A collaborative robot with autonomous obstacle avoidance

Abstract

The present invention relates to the technical field of collaborative robot arms, and specifically to a collaborative robot with an autonomous obstacle avoidance function, comprising a base, a collaborative arm being provided on the base, a motion mechanism being provided on the bottom surface of the base, the motion mechanism comprising four mounting frames arranged in a matrix on the bottom surface of the base, a motion motor being provided on the mounting frames, a motion wheel being fixedly connected to the output end of the motion motor, a visual recognition sensor being provided on the base, the visual recognition sensor being electrically connected to the motion motor, a protective mechanism being provided on the base, the protective mechanism comprising a telescopic member provided on the base, a mounting frame being provided on the telescopic member, four protective members being provided on the bottom surface of the mounting frame, the protective members comprising a first protective plate provided on the mounting frame, a downward-opening slide groove being provided in the first protective plate, and a second protective plate being slidably connected in the slide groove.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robot arms, and in particular to a collaborative robot with an autonomous obstacle avoidance function. Background Art

[0002] Collaborative robots, including collaborative robotic arms, are typically robotic arms or grippers designed to safely interact directly with human workers in the same workspace. They are widely used in various industrial scenarios to assist humans in completing repetitive, precision-intensive, or physically demanding tasks.

[0003] Features of collaborative robots include: Safety: Equipped with sensors and soft materials to ensure that no harm is caused when in contact with humans. For example, it will automatically stop operating when an abnormal external force is detected. Easy integration and programming: Many collaborative robots can be programmed through an intuitive user interface, and some even support "teaching" action sequences through manual guidance, which greatly reduces the threshold for use. Flexibility: They can be quickly reconfigured and deployed to adapt to different task requirements, which makes them very suitable for high-variety, low-batch production environments. Compact design: Compared with traditional industrial robots, collaborative robots tend to be lighter and smaller, making them easy to install on existing production lines or workstations without the need for large-scale renovation projects.

[0004] Collaborative robots have a wide range of applications, encompassing not only assembly, welding, and handling processes in manufacturing, but also food processing, medical surgical assistance, and laboratory automation. With technological advancements, collaborative robots are becoming increasingly intelligent, capable of taking on more complex tasks while collaborating more closely and harmoniously with humans.

[0005] Existing collaborative robots usually need to move according to usage needs during use, but when moving in the factory, they are easily blocked by obstacles, affecting their movement. Existing collaborative robots usually have autonomous obstacle avoidance functions, which are usually achieved through millimeter-wave radar or vision systems. However, existing obstacle avoidance systems usually have blind spots. Collaborative robots are prone to collision with obstacles during movement, causing damage to the collaborative robots, thereby affecting work efficiency.

[0006] Therefore, the present invention provides a collaborative robot with autonomous obstacle avoidance function to solve the above problems. Summary of the Invention

[0007] In view of the above situation, in order to overcome the defects of the existing technology, the present invention provides a collaborative robot with autonomous obstacle avoidance function, which effectively solves the problem that the collaborative robot is prone to collide with obstacles during movement, affecting the normal operation of the robot.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A collaborative robot with an autonomous obstacle avoidance function comprises a base, a collaborative hand is provided on the base, a motion mechanism is provided on the bottom surface of the base, the motion mechanism comprises four mounting frames arranged in a matrix on the bottom surface of the base, a motion motor is provided on the mounting frames, the output end of the motion motor is fixedly connected to a motion wheel, a visual recognition sensor is provided on the base, the visual recognition sensor is electrically connected to the motion motor, a protective mechanism is provided on the base, the protective mechanism comprises a telescopic member provided on the base, a mounting frame is provided on the telescopic member, four protective members are provided on the bottom surface of the mounting frame, the protective member comprises a first protective plate provided on the mounting frame, a downward-opening slide groove is provided in the first protective plate, and a second protective plate is slidably connected to the slide groove.

