Collaborative robot convenient to disassemble and assemble

Abstract

The invention relates to the technical field of robots, in particular to a collaborative robot convenient to disassemble and assemble. The robot comprises a base, an intelligent control box is fixedly connected to the side wall of the upper side of the base, a mounting base is fixedly connected to the side wall of the upper side of the intelligent control box, a multi-joint cooperative arm is mounted on the mounting base, and a manipulator assembly is mounted at the end, away from the mounting base, of the multi-joint mechanical arm. The requirements of customers can be more accurately met, the flexibility of customized assembly of the collaborative robot is effectively improved, and the overall rotating module, the vertical deflection module, the up-down deflection module and the angle adjusting module which serve as standard parts are easier to disassemble, assemble, transport and carry; the problem that carrying is blocked due to the fact that the collaborative robot carries other goods to move during carrying can be solved, and the goods carrying smoothness of the collaborative robot is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a collaborative robot that can be easily assembled and disassembled. Background Art

[0002] A collaborative robot is a robot used for collaborative production and processing. With the rapid development of robotics technology, robots have been able to replace part of the manual labor to perform autonomous work, thereby improving processing efficiency and reducing production costs.

[0003] Existing collaborative robots used for handling mostly adopt an integral structure, resulting in a fixed overall structure of the collaborative robot. The structure of the collaborative robot is not a standard part that can be replaced and assembled at will, resulting in the inability to customize and assemble the specific structure of the collaborative robot according to the different needs of different customers. In addition, when the existing collaborative robots encounter a situation where two adjacent goods are tightly fitted together, the friction resistance between the two goods will drive the other goods to move together, thereby affecting the smoothness of the goods handling. Summary of the invention

[0004] The purpose of the present invention is to provide a collaborative robot that can be easily assembled and disassembled to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a collaborative robot that can be easily assembled and disassembled, comprising a base, a side wall on the upper side of the base is fixedly connected to an intelligent control box, a side wall on the upper side of the intelligent control box is fixedly connected to a mounting seat, a multi-joint collaborative arm is installed on the mounting seat, and a manipulator assembly is installed at one end of the multi-joint mechanical arm away from the mounting seat;

[0007] The multi-joint collaborative arm comprises an integral rotation module fixedly connected to the upper side of the mounting seat, a vertical deflection module is installed on the integral rotation module, an upper and lower deflection module is installed on the upper end of the vertical deflection module, an angle adjustment module is installed on the output end of the upper and lower deflection module, and the angle adjustment module is connected to the manipulator assembly;

[0008] The integral rotation module comprises a rotating motor connected to the upper side of the mounting seat, the output shaft of the rotating motor is rotationally connected to the mounting seat, and the outer wall of the rotating motor is fixedly connected to a connecting arm;

[0009] The vertical deflection module comprises a driving motor mounted on a connecting arm, the output shaft of the driving motor is fixedly connected to the connecting arm, a vertical deflection arm is fixedly mounted on a housing of the driving motor, and a lateral deflection motor is fixedly connected to an upper end of the vertical deflection arm;

[0010] The up-down deflection module comprises a rotating arm fixedly mounted on the output shaft of the lateral deflection motor, one end of the rotating arm is fixedly connected to the control motor, and the output end of the control motor is fixedly mounted with the up-down deflection arm;

[0011] The angle adjustment module includes a motor fixedly mounted on the upper and lower deflection arms, the output shaft of the motor is fixedly mounted with the upper and lower angle adjustment motor, the output shaft of the upper and lower angle adjustment motor is fixedly mounted with the horizontal angle adjustment motor, the output shaft of the horizontal angle adjustment motor is fixedly mounted with a mounting frame, and the operating hand assembly is fixedly mounted on the mounting frame.

