Collaborative robot and terminal device thereof

Abstract

The invention relates to the technical field of manipulators, and discloses a collaborative robot and a terminal device thereof, the collaborative robot comprises a terminal adapter block and a terminal shell, the terminal shell is connected to one side of the terminal adapter block, and a visual assembly and a light source assembly are arranged in the terminal shell; a communicating containing cavity is formed in the tail end shell, the containing cavity comprises a first containing cavity body and a second containing cavity body, and a control panel penetrating through the first containing cavity body and the second containing cavity body is arranged in the containing cavity. The control panel and other components are integrated in the tail end device, the integration degree of the manipulator tail end device is greatly improved, an independent large visual module does not need to be additionally installed, and when the visual module is additionally installed, wiring harnesses in a manipulator, wiring harnesses for connecting the manipulator with an electric control box and the interior of the electric control box do not need to be changed or modified. The flexible configuration of the manipulator body and the electric cabinet, the unification of parts and the unification of the assembly method / process are realized, the production cost is reduced, and the product stability is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a collaborative robot and a terminal device thereof. Background Art

[0002] A collaborative robot generally includes a manipulator body, an electric control box, and connecting wires (for electrically connecting the electric control box and the manipulator body). The manipulator body (hereinafter referred to as the manipulator) includes multiple link modules and an end device. The end device is used to install external loads and tools, and multiple joint modules and the end device are electrically connected through wiring harnesses. A collaborative robot with a visual system can generally achieve visual functions by installing a visual device on the outside of the end device (external wiring method). It is also possible to connect the wiring harness to the visual device internally to reduce the clutter and interference of the on-site working environment caused by the external connection harness.

[0003] In some existing technologies, a vision control board is provided inside the vision terminal shell, and the vision control board is powered and provided with control signals through the internal wiring harness of the manipulator. This solution requires an additional set of wiring harnesses to connect the vision control board. In addition, the wiring harnesses between the joint modules inside the manipulator body result in more internal wiring harnesses and more installation steps. Moreover, the wiring harnesses are prone to interfere with each other and cause other faults. Moreover, the vision control board is an independent part. The additional installation will make the appearance of the vision device larger. When using loads and tools, the larger volume of the vision device may affect the installation of the load / tool.

[0004] In other technologies, the vision control board is set inside the electric control box and connected to the camera at the end of the visual terminal through a wiring harness. It also requires additional wiring harness connections, which increases the internal wiring harness of the manipulator and is prone to wiring harness failure. Moreover, if the vision control board is set inside the electric control box, the electric control box is basically dedicated to collaborative robots with a vision system, resulting in poor versatility of the electric control box. If the electric control box is used for other collaborative robots without a vision system, the function is redundant, which increases the cost of the equipment. It is not conducive to the flexible matching of the electric control box and the manipulator body of the collaborative robot. Summary of the invention

[0005] The purpose of the present invention is to: collaborate with robots and their end devices, improve the integration and degree of integration of the manipulator end devices, realize flexible configuration of the manipulator body and electrical control box, unify parts and components, unify assembly methods / processes, reduce production costs, and improve product stability.

[0006] In order to achieve the above object, the present invention provides an end device of a collaborative robot, comprising:

[0007] An end adapter block, the end adapter block is connected to the end of the manipulator;

[0008] A terminal housing, the terminal housing being connected to one side of the terminal adapter block, and a visual component and a light source component being arranged in the terminal housing;

[0009] Among them, a connected accommodating cavity is formed in the terminal shell, and the accommodating cavity includes a first accommodating cavity and a second accommodating cavity. The terminal adapter block cover is arranged in the first accommodating cavity, the light source component is arranged in the first accommodating cavity, and the visual component is arranged in the second accommodating cavity. A control panel that passes through the first accommodating cavity and the second accommodating cavity is arranged in the accommodating cavity, and the control panel includes an integrated manipulator body terminal control panel and a visual control panel. The manipulator body terminal control panel is electrically connected to the manipulator, and the visual control panel is electrically connected to the visual component.

