Robotic system

Abstract

The present invention discloses a robot system, in particular, a robot system capable of realizing human-machine collaboration. The robot system comprises a manipulator and a cable. The manipulator is used to perform an operation task, and the manipulator has a lumen. The cable is accommodated in the lumen and connected to the manipulator, so that the manipulator can perform an operation task. The cable of the robot system of the present invention is built into the manipulator, and while realizing the work, it can avoid being worn by the external environment and avoid the entanglement of the cable. Therefore, the robot system has high aesthetics, strong integrity and better operating performance.

Description

Technical Field

[0001] The invention relates to an automation device, in particular to a robot system. Background Art

[0002] A robot is a machine device that automatically performs work. A robot can accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as manufacturing, construction, or dangerous work. With the growing need for convenience in production and life and the development of robot technology, collaborative robots will gradually penetrate into various industrial fields, work with people, and gradually replace monotonous, repetitive, and dangerous work. Robot devices often require various cables to work. In the prior art, the cables of robots are often placed externally on the manipulator. The external and exposed cables not only affect the appearance, but are also prone to entanglement and wear and tear from the external environment. Summary of the invention

[0003] One of the purposes of the present invention is to overcome the deficiencies in the prior art and provide a robot system with built-in cables.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A robot system, characterized in that the robot system comprises:

[0006] A manipulator, the manipulator is used to perform an operation task, the manipulator having a lumen;

[0007] A cable is housed in the lumen and connected to the manipulator so that the manipulator can perform an operation task.

[0008] Preferably, the cable includes at least one of a power line, a signal line or an air pipe.

[0009] Preferably, the manipulator has a joint, and the joint has a joint lumen;

[0010] There are at least two cables, and the at least two cables are arranged to pass through the joint lumen of the manipulator separately from each other.

[0011] Preferably, the manipulator comprises an anti-winding member, and the anti-winding member is used to prevent the cables from winding with each other;

[0012] The anti-winding component is arranged in the joint lumen;

[0013] The anti-winding component has a mounting through hole which is opened and penetrates along the extension direction of the lumen of the manipulator;

[0014] Each of the mounting through holes is arranged to pass only one of the cables.

[0015] Preferably, the mounting through hole is a round hole.

[0016] Preferably, the manipulator further comprises a cable tube, and the cable tube is arranged in a tube cavity of the manipulator;

[0017] All cables are accommodated in the tube cavity of the cable tube.

[0018] Preferably, the cable tube has a tube body and a base;

[0019] The base has a gas passage communicating with the tube body;

[0020] The anti-winding component is accommodated in the tubular cavity of the base.

[0021] Preferably, the gas channel and the mounting through hole of the anti-winding component are spaced apart.

[0022] Preferably, there are a plurality of gas channels, and the plurality of gas channels are arranged around the anti-winding component and are radially distributed along the extension direction of the mounting through hole.

[0023] Preferably, the robot system further comprises a teaching device, which is arranged on the manipulator for learning the manipulator.

[0024] Preferably, the manipulator has a gripping portion;

[0025] The teaching device includes a pressing unit, which is used to control the learning process of the manipulator. The pressing unit is arranged to overlap with the gripping portion of the manipulator so that an external force can act on the pressing unit and the gripping portion at the same time.

[0026] Preferably, the gripping portion is arranged on the wrist of the manipulator.

[0027] Preferably, the robot system further comprises a circuit board;

[0028] The circuit board is accommodated in the lumen of the manipulator;

[0029] The teaching device is connected to the circuit board.

[0030] Preferably, a connecting through hole is provided at the wrist of the manipulator; the connecting through hole connects the lumen of the manipulator with the outside of the side wall of the manipulator;

[0031] The teaching device is connected to the circuit board via a connecting piece or a wire arranged in the connecting through hole.

[0032] Compared with the prior art, the cables of the robot system of the present invention are built into the manipulator, which can avoid being worn by the external environment and avoiding the entanglement of the cables while achieving work. Therefore, the robot system has higher aesthetics, stronger integrity and better operating performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic structural diagram of a robot system provided by the present invention.

[0034] Figure 2 for Figure 1 Schematic diagram of the coordination relationship between the various components and functional modules of the robot system.

[0035] Figure 3 for Figure 1 Schematic diagram of the structure in which the teaching device of the robot system is set on the joint.

[0036] Figure 4 for Figure 3 A cross-sectional view along line BB when the teaching device is set on the joint.

