CN211916865U - Both arms transport positioning robot - Google Patents
Both arms transport positioning robot Download PDFInfo
- Publication number
- CN211916865U CN211916865U CN201922304225.7U CN201922304225U CN211916865U CN 211916865 U CN211916865 U CN 211916865U CN 201922304225 U CN201922304225 U CN 201922304225U CN 211916865 U CN211916865 U CN 211916865U
- Authority
- CN
- China
- Prior art keywords
- arm
- wrist
- elbow
- robot
- positioning robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims 5
- 210000000245 forearm Anatomy 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 8
- 230000036544 posture Effects 0.000 description 7
- 239000012636 effector Substances 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a both arms transport positioning robot, include: base (1), waist (2), big arm I (3), big arm II-I (4), big arm II-II (5), elbow I (6), elbow II (7), forearm I (8), forearm II (9), wrist I (10), wrist II (11), terminal tong I (12) and terminal tong II (13), the moment that bears on can effectively alleviateing single arm increases the bearing capacity of robot, the utility model discloses have 10 degrees of freedom, wherein waist gyration and shoulder gyration become two sharing and rotate the joint, constitute two 6 degrees of freedom arms, do not have redundant degree of freedom, guaranteed the flexibility of robot promptly, reduced the control complexity of double-armed robot again, overall structure is nimble compact, can satisfy the requirement that the robot is close and carries the target object in all directions.
Description
Technical Field
The utility model relates to a robot structural design field especially relates to a both arms transport positioning robot.
Background
The material is used as a common processing raw material in industrial production, and the carrying mode and the efficiency of the material are important problems to be considered in the industrial production. Traditional material handling generally relies on the mode completion of manual handling, has that intensity of labour is big, inefficiency and have the potential safety hazard scheduling problem. With the development of robotics, material handling has been gradually replaced by mechanical equipment, particularly robotic arms.
The shortages of the single-arm bar stock handling manipulator in terms of handling capacity, control and the like are not sufficient for many tasks with the development of modern industry and technological progress. Therefore, the method is expanded to the coordination control of double arms and double hands to adapt to the increasing complexity and intelligence of tasks, and the double arms and the double hands are matched with each other to complete certain work, so that the double-arm robot is produced.
Each single arm in the existing double-arm robot is a seven-degree-of-freedom serial mechanical arm, compared with a six-degree-of-freedom single arm, a redundant degree of freedom is added, the flexibility and the reliability of each single arm are improved, and the control cost is high and complex.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a both arms transport positioning robot provides the transport positioning robot who possesses the steady transport of material, functions such as gesture adjustment and installation location.
The technical scheme of the utility model:
the utility model provides a both arms transport positioning robot, include: the device comprises a base 1, a waist 2, a big arm I3, a big arm II-I4, a big arm II-II 5, an elbow I6, an elbow II 7, a small arm I8, a small arm II 9, a wrist I10, a wrist II 11, a tail end tong I12 and a tail end tong II 13; wherein,
the base 1 is connected with the lower end of the waist part 2 through a rotary joint, the lower end of the waist part 2 is connected with the lower end of the large arm I3 through a rotary joint, and the movement plane of the large arm I3 is perpendicular to the movement plane of the waist part 2;
the large arm II-I4 and the large arm II-II 5 are respectively connected with the upper end of the large arm I3 through a rotary joint;
the elbow I6 and the elbow II 7 are respectively connected with the big arm II-I4 and the big arm II-II 5 through rotary joints; the small arm I8 and the small arm II 9 are respectively connected with the elbow I6 and the elbow II 7 through rotary joints; the wrist I10 and the wrist II 11 are respectively connected with the small arm I8 and the small arm II 9 through rotary joints; the tail end clamping hand I12 and the tail end clamping hand II 13 are respectively connected with the wrist part I10 and the wrist part II 11 through rotating shafts;
the tail end clamping hand I12 and the tail end clamping hand II 13 can respectively rotate around a rotating shaft; each rotary joint is controlled separately.
Optionally, rubber gaskets are mounted on the inner surfaces of the tail end gripper I12 and the tail end gripper II 13.
Optionally, the tail end gripper I12 and the tail end gripper II 13 adopt a trapezoidal groove design.
Optionally, the rotary joint includes a driving structure with a motor and a reducer matched with each other.
