CN109227523A - Man-machine collaboration robot - Google Patents
Man-machine collaboration robot Download PDFInfo
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- CN109227523A CN109227523A CN201811297819.3A CN201811297819A CN109227523A CN 109227523 A CN109227523 A CN 109227523A CN 201811297819 A CN201811297819 A CN 201811297819A CN 109227523 A CN109227523 A CN 109227523A
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- fixed
- robot
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- man
- arm
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical manufacturing fields, and industrial cooperation robot is used in industrial manufacturing process more specifically to one kind.A kind of man-machine collaboration robot, it include: for providing the robot bracket of support, for driving swing arm to realize the oscillating arm mechanisms of horizontal movement, for driving the swing arm to realize the lifting mechanism of elevating movement, for the flexible flexible paw mechanism for adapting to workpiece size and compensate position error automatically, the oscillating arm mechanisms, lifting mechanism are fixed on the robot bracket, and the flexibility paw mechanism is fixed on the oscillating arm mechanisms.Man-machine collaboration robot of the present invention has a mechanical arm that can be moved in three dimensional coordinate space, can highly adapt to the mechanical paw of working environment, can compensate position error, the intelligentized robot of height automatically.It realizes that the grand movement of arm covers using oscillating arm mechanisms, realizes the elevating control to arm using lifting mechanism, grabbed while realization using flexible paw mechanism to multiple workpiece.
Description
Technical field
The present invention relates to mechanical manufacturing fields, raw for industry in industrial manufacturing process more specifically to one kind
The cooperation robot of production.
Background technique
Cooperate robot (Collaborative Robot) abbreviation Cobot or Co-Robot, is design and the mankind common
There is the robot closely interacted in working space.Until 2010, most industrial robot is design automatic job
Or the operation under limited guiding, therefore not having to consideration and the mankind closely interaction, movement is without consideration for surrounding
The safeguard protection of the mankind, and these are all collaborative robot functions in need of consideration.Industrial automation is in the industrial production
Automatic control, automatic regulating apparatus is widely used, manually operates machine to become with what machine architecture was processed to replace
Gesture.Under the conditions of industrial production automation, only care and control machine produces people indirectly.Collaborative robot be
It is invented by professor J.Edward Colgate and the Michael Peshkin of Illinois State Northwest University within 1996.Have one
It is " the direct physics between the mankind and computer-controlled all-purpose robot that part United States Patent (USP) in 1997, which describes collaborative robot,
The device and method of interaction."
The 1994 General Motors plans at Nian Shi General Motors robot center and grinding for nineteen ninety-five General Motors foundation
Study carefully funded project, purpose, which is all intended to look for, allows robot (or similar equipment) to have safe enough, can cooperate with the mankind
Mode, result is exactly collaborative robot.First collaborative robot ensures that the mode of human-body safety is it without original
Power, motive power are provided by staff.First collaborative robot is the mode and staff with rotation payload
Work compound is controlled with computer and is moved.Later collaborative robot also only provides a small amount of motive power.
General Motors replace cooperating with " intelligent assistance device " (Intelligent Assist Device, IAD) word
Formula robot especially will use this word in material carrying and automobile operation.Intelligence is proposed at 2002
Assist the rough draft of equipment safety standard.The safety standards of more version have been issued at 2016.
Cobotics also delivered the collaborative robot of many models in 2012.
Danish company Universal Robots delivered their first collaborative robot series UR5 in 2008.
The collaborative robot of UR10 is delivered within 2012, the collaborative robot UR3 of desktop has then been delivered within 2015.KUKA's is collaborative
Robot LBR iiwa is with German Aerospace Center Long-term Collaboration as a result, u s company Rethink Robotics is then
Its industrial collaboration formula robot Baxter was proposed in 2012.
FANUC proposed their collaborative robot of first item in 2015, and FANUC CR-35iA payload has 35 kilograms,
It is subsequent also to have more small-sized collaborative robot, such as FANUC CR-4iA, CR-7iA and CR-7/L long mechanical arm version.
Robot cooperate as novel intelligent robot, is the developing direction of Robot Helps Me To Avoid Danger, can be assisted with worker
Industrial production or daily labour are completed in same operation.Therefore, the safety of robot of cooperating will be the factor considered first.
Summary of the invention
The object of the present invention is to provide a kind of man-machine collaboration robots, apply in field of industrial manufacturing.It is of the invention public
A kind of man-machine collaboration robot has been opened, there is the mechanical arm that can be moved in three dimensional coordinate space.
A kind of man-machine collaboration robot, comprising: for providing the robot bracket of support, for driving swing arm realization horizontal
The oscillating arm mechanisms of movement adapt to workpiece size simultaneously for driving the swing arm to realize the lifting mechanism of elevating movement, being used for flexibility
The flexible paw mechanism of automatic compensation position error, the oscillating arm mechanisms, lifting mechanism are fixed on the robot bracket, described
Flexible paw mechanism is fixed on the oscillating arm mechanisms.
Preferably, the oscillating arm mechanisms include: swing arm motor, harmonic speed reducer, shaft coupling, square shaft, swing arm, upper bearing (metal)
Seat, step, the swing arm motor, top chock, step are fixed on the robot bracket, and the square shaft is fixed to be connected
It is connected to the bearing inner race of the top chock, step, the output shaft of the swing arm motor is fixed on by the shaft coupling
One end of the square shaft；The square hole to match with the square shaft is provided in the swing arm, the square hole is movably connected on
The square shaft.
Preferably, the lifting mechanism include: lifting motor, ring flange, synchronous belt drive mechanism, drive shaft, lift arm,
It is lifted roller, the shell of the lifting motor is fixed on the robot bracket, the drive shaft activity by the ring flange
It is connected to the robot bracket, the output shaft of the lifting motor is connected to the driving by the synchronous belt drive mechanism
Axis；It is fixed with the lift arm in the output end of the drive shaft, the lift arm is perpendicular to the actuating arm, the lifting rolling
Son is fixed on one end of the lift arm；The roller slot to match with the lifting roller is provided in the swing arm.
Preferably, the roller slot and lifting roller realize blind-mate.
Preferably, the flexible paw mechanism include: gripper bottom plate, gripper guide rail, sliding block placed in the middle, side plate, thrust spring,
Sliding connection plate, Pneumatic paw, flexible finger, rigid finger, the gripper bottom plate are fixed on the swing arm, the gripper guide rail
It is fixed on the gripper bottom plate, two side plates are fixed on the both ends of the gripper guide rail, and the sliding block placed in the middle is flexibly connected
In the gripper guide rail, the thrust spring is set between the sliding block placed in the middle and side plate；The sliding connection plate is fixed on
The sliding block placed in the middle, the shell of the Pneumatic paw are fixed on the sliding connection plate, and the flexible finger is fixed on the gas
It starts the upper finger of pawl, the rigidity finger is fixed on the lower finger of the Pneumatic paw；
The flexible finger includes: finger body, spring bumper cover, T-shaped slider, blind hole, clamp springs, T shape sliding slot, the hand
Refer to that body is fixed on the upper finger, the T-shaped slider is movably connected on the T shape sliding slot on the finger body, in the T-shaped slider
It is provided with the blind hole, the clamp springs are located in the blind hole, and the spring bumper cover is fixed on the finger body, the folder
Spring is held between the spring bumper cover and T-shaped slider.
It preferably, further include the automatic output mechanism, the automatic output mechanism includes: vibrating disk, linear feeding rail
Road, straight line feeder, workpiece, the linear feeding track are fixed on the straight line feeder, and the discharge port of the vibrating disk connects
It is connected to the entrance of the straight line feeder, the outlet of the straight line feeder and the flexible paw mechanism match；The work
Part carries out order output from the vibrating disk, exports by the linear feeding track, and the flexibility paw mechanism is from described
The exit of linear feeding track is clamped to workpiece, clamping of the cooperation realization of the T-shaped slider and rigid finger to workpiece.
Preferably, the bottom of the robot bracket is additionally provided with: bracket bottom plate, square groove, mounting seat, rectangular convex
Platform, link block, trimming bolt, locking nut, the robot bracket are fixed on the bracket bottom plate, and the bracket bottom plate passes through
It is bolted in being provided with square groove in the mounting seat, the bracket bottom plate, is provided in the mounting seat rectangular convex
Platform, the square groove and square boss match；The two sides of the link block are fixed with the mounting seat, the trimming bolt
It is connected to the link block, the direction of the axis direction of the trimming bolt and the square groove is consistent；The fine tuning spiral shell
The locking nut is additionally provided on bolt.Preferably, the trimming bolt is contacted with the side of the mounting seat, is located at described
The top of square groove.
Detailed description of the invention
Fig. 1,2,4 are the structural schematic diagrams of the assembly equipment of man-machine collaboration robot of the present invention；
Fig. 3,5 are structural schematic diagram and partial structurtes enlarged drawing of the man-machine collaboration robot of the present invention under another angle；
Fig. 6 is the partial structural diagram of man-machine collaboration robot of the present invention.
1 oscillating arm mechanisms, 2 lifting mechanisms, 3 flexible paw mechanisms, 4 automatic output mechanisms, 5 robot brackets, 10 swing arms electricity
It is machine, 11 harmonic speed reducers, 12 shaft couplings, 13 square shafts, 14 swing arms, 15 roller slots, 16 top chocks, 17 steps, 18 rectangular
Hole, 20 lifting motors, 21 ring flanges, 22 synchronous belt drive mechanisms, 23 drive shafts, 24 lift arms, 25 lifting rollers, 30 gripper bottoms
Plate, 31 gripper guide rails, 32 sliding blocks placed in the middle, 33 side plates, 34 thrust springs, 35 sliding connection plates, 36 Pneumatic paws, finger on 37,
38 lower fingers, 39 flexible fingers, 40 rigid fingers, 41 finger bodies, 42 spring bumper covers, 43 T-shaped sliders, 44 blind holes, 45 clamping bullets
Spring, 46 T shape sliding slots, 50 bracket bottom plates, 51 square grooves, 52 mounting seats, 53 square boss, 54 link blocks, 55 trimming bolts,
56 locking nuts, 60 vibrating disks, 61 linear feeding tracks, 62 straight line feeders, 63 workpiece.
Specific embodiment
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, being answered the present invention provides a kind of man-machine collaboration robot
Used in field of industrial manufacturing.Man-machine collaboration robot of the present invention has a machinery that can be moved in three dimensional coordinate space
Arm can highly adapt to the mechanical paw of working environment, can compensate position error, the intelligentized robot of height automatically.
It realizes that the grand movement of arm covers using oscillating arm mechanisms, realizes the elevating control to arm using lifting mechanism, utilization is soft
Property paw mechanism realize to multiple workpiece while grab.
Fig. 1,2,4 are the structural schematic diagrams of the assembly equipment of man-machine collaboration robot of the present invention, and Fig. 3,5 are that the present invention is man-machine
Cooperate structural schematic diagram and partial structurtes enlarged drawing of the robot under another angle, and Fig. 6 is man-machine collaboration robot of the present invention
Partial structural diagram.
A kind of man-machine collaboration robot, comprising: for providing the robot bracket 5 of support, for driving swing arm 14 to realize
The oscillating arm mechanisms 1 of horizontal movement adapt to work for driving the swing arm 14 to realize the lifting mechanism 2 of elevating movement, being used for flexibility
Part size and the flexible paw mechanism 3 for compensating position error automatically, the oscillating arm mechanisms 1, lifting mechanism 2 are fixed on the machine
People's bracket 5, the flexibility paw mechanism 3 are fixed on the oscillating arm mechanisms 1.
More specifically, the oscillating arm mechanisms 1 include: swing arm motor 10, harmonic speed reducer 11, shaft coupling 12, square shaft 13, pendulum
Arm 14, top chock 16, step 17, the swing arm motor 10, top chock 16, step 17 are fixed on the machine
People's bracket 5, the square shaft 13 are fixedly connected on the bearing inner race of the top chock 16, step 17, the swing arm motor
10 output shaft is fixed on one end of the square shaft 13 by the shaft coupling 12；It is provided in the swing arm 14 and the square shaft
13 square holes 18 to match, the square hole 18 are movably connected on the square shaft 13.
More specifically, the lifting mechanism 2 includes: lifting motor 20, ring flange 21, synchronous belt drive mechanism 22, driving
The shell of axis 23, lift arm 24, lifting roller 25, the lifting motor 20 is fixed on the robot by the ring flange 21
Bracket 5, the drive shaft 23 are movably connected on the robot bracket 5, and the output shaft of the lifting motor 20 passes through described same
Step tape handler 22 is connected to the drive shaft 23；The lift arm 24, institute are fixed in the output end of the drive shaft 23
Lift arm 24 is stated perpendicular to the actuating arm 23, the lifting roller 25 is fixed on one end of the lift arm 24；The swing arm
The roller slot 15 to match with the lifting roller 25 is provided on 14.
More specifically, the roller slot 15 and lifting roller 25 realize blind-mate.
More specifically, the flexibility paw mechanism 3 includes: gripper bottom plate 30, gripper guide rail 31, sliding block placed in the middle 32, side plate
33, thrust spring 34, sliding connection plate 35, Pneumatic paw 36, flexible finger 39, rigid finger 40, the gripper bottom plate 30 are solid
It is connected in the swing arm 14, the gripper guide rail 31 is fixed on the gripper bottom plate 30, and two side plates 33 are fixed on the hand
The both ends of pawl guide rail 31, the sliding block 32 placed in the middle are movably connected on the gripper guide rail 31, in the sliding block 32 placed in the middle and side plate
The thrust spring 34 is set between 33；The sliding connection plate 35 is fixed on the sliding block placed in the middle 32, the Pneumatic paw 36
Shell be fixed on the sliding connection plate 35, the flexible finger 39 is fixed on the upper finger 37 of the Pneumatic paw 36, institute
State the lower finger 38 that rigid finger 40 is fixed on the Pneumatic paw 36；
The flexible finger 39 includes: finger body 41, spring bumper cover 42, T-shaped slider 43, blind hole 44, clamp springs 45, T
Shape sliding slot 46, the finger body 41 are fixed on the upper finger 37, and the T-shaped slider 43 is movably connected on the finger body 41
T shape sliding slot 46, be provided with the blind hole 44 in the T-shaped slider 43, the clamp springs 45 are located in the blind hole 44, institute
State spring bumper cover 42 and be fixed on the finger body 41, the clamp springs 45 be located at the spring bumper cover 42 and T-shaped slider 43 it
Between.
More specifically, further including the automatic output mechanism 4, the automatic output mechanism 4 includes: vibrating disk 60, straight line
Feeding track 61, straight line feeder 62, workpiece 63, the linear feeding track 61 is fixed on the straight line feeder 62, described
The discharge port of vibrating disk 60 is connected to the entrance of the straight line feeder 62, the outlet and the flexibility of the straight line feeder 62
Paw mechanism 3 matches；The workpiece 63 carries out order output from the vibrating disk 60, by the linear feeding track 61
Output, the flexibility paw mechanism 3 are clamped from the exit of the linear feeding track 61 to workpiece 63, the T-shaped slider 43
The clamping to workpiece 63 is realized in cooperation with rigid finger 40.
More specifically, the bottom of the robot bracket 5 is additionally provided with: bracket bottom plate 50, square groove 51, mounting seat
52, square boss 53, link block 54, trimming bolt 55, locking nut 56, the robot bracket 5 are fixed on the bracket bottom
Plate 50, the bracket bottom plate 50 are bolted to the mounting seat 52, are provided with square groove on the bracket bottom plate 50
51, square boss 53 is provided in the mounting seat 52, and the square groove 51 and square boss 53 match；The link block
54 two sides are fixed with the mounting seat 52, and the trimming bolt 55 is connected to the link block 54, the trimming bolt 55
Axis direction and the direction of the square groove 51 be consistent；The locking nut is additionally provided on the trimming bolt 55
56。
More specifically, the trimming bolt 55 is contacted with the side of the mounting seat 52, positioned at the square groove 51
Top.
Next, further describing the course of work and working principle of man-machine collaboration robot of the present invention in conjunction with Fig. 1-6:
The invention discloses a kind of man-machine collaboration robots, can be in a wide range of interior crawl and carrying realized to workpiece.
The oscillating arm mechanisms 1 drive the finger swing arm 14 to realize horizontal movement, and the lifting mechanism 2 drives the swing arm 14 to realize and rises
Drop movement, the flexibility paw mechanism 3 is flexible to be adapted to workpiece size and compensates position error automatically；Meanwhile the flexible gripper
The energy of collision can be absorbed using spring for mechanism 3, prevent rigid collision；Meanwhile the flexible paw mechanism 3 can be soft
Property adapt to workpiece external dimension error, realize to two workpiece while grab.
The square shaft 13 is fixedly connected on the bearing inner race of the top chock 16, step 17, and the square shaft 13 exists
The top chock 16, step 1 support under realize non-resistance rotation.The output shaft of the swing arm motor 10 passes through described
Shaft coupling 12 is fixed on one end of the square shaft 13, and the square hole to match with the square shaft 13 is provided in the swing arm 14
18, the square hole 18 is movably connected on the square shaft 13.The swing arm motor 10 drives the swing arm by the square shaft 13
14 realize swing.
It is fixed with the lift arm 24 in the output end of the drive shaft 23, the lift arm 24 is perpendicular to the actuating arm
23, the lifting roller 25 is fixed on one end of the lift arm 24；It is provided in the swing arm 14 and the lifting roller 25
The roller slot 15 to match, the roller slot 15 and lifting roller 25 realize blind-mate.The output of the lifting motor 20
Axis drives the lift arm 24 to swing by the synchronous belt drive mechanism 22, and the lifting roller 25 drives the swing arm 24 real
Existing elevating movement.
The gripper guide rail 31 is fixed on the gripper bottom plate 30, and the sliding block 32 placed in the middle can be in the gripper guide rail 31
Upper non-resistance sliding, is arranged the thrust spring 34 between the sliding block 32 placed in the middle and side plate 33, and the thrust spring 34 has
Has the tendency that the middle part for pushing the sliding block 32 placed in the middle to be located at the gripper guide rail 31.The sliding connection plate 35 is fixed on described
Sliding block 32 placed in the middle, the shell of the Pneumatic paw 36 are fixed on the sliding connection plate 35, and the flexible finger 39 is fixed on institute
The upper finger 37 of Pneumatic paw 36 is stated, the rigidity finger 40 is fixed on the lower finger 38 of the Pneumatic paw 36.When the gas
When starting pawl 36 by external collision, the thrust spring 34 can be absorbed impact caused by collision, when the Pneumatic paw 36
A certain amount of movement is produced, after barrier is eliminated, the Pneumatic paw 36 returns to the middle part of the gripper guide rail 31；When described
Pneumatic paw 36 wants grabbing workpiece, and when workpiece is not at the middle position of the flexible finger 39 and rigid finger 40
It waits, after the Pneumatic paw 36 grabs workpiece, the sliding block 32 placed in the middle can produce adaptability movement, so that workpiece is located at institute
The middle position of flexible finger 39 and rigid finger 40 is stated, to realize the clamping to workpiece.
During machine-building, even if outer dimension can also have error with a batch of part.Therefore, real
It is clamped while now to two workpiece, finger has to adapt to workpiece external dimension error.It is provided in the T-shaped slider 43
The blind hole 44, the clamp springs 45 are located in the blind hole 44, and the spring bumper cover 42 is fixed on the finger body 41, institute
Clamp springs 45 are stated between the spring bumper cover 42 and T-shaped slider 43.The clamp springs 45, which have, pushes the T shape sliding
The trend that block 43 is moved to rigid 40 direction of finger.It is placed with when between the T-shaped slider 43 and rigid finger 40
When workpiece, the clamp springs 45 can adapt to the error of workpiece configurations automatically, realize to piece-holder.
Finally it is pointed out that above embodiments are only the more representational examples of man-machine collaboration robot of the present invention.It is aobvious
So, man-machine collaboration robot of the present invention is not limited to the above embodiments, and acceptable there are many deformations.All associations man-machine according to the present invention
The technical spirit any simple modification, equivalent change and modification to the above embodiments for making robot, are considered as belonging to
The protection scope of man-machine collaboration robot of the present invention.
Claims (8)
1. a kind of man-machine collaboration robot, comprising: for providing the robot bracket of support, for driving swing arm realization level to transport
Dynamic oscillating arm mechanisms, the lifting mechanism for driving the swing arm realization elevating movement adapt to workpiece size simultaneously certainly for flexible
The flexible paw mechanism of dynamic compensation position error, the oscillating arm mechanisms, lifting mechanism are fixed on the robot bracket, described soft
Property paw mechanism is fixed on the oscillating arm mechanisms.
2. man-machine collaboration robot according to claim 1, which is characterized in that the oscillating arm mechanisms include: swing arm motor,
Harmonic speed reducer, shaft coupling, square shaft, swing arm, top chock, step, the swing arm motor, top chock, step
It is fixed on the robot bracket, the square shaft is fixedly connected on the bearing inner race of the top chock, step, the pendulum
The output shaft of arm motor is fixed on one end of the square shaft by the shaft coupling；It is provided in the swing arm and the square shaft phase
Matched square hole, the square hole are movably connected on the square shaft.
3. man-machine collaboration robot according to claim 1, which is characterized in that the lifting mechanism include: lifting motor,
The shell of ring flange, synchronous belt drive mechanism, drive shaft, lift arm, lifting roller, the lifting motor passes through the ring flange
It is fixed on the robot bracket, the drive shaft is movably connected on the robot bracket, the output shaft of the lifting motor
The drive shaft is connected to by the synchronous belt drive mechanism；It is fixed with the lift arm in the output end of the drive shaft,
The lift arm is fixed on one end of the lift arm perpendicular to the actuating arm, the lifting roller；It is arranged in the swing arm
There is the roller slot to match with the lifting roller.
4. man-machine collaboration robot according to claim 3, which is characterized in that the roller slot and lifting roller realize nothing
Clearance fit.
5. man-machine collaboration robot according to claim 1, which is characterized in that the flexibility paw mechanism includes: gripper
Bottom plate, gripper guide rail, sliding block placed in the middle, side plate, thrust spring, sliding connection plate, Pneumatic paw, flexible finger, rigid finger, institute
It states gripper bottom plate and is fixed on the swing arm, the gripper guide rail is fixed on the gripper bottom plate, and two side plates are fixed on institute
The both ends of gripper guide rail are stated, the sliding block placed in the middle is movably connected on the gripper guide rail, between the sliding block placed in the middle and side plate
The thrust spring is set；The sliding connection plate is fixed on the sliding block placed in the middle, and the shell of the Pneumatic paw is fixed on institute
Sliding connection plate is stated, the flexible finger is fixed on the upper finger of the Pneumatic paw, and the rigidity finger is fixed on the gas
It starts the lower finger of pawl；
The flexible finger includes: finger body, spring bumper cover, T-shaped slider, blind hole, clamp springs, T shape sliding slot, the finger body
It is fixed on the upper finger, the T-shaped slider is movably connected on the T shape sliding slot on the finger body, is arranged in the T-shaped slider
There is the blind hole, the clamp springs are located in the blind hole, and the spring bumper cover is fixed on the finger body, the clamping bullet
Spring is between the spring bumper cover and T-shaped slider.
6. man-machine collaboration robot according to claim 1, which is characterized in that further include the automatic output mechanism, institute
Stating automatic output mechanism includes: vibrating disk, linear feeding track, straight line feeder, workpiece, and the linear feeding track is fixed on
The straight line feeder, the discharge port of the vibrating disk are connected to the entrance of the straight line feeder, the straight line feeder
Outlet and the flexible paw mechanism match；The workpiece carries out order output from the vibrating disk, by the straight line
Feeding track output, the flexibility paw mechanism are clamped from the exit of the linear feeding track to workpiece, the T-shaped slider
The clamping to workpiece is realized in cooperation with rigid finger.
7. man-machine collaboration robot according to claim 1, which is characterized in that the bottom of the robot bracket is also set up
Have: bracket bottom plate, square groove, mounting seat, square boss, link block, trimming bolt, locking nut, the robot bracket
It is fixed on the bracket bottom plate, the bracket bottom plate is bolted to the mounting seat, is arranged on the bracket bottom plate
There is square groove, square boss is provided in the mounting seat, the square groove and square boss match；The link block
Two sides are fixed with the mounting seat, and the trimming bolt is connected to the link block, the axis direction of the trimming bolt and
The direction of the square groove is consistent；The locking nut is additionally provided on the trimming bolt.
8. man-machine collaboration robot according to claim 7, which is characterized in that the trimming bolt is contacted with the installation
The side of pedestal, positioned at the top of the square groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297819.3A CN109227523A (en) | 2018-10-25 | 2018-10-25 | Man-machine collaboration robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297819.3A CN109227523A (en) | 2018-10-25 | 2018-10-25 | Man-machine collaboration robot |
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| CN109227523A true CN109227523A (en) | 2019-01-18 |
Family
ID=65080140
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811297819.3A Pending CN109227523A (en) | 2018-10-25 | 2018-10-25 | Man-machine collaboration robot |
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| CN111745418A (en) * | 2020-06-18 | 2020-10-09 | 东莞市益松数控科技有限公司 | Vibration tool head and vibration processing machine |
| CN112013254A (en) * | 2020-08-27 | 2020-12-01 | 马鞍山安慧智电子科技有限公司 | Anti-corrosion robot fastener |
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