[0037] Figure 5 for Figure 4 A schematic structural diagram of an anti-winding component is shown.

[0038] Figure 6 for Figure 5 Schematic diagram of the structure of the anti-winding component from another perspective.

[0039] Figure 7 for Figure 4 A schematic diagram of the structure of a cable tube is shown. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with the accompanying drawings:

[0041] See also Figure 1 and Figure 2 , which is a robot system 100 provided by the present invention. The robot system 100 includes a manipulator 10 and a cable (not shown in the figure). The cable is built in the manipulator 10.

[0042] The manipulator 10 is used to perform operating tasks. The manipulator 10 can achieve human-machine collaboration with the operator. In the present embodiment, the manipulator 10 is a six-axis manipulator. Specifically, the manipulator 10 includes six joints 12 and two connecting rods (not shown in the figure). For the convenience of exemplary description, in the present embodiment, the joint 12 is the joint of the joint at the free end of the manipulator 10, that is, the joint at the wrist. The self-weight of the manipulator 10 and the load weight that can be borne are selected as needed. In the present embodiment, the load that the manipulator 10 can bear is 5 kilograms. It can be imagined that the manipulator 10 also includes a pneumatic device, a motor device, etc. The joint 12 has a joint cavity 18. The cable is accommodated in the joint cavity 18.

[0043] The manipulator 10 has a gripping portion (not shown because it overlaps with the teaching device 20 in this embodiment). The gripping portion is used by the operator to drag so that the manipulator 10 can realize the learning function. In this embodiment, the gripping portion is located at the wrist of the free end of the manipulator 10. The gripping portion is provided with a card slot (not shown in the figure). The card slot is used to install the teaching device 20. Of course, the gripping portion can also be provided with a buckle, a plug-in matching structure, etc. to achieve installation matching.

[0044] The manipulator 10 includes an action execution mechanism 15. The action execution mechanism 15 is used to perform specific operations. The action execution mechanism 15 includes a power device such as a motor or a motor. In this embodiment, the action execution mechanism 15 includes a reduction motor. According to different needs, the action execution mechanism 15 can use a gripper or a spiral connection structure to cooperate with a corresponding specific tool such as a puncher, a screw machine, etc.

[0045] Please continue reading Figure 2 , the teaching device 20 includes a pressing unit 21. The pressing unit 21 is used for the learning process of the manipulator 10. The pressing unit 21 is configured to overlap with the gripping portion of the manipulator 10, so that when the learning function of the manipulator 10 is realized by dragging with an external force, the external force can act on the pressing unit 21 and the gripping portion at the same time. Therefore, compared with the traditional operation process, it avoids the operator dragging with one hand and controlling the learning process with the other hand, that is, the setting of the teaching device 20 facilitates the operation.

[0046] The pressing unit 21 includes at least one of a mechanical button or a touch button. The pressing unit 21 may be an enable button. The number of the buttons is selected as required. In this embodiment, in order to facilitate manipulation and provide a comfortable manipulation, the pressing unit 21 is entirely a touch button. That is, the touch button is displayed on a UI (User Interface) system.

[0047] In order to further facilitate operation, the teaching device 20 is detachably arranged on the manipulator 10. When the manipulator 10 needs to be controlled and operated, the teaching device 20 is installed on the manipulator 10. When the manipulator 10 does not need to be controlled and operated, the teaching device 20 is removed from the manipulator 10, so as to facilitate maintenance, editing and other processing.

[0048] In order to facilitate the learning function, the teaching device 20 also includes a definition module 23. The definition module 23 is communicatively connected to the pressing unit 21. The definition module 23 is used to define the path passed by the gripping part, the stop points and the operation tasks to be performed at the stop points. After one drag learning, the definition module 23 can learn and store the execution process and can repeat the execution. The teaching device 20 includes an input device (not shown in the figure) and a controller (not shown in the figure). The input device can be a touch screen or a physical button. The touch screen is used to display the command input button and to accept pressing to input commands to the controller. The touch screen is arranged along the circumference and / or length direction of the manipulator 10. The controller is a logic programmable controller.

