A collaborative dual-arm industrial robot
An industrial robot and dual-arm technology, applied in the field of robots, can solve problems such as difficulty in meeting use requirements and limited load capacity, and achieve the effects of compact structure, improved load capacity, and enlarged working range.
Active Publication Date: 2021-05-25
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
At present, in various domestic industries, most of the robots with single-arm structure are used for production, and their load capacity is limited. Moreover, for working conditions that require collaboration, there are certain problems in the cooperation of single-arm robots, which are difficult to meet the actual use requirements.
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[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0034] Such as Figure 1-10 As shown, the present invention includes a rotating mechanism 1, a mechanical arm lifting mechanism 2 and a mechanical arm. The mechanical arm lifting mechanism 2 is arranged on the rotating mechanism 1, and the mechanical arm lifting mechanism 2 is driven to rotate by the rotating mechanism 1. Two The mechanical arms are separately arranged on both sides of the mechanical arm lifting mechanism 2 , and the mechanical arms are driven up and down by the mechanical arm lifting mechanism 2 .
[0035] Such as figure 2 As shown, the mechanical arm lifting mechanism 2 includes a mounting stand 207, a lifting seat 205, a lifting drive motor 201, a screw 204 and a screw nut, the mounting stand 207 is arranged on the rotating mechanism 1, and the lifting The seat 205 is slidably connected with the installation stand 207, and the lifting s...
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The invention relates to the field of robots, in particular to a collaborative dual-arm industrial robot, comprising a rotating mechanism, a mechanical arm lifting mechanism and a mechanical arm. The mechanical arm lifting mechanism is provided with a lifting seat, and two mechanical arms are respectively installed on the On both sides of the seat, the two mechanical arms include a first rotating arm and a second rotating arm, wherein the two ends of the first rotating arm body are respectively provided with a first rotating joint and a second rotating joint, and the first rotating arm The body is driven to rotate through the first rotating joint, and the arm body of the second rotating arm is driven to rotate through the second rotating joint. The rotating mechanism is provided with a rotating waist and a rotating driving mechanism, and the rotating waist is driven to rotate by the rotating driving mechanism, and the lower end of the installation stand is fixedly connected with the rotating waist. The double arms of the invention can act in coordination, increase the load capacity of the robot, and can adapt to the requirements of various working conditions.
Description
technical field [0001] The invention relates to the field of robots, in particular to a collaborative dual-arm industrial robot. Background technique [0002] Foreign research on dual-arm robots began in the early 1990s. The research work is mainly on the trajectory planning of the dual arms (including collision avoidance), the coordinated control algorithm of the dual arms, and the control of operating force or torque. The research is mainly based on multi-robots working in the same environment without collision, while domestic research on dual-arm robots is still in its infancy, and is restricted by many related technologies and research conditions. At present, in various domestic industries, robots with single-arm structure are mostly used for production, and their load capacity is limited. Moreover, for working conditions that require collaboration, there are certain problems in the cooperation of single-arm robots, which are difficult to meet actual use requirements. ...
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IPC IPC(8): B25J9/00
Inventor 赵明扬谷侃锋魏强王琛元朱思俊李世海池世春吴强高英美康浩博
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI