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A flexible fish-finned double collaborative robot

A robot and robot arm technology, applied in the field of robotics, can solve the problems of immature application of the internal motion principle of fish fins, etc., and achieve the effect of light weight, flexible controllability, and small inertia

Inactive Publication Date: 2017-10-24
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the application of the internal motion principle of fish fins is not yet mature.

Method used

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  • A flexible fish-finned double collaborative robot
  • A flexible fish-finned double collaborative robot
  • A flexible fish-finned double collaborative robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail:

[0029] Such as figure 1 As shown, a flexible imitation fin double collaborative robot includes a machine frame 1, a robot arm module a2 and a robot arm module b3, and is characterized in that: the robot arm module a2 and the robot arm module b3 are installed horizontally and vertically on the machine On the table frame 1, the maximum efficient cooperation of the arms is realized.

[0030] The robot arm module b3 includes a power module 4, a mechanical arm module 5 and a mechanical wrist module 6. The power module 4 is respectively fixed on the machine frame 1 by screws, and one end of the mechanical arm module 5 is fixed on the power module by a set screw. 4, the other end is screwed to the mechanical wrist module 6; the robot arm module a2 has the same structure as the robot arm module b3. The movement process is as follows: install the mechanical g...

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Abstract

The invention relates to a flexible fin-imitated dual collaborative robot which comprises a machine table frame, a robot arm module a and a robot arm module b. The robot arm module a is horizontally mounted, the robot arm module b is vertically mounted, and maximum-efficiency collaboration of the dual-arm flexible collaborative robot is achieved. Each robot arm module is composed of a power module, a mechanical arm module and a mechanical wrist module. Each power module is fixed to the machine table frame through a screw. One end of each mechanical arm module is fixed to the corresponding power module through a set screw, and the other end of each mechanical arm module is in threaded connection with the corresponding mechanical wrist module. According to the motion process of the robot, mechanical grippers meeting the work requirement are mounted on the mechanical wrist modules, the power modules of the robot arm modules are controlled through a motion control card, and therefore the postures and directions of the mechanical arm modules and the mechanical wrist modules are controlled, the mechanical grippers are controlled to be matched, and the effect of collaborative motion of dual mechanical arms is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a flexible fin-like double cooperative robot. Background technique [0002] Today's industrial robots such as welding and handling robots are mainly designed with humanoid arms, which are combined with a rotating base, three single-degree-of-freedom joints and wrist joints, and then cooperate with special end effectors to complete the tasks scheduled by the program. Nowadays, the development of robot manipulators has changed from the most traditional multi-joint series industrial manipulators and parallel high-speed Delta manipulators to the multi-spine snake robot of Vanderbilt University and the OctArm manipulator of Clemson University. The manipulators are moving towards flexibility, Bionics development. [0003] The exquisite structure, movement principle and behavior mode of living organisms have become the objects of robotics intentional imitation. In particular, animals i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10B25J18/00
CPCB25J9/0054B25J9/104B25J18/005
Inventor 石林王凌晓田应仲陆俊逸张可军
Owner SHANGHAI UNIV
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