[0049] In order to facilitate the control of the action execution mechanism 15 of the manipulator 10, the teaching device 20 also includes a control module 25. The control module 25 can use a single-chip microcomputer or a microprocessor to realize the control function. The control module 25 can also include a PIC (Programmable Interrupt Controller). The control module 25 includes at least one control unit 251. Each control unit 251 is used to control the action execution mechanism 15 to perform an operation task. In order to improve the convenience of operation, the number of the control units 251 can be increased or decreased according to the number of operation tasks to be performed. In order to improve the general performance, each of the control units 251 is used to control the parameters of the corresponding action execution mechanism 15 to be adjustable, that is, programmable processing. In this embodiment, each of the control units 251 is used to control the parameters of the corresponding action execution mechanism 15, which can include at least one of speed, position and action. That is, the control unit 251 can control the speed, position and action of the action execution mechanism 15 to perform a specific operation, which can be adjusted.

[0050] Please continue reading Figures 1 to 3 The specific shape of the teaching device 20 is selected according to the installation and control requirements. For example, the specific shape of the teaching device 20 can be a circular ring or a flat plate. In this embodiment, the teaching device 20 is an arc sheet, that is, an open ring structure. The teaching device 20 is clamped in the clamping slot.

[0051] In order to display the working status for the convenience of subsequent operation processing, the editing module 20 also includes a display unit 27. The display unit 27 has a plurality of display modes 271. Each of the display modes 271 is used to display a working state of the manipulator 10. In this embodiment, the display modes 271 include a red mode for displaying a shutdown fault, a yellow mode for displaying a standby mode, and a green mode for displaying a normal operation. Of course, the number and type of the display modes 271 can be adjusted according to different functions.

[0052] Please also read Figure 4 In order to improve the integration of components and improve the stability of electrical connection and communication connection, the robot system 100 also includes a circuit board 29. The circuit board 29 is accommodated in the lumen 18 of the manipulator 10. The circuit board 29 is connected to the teaching device 20. In this embodiment, in order to facilitate manipulation and drag learning, the teaching device 20 is arranged at the wrist of the manipulator 10, that is, the part that is finally connected to the action execution mechanism such as the gripper and the clamp and drives the gripper and the clamp to operate. In order to avoid affecting the stability of the connection, avoid affecting the occupation of too much space and simplicity, in this embodiment, a connecting through hole 131 is opened at the wrist of the manipulator 10. The connecting through hole 131 connects the lumen of the manipulator 10 with the outer side of the side wall of the manipulator 10, that is, the connecting through hole 131 is opened along the radial direction of the manipulator 10. Correspondingly, the lumen of the manipulator 10 is extended along the axial direction of the manipulator 10. The teaching device 20 is connected to the circuit board 29 via a connector (not shown) or a wire (not shown) arranged in the connecting through hole 131. There are four connecting through holes 131, which are evenly distributed along a circle.

[0053] In order to make the expansion performance and general performance stronger, the collaborative robot 100 also includes a teach pendant 30. The teach pendant 30 is communicatively connected with the teaching device 20. It can be imagined that the teach pendant 30 is also called a teaching programming device, which is a device for registering and storing mechanical movements or processing memories, and the device is executed by an electronic system or a computer system.

[0054] The cables may include at least one of a power cable, a signal cable, or an air tube. Depending on the functions to be implemented by the manipulator 10, the number and type of the cables may be selected as needed. In this embodiment, there are at least four cables, and the at least four cables are arranged to pass through the joint lumen 18 of the manipulator 10 separately from each other.

[0055] In order to further avoid entanglement of the cables, especially entanglement that is easy to occur when the joints of the manipulator 10 rotate, different cables are separated from each other and pass through the joint lumens of the manipulator 10.

[0056] Please also read Figure 5 and Figure 6 In this embodiment, the manipulator 10 includes an anti-winding member 19. The anti-winding member 19 is used to prevent the cables from being entangled with each other. The anti-winding member 19 is arranged in the joint lumen 18. The anti-winding member 19 has a mounting through hole 191 that is opened along the extension direction of the lumen of the manipulator 10. Each mounting through hole 191 is arranged to pass only one cable. When the anti-winding member 19 rotates with the joint or does not rotate, each cable will not be entangled with another cable. The overall external shape of the anti-winding member 19 can be selected according to the installation requirements of the joint lumen 18. The anti-winding member 19 can be block-shaped, circular plate-shaped, quadrilateral plate-shaped or irregular plate-shaped, etc. In addition, the specific shape and mechanism of each anti-winding member 19 can be different according to the installation matching structure and accommodation space of different joints. The number, specific distribution, shape and aperture size of the mounting through holes 191 are selected according to the different corresponding cables. In order to reduce the frictional force that may be generated on the cable during rotation as much as possible, each of the mounting through holes 191 is configured as a circular through hole. Of course, the aperture size of each of the mounting through holes 191 can be different.

