CN207983342U - Man-machine collaboration robot - Google Patents
Man-machine collaboration robot Download PDFInfo
- Publication number
- CN207983342U CN207983342U CN201820375557.7U CN201820375557U CN207983342U CN 207983342 U CN207983342 U CN 207983342U CN 201820375557 U CN201820375557 U CN 201820375557U CN 207983342 U CN207983342 U CN 207983342U
- Authority
- CN
- China
- Prior art keywords
- rotary joint
- arm
- joint
- rotating
- man
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model 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.The beneficial effects of the utility model：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 utility model is related 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.
Utility model content
For the problems in the relevant technologies, the utility model proposes man-machine collaboration robots.
To realize the above-mentioned technical purpose, the technical solution of the utility model is realized in：
Man-machine collaboration robot, including robot base are separately installed with the at left and right sides of the robot base both ends
One rotary joint, wherein first rotary joint in left side is connected to the left pass of the second rotary joint by first rotating arm left arm
Section, the left joint of the second rotary joint are connected to the third rotary joint in left side, the institute on right side by the second rotating arm left arm
It states the first rotary joint and the right joint of the second rotary joint, the right pass of the second rotary joint is connected to by first rotating arm right arm
Section by the second rotating arm right arm be connected on the right side of third rotary joint, the left and right sides third rotary joint is by the
Four rotary joints, the 5th rotary joint are 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.
The beneficial effects of the utility model：It reduces manual operation intensity and greatly improves operation convenience degree, it can
Realize man-machine collaboration and the manual security of personnel.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic diagram according to man-machine collaboration robot described in the utility model embodiment；
Fig. 2 is the knot according to the first rotary joint described in the utility model embodiment and first rotating arm left arm coupling part
Structure schematic diagram；
Fig. 3 is according to the left joint of the second rotary joint described in the utility model embodiment and the second rotating arm left arm interconnecting piece
The structural schematic diagram divided；
Fig. 4 is the structure according to third rotary joint and the 4th rotary joint coupling part described in the utility model embodiment
Schematic diagram.
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,
One rotating arm right arm；11, the right joint of the second rotary joint；12, the second rotating arm right arm.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, the every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the range of the utility model protection.
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 only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
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 |
|---|---|---|---|
| CN201820375557.7U CN207983342U (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820375557.7U CN207983342U (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983342U true CN207983342U (en) | 2018-10-19 |
Family
ID=63828420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820375557.7U Active CN207983342U (en) | 2018-03-20 | 2018-03-20 | Man-machine collaboration robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983342U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
-
2018
- 2018-03-20 CN CN201820375557.7U patent/CN207983342U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6476632B2 (en) | Double arm robot | |
| CN106041995A (en) | Human-simulated mechanical hand | |
| CN202805186U (en) | Six-degree-of-freedom industrial robot | |
| JP2013158876A5 (en) | ||
| CN107471197A (en) | A kind of apery both arms multiple degrees of freedom industrial robot | |
| CN206169669U (en) | Robot arm system of processing | |
| CN207983342U (en) | Man-machine collaboration robot | |
| CN103736617B (en) | A kind of five degree of freedom controllable-mechanism type flush coater | |
| CN107322582A (en) | A kind of six degree of freedom biomimetic manipulator | |
| TW201345676A (en) | Robotic hand mechanism | |
| CN205147628U (en) | Welding robot | |
| CN116852336A (en) | Upper body teleoperation force feedback equipment for double-arm robot | |
| CN203973550U (en) | A kind of non-contact gesture control | |
| CN207509252U (en) | A kind of novel and multifunctional manipulator | |
| CN206306116U (en) | A kind of teaching and produce six dual-purpose shaft devices | |
| CN108312128A (en) | Man-machine collaboration robot | |
| CN207352869U (en) | A kind of robot teaching's actual training device | |
| CN206561437U (en) | A kind of connector of industrial robot | |
| CN107511816A (en) | A kind of tow-armed robot of special-shaped arm | |
| CN209289324U (en) | A kind of sixdegree-of-freedom simulation and service robot suitable for service robot | |
| CN205835317U (en) | A kind of multi-joint manipulator | |
| CN206643906U (en) | Six axle teaching robots | |
| CN104760043A (en) | Dual-arm robot controller based on smart barrier-avoiding system | |
| CN203019366U (en) | Double-mechanical-arm coordinated control system | |
| CN107457768A (en) | A kind of durable type captures robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |