CN212265820U - Special operation double-arm robot - Google Patents
Special operation double-arm robot Download PDFInfo
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- CN212265820U CN212265820U CN202020353853.4U CN202020353853U CN212265820U CN 212265820 U CN212265820 U CN 212265820U CN 202020353853 U CN202020353853 U CN 202020353853U CN 212265820 U CN212265820 U CN 212265820U
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Abstract
The utility model provides a special operation double-arm robot, which comprises a movable chassis, two mechanical arms arranged on the movable chassis and an electrical installation box arranged on the movable chassis; a power supply and a control system are arranged in the electric installation box; the movable chassis and the mechanical arm are electrically connected with the power supply and the control system; the movable chassis is also provided with at least one expansion mounting platform, the electrical mounting box is also provided with at least one external serial port, and the external serial port is electrically connected with a power supply and a control system; the mechanical arm comprises six arm bodies which are sequentially connected from front to back, a joint arranged between every two adjacent arm bodies, a joint arranged at the forefront end and used for connecting the clamp, and a joint arranged at the back end and used for connecting the stand column; the rotation directions of any two adjacent joints are vertical to each other. The double-arm robot has good flexibility and universality.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a special type operation double-arm 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 the single-arm industrial robot has already been well developed and applied in China, such as casting, welding, spraying, stacking and other operations. However, in some application scenarios of special operations, such as fire fighting, environmental detection, explosive disposal, etc., the traditional single-arm robot is difficult to complete complex operation contents. 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. Because the double-arm robot simulates the double-arm movement of a human, a series of operations can be completed by the cooperative action.
In addition, in order to expand the moving range of the robot, the double-arm robot carrying the mobile platform can move to a required place at any time, including some scenes which are dangerous for manual operation, and the preset designated work of a human or an intelligent system is completed.
At present, some double-arm robots in the market are specially designed according to specific occasions, are poor in flexibility and poor in universality, and therefore the double-arm robots are poor in flexibility and universality.
SUMMERY OF THE UTILITY MODEL
In view of the deficiencies of the prior art, the utility model aims to provide a special type operation double-arm robot, its flexibility is good, and the commonality is good.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a special operation double-arm robot comprises a movable chassis, two mechanical arms arranged on the movable chassis and an electric installation box arranged on the movable chassis; a power supply and a control system are arranged in the electric installation box; the movable chassis and the mechanical arm are electrically connected with the power supply and the control system;
the movable chassis is also provided with at least one expansion mounting platform, the electrical mounting box is also provided with at least one external serial port, and the external serial port is electrically connected with a power supply and a control system;
the mechanical arm comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body and a sixth arm body which are sequentially connected from front to back, a first joint arranged at the front end of the first arm body, a second joint connecting the rear end of the first arm body with the front end of the second arm body, a third joint connecting the rear end of the second arm body with the front end of the third arm body, a fourth joint connecting the rear end of the third arm body with the front end of the fourth arm body, a fifth joint connecting the rear end of the fourth arm body with the front end of the fifth arm body, a sixth joint connecting the rear end of the fifth arm body with the front end of the sixth arm body and a seventh joint connecting the rear end of the sixth arm body with the movable chassis; the rotation directions of any two adjacent joints are vertical to each other.
In the special operation double-arm robot, each joint comprises a speed reduction motor and a driving device, and the driving device is arranged in the corresponding arm body.
In the special operation double-arm robot, the front end of each arm body is provided with a speed reduction motor, and a driving device of the speed reduction motor is arranged in each arm body; the speed reducing motor of the seventh joint is arranged at the rear end of the sixth arm body, and the driving device of the speed reducing motor is arranged in the sixth arm body.
In the special operation double-arm robot, the movable chassis comprises a chassis main body and a rotating platform arranged at the top of the chassis main body; the mechanical arm is connected to the rotating platform.
In the special operation double-arm robot, two mechanical arms are arranged on the rotating platform in a bilateral symmetry mode.
In the special operation double-arm robot, at least one extension mounting platform is arranged at the top of the rotating platform.