Optionally, the base 1 is fixed on a workbench or a movable vehicle body.
Optionally, the large arm i 3, the large arm ii-i 4, the large arm ii-ii 5, the elbow i 6, the elbow ii 7, the wrist i 10 and the wrist ii 11 respectively perform pitching motion through a rotary joint;
the small arm I8 and the small arm II 9 respectively do rotary motion through a rotary joint.
The utility model has the advantages that: the utility model adopts the cooperation of two arms, can effectively reduce the moment born on a single arm, increases the bearing capacity of the robot, is especially suitable for bar carrying, works under the condition of translational motion of an end effector (no relative motion between the two arms of the end gripper), and is much simpler than the control of corresponding actions of two single-arm robots; under the condition that relative motion exists between the double-arm end effectors (the clamping hands) and the postures of the double arms are changed relatively, the posture of the conveyed object can be adjusted through good matching between the two arms, so that accurate posture adjustment and installation positioning work can be completed. The utility model discloses the design of gyration type tong has avoided two tong recess position inconsistences and the condition emergence that produces the interference at the in-process of transport bar. The utility model discloses have 10 degrees of freedom, wherein waist gyration and shoulder gyration become two sharing rotation joints, constitute two 6 degrees of freedom arms, do not have redundant degrees of freedom, guaranteed the flexibility of robot promptly, reduced the control complexity of two-armed robot again, overall structure is nimble compact, can satisfy the robot and be close and carry the requirement of target object in all directions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural view of a dual-arm carrying and positioning robot according to an embodiment of the present invention;
fig. 2 is a side view of a dual-arm carrying and positioning robot according to an embodiment of the present invention;
fig. 3 is a top view of the dual-arm transfer positioning robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a terminal gripper of a dual-arm carrying and positioning robot according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an end gripper of a dual-arm carrying and positioning robot according to another embodiment of the present invention;
fig. 6 is a schematic diagram illustrating bar material carrying and positioning applications of the dual-arm carrying and positioning robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram of the movement of the dual-arm carrying and positioning robot according to an embodiment of the present invention;
description of reference numerals:
1-a base; 2-waist part; 3-big arm I;
4-big arm II-I; 5-big arm II-II; 6-elbow I;
7-elbow II; 8-forearm I; 9-forearm II;
10-wrist i; 11-wrist ii; 12-end gripper i;
13-end gripper ii.
Detailed Description
Fig. 1 is a schematic structural view of a dual-arm carrying and positioning robot according to an embodiment of the present invention, fig. 2 is a side view of the dual-arm carrying and positioning robot according to an embodiment of the present invention, and fig. 3 is a top view of the dual-arm carrying and positioning robot according to an embodiment of the present invention. As shown in fig. 1-3, the utility model provides a both arms transport positioning robot adopts articulated type both arms structure, and the arm structure mainly includes: the multifunctional wrist comprises a base 1, a waist 2, a big arm I3, a big arm II-I4, a big arm II-II 5, an elbow I6, an elbow II 7, a small arm I8, a small arm II 9, a wrist I10, a wrist II 11, a tail end clamping hand I12 and a tail end clamping hand II 13.
Wherein, the base 1 can be fixed on a workbench or a movable vehicle body, and the base 1 is connected with the lower end of the waist 2 through a rotary joint; and an electromechanical driving system module of 'a motor and a reducer' is arranged in the rotary joint. The motor transmits power to the input end of the speed reducer, and the speed reducer reduces the speed and increases the torque, so that the waist part 2 is driven to do rotary motion.
The lower extreme of big arm I3 passes through rotary joint and is connected with 2 upper ends in waist, and pitching motion is done to big arm I3 accessible rotary joint. The plane of motion of big arm I3 is perpendicular to the plane of motion of waist 2.
The big arm II-I4 and the big arm II-II 5 are arranged in parallel and are respectively connected with the upper end of the big arm I3 through a rotary joint. The big arm II-I4 and the big arm II-II 5 do pitching rotation movement.
The elbow I6 and the elbow II 7 are arranged in parallel and are respectively connected with the big arm II-I4 and the big arm II-II 5 through rotary joints. The elbow I6 and the elbow II 7 do pitching rotation movement.
