Double-arm cooperation robot

Abstract

The invention discloses a double-arm cooperation robot. The double-arm cooperation robot comprises a robot base and two robot arms which are symmetrically distributed, wherein the robot arms comprisemodular double joints and five modular single joints which are sequentially connected in series; the modular double joints comprise L pipe joint bases and two steering engines, wherein the two steering engines are kept vertical, each modular single joint comprises a straight pipe joint base and a steering engine, and the five modular single joints are correspondingly connected with a first singlejoint, a second single joint, a third single joint, a fourth single joint and a fifth single joint which are sequentially connected in series; the first single joint is vertically connected with the second steering engine, the central axes of the first single joint and the third single joint are not parallel to each other and are coplanar, a central shaft of the first steering engine is located outside a distribution plane and is parallel to the distribution plane, and the central axes of the second steering engine, the second single joint and the fourth single joint are parallel to one another. The double-arm cooperation robot has the advantages that the space position and randomicity of postures, the singularity of the working space can be avoided, barriers in the working space can be avoided, the structure is simple, and accurate assembly is easy to realize.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dual-arm collaborative robot. Background technique [0002] The robotic arm is a multi-input multi-output, highly nonlinear, and strongly coupled complex system. Because of its unique flexibility, it is increasingly used in industrial fields. At present, most of the more commonly used robotic arms are single arms with six degrees of freedom, and the arbitrariness of spatial position and posture is relatively limited, which cannot meet complex work requirements. There are also some dual-arm robots that meet the requirements of arbitrary motion to a certain extent, but there are problems such as space singularity and poor obstacle avoidance ability. At the same time, the existing mechanical arms are often complex in structure, difficult to install, assembly accuracy cannot be guaranteed, and assembly and manufacturing costs are high. In the field of collaborative robot applicati...

AI Technical Summary

Problems solved by technology

At present, most of the more commonly used robotic arms are single arms with six degrees of freedom, and the arbitrariness of spatial position and attitude is relatively limited, which cannot meet complex work requirements.

There are also some dual-arm robots that meet the requirements of arbitrary motion to a certain extent, but there are problems such as space singularity and poor obstacle avoidance ability.

At the same time, the existing mechanical arms are often complex in structure, difficult to install, assembly accuracy cannot be guaranteed, and assembly and manufacturing costs are high

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