CN210551176U

CN210551176U - Redundant double-arm cooperative robot

Info

Publication number: CN210551176U
Application number: CN201921163770.2U
Authority: CN
Inventors: 杜宇; 刘冬
Original assignee: Dalian Dahuazhongtian Technology Co ltd
Current assignee: Dalian Dahuazhongtian Technology Co ltd
Priority date: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-05-19
Anticipated expiration: 2029-07-23

Abstract

The utility model discloses a redundant both arms cooperative robot belongs to the intelligent robot field. The robot comprises a two-degree-of-freedom holder, a seven-degree-of-freedom mechanical left arm, a seven-degree-of-freedom mechanical right arm, a waist rotating unit, an omnidirectional moving chassis, an upper rotating part supporting device and an upper electric installation box. The left arm and the right arm are identical in structure, each arm has seven degrees of freedom, the overall size of the robot is slightly smaller than that of an adult, and the whole body has 20 degrees of freedom. The utility model, on the basis of the traditional robot, enlarges the moving range of the robot and the working space of the cooperation of the two arms by reasonably designing the omnidirectional moving chassis and reasonably arranging the waist rotating unit; the utility model discloses based on stricter modularization design thought, each constitutes the module relatively independent, and processing and assembly are succinct more.

Description

Redundant double-arm cooperative robot

Technical Field

The utility model belongs to intelligent robot field, concretely relates to redundant both arms cooperative robot.

Background

With the annual decline of the number of working population in China since 2012, the increase of productivity can be realized only by continuously improving the per-capita productivity, and the purpose can be achieved by fully utilizing the substitution of the robot for part of human labor, so that the robot has great practical significance for the research. Although a single-arm industrial robot has been well developed and applied in China to operations such as casting, welding, spraying, stacking and the like, in some application occasions requiring precision assembly and fine operation, the traditional industrial robot is difficult to realize precision assembly through cooperation. Compared with a single-arm robot, the double-arm robot is more flexible, has more degrees of freedom, wider applicability and higher reliability, and is more suitable for complex and changeable working environments and complicated operation tasks. While the application of a two-armed robot in the service area can alleviate the stress created by the lack of labor. Because both arms robot is similar with human both arms, so can be fine simulation human action, for the human is served, if be applied to market and science and technology hall etc. and carry out the interdynamic with the human, can regard as the "nurse assistant" of hospital, also can regard as waiter etc. of family to solve the old person or various inconveniences in the disabled person's life and realize holding tea and pouring water. Therefore, in order to expand the range of motion of the robot, the dual-arm robot should have a flexible moving mechanism, which can move to the required places at any time, including some places and corners that are difficult to reach for ordinary people, to complete the preset designated work of people or intelligent systems.

In order to solve the problem that the traditional robot is not enough in flexibility, a mechanical arm with redundant degrees of freedom is provided in the 80-90 s of the last century, and compared with the traditional mechanical arm, the redundant degree of freedom mechanical arm has more flexible action due to the increase of the degrees of freedom. Meanwhile, the mechanical arm is based on the idea of imitating human hands, all degrees of freedom of the human arm are achieved as much as possible, the intimacy of the human arm is increased, and therefore the motion control of the mechanical arm is more complex. The general robot has single function, small working range and space and relatively high price, and is difficult to popularize on a large scale.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the function singleness that prior art exists, workspace is little, the price is expensive, the utility model provides a redundant both arms cooperative robot.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

a redundant two-arm cooperative robot comprises a two-degree-of-freedom cloud deck 6, a seven-degree-of-freedom mechanical left arm 5, a seven-degree-of-freedom mechanical right arm 7, a waist rotating unit 2, an omnidirectional moving chassis 1, an upper rotating part supporting device 3 and an upper electrical installation box 4; the omnidirectional moving chassis 1 is used for moving the robot in a working area; the waist rotating unit 2 is arranged on the omnidirectional moving chassis 1 to realize the rotation of +/-90 degrees in the horizontal plane; the photoelectric limit switch is arranged in the rotation direction of the waist, so that the upper rotating part supporting device 3 carrying the seven-degree-of-freedom mechanical left arm 5, the seven-degree-of-freedom mechanical right arm 7 and the two-degree-of-freedom tripod head 6 can change the working direction of the fixed station. The upper rotation part supporting means 3 is installed above the lumbar rotation unit 2. The seven-degree-of-freedom mechanical left arm 5 and the seven-degree-of-freedom mechanical right arm 7 are symmetrically arranged on two sides of the upper rotating part supporting device 3, the seven-degree-of-freedom mechanical left arm 5 and the seven-degree-of-freedom mechanical right arm 7 are respectively provided with seven degrees of freedom, and seven integrated joints are fixed by the connecting device. The two-degree-of-freedom cradle head 6 is arranged on the upper side of the upper rotating part supporting device 3, the two-degree-of-freedom cradle head 6 has freedom degrees in two directions of horizontal rotation and pitching by adopting a driving mode of direct connection of a motor, wherein the rotation angle in the horizontal direction can reach +/-90 degrees, and the rotation angle in the pitching direction can reach +/-60 degrees. Photoelectric limit switches are arranged in the horizontal direction and the pitching direction and are fixed above the upper rotating part supporting device 3, and a visual sensor is carried on the two-degree-of-freedom cradle head 6. The upper-layer electrical mounting box 4 is fixed to the back surface of the upper-layer rotating portion supporting device 3, and is used for carrying an electrical device. Under the control of the control system, the redundant two-arm cooperative robot is moved with 20 degrees of freedom.

The omnidirectional moving chassis 1 comprises an upper layer mounting plate 101, a middle layer mounting plate 104, a lower layer mounting plate 126, an upper supporting profile 102, a lower supporting profile 113, a power management system 103, a 48V battery pressing plate 105, a 48V battery 106, a tail supporting profile 107, a tail supporting plate 108, a switch box 109, an industrial personal computer 110, an industrial personal computer clamping 111, an industrial personal computer supporting plate 112, a laser radar supporting plate 114, a laser radar 115, a chassis motor driving box 116, an inertia measuring unit supporting 123, an inertia measuring unit 124, a 24V battery 125, a 24V battery clamping 127, a motor wheel set, a chassis motor driving supporting plate 128 and a chassis motor driving 129. The upper mounting plate 101, the middle mounting plate 104, the lower mounting plate 126, the upper support profile 102, the industrial personal computer support plate 112, the lower support profile 113, the tail support profile 107 and the tail support plate 108 jointly form a main body support structure of the omnidirectional moving chassis 1; the upper layer mounting plate 101 and the middle layer mounting plate 104 are connected through an upper supporting section bar 102, and the middle layer mounting plate 104 and the lower layer mounting plate 126 are connected through a lower supporting section bar 113. The chassis motor drive 129 is used for driving a motor wheel set and is arranged in the chassis motor drive box 116 through a chassis motor drive support plate 128; the chassis motor driving box 116 is arranged on a lower layer mounting plate (126); the motor wheel sets are four in number and symmetrically distributed around the lower mounting plate 126 in the front-back direction, and each motor wheel set comprises a bottom, a chassis driving motor 117, a chassis coupling 120, a chassis bearing with a seat 118, a chassis motor connecting shaft 119, a chassis motor supporting seat 121 and 45-degree Mecanum wheels 122. The chassis driving motor 117 is fixed on the lower mounting plate 126 through a chassis motor support seat 121, the chassis motor connecting shaft 119 is fixed on the lower mounting plate 126 through a chassis base bearing 118, and the chassis base bearing 118 is used for supporting the rotation of the chassis motor connecting shaft 119; one end of the chassis motor connecting shaft 119 is connected with a rotating shaft of the chassis driving motor 117, the other end of the chassis motor connecting shaft is provided with 45-degree Mecanum wheels 122, and the four groups of motor wheel sets realize the omnidirectional movement of the robot through kinematics control; the laser radar 115 is arranged in front of the lower mounting plate 126 through a laser radar supporting plate 114, and the 24V battery 125 is arranged in the middle of the lower mounting plate 126 through a 24V battery clamp 127 and used for supplying power to the omnidirectional moving chassis 1; the inertia measurement unit 124 is arranged on the upper side of a 24V battery 125 through an inertia measurement unit support 123, and the tripod head 6, the seven-degree-of-freedom mechanical left arm 5, the seven-degree-of-freedom mechanical right arm 7 and the waist rotation unit 2 are powered.

The waist rotating unit 2 comprises an upper bearing pressing plate 201, a waist bearing seat 202, a waist bearing 216, a waist rotating main shaft 217, a rubber baffle a218, a waist rotating limit 219, a lower bearing pressing plate 220 and a secondary planetary reducer. The waist bearing block 202 is fixedly arranged on the upper side of the upper mounting plate 101 through screws; the waist bearing 216 is arranged in the waist bearing seat 202, the upper part compresses the outer ring of the waist bearing 216 through the bearing upper compression plate 201, and the lower part compresses the inner ring of the waist bearing 216 through the bearing lower compression plate 220 fixed on the waist rotating main shaft 217; a waist rotating main shaft 217 is arranged on the inner ring of the waist bearing 216, and the waist bearing 216 is used for supporting the rotation of the waist rotating main shaft 217; the secondary planetary reducer comprises a key-free synchronous pulley 203, a right connecting plate 204, a lower connecting plate 205, a driving shaft sleeve 206, a tightening sliding plate 207, a tightening stud fixing seat 208, a tightening stud 209, an idler wheel fixing shaft 210, an idler wheel 211, a stepping motor 212, a stepping motor mounting seat 213, a synchronous pulley 214, a left connecting plate 215 and a synchronous belt 221; the stepping motor 212 is arranged on the lower side of the lower connecting plate 205 through a stepping motor mounting seat 213, and a rotating shaft of the stepping motor 212 penetrates through a rotating shaft hole in the stepping motor mounting seat 213; the key-free synchronous pulley 203 is arranged on a rotating shaft of the stepping motor 212 through a driving shaft sleeve 206, and the driving shaft sleeve 206 is used for axially positioning the key-free synchronous pulley 203; the synchronous belt pulley 214 is arranged on the waist rotating main shaft 217; the key-free synchronous pulley 203 and the synchronous pulley 214 are driven by a synchronous belt 221; the jacking sliding plate 207 is arranged at a through hole of the lower connecting plate 205, the mounting position of the jacking sliding plate on the lower connecting plate 205 is adjustable, one end of the idler wheel fixing shaft 210 is suspended, the other end of the idler wheel fixing shaft is fixedly arranged on the jacking sliding plate 207, the jacking stud fixing seat 208 is arranged at the lower part of the jacking sliding plate 207 and is used for mounting a jacking stud 209, the jacking stud 209 is screwed into the jacking sliding plate 207 inwards through the jacking stud fixing seat 208, and at the moment, the idler wheel fixing shaft 210 arranged on the jacking sliding plate 207 is jacked; the idler wheel 211 is mounted on the idler wheel fixing shaft 210 and used for applying pressure to the synchronous belt 221, and the problem that the upper part and the lower part are difficult to internally route is solved through the matching of synchronous belt transmission and the hollow rotating main shaft. The lower connecting plate 205 is mounted on the lower side of the upper mounting plate 101 via the right connecting plate 204 and the left connecting plate 215. The waist rotation limit 219 is mounted on the upper side of the upper mounting plate 101 and used for limiting the rotation angle of the waist rotation unit 2; the rubber baffle sheet a218 is arranged on the waist rotation limit 219 and plays a role in buffering protection;

the upper rotating part supporting means 3 comprises a lower mounting plate 301, a robot arm support profile 302 and a robot arm mounting plate 303. The lower mounting plate 301 is mounted on the waist rotating main shaft 217; the mechanical arm support profile 302 is mounted on the lower mounting plate 301; the number of the mechanical arm mounting plates 303 is two, and the two mechanical arm mounting plates are symmetrically mounted on the side surface of the mechanical arm supporting section bar 302 and used for mounting mechanical arms.

The seven-degree-of-freedom mechanical left arm 5 and the seven-degree-of-freedom mechanical right arm 7 are identical in structure and are respectively mounted on the mechanical arm mounting plate 303. The seven-degree-of-freedom mechanical left arm 5 comprises a servo driver mounting plate 514, a joint I501, a joint II 504, a joint I and joint II connecting piece 502, a joint I and joint II connecting plate 503, a joint III 507, a joint II and joint III connecting piece 505, a joint II and joint III connecting plate 506, a joint IV 510, a joint III and joint IV connecting piece 508, a joint III and joint IV connecting plate 509, a joint V512, a joint IV and joint V connecting piece 511, a joint IV and joint V connecting plate 520, a joint VI 517, a joint V and joint VI connecting piece 513, a joint V and joint VI connecting plate 521, a joint VII 519, a joint VI and joint VII connecting piece 515 and a joint VI and joint VII connecting plate 518. The output end of the first joint 501 is fixedly connected with a first joint and a second joint connecting piece 502, and a first joint and second joint connecting plate 503 is vertically arranged on the first joint connecting piece 502; the second joint 504 is arranged on a connecting plate 503 of the first joint and the second joint, a connecting piece 505 of the second joint and the third joint is arranged at the output end of the second joint 504, and the connecting plate 506 of the second joint and the third joint is vertically arranged on the connecting piece 505 of the second joint and the third joint; the third joint 507 is arranged on a second joint and third joint connecting plate 506, the third joint and fourth joint connecting plate 508 is arranged at the output end of the third joint 507, and the third joint and fourth joint connecting plate 509 is vertically arranged on the third joint and fourth joint connecting plate 508; the fourth joint 510 is arranged on a connecting plate 509 of the third joint and the fourth joint, a connecting piece 511 of the fourth joint and the fifth joint is arranged at the output end of the fourth joint 510, and the connecting plate 520 of the fourth joint and the fifth joint is vertically arranged on the connecting piece 511 of the fourth joint and the fifth joint; the joint V512 is arranged on a connecting plate 520 of the joint IV and the joint V, the connecting member 513 of the joint V and the joint VI is arranged at the output end of the joint V512, and the connecting plate 521 of the joint V and the joint VI is vertically arranged on the connecting member 513 of the joint V and the joint VI; the VI joint 517 is arranged on a connecting plate 521 of the V joint and the VI joint, the connecting plate 515 of the VI joint and the VII joint is arranged at the output end of the VI joint 517, and the connecting plate 518 of the VI joint and the VII joint is arranged on the connecting plate 515 of the VI joint and the VII joint; the VII-th joint 519 is mounted on the VI-th joint and VII-th joint connecting plate 518; the servo driver mounting plate 514 is arranged on the VI joint and VII joint connecting piece 515 and is used for mounting a servo driver;

