Intelligent cooperation dual-arm robot

Abstract

The invention provides an intelligent cooperation dual-arm robot. The robot comprises a mounting base and two arms, the two arms are arranged on the two sides of the mounting base in a mirror symmetry manner, and each arm comprises a shoulder arm assembly, a rear end arm assembly, a toggle arm assembly, a front end arm assembly and a wrist arm assembly connected with a tail end execution component, all of which are sequentially connected; one end of each shoulder arm assembly is connected with the mounting base, each shoulder arm assembly can rotate around the mounting base, one end of each rear end arm assembly is rotatably connected with the side wall of the other end of the corresponding shoulder arm assembly, the side face of one end of each toggle arm assembly is rotatably connected with the other end of the corresponding rear end arm assembly, one end of each front end arm assembly is connected with the other end of the corresponding toggle arm assembly, and each front end arm assembly can rotate around the axial direction; and one end of each wrist arm assembly is connected with the other end of the corresponding front end arm assembly, each wrist arm assembly can swing in the length direction of the corresponding front end arm assembly, and the other end of each wrist arm assembly is connected with the corresponding tail end execution component. The robot is compact in structure and reasonable in design, and the intelligent cooperation dual-arm robot is good in mechanical structural rigidity, small in size and small in weight.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically, relates to an intelligent collaborative dual-arm robot. Background technique [0002] With the improvement of the level of production automation, more and more robots are used to automatically perform production tasks. Robots can replace people's heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other fields. During the production process, the dual-arm robot can grasp the workpiece with the left arm, and the right arm can use the corresponding tools to work at the same position. There is no collision waiting area, which solves the bottleneck of the current single-arm robot and better satisfies the process production Process human-machine assistance function. [0003] In order t...

AI Technical Summary

Problems solved by technology

The wire tube of the end effector of the existing robot will extend from the elbow and be placed outside the forearm end, and be connected with the end effector installed on the wrist. The problem, and the problem that the wire tube is not at the rotation center of the reducer, causes the wire tube of the end effector to wrap around the front-end arm when the front-end arm rotates and the end-effector connected to the wrist rotates, thereby restricting the movement of the front-end arm space, reducing the freedom of movement of the front arm

[0006] At the same time, when the motion trajectory of the end effector connected to the wrist is to swing around the central axis of the front-end arm, since the input shaft of the reducer that drives the swing is set perpendicular to the front-end arm, the drive shaft that drives the swing motion in the front-end arm The driving device will also be arranged along the width direction of the front end arm, so that the width direction of the front end arm increases, resulting in the volume of the front end arm being too large

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