[0010] Compared with the prior art, the terminal device of a collaborative robot in an embodiment of the present invention has the beneficial effect of dividing the terminal device into an interconnected terminal adapter block and a terminal shell, the terminal adapter block is mainly connected to the manipulator, and a accommodating cavity for accommodating a control panel is formed in the terminal shell, and a light source assembly for lighting and a visual assembly for recording and shooting are also integrated in the accommodating cavity, and the control panel includes an integrated manipulator body terminal control panel and a visual control panel, so that the terminal device, the light source assembly and the visual assembly are directly controlled by a control panel, reducing the need for external wiring harnesses; the present application greatly improves the integration and degree of integration of the manipulator terminal device by integrating components such as the control panel into the terminal device, and there is no need to install a separate larger visual module. When the visual module is installed, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness for connecting the manipulator to the electric control box, and the inside of the electric control box, thereby achieving flexible configuration of the manipulator body and the electric control box, unification of parts and components, and unification of assembly methods / processes, reducing production costs and improving product stability.

[0011] In the end device of the collaborative robot in an embodiment of the present invention, one side of the second accommodating cavity is detachably covered with an upper cover, the upper cover is protruded away from the second accommodating cavity and forms a wedge-shaped surface, a button assembly is arranged on the wedge-shaped surface, and the button assembly is electrically connected to the control board.

[0012] In the end device of the collaborative robot of an embodiment of the present invention, the first accommodating cavity includes a light source space, the light source space is an annular space formed between the end adapter block and the end shell, the light source assembly is arranged in the light source space, and the light source assembly includes a light source board and a plurality of lamp beads fixed to the light source board.

[0013] In the end device of the collaborative robot of the embodiment of the present invention, a light source guard plate covering the light source board is further provided in the light source space, and a sealing ring is provided between the light source guard plate, the end housing and the end adapter block.

[0014] In the end device of the collaborative robot according to an embodiment of the present invention, a plurality of groups of bosses are further provided in the accommodating cavity, the control board abuts against the bosses, a first screw hole arranged toward the end adapter block is provided in the bosses, a plurality of the second screw holes are opened at positions of the control board corresponding to the first screw holes, and a first screw is passed through the first screw hole and the second screw hole to fix the control board to the end housing.

[0015] In the end device of the collaborative robot according to an embodiment of the present invention, the end shell is provided with a visual shell on one side of the second accommodating cavity, the second accommodating cavity also includes a visual space located in the visual shell, and the visual component is arranged in the visual space.

[0016] In the end device of the collaborative robot according to an embodiment of the present invention, a flange with a slot in the middle is provided in the visual housing, and the visual component includes a camera and a lens. The camera is fixed on the flange, and the lens extends out of the flange through an opening in the flange.

[0017] The end device of the collaborative robot of an embodiment of the present invention, the visual component also includes a visual light source guard plate fixed to the visual housing and a visual light source located on the visual light source guard plate, and shooting holes are opened on the inner sides of the visual light source and the visual light source guard plate to allow the lens to pass through.

[0018] In the end device of the collaborative robot according to an embodiment of the present invention, the visual shell is detachably fixed to the end shell, a plurality of third screw holes are arranged on an end surface of the end shell facing the visual shell, a plurality of fourth screw holes corresponding to the positions of the third screw holes are opened on an end surface of the visual shell facing the end shell, second screws are inserted into the third screw holes and the fourth screw holes to fix the visual shell to the end shell.

[0019] The present invention also provides a collaborative robot, comprising a manipulator, at the end of which is provided an end device of the collaborative robot described in any one of the above embodiments.