In the special operation double-arm robot, the movable chassis is a wheel type chassis;
or the movable chassis is a crawler-type chassis.
Further, the ratio of the ground contact length of the track of the crawler-type chassis to the length of the crawler-type chassis is not less than 75%.
Further, the ground pressure ratio of the crawler-type chassis is not more than 12 KPa.
Has the advantages that:
the utility model provides a pair of special type operation double-armed robot compares with prior art, has following advantage:
1. the mechanical arm is a seven-axis mechanical arm, so that more moving tracks can be realized, and the flexibility is good;
2. the mechanical arm is arranged on the movable chassis, so that autonomous operation can be performed in a dangerous place or a place where people cannot conveniently enter the movable chassis, and manual operation is replaced;
3. the expansion device is provided with the expansion mounting table and the external serial port, the expansion device can be mounted according to actual needs to be applied to operation of different scenes, and the universality is good.
Drawings
Fig. 1 is the utility model provides a special type operation double-armed robot's schematic structure.
Fig. 2 is a schematic structural diagram of the mechanical arm in the dual-arm robot for special work provided by the utility model.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Referring to fig. 1 and 2, the present invention provides a special operation dual-arm robot, which includes a mobile chassis 1, two mechanical arms 2 disposed on the mobile chassis, and an electrical installation box 3 disposed on the mobile chassis; a power supply and a control system (not shown in the figure) are arranged in the electric installation box; the movable chassis 1 and the mechanical arm 2 are both electrically connected with a power supply and a control system (so that the electric installation box 3 can uniformly control the movable chassis 1 and the mechanical arm 2 to enable the movable chassis and the mechanical arm to work in a cooperative manner);
the movable chassis 1 is also provided with at least one expansion mounting table 4, the electrical installation box 3 is also provided with at least one external serial port (not shown in the figure), and the external serial port is electrically connected with a power supply and a control system (wherein the expansion mounting table 4 is used for realizing the mechanical connection of expansion equipment, and the external serial port is used for realizing the electrical connection of the expansion equipment);
as shown in fig. 2, the mechanical arm 2 includes a first arm 2.1, a second arm 2.2, a third arm 2.3, a fourth arm 2.4, a fifth arm 2.5, a sixth arm 2.6, a first joint 2.7 disposed at the front end of the first arm 2.1, a second joint 2.8 connecting the rear end of the first arm 2.1 and the front end of the second arm 2.2, a third joint 2.9 connecting the rear end of the second arm 2.2 and the front end of the third arm 2.3, a fourth joint 2.10 connecting the rear end of the third arm 2.3 and the front end of the fourth arm 2.4, a fifth joint 2.11 connecting the rear end of the fourth arm 2.4 and the front end of the fifth arm 2.5, a sixth joint 2.12 connecting the rear end of the fifth arm 2.5 and the front end of the sixth arm 2.6, and a seventh joint 2.12 connecting the rear end of the sixth arm 2.6 and the chassis connecting the seventh arm 2.6; the rotation directions of any two adjacent joints are vertical to each other.
When the special operation double-arm robot works, corresponding tools (such as detection equipment, a spray gun, a welding gun, a scalpel and the like) or clamps can be connected to the first joint 2.1 of the mechanical arm 2, and corresponding equipment (such as a radar, a vision system, an auditory system, a voice system, a liquid storage tank, a liquid pump and the like) can be additionally arranged on the expansion mounting table 4 according to actual needs, so that corresponding special operations can be performed; compared with the prior art, the method has the following advantages:
1. the mechanical arm 2 is a seven-axis mechanical arm, so that more moving tracks can be realized, and the flexibility is good;
2. the mechanical arm 2 is arranged on the movable chassis 1, so that autonomous operation can be performed in a dangerous place or a place where people are inconvenient to enter, and manual operation is replaced;
3. the expansion device is provided with the expansion mounting table 4 and an external serial port, the expansion device can be mounted according to actual needs to be applied to operation of different scenes, and the universality is good.
