CN108527346B - Double-robot system and control method thereof - Google Patents
Double-robot system and control method thereof Download PDFInfo
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- CN108527346B CN108527346B CN201810729517.2A CN201810729517A CN108527346B CN 108527346 B CN108527346 B CN 108527346B CN 201810729517 A CN201810729517 A CN 201810729517A CN 108527346 B CN108527346 B CN 108527346B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims description 67
- 230000009977 dual effect Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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Abstract
The application provides a double-robot system, which comprises an arm robot and a finger robot, wherein the finger robot is a micro-robot and is arranged at the tail end of the arm robot; the finger robot is characterized in that an executing mechanism is arranged at the tail end of the finger robot, and the executing mechanism accurately moves in a certain space range under the cooperative control of the arm robot and the finger robot. The application also provides a control method of the double-robot system, which is used for realizing the accurate control of the double-robot system. The double-robot system and the control method thereof provided by the application have the advantages of good reliability and high precision, and higher flexibility of the system is provided through the configuration of the redundancy degree of freedom; the miniaturization of the terminal robot can effectively reduce the inertia of the whole system, so that the whole system has the characteristics of flexibility, stability and compactness; the cooperative work of the double robots has higher precision, flexibility and wider application prospect than that of a single robot.
Description
Technical Field
The application relates to the technical field of robot equipment, in particular to a double-robot system and a control method thereof.
Background
In actual work and life, situations that repeated drawing and writing are needed, such as repeated drawing during teaching, and writing invitations, signatures and the like in life, are often encountered, and in such situations, if manual operation is adopted, time is wasted and huge waste of manpower is caused.
At present, some desktop-level mechanical arms appear in the market, and after an end effector is provided with a pen, handwriting and drawing can be repeated. The desktop-level mechanical arm mostly adopts a three-axis joint robot, a SCARA robot, a DELTA robot and the like. The mechanical arm can write, but has lower precision, and because the mechanical arm adopts a mode of moving the arm to write, the mechanical arm does not conform to an ergonomic writing mode, and can not completely simulate the human writing process. When a person writes, the finger is driven to move in a larger range by the characteristic of large working range of the arm, the finger is moved to the vicinity of the target point, and then the finger is used for accurately positioning and writing by operating the pen.
It can be seen that writing by a person is a complex process that cannot be accomplished with one robot, requiring the cooperation of two or more robots. Therefore, there is an urgent need for a dual robot system capable of completely simulating human writing to solve the above technical problems.
Disclosure of Invention
In order to solve the above problems, an object of the present application is to provide a dual robot system capable of completely simulating human writing, which replaces manual repetitive operations, has a simple structure, is highly reliable, and has high accuracy, in order to solve the above-described drawbacks and disadvantages of the related art. Meanwhile, the double-robot system is simple to manufacture, low in cost and convenient for large-scale production and application.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
the robot comprises an arm robot and a finger robot, wherein the finger robot is a micro-robot, the size of the finger robot is smaller than that of the arm robot, the finger robot is arranged at the tail end of the arm robot, and the arm robot actuates the finger robot to move in a certain space range; the tail end position of the finger robot is provided with an executing mechanism, and the finger robot controls the executing mechanism to move in a certain range; the actuating mechanism moves in a certain space range under the cooperative control of the arm robot and the finger robot.
Further, the arm robot comprises a base, a motor bracket, a motor, an outer rotating cylinder, a large arm, a small arm, a spiral transmission mechanism, an inner rotating cylinder and a synchronous belt device; the motor bracket is fixed on the base; the outer rotating cylinder is fixedly connected with the inner rotating cylinder.
Further, the motor comprises a first motor and a second motor; the first motor and the second motor are respectively fixed at two sides of the motor bracket; the first motor drives the inner rotary cylinder and the outer rotary cylinder to rotate through a first synchronous belt device; the outer rotating cylinder is provided with an opening part, and the opening part is mounted in a limit fit with the large arm.
Further, the screw transmission mechanism comprises a screw rod and a nut, wherein the nut is arranged on the screw rod, and the nut is fixedly connected with the large arm; the second motor drives the screw rod to rotate through a second synchronous belt device.
Further, the number of the large arms is two, the two large arms form an upper-lower double-layer structure, and the large arms are of split type structures and comprise a first large arm and a second large arm.
Further, the motor further comprises a third motor, the third motor is arranged on the second large arm, and the third motor drives the small arm to rotate through a third synchronous belt device; one side of the small arm is connected with the large arm, and the finger robot is arranged on the other side of the small arm.
Further, the synchronous belts of the first synchronous belt device, the second synchronous belt device and the third synchronous belt device are all closed synchronous belts and are tensioned and adjusted through motor mounting holes.
Further, the finger robot comprises a shell, a driving motor, a transverse guide rail, a longitudinal guide rail, a fourth synchronous belt device, a sliding block and an executing mechanism; the number of the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block is two, and the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block are used in pairs and are symmetrically installed.
Further, two shells form a shell of the finger robot, and an opening is formed in one side of the shell; the two driving motors are arranged on the upper surface of the shell and used for driving the fourth synchronous belt device; the two transverse guide rails are arranged inside the shell and are fixedly connected with the shell.
Further, the two longitudinal guide rails are slidably arranged in the track in the middle of the transverse guide rail; the longitudinal guide rail extends out of the opening, and the actuating mechanism is arranged at one end of the longitudinal guide rail outside the shell.
Further, the two sliding blocks are respectively arranged at the connecting positions of the transverse guide rail and the longitudinal guide rail, each sliding block comprises a first part and a second part, the first part is installed in a sliding fit with the transverse guide rail, and the second part is installed in a sliding fit with the longitudinal guide rail.
Further, the fourth synchronous belt device comprises a driving synchronous belt pulley, a driven synchronous belt pulley, a tensioning wheel, a tightening block and a second synchronous belt; the two driving synchronous pulleys are respectively arranged in the middle mounting cavities at the two ends of the transverse guide rail, and are respectively connected with the two driving motors; the driven synchronous pulley is arranged at one end of the longitudinal guide rail in the shell; a second part of the sliding block is provided with a mounting hole for mounting a shaft of the tensioning wheel; the tightening block is arranged in a mounting cavity at the opposite end of the driven synchronous pulley in the longitudinal guide rail.
Further, the second synchronous belt is an open synchronous belt, and is wound on the driving synchronous belt pulley, the driven synchronous belt pulley and the tensioning wheel; and two ends of the second synchronous belt are fixed and tensioned through the tightening blocks.
Further, the plane working range of the arm robot is larger than that of the finger robot, and the plane working range of the finger robot is 10mm multiplied by 10mm to 50mm multiplied by 50mm.
The application also provides a control method of the double-robot system, when in operation, the finger robot is moved to the vicinity of the first target point by the arm robot, and then the execution mechanism is controlled to accurately position and move in the space range by the cooperative coordination of the finger robot and the arm robot; when the finger robot reaches the limit of the working range of the finger robot, the arm robot moves the finger robot to the vicinity of the second target point, and the executing mechanism is controlled to accurately position and move in the space range through the cooperative coordination of the finger robot and the arm robot; and sequentially circulating, and completing the large-range and high-precision movement of the execution structure through the double-machine cooperation of the finger robot and the arm robot.
Further, the cooperation of the finger robot and the arm robot is that the arm robot only moves up and down, and the finger robot only moves in a plane range.
Compared with the prior art, the double-robot system and the control method thereof have the beneficial effects that: can replace manual repeated operation, has simple structure, convenient connection and easy movement and operation. Meanwhile, the double-robot system is simple to manufacture, low in cost, capable of writing calligraphic works with different sizes and fonts and painting works with different modes and different designs, and convenient for mass production and application.
The double-robot system not only has the advantage of large moving space of the traditional serial robots, but also has the advantages of high precision and high rigidity, and can provide higher flexibility of the system through the configuration of redundant degrees of freedom. Meanwhile, writing is performed through the miniature robot at the tail end, so that the whole inertia of the system can be effectively reduced, and the whole system has the characteristics of flexibility, stability and compactness. The cooperative work of the double robots has higher precision, flexibility and wider application prospect than that of a single robot.