[0020] Compared with the prior art, the end device of a collaborative robot in an embodiment of the present invention has the following beneficial effects: the collaborative robot includes a manipulator for operation, and the end of the manipulator is provided with an end device, and the end device includes an end adapter block and an end shell connected to each other, the end adapter block is mainly connected to the manipulator, and a accommodating cavity for accommodating a control panel is formed in the end shell, and a light source assembly for lighting and a visual assembly for recording and shooting are also integrated in the accommodating cavity, and the control panel includes an integrated manipulator body end control panel and a visual control panel, so that the end device, the light source assembly and the visual assembly are directly controlled by a control panel, reducing the need for external wiring harnesses; the present application greatly improves the integration and integration level of the manipulator end device by integrating components such as the control panel into the end device, and there is no need to install a separate larger visual module. When the visual module is installed, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness for connecting the manipulator to the electric control box, and the inside of the electric control box, thereby realizing flexible configuration of the manipulator body and the electric control box, unification of parts and components, and unification of assembly methods / processes, reducing production costs, and improving product stability.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an external schematic diagram of an end device of a collaborative robot according to an embodiment of the present invention;

[0023] Figure 2 is a bottom schematic diagram of an end device of a collaborative robot according to an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the interior of the end device of the collaborative robot according to an embodiment of the present invention;

[0025] Figure 4 is a bottom schematic diagram of an end adapter block of an end device of a collaborative robot according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the interior of a terminal housing of a terminal device of a collaborative robot according to an embodiment of the present invention;

[0027] Figure 6 is a bottom schematic diagram of an end housing of an end device of a collaborative robot according to an embodiment of the present invention;

[0028] Figure 7 is a schematic diagram of a connection cover plate of a terminal housing of a collaborative robot according to an embodiment of the present invention;

[0029] Figure 8 is a schematic diagram of a control panel of a terminal device of a collaborative robot according to an embodiment of the present invention;

[0030] Fig. 9 is a schematic diagram of a light source board of a terminal device of a collaborative robot according to an embodiment of the present invention;

[0031] Fig.10 is a bottom schematic diagram of an end device of a collaborative robot according to another embodiment of the present invention;

[0032] Fig.11 is a schematic diagram of a visual housing of an end device of a collaborative robot according to an embodiment of the present invention;

[0033] In the figure, 1, terminal adapter block; 11, connecting hole; 12, first groove; 13, adapter block screw hole; 2, terminal housing; 21, first accommodating cavity; 211, light source space; 212, adapter block connecting boss; 213, adapter block connecting screw hole; 22, second accommodating cavity; 221, upper cover connecting boss; 222, upper cover connecting screw hole; 23, second groove; 24, first boss; 241, first screw hole; 25, mounting hole; 26, second boss; 27, mounting plate; 28, closing cover plate; 2 9. Third screw hole; 3. Visual component; 31. Camera; 32. Lens; 33. Visual light source guard plate; 34. Visual light source; 4. Light source component; 41. Light source board; 42. Lamp beads; 43. Light source guard plate; 44. Sealing ring; 5. Control board; 51. Second screw hole; 6. Upper cover; 61. Wedge-shaped surface; 62. Button component; 63. Upper cover screw hole; 7. Connecting cover plate; 71. Cover plate boss; 8. Visual shell; 81. Visual space; 82. Flange; 821. Slot; 83. Fourth screw hole. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0038] like Figure 1 As shown, a terminal device of a collaborative robot according to a preferred embodiment of the present invention includes a terminal adapter block 1 and a terminal shell 2, wherein the terminal adapter block 1 is connected to the terminal end of a manipulator; an end of the terminal adapter block 1 facing away from the terminal shell 2 is provided with an annularly arranged connection holes 11 for connecting the manipulator.

