Collaborative robot base

Abstract

The invention relates to the technical field of robots, in particular to a collaborative robot base, a base panel is detachably and fixedly connected with a base panel of a robot, when the robot needs to be carried and moved, the robot can be detached from the base panel, the weight is reduced, and therefore carrying and moving are convenient. And when the robot base is damaged, the robot base can be quickly disassembled and is convenient to replace, and meanwhile, the labor delay time is shortened. In addition, when the placing face inclines, the vacuum suction cup assembly can be adjusted according to the inclination angle of the placing face, and the robot base can be fixed more firmly. The multiple supporting columns are all configured to be capable of being adjusted according to the inclination angle of the containing face so that the base panel can be kept horizontal. The base panel is kept horizontal, so that the robot placed on the base panel is also kept horizontal, and the gravity center of the robot is kept vertical. Therefore, safety risks caused by uneven stress of the vacuum chuck assembly due to inclination of the gravity center of the robot can be prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a collaborative robot base. BACKGROUND

[0002] In the prior art, the collaborative robot body and the base are usually of an integrated structure, which has many problems in actual production and use: first, the base increases the total weight of the robot, resulting in a heavy and time-consuming overall mobile robot; second, base damage or fixing failure will result in the inability of the entire device to operate, causing time waste; and third, due to the fixed corresponding relationship between the robot and the base, it is inconvenient to replace the base when it is damaged or fixed.

[0003] In addition, the existing robot base suitable for aluminum alloy structure mostly uses single-disc or multi-disc combined rubber vacuum suction cups. Theoretically, its adsorption capacity meets the requirements. However, in actual welding applications, when the placement surface is inclined, the center of gravity of the robot will shift, resulting in uneven stress on the suction cup. Therefore, it is difficult to ensure the stable fixation of the robot by relying solely on vacuum adsorption, which poses a safety risk. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a collaborative robot base.

[0005] On the one hand, to solve the problem that the collaborative robot body and the base are integrally connected in the prior art, resulting in inconvenient overall movement, the inability of the entire device to operate when the base is damaged, and inconvenient replacement;

[0006] On the other hand, to solve the problem that the collaborative robot in the prior art relies solely on vacuum adsorption, which makes it difficult to ensure the stable fixation of the collaborative robot and poses a safety risk.

[0007] To achieve the above-mentioned purposes and other related purposes, the present application provides a collaborative robot base, which comprises a base panel, a support assembly and a vacuum suction cup assembly. The base panel is detachably fixedly connected with the base panel of the robot. The support assembly is arranged on the base panel to support the base panel on the placement surface. The vacuum suction cup assembly is also arranged on the base panel to fix and adsorb the base panel on the placement surface.

[0008] The support assembly comprises a plurality of support columns, which are all configured to be adjustable according to the inclination angle of the placement surface, so that the base panel remains horizontal.

[0009] Optionally, the support column comprises a support base, a column and a foot cup threaded block, the foot cup threaded block comprises a small-diameter shaft section and a large-diameter flange plate, the small-diameter shaft section and the large-diameter flange plate are coaxially and integrally connected, a through hole is formed in the base panel, the large-diameter flange plate is fixedly connected to the base panel, the small-diameter shaft section passes through the through hole, the bottom end of the column is provided in a spherical structure, an installation slot is formed in the support base, the bottom end of the column is fitted into the installation slot, so that the bottom end of the column and the support base are spherically hinged, an external thread is formed in the outer wall of the column away from the support base, a threaded hole is formed in the small-diameter shaft section along the central axis, and the end of the column away from the support base is threadedly fitted into the threaded hole and vertically upwardly protrudes from the small-diameter shaft section.

[0010] Optionally, the support column further comprises a plurality of rotating handles, each of the rotating handles is coaxially and fixedly provided with one end of the column protruding from the top of the small-diameter shaft section.

[0011] The rotating handle can be provided in a strip-shaped structure.

[0012] Optionally, the vacuum chuck assembly comprises a vacuum chuck, an inverted U-shaped handle and a plurality of buckle assemblies, the two ends of the inverted U-shaped handle are fixedly provided on the top of the vacuum chuck, and the plurality of buckle assemblies are fixedly connected to the inverted U-shaped handle and the base panel.