[0012] Furthermore, the operator assembly includes a mounting plate fixedly connected to the lower side of the mounting frame, an L-shaped plate is fixedly connected between the vertical side wall of the mounting plate and the side wall of the lower side of the mounting frame, a plurality of first vacuum suction cups are fixedly connected to the mounting plate, two mounting blocks are symmetrically fixedly connected to the vertical side wall of the mounting plate, the two mounting blocks are rotatably connected to the same rotating shaft, a side plate is fixedly connected to the shaft wall of the rotating shaft, an angle adjustment mechanism is connected between the side plate and the mounting plate, and a second vacuum suction cup is installed on the side plate.

[0013] Furthermore, the angle adjustment mechanism includes a pneumatic telescopic rod hinged on the mounting plate, the output end of the pneumatic telescopic rod is fixedly connected to a U-shaped connector, a pull rod is rotatably connected inside the U-shaped connector, and one end of the pull rod is fixedly connected to the side plate.

[0014] Furthermore, a pneumatic push rod is fixedly connected between the L-shaped plate and the mounting plate, and a push plate is fixedly connected to the output end of the pneumatic push rod.

[0015] Furthermore, a mounting hole is provided on the vertical side wall of the side panel, the second vacuum suction cup is located in the mounting hole, a plurality of first threaded holes are evenly provided on the vertical side wall of the side panel, a second threaded hole corresponding to the first threaded hole is provided on the second vacuum suction cup, and locking bolts are installed in the threads of the first threaded hole and the second threaded hole.

[0016] Furthermore, a plurality of foot posts are fixedly connected to the side wall at the lower side of the base, and foot cups are fixedly connected to the lower ends of the foot posts.

[0017] Furthermore, a positioning piece is fixedly connected to the vertical side wall of the mounting plate, and the positioning piece is located on a side of the mounting plate close to the head of the first vacuum suction cup.

[0018] Furthermore, the sides of the upper and lower sides of the mounting plate are fixedly connected with a gap separation mechanism, and the gap separation mechanism includes a first electric push rod fixedly connected to the mounting plate, the first electric push rod is fixedly connected to an automatic controller, the output end of the first electric push rod is fixedly connected to a second electric push rod, the output end of the second electric push rod is fixedly connected to a movable plate, the movable plate is fixedly connected to a motor, the output shaft of the motor is fixedly connected to a reciprocating screw, a fixing hole is provided on the movable plate, the reciprocating screw penetrates the movable plate through the fixing hole, a slider is provided on the external thread sleeve of the reciprocating screw, a slide groove connected to the fixing hole is provided on the right side of the movable plate, one side of the slider extends out of the slide groove and is fixedly connected to a movable triangular expansion piece, a fixed triangular expansion piece is fixedly connected to the movable plate, and a positioning induction radar connected to the automatic controller is fixedly connected to the movable plate.

[0019] Furthermore, the vertical side walls of the intelligent control box are provided with a plurality of heat dissipation windows.

[0020] Furthermore, a barometer is fixedly connected to the vertical side wall of the intelligent control box.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention provides a multi-joint robotic arm, and the overall rotation module, vertical deflection module, up and down deflection module and angle adjustment module are all standard parts and can be freely combined with each other, so that the collaborative robot can be flexibly assembled according to the actual needs of the target customers, and can more accurately meet the needs of customers, effectively improving the flexibility of customized assembly of the collaborative robot. The overall rotation module, vertical deflection module, up and down deflection module and angle adjustment module as standard parts are easier to disassemble, transport and carry.

[0023] 2. The present invention sets up a gap separation mechanism. When in use, the automatic controller controls the operation of the first electric push rod, and locates the gap between the two goods through the positioning sensing radar. After positioning, the second electric push rod drives the movable plate to move, so that the movable triangular gap expansion piece and the fixed triangular gap expansion piece can be inserted between the gaps of the two goods. The motor runs, and the motor drives the reciprocating screw to run. The reciprocating screw drives the slider to slide, and the slider drives the movable triangular gap expansion piece away from the fixed triangular gap expansion piece. The two goods can be separated by the cooperation of the movable triangular gap expansion piece and the fixed triangular gap expansion piece. The rotation of the operating hand assembly is controlled by the multi-joint mechanical arm, so that the goods can be separated from the surrounding goods, thereby avoiding the problem that the collaborative robot will move other goods in conjunction with the transportation, resulting in transportation obstruction, and effectively improving the smoothness of the collaborative robot in transporting goods.