The forearm I8 and the forearm II 9 are arranged in parallel and are respectively connected with the elbow I6 and the elbow II 7 through rotary joints. The small arm I8 and the small arm II 9 respectively do rotary motion so as to adjust the posture of the clamping hand.
The wrist I10 and the wrist II 11 are respectively connected with the forearm I8 and the forearm II 9 through rotary joints. The wrist I10 and the wrist II 11 perform rotary motion.
The tail end clamping hand I12 and the tail end clamping hand II 13 are respectively connected with the wrist I10 and the wrist II 11 through free rotation joints, the tail end clamping hand I12 and the tail end clamping hand II 13 can respectively rotate around a rotating shaft, for example, the rotating shaft rotates in a certain angle range, a plurality of rubber gaskets are arranged on the inner surface of the clamping hand, friction between a bar material and fingers of the clamping hand is increased, and the bar material is prevented from sliding down in the carrying process.
The mechanical arm part provided by the embodiment comprises two arms and consists of 10 driving rotating links, wherein waist rotation and shoulder rotation are converted into two common rotating joints to form the mechanical arm with double 6 degrees of freedom. Optionally, each rotary joint adopts a driving structure of 'motor + reducer', and the free rotating part of the clamping hand is not driven.
Fig. 4 is a schematic view of a structure of a terminal gripper of a dual-arm positioning robot according to an embodiment of the present invention, and fig. 5 is a schematic view of a structure of a terminal gripper of a dual-arm positioning robot according to another embodiment of the present invention, as shown in fig. 4 and 5, a trapezoidal groove design can be adopted for the terminal gripper i 12 and the terminal gripper ii 13, and each of the two grippers has a free rotation link to avoid causing interference in a task of carrying similar bars.
Fig. 7 is a schematic diagram of the movement of the dual-arm carrying and positioning robot according to an embodiment of the present invention, as shown in fig. 7, the present invention provides a dual-arm carrying and positioning robot, wherein the waist rotation axis (O axis) is in the Z axis direction of the coordinate shown in fig. 7, and the shoulder rotation axis O is in the Z axis direction of the coordinate shown in fig. 7 under the initial condition1Big arm II rotary axis O21、O22Elbow rotation axis O31、O32And a wrist swing axis O51、O52All in the X-axis direction, and the rotation axis O of the small arm41、O42In the Y-axis direction, the gripper freely rotates part of the axis OH(including O)H1And OH2) In the Z-axis direction.
The utility model provides a both arms transport positioning robot adopts both arms cooperation, can effectively alleviate the moment that bears on the single arm, increases the bearing capacity of robot, is particularly useful for bar transport, works under the condition of end effector translation motion (there is not relative motion between the both arms end tong), and is much simpler than the control of the corresponding action of two single-armed robots; under the condition that relative motion exists between the double-arm end effectors (the clamping hands) and the postures of the double arms are changed relatively, the posture of the conveyed object can be adjusted through good matching between the two arms, so that accurate posture adjustment and installation positioning work can be completed. The utility model discloses the design of gyration type tong has avoided two tong recess position inconsistences and the condition emergence that produces the interference at the in-process of transport bar. The utility model discloses have 10 degrees of freedom, wherein waist gyration and shoulder gyration become two sharing rotation joints, constitute two 6 degrees of freedom arms, do not have redundant degrees of freedom, guaranteed the flexibility of robot promptly, reduced the control complexity of two-armed robot again, overall structure is nimble compact, can satisfy the robot and be close and carry the requirement of target object in all directions.
Claims (6)
1. A dual arm transfer positioning robot, comprising: the device comprises a base (1), a waist (2), a big arm I (3), a big arm II-I (4), a big arm II-II (5), an elbow I (6), an elbow II (7), a small arm I (8), a small arm II (9), a wrist I (10), a wrist II (11), a tail end clamping hand I (12) and a tail end clamping hand II (13); wherein,
the base (1) is connected with the lower end of the waist part (2) through a rotary joint, the lower end of the waist part (2) is connected with the lower end of the large arm I (3) through a rotary joint, and the movement plane of the large arm I (3) is vertical to the movement plane of the waist part (2);
the large arm II-I (4) and the large arm II-II (5) are respectively connected with the upper end of the large arm I (3) through a rotary joint;
the elbow I (6) and the elbow II (7) are respectively connected with the big arm II-I (4) and the big arm II-II (5) through rotary joints; the small arm I (8) and the small arm II (9) are respectively connected with the elbow I (6) and the elbow II (7) through rotary joints; the wrist I (10) and the wrist II (11) are respectively connected with the small arm I (8) and the small arm II (9) through rotary joints; the tail end clamping hand I (12) and the tail end clamping hand II (13) are respectively connected with the wrist I (10) and the wrist II (11) through rotating shafts;
the tail end clamping hand I (12) and the tail end clamping hand II (13) can respectively rotate around a rotating shaft; each rotary joint is controlled separately.