The control system mainly comprises a motion controller and a corresponding control circuit so as to realize the cooperative work of other electrical equipment controlled by the motion controller, and the control system and each electrical equipment can be in communication connection by adopting an EtherCat high-speed real-time communication protocol.
Furthermore, each joint comprises a speed reducing motor and a driving device, and the driving device is arranged in the corresponding arm body. During operation, each gear motor is controlled to rotate, so that the swinging angle of each arm body relative to the arm body connected with the arm body is controlled, and finally the control of the motion track of the front end of the mechanical arm is realized.
In some embodiments, a speed reducing motor is arranged at the front end of each arm body, and a driving device of the speed reducing motor is arranged in each arm body; the speed reduction motor of the seventh joint is arranged at the rear end of the sixth arm body, and the driving device of the speed reduction motor is arranged in the sixth arm body. Specifically, the speed reducing motor is arranged in the front part of the corresponding arm body, and the output end of the speed reducing motor is connected with the rear end of the adjacent arm body to drive the adjacent arm body to rotate; and the speed reducing motor of the seventh joint is arranged in the rear part of the sixth arm body, and the output end of the speed reducing motor is connected with the movable chassis 1. The mechanical arm has better mechanical structure rigidity and stability. However, the structure of the robot arm is not limited to this, and for example, a speed reduction motor and a driving device of the seventh joint may be provided in the mobile chassis 1, and an output end of the speed reduction motor may extend out of the mobile chassis 1 and be connected to a rear end of the sixth arm body.
In some preferred embodiments, see fig. 1, the mobile chassis 1 comprises a chassis body 1.1 and a turntable 1.2 arranged on top of the chassis body; the robot arm 2 is connected to a rotary table 1.2. Through setting up revolving stage 1.2, can change 2 orientations of arm, make the whole degree of freedom that has increased of robot, increased the activity space of robot and improved the flexibility of robot.
The rotary table 1.2 can adopt a rotary table in the prior art or adopt the following structure: the rotating platform 1.2 comprises a speed reducing motor arranged in the chassis main body 1.1 and a rotating platform main body connected with the output end of the speed reducing motor; wherein the robot arm 2 is connected to the turntable body.
In some preferred embodiments, as shown in fig. 1, two robot arms 2 are arranged on the rotary table 1.2 in a left-right symmetry. The two mechanical arms can avoid each other, the cooperative working space is further optimized, and the working range of the two arms is enlarged.
In some embodiments, as shown in fig. 1, at least one expansion mount 4 is provided on top of the rotary table 1.2. So that the extension device installed on the extension mounting table can move with the rotary table 1.2, for example, the detection device with directivity such as radar, vision system, etc. can be installed on the extension mounting table, and the detection range can be increased by rotating with the rotary table 1.2.
The mobile chassis 1 may be, but is not limited to, a wheeled chassis, a tracked chassis, etc.; preferably, the crawler-type chassis is more beneficial to running in special environments such as mud, sand, grassland and the like, has stronger climbing capacity and is less prone to heeling and blocking compared with the wheel-type chassis.
Further, the ratio of the ground contact length of the tracks of the tracked undercarriage to the length of the tracked undercarriage is not less than 75%. So as to ensure the stability of the robot and improve the anti-dumping performance. In some embodiments, the tracks of the tracked undercarriage are 150mm wide tracks.
Further, the ground pressure ratio of the crawler-type chassis is not more than 12 KPa. So as to ensure that the robot can travel in most complex environments such as loose and muddy environment.
From the above, the special operation double-arm robot has the following advantages:
1. the mechanical arm 2 is a seven-axis mechanical arm, so that more moving tracks can be realized, and the flexibility is good;
2. the mechanical arm 2 is arranged on the movable chassis 1, so that autonomous operation can be performed in a dangerous place or a place where people are inconvenient to enter, and manual operation is replaced;
3. the expansion device is provided with the expansion mounting table 4 and an external serial port, the expansion device can be mounted according to actual needs to be applied to operation of different scenes, and the universality is good;
4. the rotary table 1.2 is arranged on the movable chassis 1 to realize that the mechanical arm 2 rotates relative to the movable chassis 1, so that the whole robot is increased with one degree of freedom, the moving space of the robot is increased, and the flexibility of the robot is improved;
5. by adopting the crawler-type chassis, the adaptability to complex terrains is improved, the climbing capability is stronger, and the side tipping and the blocking are more difficult to occur.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-mentioned preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and the embodiments are substantially the same as the present invention.