[0057] Please also read Figure 7 In order to avoid interference between the cables and other parts of the manipulator 10 and protect the cables, the manipulator 10 also includes a cable tube 44. The cable tube 44 is arranged in the tube cavity 18 of the manipulator 10. The cable tube 44 is used to accommodate all cables, so that all cables are regular, have strong integrity and are protected. The cable tube 44 can be a round tube. In this embodiment, the cable tube 44 includes a tube body 441 and a base 445. The tube body 441 is in the shape of a round tube. The tube body 441 is arranged on the base 445 and is coaxially arranged with the base 445. The base 445 is arranged in a circular ring shape. A gas through hole 446 is opened on the base 445. The gas channel 446 is connected to the tube cavity of the tube body 441. The gas channel 446 can transmit compressed gas used as power by itself, or it can be arranged in the gas channel 446 through a pipeline (such as a hose) to transmit compressed gas. In this embodiment, there are multiple gas channels 446. The plurality of gas channels 446 are radially distributed along the extension direction of the mounting through hole 191 of the anti-winding component 19 .

[0058] In order to make full use of the space and improve the accuracy of gas, power and signal connection, the anti-winding component 19 is accommodated in the tube cavity of the base 445 of the cable tube 44. The multiple gas channels 446 are arranged around the anti-winding component 19, that is, they are arranged to wrap the anti-winding component 19. The gas channels 446 are arranged at intervals from the mounting through holes 19 of the anti-winding component 19, thereby achieving gas-electricity separation and further improving safety performance.

[0059] It is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent substitution or improvement within the spirit of the present invention is included in the scope of the claims of the present invention.

Claims

1. A robot system, characterized in that: The robot system comprises: A manipulator, the manipulator is used to perform an operation task, the manipulator has a lumen and a joint, and the joint has a joint lumen; A cable, the cable is accommodated in the lumen of the manipulator and connected to the manipulator, so that the manipulator can perform an operation task; the cables are at least two, and at least two of the cables are arranged to pass through the joint lumen of the manipulator separately from each other; The manipulator comprises an anti-winding member and a cable tube, wherein the anti-winding member is arranged in the joint lumen to prevent the cables from winding with each other, and the cable tube is arranged in the lumen of the manipulator, and all cables are accommodated in the lumen of the cable tube; The anti-winding component has a mounting through hole extending along the extension direction of the lumen of the manipulator, and each mounting through hole is arranged to pass only one cable; The cable tube has a tube body and a base; the anti-winding component is accommodated in the tube cavity of the base; a gas channel is opened on the base, the gas channel is connected to the tube cavity of the tube body, there are multiple gas channels, the multiple gas channels are arranged around the anti-winding component, the gas channels and the installation through hole of the anti-winding component are arranged at intervals; the multiple gas channels are radially distributed along the extension direction of the installation through hole; The manipulator includes a teaching device, the teaching device also includes a control module, the control module includes at least one control unit, each control unit is used to control the action execution mechanism to perform an operation task; It also includes a display unit, which has multiple display modes, and each display mode is used to display a working state of the manipulator.

2. The robot system according to claim 1, characterized in that: The cable includes at least one of a power line, a signal line or an air pipe.

3. The robot system according to claim 1, characterized in that: The mounting through hole is a round hole.

4. The robot system according to claim 1, characterized in that: The teaching device is arranged on the manipulator for learning the manipulator.

5. The robot system according to claim 4, characterized in that: The manipulator has a gripping portion; The teaching device includes a pressing unit, which is used to control the learning process of the manipulator. The pressing unit is arranged to overlap with the gripping portion of the manipulator so that an external force can act on the pressing unit and the gripping portion at the same time.

6. The robot system according to claim 5, characterized in that: The gripping portion is arranged on the wrist of the manipulator.

7. The robot system according to claim 4, characterized in that: The robot system also includes a circuit board; The circuit board is accommodated in the lumen of the manipulator; The teaching device is connected to the circuit board.

8. The robot system according to claim 7, characterized in that: A connecting through hole is provided at the wrist of the manipulator; the connecting through hole communicates with the lumen of the manipulator and the outer side of the side wall of the manipulator; The teaching device is connected to the circuit board via a connecting piece arranged in the connecting through hole.

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