounting seat is provided with pivot center the first steering wheel in the horizontal direction, the second steering wheel having for driving upper arm swing it is connected between outlet side and the upper end of upper arm of the first steering wheel, being connected between the lower end of upper arm and underarm and have for making the underarm the 3rd steering wheel relative to upper arm swing, jaw is to be connected the 4th steering wheel having for driving jaw action between jaw matrix.Mechanical hand 62 is the mechanical hand that can grasp, i.e. can clamp and release the mechanical hand of object, it is five fingers, including jaw 64 matrix 63 and five jaws 64 being uniformly distributed along the circumference on jaw matrix 63,4th steering wheel controls the action of mechanical hand 62 by frame for movement, by the gear transmission structure rotating driving mechanical hands of the 4th steering wheel rotating disk, it is achieved the crawl of mechanical hand 62 and release movement.In order to improve operating accuracy, object is preferably avoided to be crushed, on jaw matrix 63, the palm of the hand position in mechanical hand 62 is provided with jaw photographic head 65, jaw photographic head 65 is infrared camera, consistent towards the overhanging direction with jaw 64, the practical situation of pending object can be real-time monitored, it is simple to operator continues sending of lower step command.
On robot chassis 10, dead astern in Nogata body fixed part 21 is additionally provided with the reception advertiser 70 of binocular vision, is used for transmitting remote signal.
During work, robot can use automatic mode or the work of manual remote control pattern.
Automatic mode: supersonic sounding device 30 utilizes self-characteristic to remove the obstacle information around perception, goes to detect preceding object principle condition according to the sequencing of order, the first ultrasonic unit of front side, when front clear, keeps forward travel state.When barrier is detected in front, whether left side ultrasonic unit detection left has barrier, and when clear, fuselage turns left.When there being barrier, right-side ultrasonic-wave detection device 30 detects whether right has barrier, and when clear, fuselage is turned right, and when there being barrier, fuselage turns around to turn round.
Manual remote control pattern: the video information monitored according to the front infrared camera 51 of the center being arranged on mechanical arm mounting seat 50, the video information monitored in conjunction with jaw photographic head 65, the artificial control command that sends goes the action of fuselage.
Above-mentioned robot is not only used in agricultural harvesting aspect, under dangerous working environment and in terms of other scientific domains, also can embody its purposes.
In the above-described embodiments, mechanical hand is capturing position and the motion of release position by the mechanical arm of two-part, and two mechanical arms are to be symmetrical set in mechanical arm mounting seat, and jaw uses five claw structures.In other embodiments of the present utility model, drive the mechanical arm of robot movement that other can also be used to be capable of two robot movements form to crawl position, such as connecting rod form；And two mechanical arms can also use unsymmetric structure to arrange.Additionally, in other embodiments, jaw can also replace with other forms, as long as can support is crawled jointly object when being in and capturing position, the quantity of the jaw of each mechanical hand can be two, three, four or more than six, each jaw can also be fixed relative to one another, does not the most have grip function.
Claims (10)
1. both arms Work robot, including two mechanical arms, each mechanical arm all includes mechanical arm and is arranged on the mechanical hand performing end of mechanical arm, described mechanical hand has jaw, it is characterised in that: two described mechanical hands have the most involutory so that the crawl position of the crawled object of the common support of the jaw of two mechanical hands under the drive of respective mechanical arm.
Both arms Work robot the most according to claim 1, it is characterised in that: described mechanical hand includes that jaw matrix, described jaw are provided with more than 3, and each jaw is uniformly distributed along the circumference on jaw matrix.
Both arms Work robot the most according to claim 2, it is characterised in that: on described jaw matrix, the palm of the hand position in mechanical hand is provided with infrared camera, infrared camera consistent towards the overhanging direction with jaw.
4. according to the both arms Work robot described in claim 1 or 2 or 3, it is characterized in that: described mechanical arm includes the underarm being connected with mechanical hand and the upper arm being connected with underarm, described upper arm is connected in mechanical arm mounting seat, described mechanical arm mounting seat is provided with pivot center the first steering wheel in the horizontal direction, it is connected the second steering wheel having for driving upper arm swing between outlet side and the upper end of upper arm of the first steering wheel, is connected between the lower end of upper arm and underarm and has for making the underarm the 3rd steering wheel relative to upper arm swing.