[0024] 3. When the manipulator assembly provided by the present invention is used, the multi-joint robotic arm controls the mounting plate to be horizontal above the cargo, so that the first vacuum suction cup contacts the upper side of the cargo, and multiple first vacuum suction cups can suck the cargo. The multi-joint robotic arm controls the movement of the manipulator assembly to carry the cargo. When carrying heavier cargo, the pneumatic telescopic rod is controlled to operate, and the pneumatic telescopic rod drives the side plate to rotate through the U-shaped connector and the pull rod, so that the side plate is perpendicular to the mounting plate, so that the second vacuum suction cup on the side plate is adsorbed on the vertical side wall of the cargo, thereby improving the stability of the cargo manipulator assembly in picking up the cargo, and effectively improving the safety of the collaborative robot in carrying the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of the present invention when the gap separation mechanism is not installed;

[0026] Figure 2 for Figure 1 A schematic diagram of the structure in another direction;

[0027] Figure 3 for Figure 1 Schematic diagram of the connection structure between the middle joint robot arm and the manipulator assembly;

[0028] Figure 4 for Figure 3 Schematic diagram of the structure of the mid-joint robotic arm;

[0029] Figure 5 for Figure 3 The structural diagram of the middle manipulator assembly;

[0030] Figure 6 for Figure 3 A schematic diagram of the structure of the middle manipulator assembly in another direction;

[0031] Figure 7 It is a schematic diagram of the connection structure between the operating hand assembly and the gap separation mechanism of the present invention;

[0032] Figure 8 for Figure 7 Structural schematic diagram of the mid-gap separation mechanism;

[0033] Fig. 9 for Figure 8 Schematic diagram of the structure of part A.

[0034] In the figure: 1, base; 2, intelligent control box; 3, mounting seat; 4, overall rotation module; 401, rotating motor; 402, connecting arm; 5, vertical deflection module; 501, driving motor; 502, vertical deflection arm; 503, horizontal deflection motor; 6, up and down deflection module; 601, rotating arm; 602, control motor; 603, up and down deflection arm; 7, angle adjustment module; 701, motor; 702, up and down angle adjustment motor; 703, horizontal angle adjustment motor; 704, mounting frame; 8, mounting plate; 9, L-shaped plate; 10, first vacuum suction cup; 11, mounting block; 12, rotating shaft; 13, side plate; 1 4. Second vacuum suction cup; 15. Pneumatic telescopic rod; 16. U-shaped connector; 17. Pull rod; 18. Pneumatic push rod; 19. Push plate; 20. Mounting hole; 21. First threaded hole; 22. Second threaded hole; 23. Foot column; 24. Foot cup; 25. Positioning piece; 26. Heat dissipation window; 27. Barometer; 101. First electric push rod; 102. Automatic controller; 103. Second electric push rod; 104. Moving plate; 105. Motor; 106. Reciprocating screw; 107. Fixed hole; 108. Sliding block; 109. Sliding groove; 110. Moving triangular expansion piece; 111. Fixed triangular expansion piece; 112. Positioning induction radar. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-9 The present invention provides a collaborative robot that can be easily assembled and disassembled, comprising a base 1, a smart control box 2 is fixedly connected to the side wall on the upper side of the base 1, a mounting seat 3 is fixedly connected to the side wall on the upper side of the smart control box 2, a multi-joint collaborative arm is installed on the mounting seat 3, and a manipulator assembly is installed at one end of the multi-joint robotic arm away from the mounting seat 3;