[0010] Specifically, during use, when the collaborative robot needs to move, the motion motor is started, and the output end of the motion motor drives the motion wheel to rotate, the motion wheel rolls on the ground, and drives the base to move, thereby driving the collaborative hand to move, and during the movement, the visual recognition sensor identifies obstacles on the travel path and controls the speed of the four motion motors, thereby changing the travel path of the base; when the robot moves, the telescopic part extends, the telescopic part drives the mounting frame to move upward, the mounting frame drives the first protective plate to move upward, and the four first protective plates move upward to enclose the collaborative hand between the four first protective plates, thereby protecting the collaborative hand; after the collaborative robot moves to a predetermined position, the telescopic part contracts, the telescopic part drives the mounting frame to move downward, and the mounting frame drives the first protective plate to move downward and reset.

[0011] Through the setting of the motion mechanism, the base can be driven to move through the setting of the motion wheel, thereby driving the collaborative hand to move, and through the setting of the visual recognition sensor, the motion path of the collaborative robot can be controlled by controlling the speed of the motion motor, thereby achieving a certain obstacle avoidance function; through the setting of the protection mechanism, when the collaborative robot moves, the mounting frame can be raised through the setting of the telescopic parts, thereby moving the four first protection plates upwards, and enclosing the collaborative hand between the four first protection plates, thereby avoiding collision with obstacles during the movement of the collaborative robot and avoiding damage to the collaborative hand.

[0012] Furthermore, the visual recognition sensor is an existing technology and will not be described in detail.

[0013] Preferably, a processing part is provided in the slide groove, and the processing part includes ten blowing holes arranged at equal intervals on the inner wall of the slide groove, the blowing holes pass through the first protective plate, and the opening direction of the blowing holes is toward the cooperative hand. A one-way air outlet valve is provided in the blowing hole, and the gas can only be blown out from the slide groove through the one-way air outlet valve. The side wall of the slide groove is connected to the one-way air inlet valve, and the gas can only enter the slide groove from the outside through the one-way air inlet valve. The one-way air inlet valve is located on the side wall of the slide groove away from the cooperative hand, and the blowing hole is located on the side wall of the slide groove close to the cooperative hand.

[0014] Specifically, during use, when the first protective plate moves upward, the first protective plate slides upward relative to the second protective plate, so that the second protective plate slides out of the slide groove, and the outside air enters the slide groove through the one-way air inlet valve; when the first protective plate is reset downward, the first protective plate drives the slide groove to move downward, and the second protective plate discharges the gas in the slide groove through the one-way air outlet valve in the blowing hole, and the discharged gas is blown onto the cooperative hand.

[0015] Through the setting of the processing part, during the resetting process of the first protective plate, that is, after the collaborative robot moves to a predetermined position, the first protective plate moves downward, pressing out the gas in the slide groove, so that the gas is blown out from the blowing hole and blown onto the collaborative hand, blowing off the dirt attached to the collaborative hand during the working process, and gas is always blown out from the blowing hole during the downward movement of the first protective plate, thereby comprehensively processing the working part of the collaborative hand.

[0016] Furthermore, the one-way air inlet valve and the one-way air outlet valve are existing technologies and will not be described in detail.

[0017] Preferably, a connecting member is provided between the protective member and the mounting frame, and the connecting member includes two hinged plates symmetrically fixedly connected to the mounting frame, the hinged plates are rotatably connected to the first protective plate, an abutment plate is provided on the base, the bottom end of the second protective plate abuts against the abutment plate, and two springs are symmetrically connected between the second protective plate and the top wall of the slide groove.

[0018] Specifically, in the initial state, the telescopic part is not extended or retracted, and the spring is in a compressed state; when the collaborative robot tips over during movement, the first protective plate flips away from the collaborative hand, and the first protective plate drives the second protective plate to flip away from the collaborative hand. During the tipping process, the bottom end of the second protective plate contacts the ground, and the second protective plate slides into the slide groove under the blocking action of the ground, and compresses the spring.

