Running device of human-machine cooperative robot

Abstract

The invention relates to robots, in particular to a running device of a human-machine cooperative robot. The running device comprises a running beam. A plurality of joints are arranged on the two sides of the running beam correspondingly. One side of each joint is provided with a running component driven by the joint to move, the other side of the joint is hinged to one end of a connecting beam, and the other end of the connecting beam is fixedly connected with the running beam. According to the running device, shells and connecting arms can be driven by rotation of first shafts to rotate horizontally, the connecting arms can be driven by second shafts to rotate vertically, the running components can be driven by third shafts to rotate vertically, and the three-shaft type joints of the device can drive the running components to move on the horizontal plane and the vertical plane within a large range or a small range, so that the movement requirement for the human-machine cooperative robot is completely met; and the running device is simple in structure, few in component and low in cost.

Description

technical field [0001] The invention relates to a robot, in particular to a walking device of a human-machine collaborative robot. Background technique [0002] Existing robots are mainly divided into two categories: Cartesian coordinate robots and articulated robots. The Cartesian robot is mainly composed of some linear motion units, drive motors, control systems and end manipulators. This kind of robot can be conveniently and quickly combined into wall-mounted, cantilever, gantry or upside-down Cartesian robots with different dimensions, various strokes and different load capacities for different applications. The articulated robot is mainly composed of some rotary motion units driving motors, control systems and end manipulators. Unlike Cartesian robots, articulated robots can be quickly combined into different dimensions. For different applications, such as arc welding robots, fixed articulated robots of different dimensions should be selected. [0003] At present, t...

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Problems solved by technology

[0003] At present, the transmission modes of the walking parts of articulated robots mainly include rope pulley transmission, linkage mechanism transmission, belt transmission, chain transmission and gear transmission, etc., and some of these transmission components are easily deformed and the transmission is not accurate enough, such as belt transmission, rope pulley transmission, etc. etc. Some structures are complex and difficult to process, so they are not suitable for use in micro arc welding robots, such as linkage mechanisms, gear transmissions, etc.

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