Both arms Work robot the most according to claim 4, it is characterised in that: it is connected the 4th steering wheel having for driving jaw action between described jaw with jaw matrix.
Both arms Work robot the most according to claim 4, it is characterised in that: two mechanical arms are symmetrically arranged in mechanical arm mounting seat.
Both arms Work robot the most according to claim 6, it is characterised in that: the leading flank of described mechanical arm mounting seat is provided with infrared camera.
Both arms Work robot the most according to claim 4, it is characterised in that: described mechanical arm mounting seat 360 degree is rotatably assembled on base.
Both arms Work robot the most according to claim 8, it is characterised in that: the front side of described base and the side of the left and right sides are provided with supersonic sounding device.
10. according to the both arms Work robot described in claim 1 or 2 or 3, it is characterized in that: described both arms Work robot uses cterpillar drive, cterpillar drive includes the main crawler belt being arranged on the left and right sides, robot chassis, be respectively provided on two sides with before and after each main crawler belt leading crawler belt and after lead crawler belt, described leading crawler belt and after lead crawler belt and be connected to two ends before and after chassis by single rotary shaft respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620334928.8U CN205552540U (en) | 2016-04-20 | 2016-04-20 | Both arms work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620334928.8U CN205552540U (en) | 2016-04-20 | 2016-04-20 | Both arms work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205552540U true CN205552540U (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620334928.8U Expired - Fee Related CN205552540U (en) | 2016-04-20 | 2016-04-20 | Both arms work robot |
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| CN (1) | CN205552540U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322607A (en) * | 2017-07-14 | 2017-11-07 | 河南科技学院 | A kind of watermelon picking robot |
| CN108408395A (en) * | 2018-03-05 | 2018-08-17 | 江南大学 | A kind of movable type asymmetric both arms cooperation robot |
| CN108436883A (en) * | 2018-04-20 | 2018-08-24 | 江苏省原子医学研究所 | A kind of isotope labeling robot |
| CN108436948A (en) * | 2018-06-27 | 2018-08-24 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of service robot |
| CN108583710A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of mobile underpan structure |
| CN108656076A (en) * | 2018-06-22 | 2018-10-16 | 佛山科易自动化科技有限公司 | One kind can transport object robot |
| CN110075332A (en) * | 2019-05-13 | 2019-08-02 | 刘峰 | A kind of hospital automation sterilizing equipment decontaminating apparatus |
| CN112549044A (en) * | 2020-12-01 | 2021-03-26 | 深圳市智美高科技有限公司 | Robot for dangerous environment of urban power grid tunnel |
-
2016
- 2016-04-20 CN CN201620334928.8U patent/CN205552540U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322607A (en) * | 2017-07-14 | 2017-11-07 | 河南科技学院 | A kind of watermelon picking robot |
| CN108408395A (en) * | 2018-03-05 | 2018-08-17 | 江南大学 | A kind of movable type asymmetric both arms cooperation robot |
| CN108408395B (en) * | 2018-03-05 | 2023-07-11 | 江南大学 | Movable asymmetric double-arm cooperative robot |
| CN108436883A (en) * | 2018-04-20 | 2018-08-24 | 江苏省原子医学研究所 | A kind of isotope labeling robot |
| CN108436883B (en) * | 2018-04-20 | 2024-01-02 | 江苏省原子医学研究所 | Nuclide labeling robot |
| CN108656076A (en) * | 2018-06-22 | 2018-10-16 | 佛山科易自动化科技有限公司 | One kind can transport object robot |
| CN108436948A (en) * | 2018-06-27 | 2018-08-24 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of service robot |
| CN108583710A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of mobile underpan structure |
| CN110075332A (en) * | 2019-05-13 | 2019-08-02 | 刘峰 | A kind of hospital automation sterilizing equipment decontaminating apparatus |
| CN112549044A (en) * | 2020-12-01 | 2021-03-26 | 深圳市智美高科技有限公司 | Robot for dangerous environment of urban power grid tunnel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160907 Termination date: 20170420 |