[0037] The multi-joint collaborative arm includes an integral rotation module 4 fixedly connected to the upper side of the mounting seat 3, a vertical deflection module 5 is installed on the integral rotation module 4, an upper and lower deflection module 6 is installed on the upper end of the vertical deflection module 5, an angle adjustment module 7 is installed at the output end of the upper and lower deflection module 6, and the angle adjustment module 7 is connected to the operating hand assembly;

[0038] The integral rotating module 4 includes a rotating motor 401 connected to the upper side of the mounting seat 3, the output shaft of the rotating motor 401 is rotatably connected to the mounting seat 3, and the outer wall of the rotating motor 401 is fixedly connected to a connecting arm 402;

[0039] The vertical deflection module 5 includes a driving motor 501 mounted on a connecting arm 402, the output shaft of the driving motor 501 is fixedly connected to the connecting arm 402, the vertical deflection arm 502 is fixedly mounted on the housing of the driving motor 501, and the upper end of the vertical deflection arm 502 is fixedly connected to a lateral deflection motor 503;

[0040] The up-down deflection module 6 comprises a rotating arm 601 fixedly mounted on the output shaft of the lateral deflection motor 503, one end of the rotating arm 601 is fixedly connected to a control motor 602, and the output end of the control motor 602 is fixedly mounted with an up-down deflection arm 603;

[0041] The angle adjustment module 7 includes a motor 701 fixedly mounted on the upper and lower deflection arms 603, the output shaft of the motor 701 is fixedly mounted with an upper and lower angle adjustment motor 702, the output shaft of the upper and lower angle adjustment motor 702 is fixedly mounted with a horizontal angle adjustment motor 703, the output shaft of the horizontal angle adjustment motor 703 is fixedly mounted with a mounting frame 704, the operating hand assembly is fixedly mounted on the mounting frame 704, the motor 701 drives the upper and lower angle adjustment motor 702 to rotate, the upper and lower angle adjustment motor 702 drives the horizontal angle adjustment motor 703 to rotate, and the horizontal angle adjustment motor 703 drives the mounting frame 704 to rotate, thereby enabling the operating hand assembly installed on the mounting frame 704 to be flexibly adjusted in multiple directions.

[0042] In the above embodiment, when in use, the intelligent control box 2 controls the rotation motor 401 to operate, the rotation motor 401 rotates relative to the mounting seat 3, and the rotation motor 401 drives the connecting arm 402 to rotate, so that the multi-joint robot arm can be adjusted to rotate 360 ​​degrees in the horizontal direction, and the driving motor 501 is controlled to operate, and the driving motor 501 controls the vertical deflection arm 502 to deflect, and the lateral deflection motor 503 can adjust the upper and lower deflection modules 6, and the angle adjustment module 7 can adjust the angle of the operating hand assembly. The section modules 7 cooperate with each other and can freely adjust the operator assembly in multiple directions, thereby making the collaborative robot more flexible. The overall rotation module 4, vertical deflection module 5, up and down deflection module 6 and angle adjustment module 7 are all standard parts and can be freely combined with each other, so that the collaborative robot can be flexibly assembled according to the actual needs of the target customers, and can more accurately meet the needs of customers, effectively improving the flexibility of customized assembly of the collaborative robot. In addition, the overall rotation module 4, vertical deflection module 5, up and down deflection module 6 and angle adjustment module 7 as standard parts are easier to disassemble, transport and carry.

[0043] The operator assembly includes a mounting plate 8 fixedly connected to the lower side of the mounting frame 704, an L-shaped plate 9 fixedly connected between the vertical side wall of the mounting plate 8 and the side wall of the lower side of the mounting frame 704, a plurality of first vacuum suction cups 10 fixedly connected to the mounting plate 8, two mounting blocks 11 are symmetrically fixedly connected to the vertical side wall of the mounting plate 8, a same rotating shaft 12 is rotatably connected between the two mounting blocks 11, a side plate 13 is fixedly connected to the shaft wall of the rotating shaft 12, an angle adjustment mechanism is connected between the side plate 13 and the mounting plate 8, and a second vacuum suction cup 14 is installed on the side plate 13.