2. A dual arm carry positioning robot as claimed in claim 1, wherein rubber pads are mounted on the inner surfaces of the end gripper i (12) and the end gripper ii (13).
3. A dual arm transfer positioning robot as claimed in claim 1 or 2 wherein the end gripper i (12) and the end gripper ii (13) are of trapezoidal slot design.
4. A dual arm carry positioning robot as claimed in claim 1, wherein said rotary joints comprise motor and reducer cooperating drive structures.
5. A dual arm carry positioning robot as claimed in claim 1, wherein the base (1) is fixed to a table or a moving vehicle body.
6. A dual-arm carry positioning robot as claimed in claim 1, wherein said large arm i (3), said large arm ii-i (4), said large arm ii-ii (5), said elbow i (6), said elbow ii (7), said wrist i (10) and said wrist ii (11) are respectively pitching by means of a rotary joint;
the small arm I (8) and the small arm II (9) respectively do rotary motion through a rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922304225.7U CN211916865U (en) | 2019-12-19 | 2019-12-19 | Both arms transport positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922304225.7U CN211916865U (en) | 2019-12-19 | 2019-12-19 | Both arms transport positioning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211916865U true CN211916865U (en) | 2020-11-13 |
Family
ID=73324849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922304225.7U Active CN211916865U (en) | 2019-12-19 | 2019-12-19 | Both arms transport positioning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211916865U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940361A (en) * | 2022-06-21 | 2022-08-26 | 合肥维信诺科技有限公司 | Support device and control system |
-
2019
- 2019-12-19 CN CN201922304225.7U patent/CN211916865U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940361A (en) * | 2022-06-21 | 2022-08-26 | 合肥维信诺科技有限公司 | Support device and control system |
| CN114940361B (en) * | 2022-06-21 | 2024-07-02 | 合肥维信诺科技有限公司 | Supporting device and control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101497196B (en) | Translational clamping mechanical claw with uniform speed | |
| US20120068486A1 (en) | Robot hand | |
| CN104444360A (en) | Five-axis hub transfer robot and clamping manipulator | |
| CN104096998A (en) | Multi-degree of freedom parallel mechanism type spot welding robot | |
| CN105328697A (en) | Modularized six-degree-freedom mechanical hand and control method thereof | |
| CN109877827B (en) | Non-fixed point material visual identification and gripping device and method of connecting rod manipulator | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN211916865U (en) | Both arms transport positioning robot | |
| Mourya et al. | Design and implementation of pick and place robotic arm | |
| CN211967554U (en) | Special robot for feeding and discharging spherical parts | |
| CN211967546U (en) | Under-actuated linear parallel clamping self-adaptive mechanical finger | |
| JPS59134691A (en) | Improved type robot arm | |
| WO2021107900A1 (en) | A three finger robotic gripper design with spherical mechanism | |
| CN107803832A (en) | A kind of control system of robot leg guy structure | |
| CN111086018A (en) | Under-actuated linear parallel clamping self-adaptive mechanical finger | |
| Premkumar¹ et al. | Design and implementation of multi handling pick and place robotic arm | |
| CN216030859U (en) | Three-joint linear parallel clamping self-adaptive under-actuated robot finger device | |
| Zhoga et al. | Manipulator of a parallel-series structure with a controlled gripper positioning task | |
| CN216030872U (en) | Double-path gear multi-connecting-rod linear parallel clamping self-adaptive robot finger device | |
| CN216299295U (en) | Mechanical arm with multiple degrees of freedom | |
| CN108818580B (en) | Coaxial connecting rod gear sliding shaft type linear parallel clamping self-adaptive finger device | |
| CN210307893U (en) | Four-axis industrial robot | |
| CN203945364U (en) | Heavy duty transfer robot | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN207087915U (en) | A kind of four-degree-of-freedom mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |