Asymmetrical double-mechanical-arm device

Abstract

The invention provides an asymmetrical double-mechanical-arm device, and belongs to the technical field of industrial robots. The technical problems of the redundancy of the freedom degree of a mechanical arm of an existing double-arm robot and the like are solved. The asymmetrical double-mechanical-arm device comprises a base, a first mechanical arm and a second mechanical arm. The inner end of the first mechanical arm and the inner end of the second mechanical arm are connected with the base. The relationship between the freedom degree L of the first mechanical arm and the freedom degree M of the second mechanical arm meets the following formula|L-M|=N, wherein N is equal to 1, 2, 3, 4, 5 and 6. The first mechanical arm and the second mechanical arm of the asymmetrical double-mechanical-arm device are of an asymmetrical structure, and the number of parts of the second mechanical arm is smaller than that of parts of the first mechanical arm, namely, the second mechanical arm saves parts. By the adoption of the structure, the error of transmission between the parts on the second mechanical arm can be reduced, and therefore the accumulated error of the whole second mechanical arm can be reduced, the manufacturing cost of a system is reduced, and the control difficulty of the system is also reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial robots and relates to an asymmetric double mechanical arm device. Background technique [0002] With the development of science and technology, robots have been widely used in many fields, such as machinery manufacturing, electronic technology, agricultural picking, demolition operations, etc. The control of robot movements is realized through sensors, cameras and control devices, which is difficult to rely on manpower to complete or Work that requires a lot of manpower to complete. Robots are divided into single manipulator system and multi-manipulator system. Compared with ordinary single manipulator system, multi-manipulator system has obvious advantages in load capacity, dexterity and efficiency of operation. It is expected to be used in precision assembly and service robots, etc. The field has important application prospects. [0003] The Chinese patent document with the application numb...

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Problems solved by technology

[0004] The disadvantage of the above-mentioned dual-arm robot is that it adopts a symmetrical dual-arm structure, and the joints of the left and right arms correspond one-to-one, so it has a high degree of freedom redundancy.

On the one hand, it increases the control difficulty and hardware cost of the system. On the other hand, in industrial production, most of the existing work does not require the same number of degrees of freedom as the arms of the robot. In this case, using symmetrical arms The work of the robot will affect the work efficiency, and also cause the transmission error and cumulative error of the robot arm to be large

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