CN108312128A - Man-machine collaboration robot - Google Patents
Man-machine collaboration robot Download PDFInfo
- Publication number
- CN108312128A CN108312128A CN201810228171.8A CN201810228171A CN108312128A CN 108312128 A CN108312128 A CN 108312128A CN 201810228171 A CN201810228171 A CN 201810228171A CN 108312128 A CN108312128 A CN 108312128A
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- rotary joint
- arm
- joint
- rotating
- man
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- 210000000078 claw Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses man-machine collaboration robots, including robot base, it is separately installed with the first rotary joint at left and right sides of the robot base both ends, first rotary joint in wherein left side is connected to the left joint of the second rotary joint by first rotating arm left arm, the left joint of second rotary joint is connected to the third rotary joint in left side by the second rotating arm left arm, first rotary joint on right side is connected to the right joint of the second rotary joint by first rotating arm right arm, the right joint of second rotary joint is connected to the third rotary joint on right side by the second rotating arm right arm, the left and right sides third rotary joint passes through the 4th rotary joint, 5th rotary joint is connected to graping chaw.Beneficial effects of the present invention：It reduces manual operation intensity and greatly improves operation convenience degree, can realize man-machine collaboration and the manual security of personnel.
Description
Technical field
The present invention relates to robot fields, relate in particular to man-machine collaboration robot.
Background technology
Current existing robot is to control to substitute worker's progress repetitive operation by system program, often for completely solely
Vertical work, the higher occasion of precision can't completely be competent at.
Invention content
For the problems in the relevant technologies, the present invention proposes man-machine collaboration robot.
To realize the above-mentioned technical purpose, the technical proposal of the invention is realized in this way：
Man-machine collaboration robot, including robot base, the robot base both ends left and right sides are separately installed with the first rotation
Turn joint, wherein first rotary joint in left side is connected to the left joint of the second rotary joint by first rotating arm left arm,
The left joint of second rotary joint is connected to the third rotary joint in left side by the second rotating arm left arm, and described the of right side
One rotary joint is connected to the right joint of the second rotary joint by first rotating arm right arm, and the right joint of the second rotary joint is logical
The third rotary joint that the second rotating arm right arm is connected to right side is crossed, the left and right sides third rotary joint passes through the 4th rotation
Turn joint, the 5th rotary joint is connected to graping chaw.
Further, pass through servo motor harmony between the robot base and the first rotary joint of the left and right sides
The combination of wave speed reducer carries out rotation driving, and rotating range is -180 °~180 °.
Further, first rotation of first rotary joint Yu first rotating arm left arm in left side, right side is closed
Rotation driving is carried out by the combination by servo motor and harmonic wave speed reducing machine between section and first rotating arm right arm, rotates model
Enclose is -100 °~100 °.
Further, the first rotation left arm and left joint of the second rotary joint, the first rotation right arm and the second rotation
Rotation driving is carried out by the combination of servo motor and harmonic wave speed reducing machine between the right joint in joint, rotating range is -180 °~
180°。
Further, the left joint of the second rotary joint and the second rotating arm left arm, the right joint of the second rotary joint with
Rotation driving is carried out by the combination of servo motor and harmonic wave speed reducing machine between second rotating arm right arm, rotating range is -90 °~
120°。
Further, by watching between the second rotating arm left arm, third rotating arm right arm and third rotary joint
The combination for taking motor and harmonic wave speed reducing machine carries out rotation driving, and rotating range is -180 °~180 °.
Further, pass through servo motor and harmonic wave speed reducing machine between the third rotary joint and the 4th rotary joint
Combination carries out rotation driving, and rotating range is -95 °~95 °.
Further, pass through servo motor and harmonic wave speed reducing machine between the 4th rotary joint and the 5th rotary joint
Combination carries out rotation driving, and rotating range is -180 °~180 °.
Further, the graping chaw uses three-jaw paw, the three-jaw hand claw clip to be held on three-jaw cylinder.
Beneficial effects of the present invention：It reduces manual operation intensity and greatly improves operation convenience degree, can realize
The manual security of man-machine collaboration and personnel.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of the man-machine collaboration robot according to embodiments of the present invention；
Fig. 2 is the structural representation of first rotary joint and first rotating arm left arm coupling part according to embodiments of the present invention
Figure；
Fig. 3 is the structure in the left joint of the second rotary joint and the second rotating arm left arm coupling part according to embodiments of the present invention
Schematic diagram；
Fig. 4 is the structural schematic diagram of the third rotary joint and the 4th rotary joint coupling part according to embodiments of the present invention.
In figure：
1, robot base；2, the first rotary joint；3, first rotating arm left arm；4, the left joint of the second rotary joint；5, second
Rotating arm left arm；6, third rotary joint；7, the 4th rotary joint；8, the 5th rotary joint；9, graping chaw；10, the first rotation
Pivoted arm right arm；11, the right joint of the second rotary joint；12, the second rotating arm right arm.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained belong to what the present invention protected
Range.
As shown in Figs 1-4, man-machine collaboration robot, including robot base 1,1 both ends of the robot base or so two
Side is separately installed with the first rotary joint 2, wherein first rotary joint 2 in left side is connected by first rotating arm left arm 3
To the left joint 4 of the second rotary joint, the left joint 4 of the second rotary joint is connected to left side by the second rotating arm left arm 5
First rotary joint 2 of third rotary joint 6, right side is connected to the second rotary joint right side by first rotating arm right arm 10
Joint 11, the right joint 11 of the second rotary joint are connected to the third rotary joint 6 on right side by the second rotating arm right arm 12,
The left and right sides third rotary joint 6 is connected to graping chaw 9 by the 4th rotary joint 7, the 5th rotary joint 8.
Pass through servo motor and harmonic reduction between the robot base 1 and the first rotary joint 2 of the left and right sides
The combination of machine carries out rotation driving, and rotating range is -180 °~180 °.
First rotary joint 2 in left side and first rotating arm left arm 3, first rotary joint 2 on right side and the
By carrying out rotation driving, rotating range by the combination of servo motor and harmonic wave speed reducing machine between one rotating arm right arm 10
It is -100 °~100 °.
The left joint 4 of 3 and second rotary joint of the first rotating arm left arm, the rotation of first rotating arm right arm 10 and second are closed
It saving between right joint 11 and rotation driving to be carried out by the combination of servo motor and harmonic wave speed reducing machine, rotating range is -180 °~
180°。
The left 4 and second rotating arm left arm 5 of joint of second rotary joint, the right joint 11 and second of the second rotary joint are revolved
Rotation driving is carried out by the combination of servo motor and harmonic wave speed reducing machine between pivoted arm right arm 12, rotating range is -90 °~
120°。
Between the second rotating arm left arm 5, third rotating arm right arm and third rotary joint 6 by servo motor and
The combination of harmonic wave speed reducing machine carries out rotation driving, and rotating range is -180 °~180 °.
Between 6 and the 4th rotary joint 7 of the third rotary joint by the combination of servo motor and harmonic wave speed reducing machine into
Row rotation driving, rotating range are -95 °~95 °.
Between 4th rotary joint 7 and the 5th rotary joint 8 by the combination of servo motor and harmonic wave speed reducing machine into
Row rotation driving, rotating range are -180 °~180 °.
The graping chaw 9 uses three-jaw paw, the three-jaw hand claw clip to be held on three-jaw cylinder.
Above-mentioned man-machine collaboration robot is instructed by operating personnel's input service or drives man-machine collaboration machine by operating personnel
Device people carries out simulation work, realizes that robot hand moves to designated position and carries out assigned work by the rotation of six axis joints,
It such as captures, carry, specified article is sent to the position specified by operating personnel, to reach the work mesh for assisting operating personnel
's.
Ambient enviroment is identified by being attached to the sensing equipment of joint and paw everywhere, executes command adapted thereto, is kept away
Exempt from that the injuries behaviors such as touching occur with operating personnel, ensures the safety of human life of operating personnel or collaborators.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (9)
1. man-machine collaboration robot, including robot base（1）, which is characterized in that the robot base（1）Both ends or so two
Side is separately installed with the first rotary joint（2）, wherein first rotary joint in left side（2）Pass through first rotating arm left arm
（3）It is connected to the left joint of the second rotary joint（4）, the left joint of the second rotary joint（4）Pass through the second rotating arm left arm（5）
It is connected to the third rotary joint in left side（6）, first rotary joint on right side（2）Pass through first rotating arm right arm（10）Even
It is connected to the right joint of the second rotary joint（11）, the right joint of the second rotary joint（11）Pass through the second rotating arm right arm（12）Even
It is connected to the third rotary joint on right side（6）, the left and right sides third rotary joint（6）Pass through the 4th rotary joint（7）,
Five rotary joints（8）It is connected to graping chaw（9）.
2. man-machine collaboration robot according to claim 1, which is characterized in that the robot base（1）With left and right two
First rotary joint of side（2）Between rotation driving, rotating range are carried out by the combination of servo motor and harmonic wave speed reducing machine
It is -180 °~180 °.
3. man-machine collaboration robot according to claim 1, which is characterized in that first rotary joint in left side（2）
With first rotating arm left arm（3）, right side first rotary joint（2）With first rotating arm right arm（10）Between by logical
The combination for crossing servo motor and harmonic wave speed reducing machine carries out rotation driving, and rotating range is -100 °~100 °.
4. man-machine collaboration robot according to claim 1, which is characterized in that the first rotating arm left arm（3）With
The left joint of two rotary joints（4）, first rotating arm right arm（10）With the right joint of the second rotary joint（11）Between pass through servo
The combination of motor and harmonic wave speed reducing machine carries out rotation driving, and rotating range is -180 °~180 °.
5. man-machine collaboration robot according to claim 1, which is characterized in that the left joint of the second rotary joint（4）
With the second rotating arm left arm（5）, the right joint of the second rotary joint（11）With the second rotating arm right arm（12）Between pass through servo electricity
The combination of machine and harmonic wave speed reducing machine carries out rotation driving, and rotating range is -90 °~120 °.
6. man-machine collaboration robot according to claim 1, which is characterized in that the second rotating arm left arm（5）, third
Rotating arm right arm and third rotary joint（6）Between rotation driving is carried out by the combination of servo motor and harmonic wave speed reducing machine,
Rotating range is -180 °~180 °.
7. man-machine collaboration robot according to claim 1, which is characterized in that the third rotary joint（6）With the 4th
Rotary joint（7）Between rotation driving carried out by the combination of servo motor and harmonic wave speed reducing machine, rotating range is -95 °~
95°。
8. man-machine collaboration robot according to claim 1, which is characterized in that the 4th rotary joint（7）With the 5th
Rotary joint（8）Between rotation driving carried out by the combination of servo motor and harmonic wave speed reducing machine, rotating range is -180 °~
180°。
9. man-machine collaboration robot according to claim 1, which is characterized in that the graping chaw（9）Using three-jaw hand
Pawl, the three-jaw hand claw clip are held on three-jaw cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228171.8A CN108312128A (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228171.8A CN108312128A (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312128A true CN108312128A (en) | 2018-07-24 |
Family
ID=62898091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810228171.8A Pending CN108312128A (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312128A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015644A (en) * | 2018-08-17 | 2018-12-18 | 徐润秋 | A kind of robot security's operation control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2696968A1 (en) * | 1992-10-20 | 1994-04-22 | Thyssen Laser Technik Gmbh | Robotic manipulator hand for three=dimensional workpiece treatment, e.g. of car body components |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| CN104985605A (en) * | 2015-06-24 | 2015-10-21 | 东莞市天美新自动化设备有限公司 | Water heater inner container mixed production type robot automatic and concentric grasping paw |
| CN105128012A (en) * | 2015-08-10 | 2015-12-09 | 深圳百思拓威机器人技术有限公司 | Open type intelligent service robot system and multiple controlling methods thereof |
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN205835338U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of Six-DOF industrial robot |
| CN106671074A (en) * | 2016-12-13 | 2017-05-17 | 昆山奥迪尔智能科技有限公司 | Six-axis mechanical arm effectively improving installing speed and precision |
| CN107511816A (en) * | 2017-08-21 | 2017-12-26 | 上海智殷自动化科技有限公司 | A kind of tow-armed robot of special-shaped arm |
| CN107756417A (en) * | 2017-11-21 | 2018-03-06 | 北方民族大学 | The intelligent man-machine co-melting robot system of both arms security cooperation |
| CN207983342U (en) * | 2018-03-20 | 2018-10-19 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
-
2018
- 2018-03-20 CN CN201810228171.8A patent/CN108312128A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2696968A1 (en) * | 1992-10-20 | 1994-04-22 | Thyssen Laser Technik Gmbh | Robotic manipulator hand for three=dimensional workpiece treatment, e.g. of car body components |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| CN104985605A (en) * | 2015-06-24 | 2015-10-21 | 东莞市天美新自动化设备有限公司 | Water heater inner container mixed production type robot automatic and concentric grasping paw |
| CN105128012A (en) * | 2015-08-10 | 2015-12-09 | 深圳百思拓威机器人技术有限公司 | Open type intelligent service robot system and multiple controlling methods thereof |
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN205835338U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of Six-DOF industrial robot |
| CN106671074A (en) * | 2016-12-13 | 2017-05-17 | 昆山奥迪尔智能科技有限公司 | Six-axis mechanical arm effectively improving installing speed and precision |
| CN107511816A (en) * | 2017-08-21 | 2017-12-26 | 上海智殷自动化科技有限公司 | A kind of tow-armed robot of special-shaped arm |
| CN107756417A (en) * | 2017-11-21 | 2018-03-06 | 北方民族大学 | The intelligent man-machine co-melting robot system of both arms security cooperation |
| CN207983342U (en) * | 2018-03-20 | 2018-10-19 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015644A (en) * | 2018-08-17 | 2018-12-18 | 徐润秋 | A kind of robot security's operation control method |
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