[0039] like Figure 1-Figure 3 As shown, the end shell 2 is connected to the side of the end adapter block 1 facing away from the manipulator, and the end shell 2 is used to accommodate the visual component 3 and the light source component 4; a connected accommodating cavity is formed in the end shell 2, and the accommodating cavity includes a first accommodating cavity 21 and a second accommodating cavity 22, the end adapter block 1 is covered on the first accommodating cavity 21, the light source component 4 is arranged in the first accommodating cavity 21, and the visual component 3 is arranged in the second accommodating cavity 22, and a control board 5 is arranged in the accommodating cavity that passes through the first accommodating cavity 21 and the second accommodating cavity 22, and the control board 5 includes an integrated manipulator body end control board and a visual control board, the manipulator body end control board is located in the first accommodating cavity 21 and is electrically connected to the manipulator, and the visual control board is located in the second accommodating cavity 22 and is electrically connected to the visual component 3. The terminal device, light source assembly 4 and vision assembly 3 are directly controlled by a control board 5, reducing the need for external wiring harnesses. The present application greatly improves the integration and integration level of the manipulator terminal device by integrating components such as the control board 5 into the terminal device. There is no need to install a separate larger vision module. When installing the vision module, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness connecting the manipulator to the electrical control box, and the inside of the electrical control box. Flexible configuration of the manipulator body and the electrical control box, unification of parts and components, and unification of assembly methods / processes are achieved, which reduces production costs and improves product stability.

[0040] like Figure 1As shown, in some embodiments of the present invention, one side of the second accommodating cavity 22 is detachably covered with an upper cover 6, the upper cover 6 is protruded away from the second accommodating cavity 22 and forms a wedge-shaped surface 61, a button assembly 62 is arranged on the wedge-shaped surface 61, and the button assembly 62 is electrically connected to the control board 5; it can be understood that the button assembly 62 can be used to control the terminal device or the light source assembly 4 or the visual assembly 3 in the terminal device, depending on different situation requirements, and no specific limitation is made here. The above arrangement makes a part of the terminal housing 2 protrude, and the button assembly 62 is arranged on the protruding part (i.e., the wedge-shaped surface 61), which is convenient for the hand to grasp the terminal housing 2 when using the collaborative robot (such as dragging teaching), and it is more convenient for the fingers to press the terminal button, thereby improving the interactive experience of the operation.

[0041] In some embodiments of the present invention, four upper cover screw holes 63 are provided on the upper cover 6, and the terminal housing 2 is also provided with four upper cover screw holes 63 arranged at positions corresponding to the upper cover screw holes 63 of the upper cover 6. The upper cover 6 is detachably fixed to the terminal housing 2 by screws passing through the upper cover screw holes 63. Specifically, the upper cover screw holes 63 of the upper cover 6 are provided on the wedge-shaped surface 61, and the opening angle thereof also corresponds to the angle of the conical surface. An upper cover connecting boss 221 corresponding to the upper cover screw hole 63 is provided in the second accommodating cavity 22, and an upper cover connecting screw hole 222 matching the upper cover screw hole 63 is provided on the upper cover connecting boss 221, and the number of the upper cover connecting screw holes 222 corresponding to the upper cover screw hole 63 is also four.

[0042] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, the first accommodating cavity 21 includes a light source space 211, and the light source space 211 is an annular space formed between the terminal adapter block 1 and the terminal shell 2. Specifically, an annular first groove 12 is formed on the end surface of the terminal adapter block 1 facing the terminal shell 2, and an annular second groove 23 is formed on the end surface of the terminal shell 2 facing the terminal adapter block 1. The second groove 23 and the first groove 12 correspond in position and size, and the first groove 12 and the second groove 23 together form an annular light source space 211. The light source assembly 4 is disposed in the light source space 211, as shown in FIG. Fig. 9 As shown, the light source assembly 4 includes a ring-shaped light source plate 41 and a plurality of lamp beads 42 fixed to the light source plate 41. The light source is used to provide illumination when the terminal device is working. The plurality of lamp beads 42 are evenly spaced and arranged on the light source plate 41 to make the emitted light more uniform.