[0044] In the above embodiment, the mounting plate 8 is controlled by a multi-joint robotic arm to be horizontal above the cargo, so that the first vacuum suction cup 10 is in contact with the upper side of the cargo, and multiple first vacuum suction cups 10 can suck the cargo. The multi-joint robotic arm controls the movement of the manipulator assembly to carry the cargo. When carrying heavier cargo, the pneumatic telescopic rod 15 is controlled to operate. The pneumatic telescopic rod 15 drives the side plate 13 to rotate through the U-shaped connector 16 and the pull rod 17, so that the side plate 13 is perpendicular to the mounting plate 8, so that the second vacuum suction cup 14 on the side plate 13 is adsorbed on the vertical side wall of the cargo, thereby improving the stability of the cargo manipulator assembly in picking up the cargo, and effectively improving the safety of the collaborative robot in carrying the cargo.

[0045] The angle adjustment mechanism includes a pneumatic telescopic rod 15 hinged on the mounting plate 8 , the output end of the pneumatic telescopic rod 15 is fixedly connected to a U-shaped connector 16 , a pull rod 17 is rotatably connected inside the U-shaped connector 16 , and one end of the pull rod 17 is fixedly connected to the side plate 13 .

[0046] In this embodiment, when in use, the pneumatic telescopic rod 15 drives the U-shaped connector 16 to move, the U-shaped connector 16 pulls the pull rod 17, and the pull rod 17 drives the side plate 13 to rotate around the rotating shaft 12, so that the position of the second vacuum suction cup 14 can be flexibly adjusted.

[0047] A pneumatic push rod 18 is fixedly connected between the L-shaped plate 9 and the mounting plate 8, and a push plate 19 is fixedly connected to the output end of the pneumatic push rod 18. The pneumatic push rod 18 drives the push plate 19 to move, which can facilitate the separation of the goods from the operating hand assembly and improve the smoothness of material unloading.

[0048] The vertical side wall of the side plate 13 is provided with a mounting hole 20, and the second vacuum suction cup 14 is located in the mounting hole 20. The vertical side wall of the side plate 13 is evenly provided with a plurality of first threaded holes 21, and the second vacuum suction cup 14 is provided with a second threaded hole 22 corresponding to the first threaded hole 21, and locking bolts are installed in the inner threads of the first threaded hole 21 and the second threaded hole 22.

[0049] In this embodiment, the plurality of first threaded holes 21 and the second threaded holes 22 cooperate with each other, so that the installation position of the second vacuum suction cup 14 can be flexibly adjusted according to actual needs, thereby effectively improving the flexibility of the use of the operating hand assembly.

[0050] A plurality of foot posts 23 are fixedly connected to the side wall at the lower side of the base 1 , and a foot cup 24 is fixedly connected to the lower end of the foot post 23 , which can improve the stability of the placement of the collaborative robot.

[0051] A positioning member 25 is fixedly connected to the vertical side wall of the mounting plate 8 , and the positioning member 25 is located on a side of the mounting plate 8 close to the head of the first vacuum suction cup 10 .

[0052] In the above embodiment, the positioning member 25 is capable of positioning and limiting the cargo, thereby preventing the first vacuum suction cup 10 from excessively sucking the cargo and causing damage to the cargo.

