Collaborative robot

Abstract

The invention relates to a collaborative robot. The collaborative robot relates to the technical field of robots. The collaborative robot comprises a movable chassis, a robot body and a head, the robot body is fixedly installed on the upper surface of the movable chassis, the head is arranged above the robot body, a lifting groove is formed in the front face of the robot body, and a lifting table is arranged in the lifting groove; the conveying belt, the magnetic block and the stainless steel sliding plate are arranged to replace an existing electric push rod lifting mode and the like, and the lifting range is wide; and lifting is driven through magnetic adsorption, so that the lifting table is not affected by vibration of driving mechanisms such as a motor, and the stability of the lifting table in the lifting process is also improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a collaborative robot. Background Art

[0002] Collaborative robots generally cover the four common components of service robots: intelligent mobile chassis, artificial intelligence head unit, flexible collaborative execution robot arm and adaptive lifting platform. They can flexibly and conveniently carry out service robot-related scientific research and teaching activities, and are a very comprehensive practice platform.

[0003] However, the lifting platform on the existing collaborative robot is usually lifted and lowered vertically by an electric push rod. Since there is a certain non-liftable area at the fixed end of the electric push rod, the lifting range of the lifting platform is limited.

[0004] Therefore, a collaborative robot is proposed to solve the above-mentioned drawbacks. Summary of the invention

[0005] The purpose of the present invention is to provide a collaborative robot with a simple structure and reasonable design in order to solve the above problems.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] A collaborative robot comprises a mobile chassis, a robot body and a head, wherein the robot body is fixedly mounted on the upper surface of the mobile chassis, the head is arranged above the robot body, a lifting slot is arranged on the front of the robot body, a lifting platform is arranged in the lifting slot, one end of the lifting platform extending out of the robot body is connected to a collaborative robot arm, and a gripper platform is arranged on the upper end of the collaborative robot arm, and the gripper platform is used to connect a flexible gripper;

[0008] A stainless steel slide is fixedly installed at one end of the lifting platform extending into the interior of the robot body. The stainless steel slide is slidably set on the surface of the power box. The bottom of the power box is fixedly connected to the bottom of the robot body, and the power box is vertically distributed. A conveyor belt for up and down transmission is set in the power box. A magnetic block is fixedly set on one side of the conveyor belt, and the magnetic block and the stainless steel slide are attracted to each other.

[0009] As a further optimization solution of the present invention, a weight sensor is provided at the bottom of the clamping claw platform;

[0010] The power box is provided with a first telescopic adjustment unit and a second telescopic adjustment unit, the second telescopic adjustment unit and the first telescopic adjustment unit are respectively arranged on the inner and outer surfaces of one side of the conveyor belt close to the stainless steel slide plate, the first telescopic adjustment unit and the second telescopic adjustment unit each include a telescopic push plate, an electric cylinder and an electric cylinder fixing seat, the two ends of the electric cylinder are respectively fixedly connected to the telescopic push plate and the electric cylinder fixing seat, the electric cylinder is laterally distributed, the electric cylinder fixing seat is fixed on the inner wall of the power box, and the telescopic push plate is movably attached to the inner surface or outer surface of the conveyor belt;

[0011] The electric cylinder is connected to the weight sensor via a controller. The weight sensor monitors the weight of the object supported on the clamping platform. The controller is used to receive the weight data of the object monitored by the weight sensor, and the controller controls the extension and retraction of the electric cylinder.

[0012] Setting a weight threshold: a first threshold and a second threshold, wherein the second threshold is greater than the first threshold;

[0013] When the weight of the object monitored by the weight sensor is within a first threshold, the electric cylinder on the first telescopic adjustment unit extends, and the electric cylinder on the second telescopic adjustment unit shortens, thereby increasing the distance between the magnetic block and the stainless steel slide plate;

[0014] When the weight of the object monitored by the weight sensor is within the second threshold, the electric cylinder on the first telescopic adjustment unit is shortened, and the electric cylinder on the second telescopic adjustment unit is extended, thereby reducing the distance between the magnetic block and the stainless steel slide plate.

[0015] As a further optimization solution of the present invention, a ball is rotatably arranged on the telescopic push plate, and the ball is arranged between the telescopic push plate and the conveyor belt.

[0016] As a further optimization scheme of the present invention, a limiting wheel is rotatably arranged in the power box, and two limiting wheels are arranged. The two limiting wheels are located above and below the first telescopic adjustment unit, and the two limiting wheels are movably fitted to the inner side of the conveyor belt.

[0017] As a further optimization solution of the present invention, a depth camera and a front display screen are arranged on the front of the head, and a rear display screen is arranged on the back of the head;

[0018] An intelligent voice module is arranged above the head.

[0019] As a further optimization scheme of the present invention, a rolling curtain assembly is further provided in the lifting slot, and two groups of the rolling curtain assemblies are provided in the upper and lower parts, and the two groups of rolling curtain assemblies are respectively distributed in the upper and lower parts of the lifting platform;

[0020] The rolling blind assembly comprises a blind sheet which can be folded.

[0021] As a further optimization solution of the present invention, a laser radar is arranged on the front side of the mobile chassis.

[0022] As a further optimization solution of the present invention, an expansion interface panel and an automatic charging port are provided on the back of the mobile chassis.

[0023] As a further optimization scheme of the present invention, pulleys are rotatably provided at both upper and lower ends of the power box, and the upper and lower ends of the transmission belt are respectively transmission sleeved on the two pulleys;

[0024] A motor for driving the pulley to rotate is arranged on the side of the power box.

[0025] As a further optimization solution of the present invention, an adjustable gap is left between the magnetic block and the inner wall of the power box.

[0026] The beneficial effects of the present invention are as follows: the present invention replaces the existing lifting methods such as using electric push rods by setting up a transmission belt, a magnetic block and a stainless steel slide plate, and has a wide lifting range; and the lifting is driven by magnetic adsorption, so that the lifting platform will not be affected by the vibration of the driving mechanism such as the motor, so that the stability of the lifting platform during the lifting process is also improved.

[0027] The settings based on the weight sensor, the first telescopic adjustment unit, the second telescopic adjustment unit and the controller in the present invention can automatically adjust the energy loss in the transmission process of the conveyor belt according to the different weights of the items, which is more suitable for the current working scene, does not require manual adjustment, and is intelligent and convenient.

[0028] The purpose of providing the first telescopic adjustment unit and the second telescopic adjustment unit in the present invention is, on the one hand, to change the attraction between the magnetic block and the stainless steel slide when the second telescopic adjustment unit pushes the conveyor belt and the magnetic block to approach the stainless steel slide, and on the other hand, to utilize the telescopic expansion of the first telescopic adjustment unit to adapt to the tightness of the conveyor belt, so that the conveyor belt can be transmitted stably.

[0029] The rolling shutter assembly of the present invention comprises foldable shutter pieces, so that during the lifting process of the lifting platform, the lifting slot is always kept in a closed state, dust and water are not easily infiltrated, and the lifting of the lifting platform is not affected, which is simple and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the collaborative robot from the first perspective of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the collaborative robot of the present invention from a second viewing angle;

[0032] Figure 3 This is a schematic diagram of the structure of the collaborative robot of the present invention from a third perspective;

[0033] Figure 4 is a cross-sectional view of the collaborative robot of the present invention;

[0034] Figure 5 is a front view of the collaborative robot of the present invention;

[0035] Figure 6 The present invention Figure 4 A schematic diagram of the structure enlargement in the middle;

[0036] Figure 7 It is a schematic diagram of the structure of the first telescopic adjustment unit and the second telescopic adjustment unit of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the clamping platform of the present invention;

[0038] Fig. 9 It is a schematic diagram of the structure of the expansion interface panel of the present invention.