In a word, the application provides a double-robot system with simple structure and strong practicability, which has wide application prospect in the field of intelligent robots.
Drawings
FIG. 1 is a schematic diagram of a dual robot system of the present application;
FIG. 2 is a schematic view of an arm robot according to the present application;
FIG. 3 is a schematic view of an arm robot drive mechanism of the present application;
FIG. 4 is a schematic view of an arm robot body of the present application;
FIG. 5 is a schematic view of the structure of the finger robot of the present application;
FIG. 6 is a schematic diagram of a finger robot transmission mechanism of the present application;
FIG. 7 is a schematic diagram II of a finger robot transmission mechanism of the present application;
FIG. 8 is a schematic view of the structure of the slider of the present application.
Wherein reference numerals are as follows:
1 arm robot, 1-1 base, 1-2 motor support, 1-3 first motor, 1-4 second motor, 1-5 third motor, 1-6 outer rotary drum, 1-7 big arm, 1-71 first big arm, 1-72 second big arm, 1-8 forearm, 1-9 lead screw, 1-10 nut, 1-11 inner rotary drum, 2 finger robot, 2-1 casing, 2-11 opening, 2-2 driving motor, 2-3 transverse guide rail, 2-4 longitudinal guide rail, 2-5 driving synchronous pulley, 2-6 driven synchronous pulley, 2-7 tensioning pulley, 2-8 tightening block, 2-9 slider, 2-91 first part, 2-92 second part, 2-93 mounting hole, 2-10 pen.
Detailed Description
In order to enable those skilled in the art to better understand the technical scheme of the present application, the present application will be further described in detail with reference to specific embodiments. It is noted that the embodiments described below are exemplary only for explaining the present application, and are not to be construed as limiting the present application. The examples are not to be construed as limiting the specific techniques or conditions described in the literature in this field or as per the specifications of the product.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
Hereinafter, the dual robot system of the present application will be described in detail by way of specific examples:
as shown in fig. 1, the dual robot system of the present application includes an arm robot 1 and a finger robot 2, wherein the finger robot 2 is installed at the end of the arm robot 1 as an end actuator of the arm robot 1; the pen is arranged at the tail end of the finger robot 2 and is used as an end actuating mechanism of the finger robot 2, and meanwhile, the pen is also an end actuating mechanism of the whole double-robot system, so that final writing or drawing is realized.
As shown in fig. 2-4, the arm robot 1 comprises a base 1-1, a motor bracket 1-2, a first motor 1-3, a second motor 1-4, a third motor 1-5, an outer rotary drum 1-6, a large arm 1-7, a small arm 1-8, a screw rod 1-9, a nut 1-10, an inner rotary drum 1-11 and other parts.
The motor support 1-2 is fixed on the base 1-1, and a first motor 1-3 and a second motor 1-4 are respectively fixed on two sides of the motor support 1-2. The first motor 1-3 drives the inner rotary drum 1-11 to rotate through a first synchronous belt device, and the outer rotary drum 1-6 is fixedly connected with the inner rotary drum 1-11 to rotate together; the outer rotary drum 1-6 is provided with an opening part which is installed in a limit fit with the two large arms 1-7; when the outer rotary drum 1-6 rotates, the two large arms 1-7 are driven to rotate together; thereby realizing the rotary actuation and control of the first motor 1-3 to the large arm 1-7.
The second motor 1-4 drives the screw rod 1-9 to rotate through a second synchronous belt device, and the screw rod 1-9 is rotatably supported at the center parts inside the outer rotary drum, the inner rotary drum and the base through bearings; the screw rod 1-9 is provided with two nuts 1-10, and the two nuts 1-10 are respectively fixedly connected with the two large arms 1-7; the screw rod 1-9 drives the two nuts 1-10 to move up and down when rotating, and the large arm moves up and down along with the nuts, so that the up-and-down actuation and control of the second motor 1-4 on the large arm 1-7 are realized.