[0019] Through the setting of the connecting parts, when the collaborative robot tips over during movement, the first protective plate can be flipped away from the collaborative hand, thereby causing the second protective plate to flip outward. When tipping over, the bottom end of the second protective plate can contact the ground, thereby providing a certain degree of support to the base, and under the action of the spring, the collaborative robot can be cushioned to a certain extent when tipping over, further avoiding damage to the collaborative hand.

[0020] Preferably, the collaborative hand includes a power block fixedly connected to the base, the power block is rotatably connected to the base, the base is rotatably connected to the first collaborative rod, the first collaborative rod is rotatably connected to the second collaborative rod, and the second collaborative rod is provided with a collaborative tool.

[0021] Specifically, during use, when collaborative hand work is required, the collaborative tool is started to process the parts, and according to the needs of use, the base, the first collaborative rod and the second collaborative rod are rotated to adjust the direction of the collaborative tool; when the collaborative robot needs to move, the first collaborative rod and the second collaborative rod are rotated so that the first collaborative rod and the second collaborative rod can enter the area surrounded by the four first protective plates.

[0022] By setting the collaborative hand, industrial operations can be performed through collaborative tools during the industrial production process, and by setting the base, the first collaborative rod and the second collaborative rod, the direction of the collaborative tool can be adjusted to improve the adaptability of the collaborative robot.

[0023] Furthermore, the cooperative hand is an existing technology and will not be described in detail.

[0024] Preferably, a movable part is provided on the base, and the movable part includes a fixed rod fixedly connected to the base, the bottom end of the fixed rod is fixedly connected to a limiting rod, an open groove is provided on the second protective plate, the limiting rod is inserted into the open groove, and the limiting rod contacts the top wall and bottom wall of the open groove.

[0025] Specifically, when in use, in the initial state, the limit rod is located in the open slot; the limit rod limits the rotation of the second protective plate, thereby limiting the rotation of the first protective plate; when the collaborative robot tilts, the base rotates, the base drives the fixed rod to rotate, and the fixed rod drives the limit rod to rotate, and the limit rod is unscrewed from the open slot, releasing the restriction on the second protective plate and the first protective plate, so that the second protective plate can flip outward to support the collaborative robot.

[0026] By setting the movable part, the limit rod can limit the second protective plate, thereby limiting the rotation of the first protective plate and the second protective plate, and preventing obstacles from colliding with the first protective plate or the second protective plate during the rotation of the collaborative robot, causing the first protective plate, the second protective plate and the collaborative hand to collide; and through the connection between the limit rod and the base, when the collaborative robot falls, the second protective plate can be released from the restriction by rotating the limit rod, so that the second protective plate can provide a certain degree of support to the collaborative robot.

[0027] Preferably, the movable member further comprises a movable rod fixedly connected to the fixed rod, and an end of the movable rod away from the fixed rod can abut against a side surface of the first protective plate close to the cooperative hand.

[0028] Specifically, during use, when the base drives the fixed rod to rotate, the fixed rod drives the limit rod to rotate, releasing the restriction on the first protective plate, and the fixed rod drives the movable rod to rotate, so that the movable rod abuts against the first protective plate, flipping the first protective plate.

[0029] By setting the movable rod, after the limiting rod releases the restriction on the first protection plate, the movable rod flips the first protection plate.

[0030] Preferably, four telescopic members are provided in a matrix on the base, and the telescopic members include a hydraulic cylinder fixedly connected to the base, a hydraulic rod is slidably connected in the hydraulic cylinder, and the top end of the hydraulic rod is fixedly connected to the mounting frame.

[0031] Specifically, when the mounting frame needs to be moved upward during use, hydraulic oil is delivered to the hydraulic cylinder, so that the hydraulic rod extends from the hydraulic cylinder, and the hydraulic rod drives the mounting frame to move upward.

[0032] Preferably, an oil supply pump is provided on the base, and an output end of the oil supply pump is connected to the hydraulic cylinder through a connecting pipe.

[0033] Specifically, when in use, the oil supply pump is started, and the oil supply pump delivers hydraulic oil to the hydraulic cylinder through the connecting pipe, thereby extending the hydraulic rod.

[0034] Furthermore, the oil supply pump is prior art and will not be described in detail.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. Through the setting of the motion mechanism, the base can be driven to move through the setting of the motion wheel, thereby driving the collaborative hand to move, and through the setting of the visual recognition sensor, the motion path of the collaborative robot can be controlled by controlling the speed of the motion motor, thereby realizing a certain obstacle avoidance function; through the setting of the protection mechanism, when the collaborative robot moves, the mounting frame can be raised through the setting of the telescopic parts, thereby moving the four first protective plates upwards and enclosing the collaborative hand between the four first protective plates, thereby avoiding collision with obstacles during the movement of the collaborative robot and avoiding damage to the collaborative hand.

[0037] 2. Through the setting of the processing part, during the resetting process of the first protective plate, that is, after the collaborative robot moves to a predetermined position, the first protective plate moves downward, pressing out the gas in the slide groove, so that the gas is blown out from the blowing hole and blown onto the collaborative hand, blowing off the dirt attached to the collaborative hand during the work process, and the gas is always blown out from the blowing hole during the downward movement of the first protective plate, thereby comprehensively processing the working part of the collaborative hand.

[0038] 3. Through the setting of the connecting parts, when the collaborative robot tips over during movement, the first protective plate can be flipped away from the collaborative hand, so that the second protective plate can be flipped outward. When tipping over, the bottom end of the second protective plate can contact the ground, thereby providing a certain degree of support to the base, and under the action of the spring, the collaborative robot can be cushioned to a certain extent when tipping over, further avoiding damage to the collaborative hand.

[0039] 4. Through the setting of the movable part, the limit rod can limit the second protective plate, thereby limiting the rotation of the first protective plate and the second protective plate, and preventing obstacles from colliding with the first protective plate or the second protective plate during the rotation of the collaborative robot, causing the first protective plate, the second protective plate and the collaborative hand to collide; and through the connection between the limit rod and the base, when the collaborative robot falls, the second protective plate can be released from the restriction by rotating the limit rod, so that the second protective plate can provide a certain degree of support to the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0041] Figure 2 It is the front view of the present invention;

[0042] Figure 3 For the present invention Figure 2 Isometric section view at center AA;

[0043] Figure 4 For the present invention Figure 2Isometric section view at the middle BB;

[0044] Figure 5 For the present invention Figure 3 A partial enlarged view of point C in the middle;

[0045] Figure 6 For the present invention Figure 4 A partial enlarged view of point D in the middle;

[0046] Figure 7 It is a right side view of the present invention;

[0047] Figure 8 For the present invention Figure 7 Isometric section view at EE;

[0048] Figure 9 For the present invention Figure 7 Isometric section view at FF.

[0049] Markings in the figure:

[0050] 1. Base; 2. Collaborative hand; 21. Power block; 22. Base; 23. First collaborative rod; 24. Second collaborative rod; 25. Collaborative tool; 3. Motion mechanism; 31. Mounting frame; 32. Motion wheel;

[0051] 4. Protection mechanism; 41. Telescopic member; 411. Hydraulic cylinder; 412. Hydraulic rod; 42. Mounting frame; 43. Protection member; 431. First protection plate; 432. Slide groove; 433. Second protection plate; 44. Processing member; 441. Blowing hole; 442. Spring; 443. One-way air outlet valve; 444. One-way air inlet valve; 45. Connecting member; 451. Hinge plate; 452. Abutment plate; 46. Moving member; 461. Fixed rod; 462. Limiting rod; 463. Opening groove; 464. Moving rod; 47. Oil supply pump; 48. Connecting pipe. DETAILED DESCRIPTION