[0039] In the figure: mobile chassis 1, robot body 2, head 3, collaborative robot arm 4, lifting slot 5, lifting platform 6, roller shutter assembly 7, laser radar 8, intelligent voice module 9, depth camera 10, front display screen 11, gripper platform 12, rear display screen 13, expansion interface panel 14, automatic charging port 15, power box 16, transmission belt 17, limit wheel 18, first telescopic adjustment unit 19, second telescopic adjustment unit 20, magnetic block 21, pulley 22, stainless steel skateboard 23, telescopic push plate 24, ball 25, electric cylinder 26, electric cylinder fixing seat 27, weight sensor 28. DETAILED DESCRIPTION

[0040] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0041] like Figures 1 to 9 As shown, a collaborative robot includes a mobile chassis 1, a robot body 2 and a head 3. The mobile chassis 1 adopts a double-wheel differential structure, and the whole structure adopts a pendulum-type independent suspension. It can not only balance the landing of the front and rear casters, but also greatly prevent slipping. The drive motor adopts a DC brushless servo motor, and is equipped with a high-precision encoder and an ARM-based VCU control board, which can achieve real-time motion control closed loop, and can also monitor and upload wheel speed information in real time to achieve a high-precision odometer.

[0042] It should be noted that the overall volume of the mobile chassis 1 is smaller than similar chassis. It is designed and made of materials in accordance with strict industrial standards and can be used indoors and outdoors with slight obstacles.

[0043] An automatic charging port 15 is provided on the back of the mobile chassis 1, and the automatic charging port 15 is used for charging. The collaborative robot is equipped with an automatic charging system, which can achieve the purpose of automatically returning to the charging station for charging when the power is too low.

[0044] The robot body 2 is fixedly mounted on the upper surface of the mobile chassis 1, the head 3 is arranged above the robot body 2, a depth camera 10 is arranged on the front of the head 3, and a laser radar 8 is arranged on the front of the mobile chassis 1. Multi-sensor fusion SLAM mapping technology is realized with the help of algorithms such as ORBSLAM and RTAB.

[0045] The present invention integrates data such as LiDAR 8, odometer, IMU attitude unit, RGBD depth visual information, and combines AMCL, MOVEBASE and YOLO technologies to achieve functions such as semantic map establishment, positioning, path planning, navigation and autonomous obstacle avoidance.

[0046] A front display screen 11 is arranged on the front of the head 3, and a rear display screen 13 is arranged on the back of the head 3, so as to facilitate the front and rear personnel to obtain information.

[0047] A lifting slot 5 is arranged on the front of the robot body 2, in which a lifting platform 6 is arranged. One end of the lifting platform 6 extending out of the robot body 2 is connected to a collaborative robot arm 4. The working radius of the collaborative robot arm 4 reaches 610 mm, and the end load reaches 5 kg. Its own weight is only 7.58 kg. The end of the collaborative robot arm 4 can be flexibly installed with various execution accessories according to different functional requirements, and provides rich development software and hardware support for common software systems, programming languages ​​and hardware platforms.

[0048] It should be noted that in actual use, the mobile chassis 1 is equipped with a high-performance main control unit to complete the robot's whole body motion control (WBC), functional unit management, task scheduling and other operating logic-related functions. In addition, the head of CMR-E1 is equipped with a high-performance artificial intelligence computing unit to complete human-computer interaction, recognition, embodied intelligence and other artificial intelligence-related functions. The cooperation of the dual main controls ensures the efficient execution of robot tasks.

[0049] The collaborative robot can be used in agricultural picking scenarios, unmanned warehousing scenarios, etc. The overall size (length*width*height) is set to 600mm*550mm*1500mm. The machine weight is 70kg. The material is aluminum alloy and plastic.

[0050] In the present invention, the mobile chassis 1, robot body 2, head 3 and collaborative robot arm 4 all adopt a modular design, and different forms of the mobile chassis 1, robot body 2, head 3 or collaborative robot arm 4 can be flexibly replaced, which can enhance the adaptability to the environment.

[0051] An expansion interface panel 14 is provided on the back of the mobile chassis 1. Depending on the type of the execution accessories to be installed, a U disk or a handheld computer can be connected to the expansion interface panel 14 for inputting different programming languages ​​or software systems to control the execution accessories.

