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All-directional movable double-arm robot

An omnidirectional mobile and robotic technology, applied in the field of omnidirectional mobile dual-arm robots, can solve the problems of limited working space and many blind spots of omnidirectional mobile dual-arm robots, and achieve the goal of solving the singleness problem, improving the operating space and compacting the device Effect

Pending Publication Date: 2019-08-23
合肥哈工图南智控机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is: how to solve the problem of limited working space and many blind spots of the omnidirectional mobile dual-arm robot

Method used

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  • All-directional movable double-arm robot
  • All-directional movable double-arm robot
  • All-directional movable double-arm robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as figure 1 , 2 shown, combined with Figure 3-5 In this embodiment, the omnidirectional mobile dual-arm robot includes a car body 100, a rotary lifting platform 200, a laser radar 300, a first robotic arm 400, a second robotic arm 500, a camera 600, a plurality of ultrasonic sensor modules 700, and a power supply system 800 , embedded host 900, industrial control host 1000;

[0040] The rotary lifting platform 200 is rotatably installed on the top surface of the car body 100, the laser radar 300 is rotatably installed on the top of the rotary lifting platform 200, and the first mechanical arm 400 and the second mechanical arm 500 are rotatably installed on the rotary lifting platform. 200 on;

[0041] The embedded host 900, the camera 600 and the laser radar 300 are respectively electrically connected to the industrial control host 1000;

[0042] The motor on the vehicle body 100, the first mechanical arm 400, the second mechanical arm 500, and a plurality of ul...

Embodiment 2

[0051] The difference between the second embodiment and the first embodiment is that the specific structure of the rotary lifting platform 200 is refined.

[0052] Such as Figure 1-5 As shown, the rotary lifting platform 200 includes a base, a first motor 201, a second motor 202, a hollow rotating platform 203, a first bevel gear 204, and a second bevel gear 205, wherein the base includes a first A rotary table 206, a second rotary table 207, a linear guide rail 208, and a slider 209. The second rotary table 207 is installed on the hollow rotary platform 203, and the hollow rotary platform 203 is installed on the top plate 101. The first motor 201 is driven to connect the hollow rotary platform. platform 203, the first motor 201 is installed on the bottom surface of the top plate 101, the first bevel gear 204 is fixed on the second turntable 207, the second motor 202 is installed horizontally on the second turntable 207, the second bevel gear 205 It is also installed horizon...

Embodiment 3

[0057] The difference between embodiment three and implementation two is:

[0058] Such as Figure 1-5 As shown, in this embodiment, a steering gear 1100 is also included. The steering gear 1100 is installed on the top of the first turntable 206 . The steering gear 1100 drives and connects to the camera 600 . The steering gear 1100 is a servo steering gear that can realize the 360° rotation of the camera 600. The 360-degree rotation movement of the 3D depth camera fixed at the end of the steering gear 1100 can effectively improve the imaging angle of the 3D depth camera to adapt to more application environments. Reality.

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Abstract

The invention discloses an all-directional movable double-arm robot. The all-directional movable double-arm robot comprises a vehicle body, a rotary hoisting platform, a laser radar, a first mechanical arm, a second mechanical arm, a camera, a plurality of ultrasonic sensor modules, a power supply system, an embedded host and an industrial control host, wherein the rotary hoisting platform can berotatably mounted on a top surface of the vehicle body; the laser radar can be rotatably mounted at the top end of the rotary hoisting platform; and the first mechanical arm and the second mechanicalarm can be mounted on the rotary hoisting platform in an up-down movement manner. The all-directional movable double-arm robot disclosed by the invention has the beneficial effects that the robot hastwo rotating degrees of freedom and vertical degrees of freedom, so that an operation space of an all-directional movable robot can be greatly improved and a working blind region is reduced; more complicated working tasks can be carried out through the cooperation of double arms; the navigation and positioning precision is improved and the reliability and robustness of a navigation system are improved; and the obstacle-avoiding performance of the system is improved.

Description

technical field [0001] The invention relates to a robot, in particular to an omnidirectional mobile dual-arm robot. Background technique [0002] With the continuous advancement of Industry 4.0 and China's Smart Manufacturing 2025, new requirements have been placed on the functions and performance of robots. As a kind of mobile platform, a mobile robot usually has two structures: non-omnidirectional movement and omnidirectional movement. Non-omnidirectional mobile robots generally use two-wheel drive, four-wheel drive or multi-wheel drive, which is characterized by a simple kinematic model and easy control, but it cannot be applied to a narrow movement space. The omnidirectional mobile robot has three degrees of freedom in the working plane, and generally adopts a symmetrically installed multi-drive wheel structure such as three wheels (omni wheels) and four wheels. The wheels generally use omni wheels or mecanum wheels. Omni-directional mobile robots can realize any angle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J18/00
CPCB25J9/1666B25J9/1602B25J13/087B25J18/00
Inventor 丁亮王权张绍维刘鹏飞夏科睿洪伟
Owner 合肥哈工图南智控机器人有限公司
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