[0052] The following describes various embodiments of the present invention in detail with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0053] A collaborative robot with autonomous obstacle avoidance capabilities, such as Figure 1 、 23, it includes a base 1, a cooperative hand 2 is provided on the base 1, a motion mechanism 3 is provided on the bottom surface of the base 1, the motion mechanism 3 includes four mounting frames 31 arranged in a matrix on the bottom surface of the base 1, a motion motor is provided on the mounting frame 31, the output end of the motion motor is fixedly connected to a motion wheel 32, a visual recognition sensor is provided on the base 1, and the visual recognition sensor is electrically connected to the motion motor, a protection mechanism 4 is provided on the base 1, the protection mechanism 4 includes a telescopic member 41 provided on the base 1, a mounting frame 42 is provided on the telescopic member 41, four protective members 43 are provided on the bottom surface of the mounting frame 42, the protective member 43 includes a first protective plate 431 provided on the mounting frame 42, the first protective plate 431 is provided with a downward-opening slide groove 432, and a second protective plate 433 is slidably connected to the slide groove 432.

[0054] Specifically, during use, when the collaborative robot needs to move, the motion motor is started, and the output end of the motion motor drives the motion wheel 32 to rotate, the motion wheel 32 rolls on the ground, and drives the base 1 to move, thereby driving the collaborative hand 2 to move, and during the movement, the visual recognition sensor identifies obstacles on the travel path and controls the speed of the four motion motors, thereby changing the travel path of the base 1; when the robot moves, the telescopic part 41 extends, the telescopic part 41 drives the mounting frame 42 to move upward, the mounting frame 42 drives the first protective plate 431 to move upward, and the four first protective plates 431 move upward, enclosing the collaborative hand 2 between the four first protective plates 431, thereby protecting the collaborative hand 2; after the collaborative robot moves to a predetermined position, the telescopic part 41 contracts, the telescopic part 41 drives the mounting frame 42 to move downward, and the mounting frame 42 drives the first protective plate 431 to move downward and reset.

[0055] Through the setting of the motion mechanism 3, the base 1 can be driven to move through the setting of the motion wheel 32, thereby driving the collaborative hand 2 to move, and through the setting of the visual recognition sensor, the motion path of the collaborative robot can be controlled by controlling the speed of the motion motor, thereby realizing a certain obstacle avoidance function; through the setting of the protection mechanism 4, when the collaborative robot moves, the mounting frame 42 can be raised through the setting of the telescopic part 41, thereby moving the four first protection plates 431 upward, and enclosing the collaborative hand 2 between the four first protection plates 431, thereby avoiding collision with obstacles during the movement of the collaborative robot and avoiding damage to the collaborative hand 2.

[0056] Furthermore, the visual recognition sensor is an existing technology and will not be described in detail.

[0057] like Figure 3 、 4As shown in , 6 and 8, a processing part 44 is provided in the slide 432, and the processing part 44 includes ten blowing holes 441 arranged at equal intervals on the inner wall of the slide 432, and the blowing holes 441 pass through the first protective plate 431, and the opening direction of the blowing holes 441 is toward the collaborative hand 2. A one-way air outlet valve 443 is provided in the blowing hole 441, and the gas can only be blown out from the slide 432 through the one-way air outlet valve 443, and the side wall of the slide 432 is connected to the one-way air inlet valve 444, and the gas can only enter the slide 432 from the outside through the one-way air inlet valve 444, and the one-way air inlet valve 444 is located on the side wall of the slide 432 away from the collaborative hand 2, and the blowing holes 441 are located on the side wall of the slide 432 close to the collaborative hand 2.

[0058] Specifically, during use, when the first protective plate 431 moves upward, the first protective plate 431 slides upward relative to the second protective plate 433, so that the second protective plate 433 slides out of the slide groove 432, and the external air enters the slide groove 432 through the one-way air inlet valve 444; when the first protective plate 431 is reset downward, the first protective plate 431 drives the slide groove 432 to move downward, and the second protective plate 433 discharges the gas in the slide groove 432 through the one-way air outlet valve 443 in the blowing hole 441, and the discharged gas is blown onto the cooperative hand 2.