The two large arms 1-7 form an upper and lower double-layer structure, so that the strength and rigidity of the arm body can be improved. Each big arm 1-7 consists of a first big arm 1-71 and a second big arm 1-72, and the first big arm 1-71 and the second big arm 1-72 are connected by a screw; the split structure of the large arm 1-7 facilitates the connection of the large arm 1-7 with the nut 1-10. The third motor 1-5 is arranged on the lower large arm 1-7, and the small arm 1-8 is driven to rotate by a third synchronous belt device. One side of the small arm 1-8 is connected with the large arm 1-7, and the other side is the tail end position of the arm robot 1 and is used for installing the finger robot 2.
The three synchronous belt devices are all closed synchronous belts and are all tensioned and adjusted through the mounting holes of the motor.
As shown in fig. 5-8, the finger robot 2 includes parts such as a housing 2-1, a driving motor 2-2, a lateral guide rail 2-3, a longitudinal guide rail 2-4, a fourth timing belt device, a slider 2-9, and a pen 2-10.
The upper shell 2-1 and the lower shell 2-1 are connected through screws to form a shell of the finger robot 2, and an opening 2-11 is formed in one side of the shell. The two driving motors 2-2 are symmetrically arranged on the upper surface of the shell and are used for driving the fourth synchronous belt device. The two transverse guide rails 2-3 are symmetrically arranged in the shell and are fixedly connected with the shell 2-1. The two symmetrically installed longitudinal guide rails 2-4 are slidably arranged in the track in the middle of the transverse guide rail 2-3 and can slide transversely and longitudinally in the track; the longitudinal rail 2-4 protrudes from the opening 2-11, and the pen 2-10 is provided at one end of the longitudinal rail 2-4 outside the housing. The two sliding blocks 2-9 are respectively arranged at the joint of the transverse guide rail and the longitudinal guide rail, the sliding blocks 2-9 are composed of a first part 2-91 and a second part 2-92, the first part 2-91 is installed in a sliding fit with the transverse guide rail, the second part 2-92 is installed in a sliding fit with the longitudinal guide rail, and the sliding blocks are used for guiding the longitudinal guide rail when moving in the transverse guide rail.
The number of the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block is two, the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block are used in pairs and are symmetrically installed, machining and installation are convenient, and cost is greatly reduced.
The fourth synchronous belt device comprises a driving synchronous pulley 2-5, a driven synchronous pulley 2-6, a tensioning pulley 2-7, a tightening block 2-8, a second synchronous belt and the like. The two driving synchronous pulleys 2-5 are respectively arranged in the middle installation cavities at the two ends of the transverse guide rail 2-3, and the two driving synchronous pulleys 2-5 are respectively connected with the two driving motors 2-2. The longitudinal guide rail 2-4 is provided with a driven synchronous pulley 2-6 in a mounting cavity at one end inside the shell. Four mounting holes 2-93 are provided in the second part 2-92 of the slide for mounting the shafts of the tensioning wheels 2-9, whereby four groups of tensioning wheels 2-7 are mounted on the four corners of two of the slide. The tightening blocks 2-8 are arranged in the installation cavity of the longitudinal guide rail outside the shell and are used for tensioning and adjusting the second synchronous belt.
The second synchronous belt is an open synchronous belt, and is wound on the driving synchronous belt pulley 2-5, the driven synchronous belt pulley 2-6 and the tensioning wheel 2-7. And two ends of the second synchronous belt are respectively fixed at the tightening blocks 2-8 through jackscrews and are subjected to tensioning adjustment.
When the two driving motors 2-2 rotate in the same direction and at the same speed, the longitudinal guide rail transversely moves in the transverse guide rail; when the two driving motors 2-2 reversely rotate at the same speed, the longitudinal guide rail is driven to longitudinally move in the transverse guide rail. When the rotation speeds of the two driving motors 2-2 are different, the longitudinal guide rail can be driven to move in the transverse guide rail along the transverse direction and the longitudinal direction at the same time, namely, move obliquely. By accurately controlling the rotation direction and the speed of the two driving motors 2-2, the movement of the longitudinal guide rail 2-4 can be accurately controlled, and the pen 2-10 arranged at the tail end of the longitudinal guide rail 2-4 can be accurately controlled, so that high-precision writing or drawing can be realized.