[0052] Among them, a gripper platform 12 is provided at the upper end of the collaborative robot arm 4, and the gripper platform 12 is used to connect the flexible gripper; the setting of the flexible gripper has the characteristics of diversified and soft gripping objects. It can not only flexibly use objects of different sizes and shapes, but also can accurately control the gripping force in combination with algorithms, while ensuring the gripping reliability without damaging the surface of the gripped object.

[0053] In the present invention, a stainless steel slide plate 23 is fixedly installed at one end of the lifting platform 6 extending into the robot body 2. The stainless steel slide plate 23 is slidably arranged on the surface of the power box 16. The bottom of the power box 16 is fixedly connected to the bottom of the robot body 2, and the power box 16 is vertically distributed. A conveyor belt 17 for up and down transmission is arranged in the power box 16. A magnetic block 21 is fixedly arranged on one side of the conveyor belt 17. An adjustment gap is left between the magnetic block 21 and the inner wall of the power box 16; the magnetic block 21 and the stainless steel slide plate 23 attract each other; a limit wheel 18 is rotatably arranged in the power box 16, and two limit wheels 18 are arranged, and the two limit wheels 18 are located above and below the first telescopic adjustment unit 19 , and the two limit wheels 18 are movably fitted to the inner side of the transmission belt 17; the upper and lower ends of the power box 16 are rotatably provided with pulleys 22, and the upper and lower ends of the transmission belt 17 are respectively driven by sleeves on the two pulleys 22; a motor for driving the pulley 22 to rotate is provided on the side of the power box 16; when the motor is started, the pulley 22 is driven to rotate, and when the pulley 22 rotates, the transmission belt 17 is driven up and down, and the motor reciprocates, so that the magnetic block 21 on the transmission belt 17 reciprocates up and down, and the magnetic block 21 is attracted to the stainless steel slide plate 23 during the reciprocating movement up and down, thereby driving the stainless steel slide plate 23 to reciprocate up and down, thereby realizing the lifting and lowering of the lifting platform 6.

[0054] In the present invention, the arrangement of a transmission belt 17, a magnetic block 21 and a stainless steel slide plate 23 replaces the existing lifting methods such as using an electric push rod, and the lifting range is wide; and the lifting is driven by magnetic adsorption, so that the lifting platform 6 will not be affected by the vibration of the driving mechanism such as the motor, so that the stability of the lifting platform 6 during the lifting process is also improved.

[0055] It should be noted that the motor is not shown in the figure. It is a common existing technology and will not be described in detail here.

[0056] Considering that the load on the clamping platform 12 is different according to different working scenarios, a weight sensor 28 is provided at the bottom of the clamping platform 12 in the present invention; a first telescopic adjustment unit 19 and a second telescopic adjustment unit 20 are also provided in the power box 16, and the second telescopic adjustment unit 20 and the first telescopic adjustment unit 19 are respectively provided on the inner and outer surfaces of one side of the conveyor belt 17 close to the stainless steel slide plate 23, and the first telescopic adjustment unit 19 and the second telescopic adjustment unit 20 both include a telescopic push plate 24, an electric cylinder 26 and an electric cylinder fixing seat 27 The two ends of the electric cylinder 26 are respectively fixedly connected to the telescopic push plate 24 and the electric cylinder fixing seat 27. The electric cylinder 26 is distributed horizontally. The electric cylinder fixing seat 27 is fixed on the inner wall of the power box 16. The telescopic push plate 24 is movably attached to the inner surface or outer surface of the conveyor belt 17. The electric cylinder 26 is connected to the weight sensor 28 through a controller. The weight sensor 28 monitors the weight of the object supported on the clamping claw platform 12. The controller is used to receive the weight data of the object monitored by the weight sensor 28, and the controller controls the extension and retraction of the electric cylinder 26.