the two-degree-of-freedom pan/tilt head 6 comprises a horizontal rotation driving motor 601, a horizontal limit photoelectric switch 602, a pan/tilt support base 603, a pan/tilt rotation bearing seat 604, a pan/tilt rotation bearing 605, a pan/tilt horizontal rotation limit 606, a rubber baffle b607, a pan/tilt rotation main shaft 608, a pan/tilt limit 609, a camera platform support left arm 610, a belt seat bearing 611, a dummy shaft 612, a camera platform 613, a rotation platform 614, a camera platform support right arm 615, a shaft end gasket 616, a horizontal rotation baffle 617, a motor driving box 618, a motor driving 619, a pan/tilt controller 620, a pan/tilt supporting plate 621, a pitch rotation driving motor 622, and a pitch limit photoelectric switch 623. The holder support plate 621 is installed on the upper side of the upper rotating part support device 3; the holder support base 603 is mounted on the upper side of the holder support plate 621; the horizontal rotation driving motor 601 is installed at the lower side of the holder supporting plate 621, and a rotating shaft of the horizontal rotation driving motor 601 penetrates through the holder supporting plate 621 and the holder supporting base 603; the horizontal limit photoelectric switch 602 is installed on the holder support plate 621, and the absolute position of the horizontal rotation degree of freedom is determined through the horizontal rotation stop post 617; the holder rotating bearing pedestal 604 is arranged on the upper side of the holder supporting base 603; the pan/tilt/swivel bearing 605 is installed in the pan/tilt/swivel bearing seat 604 and is used for supporting the rotation of the pan/tilt/swivel spindle 608; the holder rotating main shaft 608 is installed on an inner ring of the holder rotating bearing 605 and is connected with a rotating shaft of the horizontal rotation driving motor 601; the holder horizontal rotation limit 606 is installed on the holder support plate 621 and is used for limiting the rotation angle of the two-degree-of-freedom holder 6 in the horizontal plane; the rubber baffle b607 is arranged on the horizontal rotation limit 606 of the holder and plays a role in buffering protection; the rotating platform 614 is installed on the installation surface of the holder rotating main shaft 608 and can rotate in the horizontal plane along with the holder rotating main shaft 608, and a through hole and a U-shaped groove are respectively formed at the left vertical end and the right vertical end of the rotating platform 614; the pitching rotation driving motor 622 is fixedly arranged at the inner side of the vertical end of the rotating platform 614 provided with the same hole, the axis of the rotating shaft of the pitching rotation driving motor 622 is overlapped with the axis of the through hole, and the rotating shaft of the pitching rotation driving motor 622 penetrates through the U-shaped groove at the other vertical end; the shaft end gasket 616 is arranged at the vertical end of the rotating platform 614 with a U-shaped groove and is used for supporting the rotating platform 614 to rotate; the bearing with a seat 611 is arranged at the vertical end of the rotating platform 614 provided with a through hole; in the dummy shaft 612 with the bearing 611, the axis of the dummy shaft 612 is coincident with the axis of the through hole; the camera platform support left arm 610 is mounted on a dummy shaft 612; the camera platform support right arm 615 is mounted on the shaft of the pitch rotation drive motor 622; the two ends of the camera platform 613 are respectively installed on the camera platform support left arm 610 and the camera platform support right arm 615, and can rotate under the driving of the pitching rotation driving motor 622; the holder pitch limit 609 is arranged outside the vertical end of the rotating platform 614 with a through hole and is used for limiting the rotation angle of the two-degree-of-freedom holder 6 in the vertical plane; the motor drive 619 and the pan/tilt controller 620 are mounted on the pan/tilt support plate 621 and are used for driving and controlling the two-degree-of-freedom pan/tilt 6; the motor driving box 618 is installed on the cradle head supporting plate 621, above the motor driving 619 and the cradle head controller 620, and is used for protecting the motor driving 619 and the cradle head controller 620; the pitching limiting photoelectric switch 623 is mounted on the side surface of the rotating platform 614, so that the absolute position of the pitching freedom degree is determined.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) in the design process of the redundant double-arm cooperative robot mobile chassis, four omnidirectional wheels of 45 degrees are uniformly and symmetrically distributed around the redundant double-arm cooperative robot mobile chassis, omnidirectional movement is realized through a motion control algorithm, and compared with a differential mobile chassis, the omni-directional mobile chassis is small in turning radius and flexible in multi-degree-of-freedom movement, and compared with a three-wheel omni-directional mobile chassis, the omni-directional mobile chassis is large in load and high in chassis space utilization rate.

(2) The robot has the advantages that the seven-degree-of-freedom double arms are designed, the robot is matched with the waist rotating unit and the moving chassis for movement, working space of the robot is enhanced, the waist rotating unit is driven by the synchronous belts, noise during working is reduced, meanwhile, due to the hollow design of the rotating main shaft, internal wiring is facilitated, and integration level is high.

(3) In the design process of the redundant double-arm cooperative robot, the modularization idea is widely used, firstly, the mechanical arm is designed by using the modularization joint, secondly, the modularization design is used in the aspect of control system design, each module independently becomes a system and can be independently controlled, the design enables the processing, the assembly and the maintenance to be more convenient, and the stability of the robot is higher.

Drawings

Fig. 1 is an overall configuration diagram of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 2 is an overall structural view of an omnidirectional mobile chassis of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 3 is a structural diagram of an arrangement form of lower supporting plates of an omnidirectional moving chassis of a redundant double-arm cooperative robot used in an example of the present invention.

Fig. 4 is an overall structural view of a waist rotating unit of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 5 is an exploded view of a waist rotating unit of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 6 is an exploded view of a waist rotation unit rotating base of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 7 is a diagram of a seven-degree-of-freedom mechanical left arm structure of a redundant two-arm cooperative robot used in an example of the present invention.

Fig. 8 is an exploded view of a two-degree-of-freedom pan-tilt head of a redundant two-arm cooperative robot used in an example of the present invention.

In fig. 1: an omnidirectional mobile chassis 1; a lumbar rotating unit 2; the upper rotating part supporting means 3; an upper electrical mounting box 4; a seven degree of freedom mechanical left arm 5; a two-degree-of-freedom pan-tilt 6; a seven degree of freedom mechanical right arm 7; a lower mounting plate 301; arm support section 302; a mechanical arm mounting plate 303;

in fig. 2 and 3: an upper-layer mounting board 101; a middle layer mounting plate 104; a lower mounting plate 126; an upper support profile 102; a lower support profile 113; a power management system 103; a 48V cell press plate 105; a 48V battery 106; a tail support profile 107; a tail support plate 108; a switch box 109; an industrial personal computer 110; the industrial personal computer clamps 111; an industrial personal computer support plate 112; a lidar support plate 114; a laser radar 115; a chassis motor driving box 116; a chassis drive motor 117; a chassis coupling 120; chassis pedestal bearings 118; a chassis motor connecting shaft 119; a chassis motor support base 121; 45-degree mecanum wheels 122; an inertial measurement unit support 123; an inertial measurement unit 124; a 24V battery 125; a 24V battery clamp 127; chassis motor drive support plate 128; chassis motor drive 129;

in fig. 5 and 6: a bearing upper pressure plate 201; a lumbar bearing mount 202; a key-free timing pulley 203; a right side connecting plate 204; a lower connecting plate 205; a drive shaft sleeve 206; a jacking sliding plate 207; tightly propping the stud fixing seat 208; tightening the stud 209; idler shaft 210; an idler pulley 211; a stepping motor 212; a stepping motor mount 213; a timing pulley 214; a left connecting plate 215; a lumbar bearing 216; a waist rotation shaft 217; a rubber stopper a 218; a waist rotation limit 219; a bearing lower compression plate 220; a synchronous belt 221;

in fig. 7: a servo driver mounting plate 514; the first joint 501; a II joint 504; a first joint and a second joint connection 502; a first joint and a second joint connecting plate 503; a III joint 507; joint ii and joint iii connections 505; a second joint and a third joint connection plate 506; an IV joint 510; a III-joint to IV-joint connection 508; a III joint and IV joint connection plate 509; a Vth joint 512; the IV and V articulation link 511; a fourth and a fifth joint connection plate 520; a VI joint 517; a fifth joint and sixth joint connection 513; the joint V and the joint VI are connected with a connecting plate 521; VII-th joint 519; a VI and VII joint connection 515; a VI joint and VII joint connection plate 518;

in fig. 8: a horizontal rotation driving motor 601; a horizontal limit photoelectric switch 602; a pan/tilt support base 603; the pan/tilt/pivot bearing base 604; pan tilt head slew bearing 605; holder horizontal rotation limit 606; a rubber stopper b 607; pan/tilt head rotation spindle 608; holder pitch limit 609; the camera platform supports the left arm 610; a pedestal bearing 611; a dummy shaft 612; a camera platform 613; a rotating platform 614; the camera platform supports the right arm 615; shaft end spacers 616; a horizontal rotation stop post 617; a motor drive cartridge 618; a motor drive 619; a pan/tilt controller 620; a pan/tilt support plate 621; a pitch rotation drive motor 622; pitch limit photoelectric switch 623.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 1, a redundant two-arm cooperative robot includes a two-degree-of-freedom pan-tilt 6, a seven-degree-of-freedom mechanical left arm 5, a seven-degree-of-freedom mechanical right arm 7, a waist rotating unit 2, an omnidirectional moving chassis 1, an upper rotating part supporting device 3, and an upper electrical installation box 4; the omnidirectional moving chassis 1 is used for moving the robot in a working area; the waist rotating unit 2 is arranged on the omnidirectional moving chassis 1 to realize the rotation of +/-90 degrees in the horizontal plane; the photoelectric limit switch is arranged in the rotation direction of the waist, so that the upper rotating part supporting device 3 carrying the seven-degree-of-freedom mechanical left arm 5, the seven-degree-of-freedom mechanical right arm 7 and the two-degree-of-freedom tripod head 6 can change the working direction of the fixed station. The upper rotation part supporting means 3 is installed above the lumbar rotation unit 2. The seven-degree-of-freedom mechanical left arm 5 and the seven-degree-of-freedom mechanical right arm 7 are symmetrically arranged on two sides of the upper rotating part supporting device 3, the seven-degree-of-freedom mechanical left arm 5 and the seven-degree-of-freedom mechanical right arm 7 are respectively provided with seven degrees of freedom, and seven integrated joints are fixed by the connecting device. The two-degree-of-freedom cradle head 6 is arranged on the upper side of the upper rotating part supporting device 3, the two-degree-of-freedom cradle head 6 has freedom degrees in two directions of horizontal rotation and pitching by adopting a driving mode of direct connection of a motor, wherein the rotation angle in the horizontal direction can reach +/-90 degrees, and the rotation angle in the pitching direction can reach +/-60 degrees. Photoelectric limit switches are arranged in the horizontal direction and the pitching direction and are fixed above the upper rotating part supporting device 3, and a visual sensor is carried on the two-degree-of-freedom cradle head 6. The upper-layer electrical mounting box 4 is fixed to the back surface of the upper-layer rotating portion supporting device 3, and is used for carrying an electrical device. Under the control of the control system, the redundant two-arm cooperative robot is moved with 20 degrees of freedom.

As shown in fig. 1, a redundant two-arm cooperative robot, the upper rotary part supporting device 3 of which comprises a lower mounting plate 301, a robot arm support profile 302 and a robot arm mounting plate 303. The lower mounting plate 301 is mounted on the waist rotating main shaft 217; the mechanical arm support profile 302 is mounted on the lower mounting plate 301; the number of the mechanical arm mounting plates 303 is two, and the two mechanical arm mounting plates are symmetrically mounted on the side surface of the mechanical arm supporting section bar 302 and used for mounting mechanical arms.