According to the dual robot system provided by the application, the arm robot 1 may be other common desktop-level mechanical arms in the art, such as a multi-axis joint robot, a DELTA robot, etc., and the arm robot has a larger moving range, and can drive the finger robot 2 at the tail end to move in a larger plane range, such as 300mm by 300mm; meanwhile, the arm robot 1 can drive the finger robot 2 to move up and down, so that the pen lifting action of the double-robot system during writing is realized.
According to the dual robot system provided by the application, the finger robot 2 is a micro robot, and has a smaller size, for example 70mm by 30mm; while having a small planar working range, e.g. 30mm x 30mm; the finger robot 2 has high writing accuracy and can write smaller characters, for example, characters with the size of 3mm by 3 mm.
When the double-robot system is used for writing, the finger robot 2 is moved to the vicinity of the first target point by the arm robot 1, and then the finger robot 2 and the arm robot 1 are matched with a control pen for accurate positioning writing; when the finger robot 2 reaches the limit of the working range, the arm robot 1 moves the finger robot 2 to the vicinity of the second target point, and accurate positioning writing is performed through a matched control pen of the finger robot 2 and the arm robot 1, so that the two machines of the finger robot 2 and the arm robot 1 are sequentially circulated, and large-range and high-precision writing is completed.
Of course, since the pen is also an end effector of the whole dual robot system, the pen may be driven by the arm robot 1 alone to write, that is, the finger robot 2 does not control the pen at this time, and the arm robot 1 alone controls the pen to write or draw.
The double-robot system provided by the application can replace manual repeated operation, and has the advantages of simple structure, convenience in connection, easiness in moving and operation. Meanwhile, the robot is simple to manufacture, low in cost, capable of writing calligraphic works with different sizes and fonts and painting works with different modes and different designs, and convenient for mass production and application.
The large-name double-robot system not only has the advantage of large moving space of the traditional serial robots, but also has the advantages of high precision and high rigidity, and can provide higher flexibility through the configuration of redundant degrees of freedom. Meanwhile, the whole inertia can be effectively reduced by writing through the small-sized robot at the tail end, so that the whole system has the characteristics of flexibility, stability and compactness. The cooperative work of the double robots has higher precision, flexibility and wider application prospect than that of a single robot.
In a word, the application provides a double-robot system with simple structure and strong practicability, which has wide application prospect in the field of intelligent robots.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Claims (12)
1. A dual robot system comprising an arm robot and a finger robot, characterized in that: the finger robot is a micro-robot, the size of the finger robot is smaller than that of the arm robot, the finger robot is arranged at the tail end of the arm robot, and the arm robot actuates the finger robot to move in a certain space range; the tail end position of the finger robot is provided with an executing mechanism, and the finger robot controls the executing mechanism to move in a certain range; the actuating mechanism moves in a certain space range under the cooperative control of the arm robot and the finger robot; the arm robot comprises a base, a motor bracket, a motor, an outer rotating cylinder, a large arm, a small arm, a spiral transmission mechanism, an inner rotating cylinder and a synchronous belt device; the motor bracket is fixed on the base; the outer rotary cylinder is fixedly connected with the inner rotary cylinder;
the motor comprises a first motor and a second motor; the first motor and the second motor are respectively fixed at two sides of the motor bracket; the first motor drives the inner rotary cylinder and the outer rotary cylinder to rotate through a first synchronous belt device; the outer rotating cylinder is provided with an opening part, and the opening part is mounted in limit fit with the large arm;
the screw transmission mechanism comprises a screw rod and a nut, wherein the nut is arranged on the screw rod and is fixedly connected with the large arm; the second motor drives the screw rod to rotate through a second synchronous belt device;
the finger robot comprises a shell, a driving motor, a transverse guide rail, a longitudinal guide rail, a fourth synchronous belt device, a sliding block and an executing mechanism; the number of the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block is two, and the shell, the driving motor, the transverse guide rail, the longitudinal guide rail and the sliding block are used in pairs and are symmetrically installed.