[0013] Optionally, the buckle assembly comprises a left buckle, a right buckle and a plurality of locking bolts, the left buckle and the right buckle can be buckled and spliced, a plurality of threaded holes are formed in the left buckle and the right buckle, and after being buckled and spliced, the threaded holes in the left buckle correspond to the threaded holes in the right buckle one by one, each locking bolt is threadedly provided in the corresponding threaded hole in the left buckle and the right buckle, so that the left buckle and the right buckle are fixed after being buckled and spliced, symmetrically formed accommodating grooves are formed in the splicing surfaces of the left buckle and the right buckle, and the inverted U-shaped handle can be placed in the accommodating grooves.

[0014] Optionally, the robot base further comprises a plurality of connecting columns, the plurality of connecting columns are vertically provided, one end of each of the connecting columns is fixedly connected to the vacuum chuck, and the other end of each of the connecting columns is fixedly connected to the base panel.

[0015] Optionally, the base panel is further provided with a vacuum chuck button switch.

[0016] Optionally, a plurality of threaded through holes are formed in the base panel, the threaded through holes are threadedly connected with the fixed bolts passing through the through holes in the base panel of the robot, so that the base panel is connected with the base panel of the robot.

[0017] A plurality of threaded holes are arranged in a triangular array in a central region of the base panel.

[0018] Optionally, a positioning block is fixedly arranged on the base panel, and the positioning block is used to position the robot when the robot is connected to the base panel.

[0019] The positioning block is fixedly arranged at a middle portion of a single-side edge of the base panel, a U-shaped slot is arranged on the positioning block, and an opening of the U-shaped slot faces a central region of the base panel. The U-shaped slot is embedded with a matching guide block on a base panel of the robot.

[0020] Optionally, a plurality of waist-shaped lightening holes and arc-shaped handle holes are arranged on the base panel.

[0021] In the collaborative robot base, the base panel is detachably and fixedly connected with the base panel of the robot. When the mobile robot needs to be carried, the robot can be detached from the base panel, so that the weight is reduced, and the mobile robot is conveniently carried. When the robot base is damaged, the robot can be quickly detached, so that the robot base is conveniently replaced, and the work time is reduced. In addition, when the placement surface is inclined, the base panel can be kept horizontal by adjusting the plurality of supporting columns, so that the robot placed on the base panel is kept horizontal, the center of gravity of the robot is kept vertical, and the vacuum cup assembly is prevented from being unevenly stressed due to the inclined center of gravity of the robot, so that the base panel 1 and the robot are prevented from being overturned, and safety hazards are prevented. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic view of the overall structure of the collaborative robot base according to an embodiment of the present application;

[0023] Figure 2 is a schematic view of the structure of the vacuum cup assembly according to an embodiment of the present application;

[0024] Figure 3 is a schematic view of the connection structure of the vacuum cup, the buckle assembly and the inverted U-shaped handle according to an embodiment of the present application;

[0025] Figure 4 is a schematic view of the cooperation structure of the buckle assembly and the inverted U-shaped handle according to an embodiment of the present application;

[0026] Figure 5 is a schematic view of the position structure of the base panel of the robot and the base panel according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be described with reference to the drawings. Figures 1 to 5A collaborative robot base is described. In the description of the embodiments, reference to the terms "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" etc. means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The appearances of the above terms in various places in the specification are not necessarily all referring to the same embodiment or example. Also, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0028] As shown in Figures 1-5 An exemplary embodiment of the application provides a collaborative robot base. The robot base comprises a base panel 1, a support assembly and a vacuum chuck assembly 3.

[0029] The base panel 1 can be detachably fixedly connected with a base panel 7 of a robot. When it is necessary to carry the mobile robot, the robot can be detached from the base panel 1, so as to reduce the weight and facilitate the carrying movement. When the robot base is damaged, it can also be quickly detached, so as to facilitate the replacement and reduce the downtime.

[0030] The robot base is usually required to be fixedly placed on a placement surface when in use. The vacuum chuck assembly 3 is arranged on the base panel 1, and the base panel 1 can be fixedly adsorbed on the placement surface through the vacuum chuck assembly 3. The support assembly is arranged on the base panel 1, and the base panel 1 can be placed on the placement surface through the support assembly, so as to support the base panel 1 and the robot above the base panel 1. Through the arrangement of the support assembly and the vacuum chuck assembly 3, the fixed placement of the robot base can be achieved.