As shown in fig. 2 and fig. 3, a redundant dual-arm cooperative robot, whose omnidirectional movement chassis 1 includes an upper mounting plate 101, a middle mounting plate 104, a lower mounting plate 126, an upper support profile 102, a lower support profile 113, a power management system 103, a 48V battery pressing plate 105, a 48V battery 106, a tail support profile 107, a tail support plate 108, a switch box 109, an industrial personal computer 110, an industrial personal computer clamp 111, an industrial personal computer support plate 112, a laser radar support plate 114, a laser radar 115, a chassis motor drive box 116, an inertial measurement unit support 123, an inertial measurement unit 124, a 24V battery 125, a 24V battery clamp 127, a motor wheel set, a chassis motor drive support plate 128 and a chassis motor drive 129. The upper mounting plate 101, the middle mounting plate 104, the lower mounting plate 126, the upper support profile 102, the industrial personal computer support plate 112, the lower support profile 113, the tail support profile 107 and the tail support plate 108 jointly form a main body support structure of the omnidirectional moving chassis 1; the chassis motor drive 129 is used for driving a motor wheel set and is arranged in the chassis motor drive box 116 through a chassis motor drive support plate 128; the chassis motor driving box 116 is arranged on a lower layer mounting plate (126); the motor wheel sets are four in number and symmetrically distributed around the lower mounting plate 126 in the front-back direction, and each motor wheel set comprises a bottom, a chassis driving motor 117, a chassis coupling 120, a chassis bearing with a seat 118, a chassis motor connecting shaft 119, a chassis motor supporting seat 121 and 45-degree Mecanum wheels 122. The chassis driving motor 117 is fixed on the lower mounting plate 126 through a chassis motor support seat 121, the chassis motor connecting shaft 119 is fixed on the lower mounting plate 126 through a chassis base bearing 118, and the chassis base bearing 118 is used for supporting the rotation of the chassis motor connecting shaft 119; one end of the chassis motor connecting shaft 119 is connected with a rotating shaft of the chassis driving motor 117, the other end of the chassis motor connecting shaft is provided with 45-degree Mecanum wheels 122, and the four groups of motor wheel sets realize the omnidirectional movement of the robot through kinematics control; the laser radar 115 is arranged in front of the lower mounting plate 126 through a laser radar supporting plate 114, and the 24V battery 125 is arranged in the middle of the lower mounting plate 126 through a 24V battery clamp 127 and used for supplying power to the omnidirectional moving chassis 1; the inertia measurement unit 124 is mounted on the upper side of the 24V battery 125 through an inertia measurement unit support 123; the switch box 109 is installed at the tail of the omnidirectional moving chassis 1 through a tail support plate 108; the industrial personal computer 110 is arranged on an industrial personal computer supporting plate 112 through an industrial personal computer clamping 111 and used for robot control; the power management system 103 is arranged on the upper side of the middle layer mounting plate 104; the 48V battery 106 is used to power the two-degree-of-freedom pan/tilt head 6, the seven-degree-of-freedom mechanical left arm 5, the seven-degree-of-freedom mechanical right arm 7, and the waist rotating unit 2.

As shown in fig. 4, 5 and 6, the waist rotating unit 2 of the redundant double-arm cooperative robot comprises a bearing upper pressing plate 201, a waist bearing seat 202, a waist bearing 216, a waist rotating main shaft 217, a rubber baffle a218, a waist rotating limit 219, a bearing lower pressing plate 220 and a two-stage planetary reducer. The waist bearing block 202 is fixedly arranged on the upper side of the upper mounting plate 101 through screws; the waist bearing 216 is arranged in the waist bearing seat 202, the upper part compresses the outer ring of the waist bearing 216 through the bearing upper compression plate 201, and the lower part compresses the inner ring of the waist bearing 216 through the bearing lower compression plate 220 fixed on the waist rotating main shaft 217; a waist rotating main shaft 217 is arranged on the inner ring of the waist bearing 216, and the waist bearing 216 is used for supporting the rotation of the waist rotating main shaft 217; the secondary planetary reducer comprises a key-free synchronous pulley 203, a right connecting plate 204, a lower connecting plate 205, a driving shaft sleeve 206, a tightening sliding plate 207, a tightening stud fixing seat 208, a tightening stud 209, an idler wheel fixing shaft 210, an idler wheel 211, a stepping motor 212, a stepping motor mounting seat 213, a synchronous pulley 214, a left connecting plate 215 and a synchronous belt 221; the stepping motor 212 is arranged on the lower side of the lower connecting plate 205 through a stepping motor mounting seat 213, and a rotating shaft of the stepping motor 212 penetrates through a rotating shaft hole in the stepping motor mounting seat 213; the key-free synchronous pulley 203 is arranged on a rotating shaft of the stepping motor 212 through a driving shaft sleeve 206, and the driving shaft sleeve 206 is used for axially positioning the key-free synchronous pulley 203; the synchronous belt pulley 214 is arranged on the waist rotating main shaft 217; the key-free synchronous pulley 203 and the synchronous pulley 214 are driven by a synchronous belt 221; the jacking sliding plate 207 is arranged at a through hole of the lower connecting plate 205, the mounting position of the jacking sliding plate on the lower connecting plate 205 is adjustable, one end of the idler wheel fixing shaft 210 is suspended, the other end of the idler wheel fixing shaft is fixedly arranged on the jacking sliding plate 207, the jacking stud fixing seat 208 is arranged at the lower part of the jacking sliding plate 207 and is used for mounting a jacking stud 209, the jacking stud 209 is screwed into the jacking sliding plate 207 inwards through the jacking stud fixing seat 208, and at the moment, the idler wheel fixing shaft 210 arranged on the jacking sliding plate 207 is jacked; the idler wheel 211 is mounted on the idler wheel fixing shaft 210 and used for applying pressure to the synchronous belt 221, and the problem that the upper part and the lower part are difficult to internally route is solved through the matching of synchronous belt transmission and the hollow rotating main shaft. The lower connecting plate 205 is mounted on the lower side of the upper mounting plate 101 via the right connecting plate 204 and the left connecting plate 215. The waist rotation limit 219 is mounted on the upper side of the upper mounting plate 101 and used for limiting the rotation angle of the waist rotation unit 2; the rubber baffle sheet a218 is arranged on the waist rotation limit 219 and plays a role in buffering and protecting.

As shown in fig. 7, a redundant two-arm cooperative robot has a seven-degree-of-freedom left mechanical arm 5 and a seven-degree-of-freedom right mechanical arm 7 which have the same structure and are respectively mounted on a mechanical arm mounting plate 303; the seven-degree-of-freedom mechanical left arm 5 comprises a servo driver mounting plate 514, a joint I501, a joint II 504, a joint I and joint II connecting piece 502, a joint I and joint II connecting plate 503, a joint III 507, a joint II and joint III connecting piece 505, a joint II and joint III connecting plate 506, a joint IV 510, a joint III and joint IV connecting piece 508, a joint III and joint IV connecting plate 509, a joint V512, a joint IV and joint V connecting piece 511, a joint IV and joint V connecting plate 520, a joint VI 517, a joint V and joint VI connecting piece 513, a joint V and joint VI connecting plate 521, a joint VII 519, a joint VI and joint VII connecting piece 515 and a joint VI connecting plate 518. The output end of the first joint 501 is fixedly connected with a first joint and a second joint connecting piece 502, and a first joint and second joint connecting plate 503 is vertically arranged on the first joint connecting piece 502; the second joint 504 is arranged on a connecting plate 503 of the first joint and the second joint, a connecting piece 505 of the second joint and the third joint is arranged at the output end of the second joint 504, and the connecting plate 506 of the second joint and the third joint is vertically arranged on the connecting piece 505 of the second joint and the third joint; the third joint 507 is arranged on a second joint and third joint connecting plate 506, the third joint and fourth joint connecting plate 508 is arranged at the output end of the third joint 507, and the third joint and fourth joint connecting plate 509 is vertically arranged on the third joint and fourth joint connecting plate 508; the fourth joint 510 is arranged on a connecting plate 509 of the third joint and the fourth joint, a connecting piece 511 of the fourth joint and the fifth joint is arranged at the output end of the fourth joint 510, and the connecting plate 520 of the fourth joint and the fifth joint is vertically arranged on the connecting piece 511 of the fourth joint and the fifth joint; the joint V512 is arranged on a connecting plate 520 of the joint IV and the joint V, the connecting member 513 of the joint V and the joint VI is arranged at the output end of the joint V512, and the connecting plate 521 of the joint V and the joint VI is vertically arranged on the connecting member 513 of the joint V and the joint VI; the VI joint 517 is arranged on a connecting plate 521 of the V joint and the VI joint, the connecting plate 515 of the VI joint and the VII joint is arranged at the output end of the VI joint 517, and the connecting plate 518 of the VI joint and the VII joint is arranged on the connecting plate 515 of the VI joint and the VII joint; the VII-th joint 519 is mounted on the VI-th joint and VII-th joint connecting plate 518; the servo driver mounting plate 514 is mounted on the vi joint to vii joint connection 515.

As shown in fig. 8, a redundant dual-arm cooperative robot includes a two-degree-of-freedom pan-tilt 6, which includes a horizontal rotation driving motor 601, a horizontal limit photoelectric switch 602, a pan-tilt support base 603, a pan-tilt rotation bearing base 604, a pan-tilt rotation bearing 605, a pan-tilt horizontal rotation limit 606, a rubber block b607, a pan-tilt rotation main shaft 608, a pan-tilt limit 609, a camera platform support left arm 610, a seated bearing 611, a dummy shaft 612, a camera platform 613, a rotation platform 614, a camera platform support right arm 615, a shaft end gasket 616, a horizontal rotation block post 617, a motor drive box 618, a motor drive 619, a pan-tilt controller 620, a pan-tilt support plate 621, a tilt rotation driving motor 622, and a tilt limit photoelectric switch 623. The holder support plate 621 is installed on the upper side of the upper rotating part support device 3; the holder support base 603 is mounted on the upper side of the holder support plate 621; the horizontal rotation driving motor 601 is installed at the lower side of the holder supporting plate 621, and a rotating shaft of the horizontal rotation driving motor 601 penetrates through the holder supporting plate 621 and the holder supporting base 603; the horizontal limit photoelectric switch 602 is installed on the holder support plate 621, and the absolute position of the horizontal rotation degree of freedom is determined through the horizontal rotation stop post 617; the holder rotating bearing pedestal 604 is arranged on the upper side of the holder supporting base 603; the pan/tilt/swivel bearing 605 is installed in the pan/tilt/swivel bearing seat 604 and is used for supporting the rotation of the pan/tilt/swivel spindle 608; the holder rotating main shaft 608 is installed on an inner ring of the holder rotating bearing 605 and is connected with a rotating shaft of the horizontal rotation driving motor 601; the holder horizontal rotation limit 606 is installed on the holder support plate 621 and is used for limiting the rotation angle of the two-degree-of-freedom holder 6 in the horizontal plane; the rubber baffle b607 is arranged on the horizontal rotation limit 606 of the holder and plays a role in buffering protection; the rotating platform 614 is installed on the installation surface of the holder rotating main shaft 608 and can rotate in the horizontal plane along with the holder rotating main shaft 608, and a through hole and a U-shaped groove are respectively formed at the left vertical end and the right vertical end of the rotating platform 614; the pitching rotation driving motor 622 is fixedly arranged at the inner side of the vertical end of the rotating platform 614 provided with the same hole, the axis of the rotating shaft of the pitching rotation driving motor 622 is overlapped with the axis of the through hole, and the rotating shaft of the pitching rotation driving motor 622 penetrates through the U-shaped groove at the other vertical end; the shaft end gasket 616 is arranged at the vertical end of the rotating platform 614 with a U-shaped groove and is used for supporting the rotating platform 614 to rotate; the bearing with a seat 611 is arranged at the vertical end of the rotating platform 614 provided with a through hole; in the dummy shaft 612 with the bearing 611, the axis of the dummy shaft 612 is coincident with the axis of the through hole; the camera platform support left arm 610 is mounted on a dummy shaft 612; the camera platform support right arm 615 is mounted on the shaft of the pitch rotation drive motor 622; the two ends of the camera platform 613 are respectively installed on the camera platform support left arm 610 and the camera platform support right arm 615, and can rotate under the driving of the pitching rotation driving motor 622; the holder pitch limit 609 is arranged outside the vertical end of the rotating platform 614 with a through hole and is used for limiting the rotation angle of the two-degree-of-freedom holder 6 in the vertical plane; the motor drive 619 and the pan/tilt controller 620 are mounted on the pan/tilt support plate 621 and are used for driving and controlling the two-degree-of-freedom pan/tilt 6; the motor driving box 618 is installed on the cradle head supporting plate 621, above the motor driving 619 and the cradle head controller 620, and is used for protecting the motor driving 619 and the cradle head controller 620; the pitching limiting photoelectric switch 623 is mounted on the side surface of the rotating platform 614, so that the absolute position of the pitching freedom degree is determined.

While the invention has been described with reference to the accompanying drawings and examples, various modifications may be made therein and equivalents may be substituted for elements thereof without departing from the scope of the invention. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A redundant two-arm cooperative robot is characterized by comprising a two-degree-of-freedom cloud deck (6), a seven-degree-of-freedom mechanical left arm (5), a seven-degree-of-freedom mechanical right arm (7), a waist rotating unit (2), an omnidirectional moving chassis (1), an upper rotating part supporting device (3) and an upper electrical installation box (4); the omnidirectional moving chassis (1) is used for moving the robot in a working area; the waist rotating unit (2) is arranged on the omnidirectional moving chassis (1) to realize the rotation of +/-90 degrees in a horizontal plane; the photoelectric limit switch is arranged in the rotation direction of the waist, so that the upper-layer rotating part supporting device (3) carrying the seven-degree-of-freedom mechanical left arm (5), the seven-degree-of-freedom mechanical right arm (7) and the two-degree-of-freedom tripod head (6) can change the working direction of the fixed station; the upper rotating part supporting device (3) is arranged above the waist rotating unit (2); the seven-degree-of-freedom mechanical left arm (5) and the seven-degree-of-freedom mechanical right arm (7) are symmetrically arranged on two sides of the upper-layer rotating part supporting device (3), the seven-degree-of-freedom mechanical left arm (5) and the seven-degree-of-freedom mechanical right arm (7) are provided with seven degrees of freedom respectively, and seven integrated joints are fixed by the connecting device; the two-degree-of-freedom tripod head (6) is arranged on the upper side of the upper rotating part supporting device (3), the two-degree-of-freedom tripod head (6) has freedom degrees in two directions of horizontal rotation and pitching by adopting a driving mode of direct connection of a motor, wherein the rotation angle in the horizontal direction can reach +/-90 degrees, and the rotation angle in the pitching direction can reach +/-60 degrees; photoelectric limit switches are arranged in the horizontal direction and the pitching direction and are fixed above the upper rotating part supporting device (3), and a visual sensor is arranged on the two-degree-of-freedom cradle head (6); the upper-layer electric installation box (4) is fixed on the back surface of the upper-layer rotating part supporting device (3) and used for carrying an electric device; under the control of a control system, the redundant double-arm cooperative robot can move with 20 degrees of freedom;

the omnidirectional mobile chassis (1) comprises a main body supporting structure, four groups of motor wheel sets, a power management system (103), a 48V battery (106), a switch box (109), an industrial personal computer (110), a laser radar (115), a chassis motor driving box (116), an inertia measuring unit (124), a 24V battery (125) and a chassis motor driving (129);

the main body supporting structure comprises an upper layer mounting plate (101), a middle layer mounting plate (104), a lower layer mounting plate (126), an industrial personal computer supporting plate (112), a tail supporting section bar (107) and a tail supporting plate (108); the chassis motor drive (129) is used for driving a motor wheel set and is arranged in the chassis motor drive box (116); the chassis motor driving box (116) is arranged on the lower mounting plate (126); the motor wheel sets are symmetrically distributed around the lower mounting plate (126) in the front-back direction and are used for realizing the omnidirectional movement of the robot; the laser radar (115) is arranged in front of the lower-layer mounting plate (126), and the 24V battery (125) is arranged in the middle of the lower-layer mounting plate (126) and used for supplying power to the omnidirectional moving chassis (1); the inertia measurement unit (124) is arranged on the upper side of a 24V battery (125), and the 24V battery (125) is used for supplying power to the omnidirectional moving chassis (1); the switch box (109) is arranged at the tail part of the omnidirectional moving chassis (1) through a tail supporting plate (108); the industrial personal computer (110) is arranged on an industrial personal computer support plate (112) and used for robot control; the power management system (103) is arranged on the upper side of the middle layer mounting plate (104); the 48V battery (106) is arranged on the upper side of the middle layer mounting plate (104) and used for supplying power to the two-degree-of-freedom holder (6), the seven-degree-of-freedom mechanical left arm (5), the seven-degree-of-freedom mechanical right arm (7) and the waist rotating unit (2);

the waist rotating unit (2) comprises an upper bearing pressing plate (201), a waist bearing seat (202), a waist bearing (216), a waist rotating main shaft (217), a waist rotating limit (219), a lower bearing pressing plate (220) and a secondary planetary reducer; the waist bearing block (202) is arranged on the upper side of the upper mounting plate (101); the waist bearing (216) is arranged in the waist bearing seat (202), the upper part compresses the outer ring of the waist bearing (216) through a bearing upper compression plate (201), and the lower part compresses the inner ring of the waist bearing (216) through a bearing lower compression plate (220) fixed on a waist rotating main shaft (217); a waist rotating main shaft (217) is mounted on an inner ring of the waist bearing (216), and the waist bearing (216) supports the waist rotating main shaft (217) to rotate; the waist rotation limit (219) is arranged on the upper side of the upper mounting plate (101) and used for limiting the rotation angle of the waist rotation unit (2);

the secondary planetary reducer comprises a key-free synchronous pulley (203), a right connecting plate (204), a lower connecting plate (205), a driving shaft sleeve (206), a tightening sliding plate (207), a tightening stud fixing seat (208), a tightening stud (209), an idler fixing shaft (210), an idler (211), a stepping motor (212), a synchronous pulley (214), a left connecting plate (215) and a synchronous belt (221);

the stepping motor (212) is arranged on the lower side of the lower connecting plate (205); the key-free synchronous pulley (203) is arranged on a rotating shaft of the stepping motor (212) through a driving shaft sleeve (206), and the driving shaft sleeve (206) is used for axially positioning the key-free synchronous pulley (203); the synchronous belt wheel (214) is arranged on the waist rotating main shaft (217); the key-free synchronous pulley (203) and the synchronous pulley (214) are driven by a synchronous belt (221); the jacking sliding plate (207) is arranged at a through hole of the lower connecting plate (205), and the mounting position of the jacking sliding plate on the lower connecting plate (205) is adjustable; one end of the idler wheel fixing shaft (210) is suspended, the other end of the idler wheel fixing shaft is fixedly installed on the tightening sliding plate (207), the tightening stud fixing seat (208) is installed at the lower part of the tightening sliding plate (207) and used for installing a tightening stud (209), and the tightening stud (209) is screwed inwards into the tightening sliding plate (207) through the tightening stud fixing seat (208); the idle wheel (211) is arranged on the idle wheel fixing shaft (210) and is used for applying pressure to the synchronous belt (221); the lower connecting plate (205) is arranged on the lower side of the upper-layer mounting plate (101) through a right connecting plate (204) and a left connecting plate (215);

the upper-layer rotating part supporting device (3) comprises a lower mounting plate (301), a mechanical arm supporting section bar (302) and a mechanical arm mounting plate (303); the lower mounting plate (301) is mounted on the waist rotating main shaft (217); the mechanical arm supporting section bar (302) is arranged on the lower mounting plate (301); the two mechanical arm mounting plates (303) are symmetrically mounted on the side surface of the mechanical arm supporting section bar (302) and used for mounting mechanical arms;

the seven-degree-of-freedom mechanical left arm (5) and the seven-degree-of-freedom mechanical right arm (7) are identical in structure and are respectively installed on the mechanical arm installation plate (303); the seven-degree-of-freedom mechanical left arm (5) comprises a servo driver mounting plate (514), seven joints and joint connecting pieces; the servo driver mounting plate (514) is mounted on the VI joint and VII joint connecting piece (515) and is used for mounting a servo driver;