[0059] Through the setting of the processing part 44, during the resetting process of the first protective plate 431, that is, after the collaborative robot moves to a predetermined position, the first protective plate 431 moves downward, pressing out the gas in the slide groove 432, so that the gas is blown out from the blowing hole 441 and blown onto the collaborative hand 2, blowing off the dirt attached to the collaborative hand 2 during the working process, and the first protective plate 431 always blows out gas from the blowing hole 441 during the downward movement, thereby comprehensively processing the working part of the collaborative hand 2.

[0060] Furthermore, the one-way air inlet valve 444 and the one-way air outlet valve 443 are existing technologies and will not be described in detail.

[0061] like Figure 2 、 4 As shown in Figure 6, a connecting member 45 is provided between the protective member 43 and the mounting frame 42, and the connecting member 45 includes two hinged plates 451 symmetrically fixedly connected to the mounting frame 42, and the hinged plates 451 are rotatably connected to the first protective plate 431. An abutment plate 452 is provided on the base 1, and the bottom end of the second protective plate 433 abuts against the abutment plate 452. Two springs 442 are symmetrically connected between the second protective plate 433 and the top wall of the slide groove 432.

[0062] Specifically, in the initial state, the telescopic part 41 is not extended or retracted, and the spring 442 is in a compressed state; when the collaborative robot tips over during movement, the first protective plate 431 flips in the direction away from the collaborative hand 2, and the first protective plate 431 drives the second protective plate 433 to flip in the direction away from the collaborative hand 2. During the tipping process, the bottom end of the second protective plate 433 contacts the ground, and the second protective plate 433 slides into the slide groove 432 under the blocking action of the ground, and compresses the spring 442.

[0063] Through the setting of the connecting piece 45, when the collaborative robot tips over during movement, the first protective plate 431 can be flipped in the direction away from the collaborative hand 2, thereby causing the second protective plate 433 to flip outward. When tipping over, the bottom end of the second protective plate 433 can contact the ground, thereby providing a certain degree of support to the base 1, and under the action of the spring 442, the collaborative robot can be cushioned to a certain extent when tipping over, further avoiding damage to the collaborative hand 2.

[0064] like Figure 2 、 3 As shown, the collaborative hand 2 includes a power block 21 fixedly connected to the base 1, the power block 21 is rotatably connected to a base 22, the base 22 is rotatably connected to a first collaborative rod 23, the first collaborative rod 23 is rotatably connected to a second collaborative rod 24, and the second collaborative rod 24 is provided with a collaborative tool 25.

[0065] Specifically, during use, when the collaborative hand 2 needs to work, the collaborative tool 25 is started so that the collaborative tool 25 can process the parts, and according to the needs of use, the base 22, the first collaborative rod 23 and the second collaborative rod 24 are rotated to adjust the direction of the collaborative tool 25; when the collaborative robot needs to move, the first collaborative rod 23 and the second collaborative rod 24 are rotated so that the first collaborative rod 23 and the second collaborative rod 24 can enter the area enclosed by the four first protective plates 431.

[0066] Through the setting of the collaborative hand 2, industrial operations can be performed through the collaborative tool 25 during the industrial production process, and through the setting of the base 22, the first collaborative rod 23 and the second collaborative rod 24, the direction of the collaborative tool 25 can be adjusted to improve the adaptability of the collaborative robot.

[0067] Furthermore, the cooperative hand 2 is an existing technology and will not be described in detail.

[0068] like Figure 3 、 5As shown, a movable member 46 is provided on the base 22, and the movable member 46 includes a fixed rod 461 fixedly connected to the base 22, and the bottom end of the fixed rod 461 is fixedly connected to a limiting rod 462, and an opening groove 463 is provided on the second protective plate 433, and the limiting rod 462 is inserted into the opening groove 463, and the limiting rod 462 contacts the top wall and bottom wall of the opening groove 463.