[0031] The support assembly comprises a plurality of support columns 2. The plurality of support columns 2 are all configured to be adjustable according to the inclination angle of the placement surface, so as to keep the base panel 1 horizontal. When the placement surface is inclined, the base panel 1 can be kept horizontal through the adjustment of the plurality of support columns 2, so that the robot placed on the base panel 1 is also kept horizontal, thereby keeping the center of gravity of the robot vertical, and further preventing the uneven force on the vacuum chuck assembly 3 due to the inclination of the center of gravity of the robot, causing the base panel 1 and the robot to fall down and causing a safety hazard.

[0032] Optionally, the support columns 2 are provided as four, and the four support columns 2 are arranged at four corners of the base panel 1 respectively.

[0033] Further, the support column 2 comprises a support base 21, a column 22 and a foot cup threaded block 23. The foot cup threaded block 23 comprises a small-diameter shaft section 231 and a large-diameter flange 232, which are coaxially and integrally connected. A through hole is formed on the base panel 1, and the large-diameter flange 232 is fixedly connected to the base panel 1, and the small-diameter shaft section 231 passes through the through hole. The bottom end of the column 22 is provided in a spherical structure, and the support base 21 is provided with a mounting groove, and the bottom end of the support column is fitted in the mounting groove to achieve spherical articulation between the bottom end of the column 22 and the support base 21. An outer thread is formed on the outer wall of the column 22 away from the support base 21, and a threaded hole is formed in the small-diameter shaft section 231 along the central axis, and the end of the column 22 away from the support base 21 is threadedly fitted in the threaded hole and vertically extends out of the small-diameter shaft section 231.

[0034] When it is needed to abut the support column 2 on the placement surface, in order to keep the base panel 1 horizontal, if the placement surface is horizontal, at this time, by rotating the column 22, the column 22 drives the lower support base 21 to move vertically along the foot cup threaded block 23 until the lengths of the columns 22 extending downward from the base panel 1 are consistent, and then each support base 21 is directly abutted on the placement surface. If the placement surface is inclined, after adjusting the lengths of the columns 22 extending downward from the base panel 1 to be consistent, the columns 22 are kept vertical, the support base 21 below one of the columns 22 is abutted on the placement surface, and the other columns 22 are adjusted until the support bases 21 below the other columns 22 are also abutted on the placement surface. At the same time, the spherical articulation between the bottom end of the column 22 and the support base 21 is used to adapt to the inclination angle of the placement surface. The whole structure is relatively simple and convenient to operate. In addition, by adjusting the lengths of the columns 22 extending downward from the base panel 1, the distance between the vacuum chuck assembly 3 and the placement surface can be adjusted to ensure that the vacuum chuck assembly 3 can be adsorbed on the placement surface.

[0035] Optionally, the large-diameter flange 232 is locked and fixed to the base panel 1 by screws arranged in an annular array.

[0036] Further, the support column 2 further comprises a plurality of rotating handles 24, and the rotating handles 24 correspond to the columns 22 one by one. The rotating handle 24 is coaxially and fixedly arranged at the top of the end of the column 22 extending out of the small-diameter shaft section 231. By arranging the rotating handle 24, the column 22 is conveniently rotated.

[0037] Further, the rotating handle 24 can be provided in a long strip structure, which is convenient for an operator to grasp the rotating handle 24.

[0038] Further, the vacuum chuck assembly 3 comprises a vacuum chuck 31, a reverse U-shaped handle 32 and a plurality of buckle assemblies 33. The two ends of the reverse U-shaped handle 32 are fixedly arranged on the top of the vacuum chuck 31. The plurality of buckle assemblies 33 are fixedly connected on the reverse U-shaped handle 32 respectively. Meanwhile, each buckle assembly 33 is fixedly connected with the base panel 1. The fixed connection between the vacuum chuck 31 and the base panel 1 is realized through the reverse U-shaped handle 32 and the buckle assembly 33. Since the vacuum chuck 31 is usually made of rubber material, when the placing surface is inclined, the vacuum chuck 31 can also be stably adsorbed on the placing surface by relying on its own elasticity.

[0039] Optionally, the buckle assembly 33 is provided with two groups and is fixedly arranged at the middle position of the horizontal part of the reverse U-shaped handle 32.

[0040] Optionally, the buckle assembly 33 and the base panel 1 are fixedly connected by screws which are sequentially arranged on the base panel 1 and the buckle assembly 33.