[0053] The upper and lower sides of the mounting plate 8 are fixedly connected with a gap separation mechanism, and the gap separation mechanism includes a first electric push rod 101 fixedly connected to the mounting plate 8, and the first electric push rod 101 is fixedly connected to an automatic controller 102, and the output end of the first electric push rod 101 is fixedly connected to a second electric push rod 103, and the output end of the second electric push rod 103 is fixedly connected to a moving plate 104, and the moving plate 104 is fixedly connected to a motor 105, and the output shaft of the motor 105 is fixedly connected to a reciprocating screw rod 106, and the moving plate 1 04 is provided with a fixing hole 107, the reciprocating screw rod 106 passes through the moving plate 104 through the fixing hole 107, the reciprocating screw rod 106 is provided with a slider 108 on an external thread sleeve, the right side of the moving plate 104 is provided with a slide groove 109 connected with the fixing hole 107, one side of the slider 108 extends out of the slide groove 109 and is fixedly connected with a moving triangular expansion piece 110, the moving plate 104 is fixedly connected with a fixed triangular expansion piece 111, and the moving plate 104 is fixedly connected with a positioning induction radar 112 connected with the automatic controller 102.

[0054] In the above embodiment, when in use, the automatic controller 102 controls the operation of the first electric push rod 101, and locates the gap between the two goods through the positioning sensing radar 112. After positioning, the second electric push rod 103 drives the movable plate 104 to move, so that the movable triangular gap expansion piece 110 and the fixed triangular gap expansion piece 111 can be inserted between the gaps of the two goods, the motor 105 runs, and the motor 105 drives the reciprocating screw 106 to run, and the reciprocating screw 106 drives the slider 108 to slide, and the slider 108 drives the movable triangular gap expansion piece 110 away from the fixed triangular gap expansion piece 111, and the two goods can be separated by the cooperation of the movable triangular gap expansion piece 110 and the fixed triangular gap expansion piece 111. The rotation of the operating hand assembly is controlled by the multi-joint robotic arm, so that the goods can be separated from the surrounding goods, thereby avoiding the problem that the collaborative robot will move other goods and cause transportation obstruction during transportation, and effectively improving the smoothness of the collaborative robot in transporting goods.

[0055] The vertical side walls of the intelligent control box 2 are provided with a plurality of heat dissipation windows 26 , which can improve the heat dissipation performance of the intelligent control box 2 and improve the operation stability of the intelligent control box 2 .

[0056] The vertical side wall of the intelligent control box 2 is fixedly connected with a barometer 27, which can timely understand the real-time air pressure of the collaborative robot's intake, thereby improving the safety of operation.

[0057] Working principle: When in use, the intelligent control box 2 controls the rotation motor 401 to operate, the rotation motor 401 rotates relative to the mounting base 3, and the rotation motor 401 drives the connecting arm 402 to rotate, so that the multi-joint robot arm can be adjusted to rotate 360 ​​degrees in the horizontal direction, and the driving motor 501 is controlled to operate, and the driving motor 501 controls the deflection of the vertical deflection arm 502, and the lateral deflection motor 503 can adjust the upper and lower deflection modules 6, and the angle adjustment module 7 can adjust the angle of the operating hand assembly. Through the overall rotation module 4, the vertical deflection module 5, the upper and lower deflection module 6 and the angle adjustment module The blocks 7 cooperate with each other, and can freely adjust the manipulator assembly in multiple directions, so that the collaborative robot can be more flexible. The overall rotation module 4, vertical deflection module 5, up and down deflection module 6 and angle adjustment module 7 are all standard parts, which can be freely combined with each other, so that the collaborative robot can be flexibly assembled according to the actual needs of the target customers, and can more accurately meet the needs of customers, effectively improving the flexibility of customized assembly of the collaborative robot. The overall rotation module 4, vertical deflection module 5, up and down deflection module 6 and angle adjustment module 7 as standard parts are easier to disassemble and transport;

[0058] When in use, the automatic controller 102 controls the operation of the first electric push rod 101, and locates the gap between the two goods through the positioning induction radar 112. After positioning, the second electric push rod 103 drives the moving plate 104 to move, so that the moving triangular gap expansion piece 110 and the fixed triangular gap expansion piece 111 can be inserted between the gaps of the two goods, the motor 105 runs, the motor 105 drives the reciprocating screw rod 106 to run, the reciprocating screw rod 106 drives the slider 108 to slide, and the slider 108 drives the moving triangular gap expansion piece 110 away from the fixed triangular gap expansion piece 111. The two goods can be separated by the cooperation of the moving triangular gap expansion piece 110 and the fixed triangular gap expansion piece 111. The rotation of the operating hand assembly is controlled by the multi-joint mechanical arm, so that the goods can be separated from the surrounding goods, thereby avoiding the problem that the collaborative robot will move other goods and cause transportation obstruction during transportation, and effectively improving the smoothness of the collaborative robot in transporting goods.

[0059] The mounting plate 8 is controlled by a multi-joint robotic arm to be horizontal above the cargo, so that the first vacuum suction cup 10 is in contact with the upper side of the cargo, and multiple first vacuum suction cups 10 can suck the cargo. The multi-joint robotic arm controls the movement of the operating hand assembly to carry the cargo. When carrying heavier cargo, the pneumatic telescopic rod 15 is controlled to operate, and the pneumatic telescopic rod 15 drives the side plate 13 to rotate through the U-shaped connector 16 and the pull rod 17, so that the side plate 13 is perpendicular to the mounting plate 8, so that the second vacuum suction cup 14 on the side plate 13 is adsorbed on the vertical side wall of the cargo, thereby improving the stability of the cargo operating hand assembly in picking up the cargo, and effectively improving the safety of the collaborative robot in carrying the cargo.

[0060] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collaborative robot that can be easily assembled and disassembled, comprising a base (1), characterized in that: The side wall on the upper side of the base (1) is fixedly connected to an intelligent control box (2), the side wall on the upper side of the intelligent control box (2) is fixedly connected to a mounting seat (3), a multi-joint collaborative arm is mounted on the mounting seat (3), and an operating hand assembly is mounted on one end of the multi-joint mechanical arm away from the mounting seat (3); The multi-joint cooperative arm comprises an integral rotation module (4) fixedly connected to the upper side of the mounting seat (3), a vertical deflection module (5) being mounted on the integral rotation module (4), an upper and lower deflection module (6) being mounted on the upper end of the vertical deflection module (5), an angle adjustment module (7) being mounted on the output end of the upper and lower deflection module (6), and the angle adjustment module (7) being connected to the operating hand assembly; The integral rotating module (4) comprises a rotating motor (401) connected to the upper side of the mounting seat (3), the output shaft of the rotating motor (401) being rotationally connected to the mounting seat (3), and the outer wall of the rotating motor (401) being fixedly connected to a connecting arm (402); The vertical deflection module (5) comprises a driving motor (501) mounted on a connecting arm (402), the output shaft of the driving motor (501) being fixedly connected to the connecting arm (402), a vertical deflection arm (502) being fixedly mounted on a housing of the driving motor (501), and a lateral deflection motor (503) being fixedly connected to the upper end of the vertical deflection arm (502); The up-down deflection module (6) comprises a rotating arm (601) fixedly mounted on the output shaft of the lateral deflection motor (503), one end of the rotating arm (601) is fixedly connected to a control motor (602), and the output end of the control motor (602) is fixedly mounted with an up-down deflection arm (603); The angle adjustment module (7) comprises a motor (701) fixedly mounted on the upper and lower deflection arms (603); an upper and lower angle adjustment motor (702) is fixedly mounted on the output shaft of the motor (701); a horizontal angle adjustment motor (703) is fixedly mounted on the output shaft of the upper and lower angle adjustment motor (702); a mounting frame (704) is fixedly mounted on the output shaft of the horizontal angle adjustment motor (703); and the operating hand assembly is fixedly mounted on the mounting frame (704).