2. The dual robot system according to claim 1, wherein: the number of the large arms is two, the two large arms form an upper-lower double-layer structure, and the large arms are of split type structures and comprise a first large arm and a second large arm.
3. The dual robot system according to claim 2, wherein: the motor further comprises a third motor, the third motor is arranged on the second large arm, and the third motor drives the small arm to rotate through a third synchronous belt device; one side of the small arm is connected with the large arm, and the finger robot is arranged on the other side of the small arm.
4. A dual robot system according to claim 3, characterized in that: the synchronous belts of the first synchronous belt device, the second synchronous belt device and the third synchronous belt device are all closed synchronous belts and are tensioned and adjusted through motor mounting holes.
5. The dual robot system according to claim 4, wherein: the two shells form a shell of the finger robot, and an opening is formed in one side of the shell; the two driving motors are arranged on the upper surface of the shell and used for driving the fourth synchronous belt device; the two transverse guide rails are arranged inside the shell and are fixedly connected with the shell.
6. The dual robot system according to claim 5, wherein: the two longitudinal guide rails are arranged in the track in the middle of the transverse guide rail in a sliding manner; the longitudinal guide rail extends out of the opening, and the actuating mechanism is arranged at one end of the longitudinal guide rail outside the shell.
7. The dual robot system according to claim 6, wherein: the two sliding blocks are respectively arranged at the joint of the transverse guide rail and the longitudinal guide rail, each sliding block comprises a first part and a second part, the first parts are installed in a sliding fit mode with the transverse guide rail, and the second parts are installed in a sliding fit mode with the longitudinal guide rail.
8. The dual robot system according to claim 7, wherein: the fourth synchronous belt device comprises a driving synchronous belt pulley, a driven synchronous belt pulley, a tensioning wheel, a tightening block and a second synchronous belt; the two driving synchronous pulleys are respectively arranged in the middle mounting cavities at the two ends of the transverse guide rail, and are respectively connected with the two driving motors; the driven synchronous pulley is arranged at one end of the longitudinal guide rail in the shell; a second part of the sliding block is provided with a mounting hole for mounting a shaft of the tensioning wheel; the tightening block is arranged in a mounting cavity at the opposite end of the driven synchronous pulley in the longitudinal guide rail.
9. The dual robot system according to claim 8, wherein: the second synchronous belt is an open type synchronous belt and is wound on the driving synchronous belt pulley, the driven synchronous belt pulley and the tensioning wheel; and two ends of the second synchronous belt are fixed and tensioned through the tightening blocks.
10. The dual robot system according to claim 1, wherein: the arm robot is a desktop-level mechanical arm, the plane working range of the arm robot is larger than that of the finger robot, and the plane working range of the finger robot is 10mm multiplied by 10mm to 50mm multiplied by 50mm.
11. The control method of a dual robot system according to any one of claims 1 to 10, characterized in that: when the robot works, the finger robot is moved to the vicinity of the first target point by the arm robot, and then the execution mechanism is controlled to accurately position and move in a space range by the cooperative cooperation of the finger robot and the arm robot; when the finger robot reaches the limit of the working range of the finger robot, the arm robot moves the finger robot to the vicinity of the second target point, and the executing mechanism is controlled to accurately position and move in the space range through the cooperative coordination of the finger robot and the arm robot; and sequentially circulating, and completing the large-range and high-precision movement of the actuating mechanism through the double-machine cooperation of the finger robot and the arm robot.
12. The control method of a dual robot system according to claim 11, wherein: the cooperation of the finger robot and the arm robot is that the arm robot only moves up and down, and the finger robot only moves in a plane range.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810729517.2A CN108527346B (en) | 2018-07-05 | 2018-07-05 | Double-robot system and control method thereof |
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| CN201810729517.2A CN108527346B (en) | 2018-07-05 | 2018-07-05 | Double-robot system and control method thereof |
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| CN108527346B true CN108527346B (en) | 2023-12-01 |
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| CN117400281B (en) * | 2023-12-15 | 2024-03-12 | 沧州铭洋自动化技术有限公司 | Multi-axis drawing robot with multiple mechanical arms |
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