Claims (10)
1. A special operation double-arm robot comprises a movable chassis, two mechanical arms arranged on the movable chassis and an electric installation box arranged on the movable chassis; a power supply and a control system are arranged in the electric installation box; the movable chassis and the mechanical arm are electrically connected with the power supply and the control system; it is characterized in that the preparation method is characterized in that,
the movable chassis is also provided with at least one expansion mounting platform, the electrical mounting box is also provided with at least one external serial port, and the external serial port is electrically connected with a power supply and a control system;
the mechanical arm comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body and a sixth arm body which are sequentially connected from front to back, a first joint arranged at the front end of the first arm body, a second joint connecting the rear end of the first arm body with the front end of the second arm body, a third joint connecting the rear end of the second arm body with the front end of the third arm body, a fourth joint connecting the rear end of the third arm body with the front end of the fourth arm body, a fifth joint connecting the rear end of the fourth arm body with the front end of the fifth arm body, a sixth joint connecting the rear end of the fifth arm body with the front end of the sixth arm body and a seventh joint connecting the rear end of the sixth arm body with the movable chassis; the rotation directions of any two adjacent joints are vertical to each other.
2. The special work dual-arm robot according to claim 1, wherein each joint comprises a reduction motor and a driving device, and the driving device is provided in the corresponding arm body.
3. The special work double-arm robot according to claim 2, wherein a speed reduction motor is provided at the front end of each arm body, and a driving device of the speed reduction motor is provided in the arm body; the speed reducing motor of the seventh joint is arranged at the rear end of the sixth arm body, and the driving device of the speed reducing motor is arranged in the sixth arm body.
4. The special work dual-arm robot according to claim 1, wherein the mobile chassis comprises a chassis body and a rotating table disposed on top of the chassis body; the mechanical arm is connected to the rotating platform.
5. The special work robot as claimed in claim 4, wherein the two robot arms are arranged on the turntable in bilateral symmetry.
6. The special work dual-arm robot according to claim 4, wherein at least one extended mounting table is provided on top of the rotating table.
7. The special work dual-arm robot according to claim 1, wherein the mobile chassis is a wheeled chassis.
8. The special work dual-arm robot of claim 1, wherein the mobile chassis is a tracked chassis.
9. The special work dual-arm robot of claim 8, wherein the ratio of the ground contact length of the tracks of the tracked undercarriage to the length of the tracked undercarriage is no less than 75%.
10. The special work dual-arm robot of claim 8, wherein the ground pressure ratio of the tracked chassis is no greater than 12 KPa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020353853.4U CN212265820U (en) | 2020-03-19 | 2020-03-19 | Special operation double-arm robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020353853.4U CN212265820U (en) | 2020-03-19 | 2020-03-19 | Special operation double-arm robot |
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| CN212265820U true CN212265820U (en) | 2021-01-01 |
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| CN202020353853.4U Active CN212265820U (en) | 2020-03-19 | 2020-03-19 | Special operation double-arm robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828850A (en) * | 2021-01-18 | 2021-05-25 | 季华实验室 | Five-sense special robot |
| CN113752232A (en) * | 2021-09-01 | 2021-12-07 | 肩并肩智能技术(北京)有限公司 | Multifunctional soil taking robot |
-
2020
- 2020-03-19 CN CN202020353853.4U patent/CN212265820U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828850A (en) * | 2021-01-18 | 2021-05-25 | 季华实验室 | Five-sense special robot |
| CN113752232A (en) * | 2021-09-01 | 2021-12-07 | 肩并肩智能技术(北京)有限公司 | Multifunctional soil taking robot |
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