[0069] Specifically, during use, in the initial state, the limit rod 462 is located in the opening slot 463; the limit rod 462 limits the rotation of the second protective plate 433, thereby limiting the rotation of the first protective plate 431; when the collaborative robot falls over, the base 22 rotates, and the base 22 drives the fixed rod 461 to rotate, and the fixed rod 461 drives the limit rod 462 to rotate, and the limit rod 462 is unscrewed from the opening slot 463, thereby releasing the restriction on the second protective plate 433 and the first protective plate 431, so that the second protective plate 433 can flip outward to support the collaborative robot.

[0070] Through the setting of the movable part 46, the limiting rod 462 can limit the second protective plate 433, thereby limiting the rotation of the first protective plate 431 and the second protective plate 433, and preventing the collaborative robot from being hit by obstacles during the rotation of the first protective plate 431 or the second protective plate 433, causing the first protective plate 431 and the second protective plate 433 to collide with the collaborative hand 2; and through the connection between the limiting rod 462 and the base 22, when the collaborative robot falls, the second protective plate 433 can be released from the restriction by rotating the limiting rod 462, so that the second protective plate 433 can provide a certain degree of support to the collaborative robot.

[0071] like Figure 9 As shown, the movable member 46 further includes a movable rod 464 fixedly connected to the fixed rod 461 , and one end of the movable rod 464 away from the fixed rod 461 can abut against a side of the first protective plate 431 close to the cooperative hand 2 .

[0072] Specifically, during use, when the base 22 drives the fixed rod 461 to rotate, the fixed rod 461 drives the limiting rod 462 to rotate, thereby releasing the restriction on the first protective plate 431, and the fixed rod 461 drives the moving rod 464 to rotate, so that the moving rod 464 abuts against the first protective plate 431, flipping the first protective plate 431.

[0073] By disposing the movable rod 464 , after the limiting rod 462 releases the restriction on the first protection plate 431 , the movable rod 464 flips the first protection plate 431 .

[0074] like Figure 2 、 4As shown, four telescopic parts 41 are arranged in a matrix on the base 1. The telescopic parts 41 include a hydraulic cylinder 411 fixedly connected to the base 1. A hydraulic rod 412 is slidably connected in the hydraulic cylinder 411. The top of the hydraulic rod 412 is fixedly connected to the mounting frame 42.

[0075] Specifically, when in use, when the installation frame 42 needs to move upward, hydraulic oil is delivered to the hydraulic cylinder 411, so that the hydraulic rod 412 extends from the hydraulic cylinder 411, and the hydraulic rod 412 drives the installation frame 42 to move upward.

[0076] like Figure 4 As shown, an oil supply pump 47 is provided on the base 1 , and an output end of the oil supply pump 47 is connected to the hydraulic cylinder 411 through a connecting pipe 48 .

[0077] Specifically, when in use, the oil supply pump 47 is started, and the oil supply pump 47 delivers hydraulic oil to the hydraulic cylinder 411 through the connecting pipe 48, thereby extending the hydraulic rod 412.

[0078] Furthermore, the oil supply pump 47 is a prior art and will not be described in detail.