the two-degree-of-freedom holder (6) comprises a horizontal rotation driving motor (601), a horizontal limit photoelectric switch (602), a holder supporting base (603), a holder rotating bearing seat (604), a holder rotating bearing (605), a holder horizontal rotation limit (606), a holder rotating main shaft (608), a holder pitching limit (609), a camera platform supporting left arm (610), a bearing with a seat (611), a dummy shaft (612), a camera platform (613), a rotating platform (614), a camera platform supporting right arm (615), a shaft end gasket (616), a horizontal rotation blocking column (617), a motor driving box (618), a motor driving box (619), a holder controller (620), a holder supporting plate (621), a pitching rotation driving motor (622) and a pitching limit photoelectric switch (623); the holder support plate (621) is arranged on the upper side of the upper rotating part support device (3), and the holder support base (603) is arranged on the upper side of the holder support plate (621); the horizontal rotation driving motor (601) is arranged on the lower side of the holder supporting plate (621), and a rotating shaft of the horizontal rotation driving motor passes through the holder supporting plate (621) and the holder supporting base (603); the horizontal limiting photoelectric switch (602) is arranged on the holder support plate (621), and the absolute position of the horizontal rotation freedom degree is determined through the horizontal rotation stop column (617); the holder rotating bearing seat (604) is arranged on the upper side of the holder supporting base (603); the holder rotating bearing (605) is arranged in a holder rotating bearing seat (604) and is used for supporting the rotation of a holder rotating main shaft (608); the holder rotating main shaft (608) is arranged on an inner ring of a holder rotating bearing (605) and is connected with a rotating shaft of a horizontal rotating driving motor (601); the holder horizontal rotation limit (606) is arranged on the holder support plate (621) and is used for limiting the rotation angle of the two-degree-of-freedom holder (6) in the horizontal plane; the rotating platform (614) is arranged on the mounting surface of the holder rotating main shaft (608) and can rotate in the horizontal plane along with the holder rotating main shaft (608), and a through hole and a U-shaped groove are respectively formed at the left vertical end and the right vertical end of the rotating platform (614); the pitching rotation driving motor (622) is arranged at the inner side of the vertical end of the rotating platform (614) with the same hole, the axis of the rotating shaft of the pitching rotation driving motor (622) is superposed with the axis of the through hole, and the rotating shaft of the pitching rotation driving motor (622) penetrates through the U-shaped groove at the other vertical end; the shaft end gasket (616) is arranged at the vertical end of the rotating platform (614) with a U-shaped groove and is used for supporting the rotating platform (614) to rotate; the bearing (611) with the seat is arranged at the vertical end of the rotating platform (614) provided with a through hole; the dummy shaft (612) is arranged in the bearing (611) with the seat, and the axis of the dummy shaft (612) is coincident with the axis of the through hole; the camera platform support left arm (610) is mounted on a false shaft (612); the camera platform support right arm (615) is mounted on the rotating shaft of the pitching rotation driving motor (622); the two ends of the camera platform (613) are respectively arranged on left and right camera platform supporting arms (610, 615), and can rotate under the driving of a pitching rotation driving motor (622); the holder pitching limiting device (609) is arranged on the outer side of the vertical end of the rotating platform (614) provided with the through hole and is used for limiting the rotation angle of the two-degree-of-freedom holder (6) in the vertical plane; the motor drive (619) and the tripod head controller (620) are arranged on the tripod head support plate (621) and are used for driving and controlling the two-degree-of-freedom tripod head (6); the motor driving box (618) is arranged on the holder supporting plate (621), above the motor driver (619) and the holder controller (620), and is used for protecting the motor driver (619) and the holder controller (620); the pitching limiting photoelectric switch (623) is mounted on the side face of the rotating platform (614), and the absolute position of the pitching freedom degree is determined.

2. A redundant dual-arm cooperative robot according to claim 1, wherein the motor wheel set in the omnidirectional mobile chassis (1) comprises a chassis driving motor (117), a chassis coupling (120), a chassis belt bearing (118), a chassis motor connecting shaft (119), a chassis motor supporting base (121) and a 45-degree mecanum wheel (122); the chassis driving motor (117) is fixed on the lower mounting plate (126) through a chassis motor supporting seat (121), the chassis motor connecting shaft (119) is fixed on the lower mounting plate (126) through a chassis base bearing (118), and the chassis base bearing (118) is used for supporting the rotation of the chassis motor connecting shaft (119); one end of the chassis motor connecting shaft (119) is connected with a rotating shaft of the chassis driving motor (117), 45-degree Mecanum wheels (122) are installed at the other end of the chassis motor connecting shaft, and the four groups of motor wheel sets realize the omnidirectional movement of the robot through kinematics control.

3. A redundant dual-arm cooperative robot according to claim 1, wherein the waist rotation unit (2) further comprises a rubber stopper a (218), and the rubber stopper a (218) is mounted on the waist rotation limit (219) for buffering protection.

4. A redundant double-arm cooperative robot according to claim 1, wherein the two-degree-of-freedom pan-tilt (6) further comprises a rubber baffle b (607), and the rubber baffle b (607) is mounted on the pan-tilt horizontal rotation limit (606) and plays a role of buffering protection.

5. A redundant dual-arm cooperative robot according to claim 1, wherein seven joints and joint connectors in the seven-degree-of-freedom mechanical left arm (5) are respectively: the joint comprises a joint I (501), a joint II (504), a joint I and joint II connecting piece (502), a joint I and joint II connecting plate (503), a joint III (507), a joint II and joint III connecting piece (505), a joint II and joint III connecting plate (506), a joint IV (510), a joint III and joint IV connecting piece (508), a joint III and joint IV connecting plate (509), a joint V (512), a joint IV and joint V connecting piece (511), a joint IV and joint V connecting plate (520), a joint VI (517), a joint V and joint VI connecting piece (513), a joint V and joint VI connecting plate (521), a joint VII (519), a joint VI and joint VII connecting piece (515) and a joint VI and joint connecting plate (518); the output end of the first joint (501) is fixedly connected with a first joint and a second joint connecting piece (502), and the first joint and the second joint connecting plate (503) are vertically arranged on the first joint connecting piece; the second joint (504) is arranged on a connecting plate (503) of the first joint and the second joint, a connecting piece (505) of the second joint and the third joint is arranged at the output end of the second joint (504), and the connecting plate (506) of the second joint and the third joint is vertically arranged on the connecting piece (505) of the second joint and the third joint; the third joint (507) is arranged on a connecting plate (506) of the second joint and the third joint, a connecting piece (508) of the third joint and the fourth joint is arranged at the output end of the third joint (507), and the connecting plate (509) of the third joint and the fourth joint is vertically arranged on the connecting piece (508) of the third joint and the fourth joint; the fourth joint (510) is arranged on a connecting plate (509) of the third joint and the fourth joint, a connecting piece (511) of the fourth joint and the fifth joint is arranged at the output end of the fourth joint (510), and the connecting plate (520) of the fourth joint and the fifth joint is vertically arranged on the connecting piece (511) of the fourth joint and the fifth joint; the joint V (512) is arranged on a connecting plate (520) of the joint IV and the joint V, a connecting piece (513) of the joint V and the joint VI is arranged at the output end of the joint V (512), and the connecting plate (521) of the joint V and the joint VI is vertically arranged on the connecting piece (513) of the joint V and the joint VI; the VI joint (517) is arranged on a connecting plate (521) of the V joint and the VI joint, the connecting plate (515) of the VI joint and the VII joint is arranged at the output end of the VI joint (517), and the connecting plate (518) of the VI joint and the VII joint is arranged on the connecting plate (515) of the VI joint and the VII joint; and the VII-th joint (519) is arranged on a connecting plate (518) of the VI-th joint and the VII-th joint.