[0057] Setting a weight threshold: a first threshold and a second threshold, wherein the second threshold is greater than the first threshold;

[0058] When the weight of the object monitored by the weight sensor 28 is within the first threshold, the electric cylinder 26 on the first telescopic adjustment unit 19 extends, and the electric cylinder 26 on the second telescopic adjustment unit 20 shortens, thereby increasing the distance between the magnetic block 21 and the stainless steel slide 23; thereby reducing the relative suction force between the magnetic block 21 and the stainless steel slide 23, and the force with which the stainless steel slide 23 is pressed onto the power box 16, which can reduce the relative friction force, thereby reducing the energy loss in driving the stainless steel slide 23 to rise and fall during the transmission process of the conveyor belt 17.

[0059] When the weight of the object monitored by the weight sensor 28 is within the second threshold, the electric cylinder 26 on the first telescopic adjustment unit 19 is shortened, and the electric cylinder 26 on the second telescopic adjustment unit 20 is extended, thereby reducing the distance between the magnetic block 21 and the stainless steel slide 23; increasing the relative suction force between the magnetic block 21 and the stainless steel slide 23, so that the stainless steel slide 23 can fit more stably on the power box 16, and the stainless steel slide 23 and the lifting platform 6 can support objects of heavier weight.

[0060] Therefore, the settings based on the weight sensor 28, the first telescopic adjustment unit 19, the second telescopic adjustment unit 20 and the controller in the present invention can automatically adjust the energy loss during the transmission process of the conveyor belt 17 according to the different weights of the items, which is more suitable for the current working scene, does not require manual adjustment, and is intelligent and convenient.

[0061] It should be noted that the controller is not shown in the figure. It is a common existing technology and will not be described in detail here.

[0062] The purpose of providing the first telescopic adjustment unit 19 and the second telescopic adjustment unit 20 in the present invention is, on the one hand, to change the attraction between the magnetic block 21 and the stainless steel slide 23 when the second telescopic adjustment unit 20 pushes the conveyor belt 17 and the magnetic block 21 to approach the stainless steel slide 23, and on the other hand, to utilize the telescopic expansion of the first telescopic adjustment unit 19 to adapt to the tightness of the conveyor belt 17, so that the conveyor belt 17 can be transmitted stably.

[0063] In actual use, a ball 25 is rotatably provided on the telescopic push plate 24 , and the ball 25 is provided between the telescopic push plate 24 and the conveyor belt 17 , thereby reducing the relative friction between the telescopic push plate 24 and the conveyor belt 17 , which is simple and convenient.

[0064] An intelligent voice module 9 is arranged above the head 3 for convenient voice broadcasting.

[0065] A rolling curtain assembly 7 is also provided in the lifting groove 5. Two groups of rolling curtain assemblies 7 are provided in the upper and lower parts. The two groups of rolling curtain assemblies 7 are respectively distributed at the upper and lower parts of the lifting platform 6. The rolling curtain assembly 7 includes foldable curtain pieces, so that during the lifting process of the lifting platform 6, the curtain pieces are folded or unfolded, and the lifting groove 5 always remains in a closed state, which is not easy to enter dust and water, and does not affect the lifting and lowering of the lifting platform 6. It is simple and practical.

[0066] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A collaborative robot, comprising a mobile chassis (1), a robot body (2) and a head (3), characterized in that: The robot body (2) is fixedly mounted on the upper surface of the mobile chassis (1), the head (3) is arranged above the robot body (2), a lifting slot (5) is arranged on the front of the robot body (2), a lifting platform (6) is arranged in the lifting slot (5), one end of the lifting platform (6) extending out of the robot body (2) is connected to a collaborative robot arm (4), and a clamping claw platform (12) is arranged at the upper end of the collaborative robot arm (4), and the clamping claw platform (12) is used to connect a flexible clamping claw; A stainless steel slide plate (23) is fixedly installed at one end of the lifting platform (6) extending into the robot body (2), and the stainless steel slide plate (23) is slidably arranged on the surface of the power box (16). The bottom of the power box (16) is fixedly connected to the bottom of the robot body (2), and the power box (16) is vertically distributed. A conveyor belt (17) for vertical transmission is arranged in the power box (16), and a magnetic block (21) is fixedly arranged on one side of the conveyor belt (17), and the magnetic block (21) and the stainless steel slide plate (23) are attracted to each other.