[0041] Further, the buckle assembly 33 comprises a left buckle piece 331, a right buckle piece 332 and a plurality of locking bolts 333. The left buckle piece 331 and the right buckle piece 332 can be buckled and spliced. A plurality of threaded holes are arranged on the left buckle piece 331 and the right buckle piece 332 and after buckling and splicing, the threaded holes on the left buckle piece 331 and the right buckle piece 332 correspond to each other one by one. Each locking bolt 333 can be threadedly arranged in the corresponding threaded hole of the left buckle piece 331 and the right buckle piece 332, so as to fix the left buckle piece 331 and the right buckle piece 332 to each other after buckling and splicing. Symmetrical accommodation grooves 334 are arranged on the splicing surface of the left buckle piece 331 and the right buckle piece 332, and the reverse U-shaped handle 32 can be placed in the accommodation grooves 334.

[0042] When the buckle assembly 33 is fixedly connected with the reverse U-shaped handle 32, the accommodation groove 334 of the left buckle piece 331 is first arranged on the reverse U-shaped handle 32, and then the accommodation grooves 334 of the right buckle piece 332 are symmetrically arranged on the reverse U-shaped handle 32. At this time, the threaded holes on the left buckle piece 331 and the right buckle piece 332 correspond to each other one by one, and the locking bolts 333 are threadedly connected in the threaded holes respectively, so as to realize the fixed connection of the left buckle piece 331 and the right buckle piece 332, that is, the fixed placement of the reverse U-shaped handle 32 in the accommodation grooves 334.

[0043] Optionally, the threaded holes on the left buckle piece 331 and the right buckle piece 332 are both provided with two groups and are arranged at the upper and lower ends of the two buckle pieces respectively.

[0044] Further, the robot base further comprises a plurality of connecting columns 34, which are vertically arranged and one end of which is fixedly connected with the vacuum chuck 31 and the other end of which is fixedly connected with the base panel 1. By arranging the connecting columns 34, a reinforcing frame is formed between the vacuum chuck 31 and the base panel 1, so as to improve the structural strength.

[0045] Of course, the vacuum chuck 31 can also be fixedly connected with the base panel 1 by only using multiple connecting columns 34 without the buckle assembly 33.

[0046] Optionally, the top of the connecting column 34 is provided with a threaded hole, and the base panel 1 is provided with a part hole matched with the connecting column 34, and the connecting column 34 and the base panel 1 are rigidly connected by screwing a fastening bolt 341 through the part hole and the threaded hole.

[0047] Further, the base panel 1 is also provided with a vacuum chuck button switch 5, which can start vacuum adsorption by long pressing and trigger pressure relief by single pressing.

[0048] Further, the vacuum chuck 31 adopts a self-adaptive pressure maintaining system, which can monitor the adsorption force in real time and automatically supplement the pressure when the adsorption force is lower than a threshold value, and can display the state through a man-machine interface to realize continuous adsorption without intervention.

[0049] Further, multiple threaded holes 6 are formed in the base panel 1, and multiple through holes 71 are formed in the base panel 7 of the robot in a corresponding manner. When the robot is fixedly placed on the base panel 1, the threaded holes 6 and the through holes 71 correspond to each other. At this time, by threading a fixing bolt in the threaded holes 6 and the through holes 71, the base panel 7 of the robot and the base panel 1 can be fixedly connected together, so as to fix the robot on the base panel 1, which is simple in structure, firm in fixation and convenient in disassembly.

[0050] Optionally, the multiple threaded holes 6 are arranged in a triangular array in the central region of the base panel 1. The mounting hole can be provided as three.

[0051] Further, the base panel 1 is fixedly provided with a positioning block 4, which is used for quickly orienting and positioning the base panel 7 of the robot when the base panel 7 of the robot is fixed on the base panel 1, so as to prevent installation deviation.

[0052] Further, the positioning block 4 is fixedly arranged at the middle of the single side edge of the base panel 1. The positioning block 4 is provided with a U-shaped groove, and the opening of the U-shaped groove faces the central region of the base panel 1. The base panel 7 of the robot is provided with an embedded guide block 72, and the U-shaped groove can be embedded with the embedded guide block 72 on the base panel 7 of the robot, so as to realize quick orientation and positioning.