[0079] It should be noted that in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These are merely for ease of description and are not intended to indicate or imply that the device or component described must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0080] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed installation, detachable connection, or integral connection; they may refer to mechanical connection or electrical connection; they may refer to direct connection or indirect connection through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0081] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A collaborative robot with an autonomous obstacle avoidance function, comprising a base (1), wherein a collaborative hand (2) is provided on the base (1), and characterized in that: The bottom surface of the base (1) is provided with a motion mechanism (3), the motion mechanism (3) includes four mounting frames (31) arranged in a matrix on the bottom surface of the base (1), a motion motor is provided on the mounting frame (31), the output end of the motion motor is fixedly connected to a motion wheel (32), the base (1) is provided with a visual recognition sensor, the visual recognition sensor is electrically connected to the motion motor, the base (1) is provided with a protection mechanism (4), the protection mechanism (4) includes a telescopic member (41) arranged on the base (1), a mounting frame (42) is provided on the telescopic member (41), the bottom surface of the mounting frame (42) is provided with four protection members (43), the protection members (43) include a first protection plate (431) arranged on the mounting frame (42), the first protection plate (431) is provided with a downwardly opening sliding groove (432), and the sliding groove (432) is slidably connected to a second protection plate (433); A processing part (44) is provided in the slide groove (432), and the processing part (44) includes ten blowing holes (441) arranged at equal intervals on the inner wall of the slide groove (432), the blowing holes (441) pass through the first protective plate (431), and the opening direction of the blowing holes (441) is toward the cooperative hand (2), and a one-way air outlet valve (443) is provided in the blowing hole (441), and gas can only be blown out from the slide groove (432) through the one-way air outlet valve (443), and a one-way air inlet valve (444) is provided on the side wall of the slide groove (432), and gas can only enter the slide groove (432) from the outside through the one-way air inlet valve (444), and the one-way air inlet valve (444) is located on a side wall of the slide groove (432) away from the cooperative hand (2), and the blowing hole (441) is located on a side wall of the slide groove (432) close to the cooperative hand (2).

2. The collaborative robot with autonomous obstacle avoidance function according to claim 1, characterized in that: A connecting member (45) is provided between the protective member (43) and the mounting frame (42), and the connecting member (45) includes two hinged plates (451) symmetrically fixedly connected to the mounting frame (42), and the hinged plates (451) are rotatably connected to the first protective plate (431). An abutting plate (452) is provided on the base (1), and the bottom end of the second protective plate (433) abuts against the abutting plate (452). Two springs (442) are symmetrically connected between the second protective plate (433) and the top wall of the slide groove (432).

3. The collaborative robot with autonomous obstacle avoidance function according to claim 2, characterized in that: The collaborative hand (2) comprises a power block (21) fixedly connected to the base (1); the power block (21) is rotatably connected to a base (22); the base (22) is rotatably connected to a first collaborative rod (23); the first collaborative rod (23) is rotatably connected to a second collaborative rod (24); and the second collaborative rod (24) is provided with a collaborative tool (25).

4. The collaborative robot with autonomous obstacle avoidance function according to claim 3, characterized in that: A movable member (46) is provided on the base (22), and the movable member (46) includes a fixed rod (461) fixedly connected to the base (22), and a limiting rod (462) is fixedly connected to the bottom end of the fixed rod (461), and an opening groove (463) is provided on the second protective plate (433), and the limiting rod (462) is inserted into the opening groove (463), and the limiting rod (462) contacts the top wall and the bottom wall of the opening groove (463).

5. The collaborative robot with autonomous obstacle avoidance function according to claim 4, characterized in that: The movable member (46) further comprises a movable rod (464) fixedly connected to the fixed rod (461), wherein one end of the movable rod (464) away from the fixed rod (461) is capable of abutting against a side surface of the first protective plate (431) close to the cooperative hand (2).

6. The collaborative robot with autonomous obstacle avoidance function according to claim 5, characterized in that: Four telescopic members (41) are arranged in a matrix on the base (1), and the telescopic members (41) include a hydraulic cylinder (411) fixedly connected to the base (1), a hydraulic rod (412) slidably connected in the hydraulic cylinder (411), and a top end of the hydraulic rod (412) is fixedly connected to the mounting frame (42).

7. The collaborative robot with autonomous obstacle avoidance function according to claim 6, characterized in that: An oil supply pump (47) is provided on the base (1), and an output end of the oil supply pump (47) is connected to the hydraulic cylinder (411) via a connecting pipe (48).

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