2. A collaborative robot according to claim 1, characterized in that: A weight sensor (28) is provided at the bottom of the clamping claw platform (12); The power box (16) is provided with a first telescopic adjustment unit (19) and a second telescopic adjustment unit (20), the second telescopic adjustment unit (20) and the first telescopic adjustment unit (19) are respectively arranged on the inner and outer surfaces of one side of the conveyor belt (17) close to the stainless steel slide plate (23), the first telescopic adjustment unit (19) and the second telescopic adjustment unit (20) both include a telescopic push plate (24), an electric cylinder (26) and an electric cylinder fixing seat (27), the two ends of the electric cylinder (26) are respectively fixedly connected to the telescopic push plate (24) and the electric cylinder fixing seat (27), the electric cylinder (26) is distributed transversely, the electric cylinder fixing seat (27) is fixed on the inner wall of the power box (16), and the telescopic push plate (24) is movably fitted on the inner surface or outer surface of the conveyor belt (17); The electric cylinder (26) is connected to the weight sensor (28) via a controller, the weight sensor (28) monitors the weight of the object supported on the clamping claw platform (12), and the controller is used to receive the object weight data monitored by the weight sensor (28), and the controller controls the extension and retraction of the electric cylinder (26); Setting a weight threshold: a first threshold and a second threshold, wherein the second threshold is greater than the first threshold; When the weight of the article monitored by the weight sensor (28) is within a first threshold, the electric cylinder (26) on the first telescopic adjustment unit (19) is extended, and the electric cylinder (26) on the second telescopic adjustment unit (20) is shortened, thereby increasing the distance between the magnetic block (21) and the stainless steel slide plate (23); When the weight of the article monitored by the weight sensor (28) is within a second threshold value, the electric cylinder (26) on the first telescopic adjustment unit (19) is shortened, and the electric cylinder (26) on the second telescopic adjustment unit (20) is extended, thereby reducing the distance between the magnetic block (21) and the stainless steel slide plate (23).

3. A collaborative robot according to claim 2, characterized in that: A ball (25) is rotatably arranged on the telescopic push plate (24), and the ball (25) is arranged between the telescopic push plate (24) and the conveyor belt (17).

4. The collaborative robot according to claim 1, characterized in that: A limit wheel (18) is rotatably arranged in the power box (16), and two limit wheels (18) are arranged. The two limit wheels (18) are located above and below the first telescopic adjustment unit (19), and the two limit wheels (18) are movably fitted to the inner side of the conveyor belt (17).

5. The collaborative robot according to claim 1, characterized in that: A depth camera (10) and a front display screen (11) are arranged on the front of the head (3), and a rear display screen (13) is arranged on the back of the head (3); An intelligent voice module (9) is arranged above the head (3).

6. The collaborative robot according to claim 1, characterized in that: A rolling curtain assembly (7) is also arranged in the lifting slot (5), and two groups of the rolling curtain assembly (7) are arranged in the upper and lower parts, and the two groups of rolling curtain assemblies (7) are respectively distributed in the upper and lower parts of the lifting platform (6); The rolling curtain assembly (7) comprises curtain pieces that can be folded.

7. The collaborative robot according to claim 1, characterized in that: A laser radar (8) is arranged on the front side of the mobile chassis (1).

8. The collaborative robot according to claim 1, characterized in that: An expansion interface panel (14) and an automatic charging port (15) are provided on the back of the mobile chassis (1).

9. The collaborative robot according to claim 1, characterized in that: The upper and lower ends of the power box (16) are both rotatably provided with pulleys (22), and the upper and lower ends of the transmission belt (17) are respectively transmission sleeved on the two pulleys (22); A motor for driving the pulley (22) to rotate is arranged on the side of the power box (16).

10. The collaborative robot according to claim 1, characterized in that: An adjustable gap is left between the magnetic block (21) and the inner wall of the power box (16).

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