[0043] In some embodiments of the present invention, a light source guard plate 43 covering the light source board 41 is also provided in the light source space 211. The light source guard plate 43 is used to protect the lamp beads 42 on the light source board 41 to prevent the lamp beads 42 from colliding with the terminal adapter block 1 or the terminal housing 2. The light source guard plate 43 is arranged in a ring shape corresponding to the light source board 41; a sealing ring 44 is arranged between the light source guard plate 43 and the terminal housing 2 and the terminal adapter block 1 to prevent external water powder or dust from invading the light source space 211 and damaging the lamp beads 42, thereby ensuring the life of the light source assembly 4.

[0044] In some embodiments of the present invention, a plurality of adapter block connection bosses 212 are provided in the first accommodating cavity 21, and an adapter block connection screw hole 213 is provided in each adapter block connection boss 212. An adapter block screw hole 13 is also provided on the end surface of the adapter block 1 facing the first accommodating cavity 21. The size, number and position of the adapter block screw hole 13 match the adapter block connection screw hole 213, and the terminal adapter block 1 is fixed to the terminal housing 2 by inserting screws in the adapter block connection screw hole 213 and the adapter block screw hole 13. The adapter block connection screw hole 213 is set through the terminal housing 2 to facilitate the installation of the screw.

[0045] like Figure 5 As shown, in some embodiments of the present invention, a plurality of groups of first bosses 24 are further provided in the accommodating cavity, and the first bosses 24 are evenly distributed in the first accommodating cavity 21 and the second accommodating cavity 22; the heights of the first bosses 24 in the first accommodating cavity 21 and the first bosses 24 in the second accommodating cavity 22 facing the end surface of the control board 5 are equal; the control board 5 abuts on the first bosses 24, that is, both ends of the control board 5 abut on the first bosses 24; a first screw hole 241 arranged toward the end adapter block 1 is provided in the first boss 24, and a plurality of second screw holes 51 are opened at positions corresponding to the first screw holes 241 on the control board 5, and screws are passed through the first screw holes 241 and the second screw holes 51 to fix the control board 5 to the end housing 2, and the plurality of screws are locked so that the control board 5 is firmly fixed to the end housing 2, thereby improving the strength of the device.

[0046] In some embodiments of the present invention, a mounting hole 25 is opened on the side wall of the end housing 2 at the first accommodating cavity 21, and the mounting hole 25 is used for the passage of the wiring harness. One end of the wiring harness entering the first accommodating cavity 21 is connected to the control board 5, and the other end extending out of the first accommodating cavity 21 is connected to a plug, which is used for the control board 5 to supply power to external devices and transmit data.

[0047] like Figure 7As shown, in some embodiments of the present invention, an arc-shaped upwardly protruding connecting cover plate 7 is further provided between the first accommodating cavity 21 and the second accommodating cavity 22, and the bottom of the connecting cover plate 7 has a cover plate boss 71, and a second boss 26 corresponding to the cover plate boss 71 is provided in the terminal shell 2, and screw holes are provided in the second boss 26 and the cover plate boss 71 for fixing the connecting cover plate 7 to the middle part of the terminal shell, so as to support the control board 5 in the middle part of the accommodating cavity, thereby improving the strength of the control board 5.

[0048] like Figure 3 and Figure 6 As shown, in some embodiments of the present invention, the end shell 2 is provided with a visual shell 8 on one side of the second accommodating cavity 22. At this time, a mounting plate 27 is provided on the end face of the end shell 2 facing the visual shell 8, and a through groove is provided inside the mounting plate 27; the second accommodating cavity 22 also includes a visual space 81 located in the visual shell 8, and the visual component 3 is arranged in the visual space 81. The visual component 3 is used to perform shooting operations during the operation of the manipulator. The visual component 3 has a separate assembly space and a supporting shell, which is convenient for the installation and disassembly of the visual component 3.