[0053] Further, in addition to the embedded guide block 72, the shape profile of the rest of the base panel 7 of the robot can be designed as needed.

[0054] Optionally, refer to Figure 5The dashed part represents the shape profile of the rest of the base panel 7 of the robot except the embedded guide block 72. The middle circular dashed line is the outer contour projection line of the first axis of the robot on the base panel 7 of the robot.

[0055] Further, a plurality of waist-shaped weight-reducing holes 81 are formed on the base panel 1 to reduce the weight of the base panel 1. In addition, a plurality of arc-shaped handle holes 82 are formed on the base panel 1 to facilitate the carrying of the base of the robot.

[0056] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A collaborative robot base, characterized in that, The robot base includes a base panel, a support component, and a vacuum suction cup component. The base panel can be detachably and fixedly connected to the robot's base panel. The support component is disposed on the base panel to support the base panel on the placement surface. The vacuum suction cup component is also disposed on the base panel to fix the base panel to the placement surface. The support assembly includes multiple support columns, each configured to be adjustable according to the tilt angle of the placement surface to keep the base panel level.

2. The collaborative robot base according to claim 1, characterized in that, The support column includes a support base, a column, and a foot cup threaded block. The foot cup threaded block includes a small-diameter shaft section and a large-diameter flange. The small-diameter shaft section and the large-diameter flange are coaxially and integrally connected. A through hole is provided on the base panel. The large-diameter flange is fixedly connected to the base panel. The small-diameter shaft section passes through the through hole. The bottom end of the column is set as a spherical structure. An installation groove is provided on the support base. The bottom end of the column is fitted into the installation groove so that the bottom end of the column and the support base can achieve a spherical hinge. An external thread is provided on the outer wall of the column away from the support base. A threaded through hole is provided along the central axis of the small-diameter shaft section. The end of the column away from the support base is threaded into the threaded through hole and extends vertically upward from the small-diameter shaft section.

3. The collaborative robot base according to claim 2, characterized in that, The support column also includes multiple rotating handles, and each rotating handle is coaxially fixed to the top of one end of the column that extends out of the small diameter shaft section; The rotating handle can be configured as a long strip structure.

4. The collaborative robot base according to claim 1, characterized in that, The vacuum suction cup assembly includes a vacuum suction cup, an inverted U-shaped handle, and multiple snap-fit ​​components. The two ends of the inverted U-shaped handle are fixedly disposed on the top of the vacuum suction cup, and the multiple snap-fit ​​components are respectively fixedly connected to the inverted U-shaped handle and fixedly connected to the base panel.

5. The collaborative robot base according to claim 4, characterized in that, The buckle assembly includes a left buckle, a right buckle, and multiple locking bolts. The left and right buckles can be snapped together. Both the left and right buckles have multiple threaded holes, and after snapping together, the threaded holes on the left buckle correspond one-to-one with the threaded holes on the right buckle. Each locking bolt can be threaded into the corresponding threaded holes of the left and right buckles to fix them together. Symmetrical receiving grooves are provided on the splicing surfaces of the left and right buckles, and the inverted U-shaped handle can be placed in the receiving grooves.

6. The collaborative robot base according to claim 4, characterized in that, The robot base also includes multiple connecting columns, which are vertically arranged with one end fixedly connected to the vacuum suction cup and the other end fixedly connected to the base panel.

7. The collaborative robot base according to claim 1 or 4, characterized in that, The base panel is also equipped with a vacuum suction cup button switch.

8. The collaborative robot base according to claim 1, characterized in that, The base panel has multiple threaded through holes, which can be threadedly connected to fixing bolts that pass through through holes in the robot's base panel, so that the base panel is connected to the robot's base panel. Multiple threaded through holes are provided in the central area of ​​the base panel and arranged in a triangular array.

9. The collaborative robot base according to claim 1, characterized in that, A positioning block is fixedly provided on the base panel. The positioning block is used to achieve orientation and positioning of the robot when the robot is connected to the base panel. The positioning block is fixedly installed in the middle of one side edge of the base panel. The positioning block has a U-shaped groove with the opening of the U-shaped groove facing the center area of ​​the base panel. The U-shaped groove can be engaged with the fitting guide block on the robot's base panel.

10. The collaborative robot base according to claim 1, characterized in that, The base panel has multiple waist-shaped weight-reducing holes and arc-shaped handle holes.

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