Portable collaborative robot

Abstract

The utility model relates to the field of collaborative mechanical arms, in particular to a portable collaborative robot. Comprising a small arm assembly, a small arm quick-change connector, a large arm assembly, a large arm quick-change connector, a tripod and a base plate, the tripod is detachably installed on the base plate, the lower end of the large arm assembly is connected with the tripod through the large arm quick-change connector, and the upper end of the large arm assembly is connected with the rear end of the small arm assembly through the small arm quick-change connector; the small arm quick-change connector and the large arm quick-change connector can be quickly mounted and dismounted, and mechanical connection and electrical connection between the front assembly and the rear assembly are achieved. The portable collaborative robot can be carried in a segmented mode in the transportation process, can be powered on for application after being simply assembled on an operation application site, and is suitable for narrow space where the robot cannot pass or occasions where the robot cannot be pushed by a vehicle due to limitation of the size, the weight and the like of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of collaborative robot, specifically a portable collaborative robot. BACKGROUND

[0002] Collaborative robot has the advantages of light weight, convenient deployment and use, etc. Generally, one person can carry the collaborative robot body, which is very convenient to deploy, so it has been well applied in more and more occasions. However, with the increase of the load of the collaborative robot, such as the effective load of the collaborative robot above 20kg, its self weight generally exceeds 60kg, which brings great challenge to the carrying of people, such as the need to carry out live working operation on resident electrical facilities in the corridor without elevator or in the place that the flat car cannot pull outside, carrying heavy robot will make the labor intensity of the operator too large and the safety hidden danger greatly increased. The current collaborative robot appears in the form of whole machine that cannot be disassembled, and the application range is limited. SUMMARY

[0003] In view of the above problems, the purpose of the utility model is to provide a portable collaborative robot, which disassembles the collaborative robot and its movable base into several segment assemblies, carries them respectively, and then directly assembles and applies in the application site, greatly improving the application range of the collaborative robot.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The utility model provides a portable collaborative robot, which comprises a small arm assembly, a small arm quick change joint, a large arm assembly, a large arm quick change joint, a tripod and a base plate, wherein the tripod is detachably installed on the base plate, the lower end of the large arm assembly is connected with the tripod through the large arm quick change joint, the upper end of the large arm assembly is connected with the rear end of the small arm assembly through the small arm quick change joint, and the small arm quick change joint and the large arm quick change joint can realize quick installation and disassembly.

[0006] The small arm assembly comprises a terminal flange, a sixth joint, a fifth joint, a fourth joint and a small arm rod connected in sequence, wherein the sixth joint, the fifth joint and the fourth joint can rotate around their own axes; the terminal flange is used for assembling the mechanical arm with the terminal tool.

[0007] The small arm quick change joint comprises a male joint and a female joint, and the male joint and the female joint are fixedly connected to the small arm assembly and the large arm assembly respectively; during transportation, the male joint and the female joint are not connected; during application, the male joint and the female joint are connected, realizing mechanical connection locking and electrical interconnection.

[0008] The electric connection can be communicated through a separate electric plug or through spring pins and contacts fixed on the male joint and the female joint respectively.

[0009] The large arm assembly comprises a third joint, a large arm rod, a second joint and a first joint connected in sequence, wherein the first joint is connected with the large arm quick change joint, and the third joint is connected with the small arm quick change joint.

[0010] The large arm quick change joint and the small arm quick change joint have the same structure, and the large arm quick change joint realizes mechanical connection and electric communication of the large arm assembly and the tripod.

[0011] The height of the tripod can be adjusted, and the foot pad of the tripod is connected with the base plate through the magnetism of the magnetic force seat.

[0012] The utility model has the advantages and positive effects that:

[0013] 1. The portable collaborative robot provided by the utility model is disassembled into several segment assemblies, and is transported separately, so that the weight of single transportation is greatly reduced, and the application of the collaborative robot in narrow space, difficult transportation or other means of transportation is feasible.

[0014] 2. The portable collaborative robot can be directly assembled and applied after being transported in sections to the application site, so that the application range of the collaborative robot is greatly improved.

[0015] 3. Since the docking accuracy of the quick change joint is high, the kinematics and dynamics of the portable collaborative robot of the utility model are not affected after the process of disassembly and assembly. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of the portable collaborative robot of the utility model;

[0017] Figure 2 It is a structural schematic view of the small arm assembly in the utility model;

[0018] Figure 3 It is a structural schematic view of the small arm quick change joint in the utility model;

[0019] Figure 4 It is a structural schematic view of the large arm assembly in the utility model.

[0020] Wherein: 1 - small arm assembly, 2 - small arm quick connector, 3 - large arm assembly, 4 - large arm quick connector, 5 - tripod, 6 - base plate, 101 - end flange, 102 - sixth joint, 103 - fifth joint, 104 - fourth joint, 105 - small arm rod, 201 - male connector, 202 - female connector, 301 - third joint, 302 - large arm rod, 303 - second joint, 304 - first joint. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model is described in detail below with the combination of drawings and specific embodiments.

[0022] As Figure 1 shown, the utility model provides a kind of portable collaborative robot, including small arm assembly 1, small arm quick connector 2, large arm assembly 3, large arm quick connector 4, tripod 5 and base plate 6, wherein tripod 5 is detachably mounted on base plate 6, the lower end of large arm assembly 3 is connected with tripod 5 by large arm quick connector 4, the upper end of large arm assembly 3 is connected with the rear end of small arm assembly 1 by small arm quick connector 2, and small arm quick connector 2 and large arm quick connector 4 can realize quick installation and disassembly.The utility model gives a kind of solution that can be divided into parts, after collaborative robot and its movable base are disassembled into several segment assemblies, are respectively handled, then are directly assembled and applied at application site, greatly improve the application range of collaborative robot.

[0023] As Figure 2 shown, in the embodiment of the utility model, small arm assembly includes end flange 101, sixth joint 102, fifth joint 103, fourth joint 104 and small arm rod 105 connected in sequence, wherein sixth joint 102, fifth joint 103 and fourth joint 104 can move smoothly around their own movement axes;End flange 101 is used for the end tool of assembled mechanical arm.

[0024] As Figure 3 shown, in the embodiment of the utility model, small arm quick connector 2 includes male connector 201 and female connector 202, and male connector 201 and female connector 202 are fixedly connected on small arm assembly 1 and large arm assembly 3 respectively;During transportation, male connector 201 and female connector 202 are not connected;During application, male connector 201 and female connector 202 are connected, to realize mechanical connection and locking and electrical communication.

[0025] Further, when the male connector 201 and the female connector 202 of the small arm quick connector 2 are connected together, the electrical connection can be connected through a separate electrical plug, or can be connected through spring pins and contacts fixed on the male connector 201 and the female connector 202 respectively.

[0026] As Figure 4As shown, in the embodiment of the utility model, the big arm assembly 3 includes third joint 301, big arm rod 302, second joint 303 and first joint 304 connected in turn, wherein first joint 304 is connected with big arm quick change connector 4, and third joint 301 is connected with small arm quick change connector 2.

[0027] Further, the big arm quick change connector 4 and the small arm quick change connector 2 are similar in structure and function, and the big arm quick change connector 4 is used for mechanical connection and electrical communication of the big arm assembly 3 and the tripod 5. Specifically, the big arm quick change connector 4 and the small arm quick change connector 2 are prior art, and any quick change connector capable of realizing quick connection and disassembly and electrical communication in prior art can be used.

[0028] In the embodiment of the utility model, the height of the tripod 5 can be adjusted, and the foot pad of the tripod 5 is connected to the base plate 6 through the magnetism of the magnetic base.

[0029] The portable collaborative robot provided by the utility model can be transported in sections during transportation, can be directly assembled and applied after being transported to the application site in sections, and greatly improves the application range of the collaborative robot. Since the docking accuracy of the quick change connector is high, the kinematics and dynamics of the portable collaborative robot of the utility model are basically not affected after the process of disassembly and assembly.

[0030] The portable collaborative robot of the utility model can be transported in sections during transportation, can be directly powered and applied after simple assembly at the work application site, and is suitable for narrow spaces or places where the robot cannot be pushed by a vehicle due to the volume and weight of the robot.

[0031] The above is only the embodiment of the utility model, and is not used to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principles of the utility model are included in the protection scope of the utility model.

Claims

1. A portable collaborative robot, characterized in that: The invention comprises a forearm assembly (1), a forearm quick-change joint (2), a boom assembly (3), a boom quick-change joint (4), a tripod (5) and a base plate (6), wherein the tripod (5) is detachably mounted on the base plate (6), the lower end of the boom assembly (3) is connected to the tripod (5) via the boom quick-change joint (4), the upper end of the boom assembly (3) is connected to the rear end of the forearm assembly (1) via the forearm quick-change joint (2), and the forearm quick-change joint (2) and the boom quick-change joint (4) can be quickly mounted and dismounted.

2. A portable collaborative robot according to claim 1, characterized in that: The small arm assembly comprises an end flange (101), a sixth joint (102), a fifth joint (103), a fourth joint (104) and a small arm rod (105) connected in sequence, wherein the sixth joint (102), the fifth joint (103) and the fourth joint (104) are all capable of rotating around their own axes; the end flange (101) is used for connecting the end tool of the assembled robotic arm.

3. The portable collaborative robot according to claim 1, characterized in that: The forearm quick-change joint (2) comprises a male joint (201) and a female joint (202), wherein the male joint (201) and the female joint (202) are respectively fixedly connected to the forearm assembly (1) and the large arm assembly (3); during transportation, the male joint (201) and the female joint (202) are not docked; during use, the male joint (201) and the female joint (202) are docked to achieve mechanical connection locking and electrical communication.

4. A portable collaborative robot according to claim 3, characterized in that: When the male connector (201) and the female connector (202) of the forearm quick-change connector (2) are connected together, the electrical connection can be achieved through a separate electrical plug or through spring pins and contacts respectively fixed on the male connector (201) and the female connector (202).

5. The portable collaborative robot according to claim 1, characterized in that: The upper arm assembly (3) comprises a third joint (301), an upper arm rod (302), a second joint (303) and a first joint (304) connected in sequence, wherein the first joint (304) is connected to the upper arm quick-change joint (4), and the third joint (301) is connected to the lower arm quick-change joint (2).

6. The portable collaborative robot according to claim 1, characterized in that: The boom quick-change joint (4) has the same structure as the forearm quick-change joint (2), and the boom quick-change joint (4) realizes the mechanical connection and electrical connection between the boom assembly (3) and the tripod (5).

7. The portable collaborative robot according to claim 1, characterized in that: The height of the tripod (5) can be adjusted, and the foot pad of the tripod (5) is connected to the base plate (6) via the magnetism of the magnetic base.

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