[0049] like Figure 3 As shown, in some embodiments of the present invention, a flange 82 with a central opening is provided in the visual housing 8, the flange 82 is horizontally arranged and parallel to the control board 5, and the interior of the flange 82 has a circular or square groove 821; further, the visual component 3 includes a camera 31 and a lens 32, the camera 31 is fixed on the flange 82, and the lens 32 extends out of the flange 82 from the groove 821 in the flange 82 to prevent the flange 82 from affecting and interfering with the extension and retraction of the lens 32.

[0050] In some embodiments of the present invention, the visual component 3 also includes a visual light source guard plate 33 fixed to the visual housing 8 and a visual light source 34 located on the visual light source guard plate 33. The visual light source guard plate 33 directly serves as the bottom plate of the visual housing 8, and is fixed to the bottom plate on all sides; the visual light source 34 includes a visual light source plate and visual light source lamp beads; shooting holes are provided on the inner sides of the visual light source 34 and the visual light source guard plate 33 to allow the lens 32 to pass through, thereby preventing influence and interference on the extension and retraction of the lens 32; the visual light source 34 provides light source during the shooting process of the camera 31, so that the captured image is clearer.

[0051] like Figure 6 , Fig.10 and Fig.11As shown, in some embodiments of the present invention, the visual housing 8 is detachably fixed to the terminal housing 2, and a plurality of third screw holes 29 are arranged on the end surface of the terminal housing 2 facing the visual housing 8, and the third screw holes 29 are evenly distributed; a plurality of fourth screw holes 83 corresponding to the positions of the third screw holes 29 are opened on the end surface of the visual housing 8 facing the terminal housing 2, and there are four fourth screw holes 83, which are evenly distributed on the four corners of the visual housing 8; screws are inserted into the third screw holes 29 and the fourth screw holes 83 to fix the visual housing 8 to the terminal housing 2, and the visual housing 8 and the terminal housing 2 are firmly fixed and easy to disassemble and assemble through threaded fixing. Specifically, when the visual function is required, the visual device is installed on the terminal housing 2; when the visual device is not needed, a closed cover plate 28 is used to replace the mounting plate 27 to cover the third screw hole 29 reserved at the end.

[0052] A collaborative robot according to a preferred embodiment of the present invention comprises a manipulator, at the end of which is provided an end device of the collaborative robot according to any one of the above embodiments. The collaborative robot includes a manipulator for operation, and an end device is arranged at the end of the manipulator, and the end device includes an end adapter block 1 and an end shell 2 which are connected to each other. The end adapter block 1 is mainly connected to the manipulator, and a housing cavity for accommodating a control board 5 is formed in the end shell 2. The housing cavity also integrates a light source component 4 for lighting and a visual component 3 for recording and shooting. The control board 5 includes an integrated manipulator body end control board and a visual control board, so that the end device, the light source component 4 and the visual component 3 are directly controlled by a control board 5, reducing the need for external wiring harnesses; the present application greatly improves the integration and integration level of the manipulator end device by integrating components such as the control board 5 into the end device, and there is no need to install a separate larger visual module. When the visual module is installed, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness for connecting the manipulator to the electric control box, and the inside of the electric control box, thereby realizing flexible configuration of the manipulator body and the electric control box, unification of parts and components, and unification of assembly methods / processes, reducing production costs, and improving product stability.

[0053] The working process of the present invention is as follows: the terminal device is divided into an interconnected terminal adapter block 1 and a terminal housing 2, the terminal adapter block 1 is mainly connected to the manipulator, and a receiving cavity for receiving a control panel 5 is formed in the terminal housing 2. The receiving cavity also integrates a light source assembly 4 for lighting and a visual assembly 3 for recording and shooting. The control panel 5 includes an integrated manipulator body terminal control panel and a visual control panel, so that the terminal device, the light source assembly 4 and the visual assembly 3 are directly controlled by a control panel 5, reducing the need for external wiring harnesses. The terminal housing 2 is provided with a visual housing 8 on one side of the second receiving cavity 22, and the visual housing 8 is detachably fixed to the terminal housing 2.

[0054] In summary, the embodiments of the present invention provide a collaborative robot and its end device, which reduce the need for external wiring harnesses, greatly improve the integration and degree of integration of the manipulator end device, and do not require the installation of a separate larger vision module. When the vision module is installed, no other changes or modifications are required to the internal wiring harness of the manipulator, the wiring harness connecting the manipulator to the electrical control box, and the inside of the electrical control box. Flexible configuration of the manipulator body and the electrical control box, unification of parts and components, and unification of assembly methods / processes are achieved, thereby reducing production costs and improving product stability.

[0055] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A terminal device of a collaborative robot, characterized in that: include: An end adapter block, the end adapter block is connected to the end of the manipulator; A terminal housing, the terminal housing being connected to one side of the terminal adapter block, and a visual component and a light source component being arranged in the terminal housing; Among them, a connected accommodating cavity is formed in the terminal shell, and the accommodating cavity includes a first accommodating cavity and a second accommodating cavity. The terminal adapter block cover is arranged in the first accommodating cavity, the light source component is arranged in the first accommodating cavity, and the visual component is arranged in the second accommodating cavity. A control panel that passes through the first accommodating cavity and the second accommodating cavity is arranged in the accommodating cavity, and the control panel includes an integrated manipulator body terminal control panel and a visual control panel. The manipulator body terminal control panel is electrically connected to the manipulator, and the visual control panel is electrically connected to the visual component.

2. The end device of the collaborative robot according to claim 1, characterized in that: One side of the second accommodating cavity is detachably covered with an upper cover, the upper cover is protruded away from the second accommodating cavity and forms a wedge-shaped surface, a button assembly is arranged on the wedge-shaped surface, and the button assembly is electrically connected to the control board.

3. The end device of the collaborative robot according to claim 1, characterized in that: The first accommodating cavity includes a light source space, which is an annular space formed between the end adapter block and the end shell. The light source assembly is arranged in the light source space, and the light source assembly includes a light source board and a plurality of lamp beads fixed to the light source board.

4. The end device of the collaborative robot according to claim 3, characterized in that: A light source guard plate covering the light source board is also arranged in the light source space, and a sealing ring is arranged between the light source guard plate, the terminal housing and the terminal adapter block.

5. The end device of the collaborative robot according to claim 1, characterized in that: A plurality of bosses are also provided in the accommodating cavity, the control board abuts against the bosses, a first screw hole is provided in the bosses and is arranged toward the end adapter block, a plurality of second screw holes are provided at positions of the control board corresponding to the first screw holes, and screws are passed through the first screw holes and the second screw holes to fix the control board to the end housing.

6. The end device of the collaborative robot according to claim 1, characterized in that: The end shell is provided with a visual shell on one side of the second accommodating cavity, the second accommodating cavity further comprises a visual space located in the visual shell, and the visual component is arranged in the visual space.

7. The end device of the collaborative robot according to claim 6, characterized in that: A flange with a slot in the middle is arranged in the visual housing, and the visual component comprises a camera and a lens. The camera is fixed on the flange, and the lens extends out of the flange through an opening in the flange.

8. The end device of the collaborative robot according to claim 7, characterized in that: The visual component also includes a visual light source guard plate fixed to the visual housing and a visual light source located on the visual light source guard plate. The visual light source and the inner side of the visual light source guard plate are provided with shooting holes to allow the lens to pass through.

9. The end device of the collaborative robot according to claim 6, characterized in that: The visual shell is detachably fixed to the terminal shell, a plurality of third screw holes are arranged on an end surface of the terminal shell facing the visual shell, a plurality of fourth screw holes corresponding to the positions of the third screw holes are opened on an end surface of the visual shell facing the terminal shell, second screws are inserted into the third screw holes and the fourth screw holes to fix the visual shell to the terminal shell.

10. A collaborative robot, characterized in that: It comprises a manipulator, at the end of which is provided an end device of the collaborative robot as described in any one of claims 1-9.

Images