2. The collaborative robot that can be easily disassembled and assembled according to claim 1, characterized in that: The manipulator assembly comprises a mounting plate (8) fixedly connected to the lower side of the mounting frame (704); an L-shaped plate (9) is fixedly connected between the vertical side wall of the mounting plate (8) and the side wall of the lower side of the mounting frame (704); a plurality of first vacuum suction cups (10) are fixedly connected to the mounting plate (8); two mounting blocks (11) are symmetrically fixedly connected to the vertical side wall of the mounting plate (8); a same rotating shaft (12) is rotatably connected between the two mounting blocks (11); a side plate (13) is fixedly connected to the shaft wall of the rotating shaft (12); an angle adjustment mechanism is connected between the side plate (13) and the mounting plate (8); and a second vacuum suction cup (14) is installed on the side plate (13).

3. The collaborative robot that can be easily disassembled and assembled according to claim 2, characterized in that: The angle adjustment mechanism comprises a pneumatic telescopic rod (15) hinged on the mounting plate (8), the output end of the pneumatic telescopic rod (15) is fixedly connected to a U-shaped connecting piece (16), a pull rod (17) is rotatably connected inside the U-shaped connecting piece (16), and one end of the pull rod (17) is fixedly connected to the side plate (13).

4. The collaborative robot that can be easily disassembled and assembled according to claim 2, characterized in that: A pneumatic push rod (18) is fixedly connected between the L-shaped plate (9) and the mounting plate (8), and a push plate (19) is fixedly connected to the output end of the pneumatic push rod (18).

5. The collaborative robot that can be easily disassembled and assembled according to claim 2, characterized in that: The vertical side wall of the side plate (13) is provided with a mounting hole (20), the second vacuum suction cup (14) is located in the mounting hole (20), the vertical side wall of the side plate (13) is evenly provided with a plurality of first threaded holes (21), the second vacuum suction cup (14) is provided with a second threaded hole (22) corresponding to the first threaded hole (21), and locking bolts are installed in the inner threads of the first threaded hole (21) and the second threaded hole (22).

6. The collaborative robot with convenient assembly and disassembly according to claim 1, characterized in that: A plurality of foot posts (23) are fixedly connected to the side wall at the lower side of the base (1), and a foot cup (24) is fixedly connected to the lower end of the foot post (23).

7. The collaborative robot that can be easily disassembled and assembled according to claim 2, characterized in that: A positioning member (25) is fixedly connected to the vertical side wall of the mounting plate (8), and the positioning member (25) is located on a side of the mounting plate (8) close to the head of the first vacuum suction cup (10).

8. The collaborative robot that can be easily disassembled and assembled according to claim 2, characterized in that: The upper and lower sides of the mounting plate (8) are fixedly connected to gap separation mechanisms, the gap separation mechanism comprising a first electric push rod (101) fixedly connected to the mounting plate (8), the first electric push rod (101) being fixedly connected to an automatic controller (102), the output end of the first electric push rod (101) being fixedly connected to a second electric push rod (103), the output end of the second electric push rod (103) being fixedly connected to a moving plate (104), the moving plate (104) being fixedly connected to a motor (105), the output shaft of the motor (105) being fixedly connected to a reciprocating screw rod (106), the moving plate (104) being fixedly connected to a second electric push rod (103), the output end of the second electric push rod (103) being fixedly connected to a moving plate (104), A fixing hole (107) is provided, the reciprocating screw rod (106) passes through the fixing hole (107) and penetrates the movable plate (104), the reciprocating screw rod (106) is externally threadedly sleeved with a slider (108), a slide groove (109) connected to the fixing hole (107) is provided on the right side of the movable plate (104), one side of the slider (108) extends out of the slide groove (109) and is fixedly connected to a movable triangular gap expansion piece (110), a fixed triangular gap expansion piece (111) is fixedly connected to the movable plate (104), and a positioning induction radar (112) connected to the automatic controller (102) is fixedly connected to the movable plate (104).

9. The collaborative robot with convenient assembly and disassembly according to claim 1, characterized in that: The vertical side wall of the intelligent control box (2) is provided with a plurality of heat dissipation windows (26).

10. The collaborative robot that can be easily disassembled and assembled according to claim 9, characterized in that: A barometer (27) is fixedly connected to the vertical side wall of the intelligent control box (2).

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