A portable collaborative robot

Abstract

This invention relates to the field of collaborative robotic arms, specifically a portable collaborative robot. It includes a forearm assembly, a forearm quick-connect coupling, a main arm assembly, a main arm quick-connect coupling, a tripod, and a base plate. The tripod is detachably mounted on the base plate. The lower end of the main arm assembly is connected to the tripod via the main arm quick-connect coupling, and the upper end of the main arm assembly is connected to the rear end of the forearm assembly via the forearm quick-connect coupling. The forearm and main arm quick-connect couplings enable quick installation and disassembly, achieving mechanical and electrical connections between the front and rear components. This portable collaborative robot can be transported in sections during transport and can be powered on and used immediately after simple assembly at the work site. It is suitable for confined spaces or situations where robot size, weight, or other limitations prevent its passage or where it cannot be pushed by a vehicle.

Description

Technical Field

[0001] This invention relates to the field of collaborative robot technology, and more specifically to a portable collaborative robot. Background Technology

[0002] Collaborative robots offer advantages such as lightweight design and ease of deployment. They can typically be carried by a single person, making deployment very convenient and leading to their widespread application. However, as the payload capacity of collaborative robots increases—for example, robots with an effective payload exceeding 20kg generally weigh over 60kg—they pose significant challenges for manual handling. These challenges include tasks such as navigating elevator-free stairwells or performing live-line work on residential electrical facilities in areas inaccessible by flatbed trucks. Moving heavy robots increases the operator's workload and significantly raises safety hazards. Currently, most collaborative robots are designed as single, non-detachable units, limiting their application scope. Summary of the Invention

[0003] To address the above problems, the present invention aims to provide a portable collaborative robot. The collaborative robot and its movable base are disassembled into several components, which are then transported separately and assembled and applied directly at the application site, greatly expanding the application range of the collaborative robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a portable collaborative robot, including a forearm assembly, a forearm quick-connect connector, a main arm assembly, a main arm quick-connect connector, a tripod, and a base plate. The tripod is detachably mounted on the base plate. The lower end of the main arm assembly is connected to the tripod via the main arm quick-connect connector, and the upper end of the main arm assembly is connected to the rear end of the forearm assembly via the forearm quick-connect connector. The forearm quick-connect connector and the main arm quick-connect connector can be quickly installed and disassembled.

[0006] The forearm assembly includes an end flange, a sixth joint, a fifth joint, a fourth joint, and a forearm rod connected in sequence. The sixth joint, the fifth joint, and the fourth joint are all capable of rotating around their own axes. The end flange is used to connect the end effector to the assembled robotic arm.

[0007] The forearm quick-connect coupling includes a male connector and a female connector, which are respectively fixed to the forearm assembly and the boom assembly. During transportation, the male connector and the female connector are not connected. During application, the male connector and the female connector are connected to achieve mechanical connection locking and electrical connection.

[0008] When the male and female connectors of the forearm quick-connect fitting are connected together, the electrical connection can be made through a separate electrical plug, or through spring pins and contacts fixed on the male and female connectors respectively.

[0009] The boom assembly includes a third joint, a boom rod, a second joint, and a first joint connected in sequence, wherein the first joint is connected to the boom quick-connect fitting, and the third joint is connected to the forearm quick-connect fitting.

[0010] The boom quick-connect joint has the same structure as the forearm quick-connect joint, and the boom quick-connect joint enables mechanical connection and electrical connection between the boom assembly and the tripod.

[0011] The height of the tripod is adjustable, and the feet of the tripod are connected to the base plate by the magnetism of the magnetic base.

[0012] The advantages and positive effects of this invention are as follows:

[0013] 1. The present invention provides a portable collaborative robot that disassembles the collaborative robot and its movable base into several components for separate transport, greatly reducing the weight of each transport and making the application of the collaborative robot feasible in narrow spaces, places where it is difficult to transport or transport by other means.

[0014] 2. The portable collaborative robot of the present invention can be directly assembled and applied after being transported to the application site in sections, which greatly improves the application range of the collaborative robot.

[0015] 3. Due to the high docking precision of the quick-connect connector, the kinematics, dynamics and other properties of the portable collaborative robot of the present invention are basically unaffected after disassembly and assembly. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a portable collaborative robot according to the present invention;

[0017] Figure 2 This is a schematic diagram of the forearm assembly in this invention;

[0018] Figure 3 This is a schematic diagram of the forearm quick-change connector in this invention;

[0019] Figure 4 This is a schematic diagram of the upper arm assembly in this invention.

[0020] Wherein: 1-Forearm assembly, 2-Forearm quick-connect coupling, 3-Boom assembly, 4-Boom quick-connect coupling, 5-Tripod, 6-Base plate, 101-End flange, 102-Sixth joint, 103-Fifth joint, 104-Fourth joint, 105-Forearm rod, 201-Male connector, 202-Female connector, 301-Third joint, 302-Boom rod, 303-Second joint, 304-First joint. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1 As shown, this invention provides a portable collaborative robot, including a forearm assembly 1, a forearm quick-connect joint 2, a main arm assembly 3, a main arm quick-connect joint 4, a tripod 5, and a base plate 6. The tripod 5 is detachably mounted on the base plate 6. The lower end of the main arm assembly 3 is connected to the tripod 5 via the main arm quick-connect joint 4, and the upper end of the main arm assembly 3 is connected to the rear end of the forearm assembly 1 via the forearm quick-connect joint 2. The forearm quick-connect joint 2 and the main arm quick-connect joint 4 enable quick installation and disassembly. This invention provides a solution that can be broken down into smaller components, allowing the collaborative robot and its movable base to be disassembled into several parts, transported separately, and then directly assembled and applied at the application site, greatly expanding the application range of the collaborative robot.

[0023] like Figure 2 As shown, in an embodiment of the present invention, the forearm assembly includes an end flange 101, a sixth joint 102, a fifth joint 103, a fourth joint 104, and a forearm rod 105 connected in sequence. The sixth joint 102, the fifth joint 103, and the fourth joint 104 can all move smoothly around their own axes of motion. The end flange 101 is used to connect the end tool to the assembled robotic arm.

[0024] like Figure 3 As shown in the embodiment of the present invention, the forearm quick-connect connector 2 includes a male connector 201 and a female connector 202, which are respectively fixedly connected to the forearm assembly 1 and the boom assembly 3. During transportation, the male connector 201 and the female connector 202 are not connected. During application, the male connector 201 and the female connector 202 are connected to achieve mechanical connection and locking as well as electrical connection.

[0025] Furthermore, when the male connector 201 and female connector 202 of the forearm quick-connect connector 2 are connected together, the electrical connection can be made through a separate electrical plug, or through spring pins and contacts respectively fixed on the male connector 201 and female connector 202.

[0026] like Figure 4 As shown, in an embodiment of the present invention, the boom assembly 3 includes a third joint 301, a boom rod 302, a second joint 303 and a first joint 304 connected in sequence, wherein the first joint 304 is connected to the boom quick-change connector 4 and the third joint 301 is connected to the forearm quick-change connector 2.

[0027] Furthermore, the boom quick-connect coupling 4 is similar in structure and function to the forearm quick-connect coupling 2, enabling the boom quick-connect coupling 4 to provide mechanical connection and electrical connection between the boom assembly 3 and the tripod 5. Specifically, the boom quick-connect coupling 4 and the forearm quick-connect coupling 2 are existing technologies, and any existing quick-connect coupling capable of achieving rapid connection, disassembly, and electrical connection can be used.

[0028] In embodiments of the present invention, the height of the tripod 5 is adjustable, and the feet of the tripod 5 are connected to the substrate 6 by the magnetism of the magnetic base.

[0029] This invention provides a portable collaborative robot that can be disassembled into several components for separate transport, significantly reducing the weight of each transport and making its application feasible in confined spaces, difficult-to-handle locations, or other transportation methods. After being transported to the application site in sections, it can be directly assembled and used, greatly expanding the application range of the collaborative robot. Due to the high precision of the quick-connect couplings, the kinematics and dynamics of the portable collaborative robot are essentially unaffected by the disassembly and assembly processes.

[0030] The portable collaborative robot of the present invention can be transported in sections during transportation and can be powered on and used after simple assembly at the work application site. It is suitable for narrow spaces or occasions where the robot cannot pass due to limitations such as size and weight, or where it cannot be pushed by a vehicle.

[0031] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A portable collaborative robot, characterized in that, The assembly includes a forearm assembly (1), a forearm quick-connect joint (2), a boom assembly (3), a boom quick-connect joint (4), a tripod (5), and a base plate (6). The tripod (5) is detachably mounted on the base plate (6). The lower end of the boom assembly (3) is connected to the tripod (5) via the boom quick-connect joint (4), and the upper end of the boom assembly (3) is connected to the rear end of the forearm assembly (1) via the forearm quick-connect joint (2). The forearm quick-connect joint (2) and the boom quick-connect joint (4) can be quickly installed and disassembled.

2. The portable collaborative robot according to claim 1, characterized in that, The forearm assembly includes an end flange (101), a sixth joint (102), a fifth joint (103), a fourth joint (104), and a forearm rod (105) connected in sequence. The sixth joint (102), the fifth joint (103), and the fourth joint (104) are all capable of rotating around their own axes. The end flange (101) is used to connect the end tool to the assembled robotic arm.

3. A portable collaborative robot according to claim 1, characterized in that, The forearm quick-connect coupling (2) includes a male connector (201) and a female connector (202), which are fixedly connected to the forearm assembly (1) and the boom assembly (3), respectively. During transportation, the male connector (201) and the female connector (202) are not connected. During application, the male connector (201) and the female connector (202) are connected to achieve mechanical connection locking and electrical connection.

4. A portable collaborative robot according to claim 3, characterized in that, When the male connector (201) and female connector (202) of the forearm quick-change connector (2) are connected together, the electrical connection can be made through a separate electrical plug or through spring pins and contacts fixed on the male connector (201) and female connector (202) respectively.

5. A portable collaborative robot according to claim 1, characterized in that, The boom assembly (3) includes a third joint (301), a boom rod (302), a second joint (303), and a first joint (304) connected in sequence, wherein the first joint (304) is connected to the boom quick-change connector (4), and the third joint (301) is connected to the forearm quick-change connector (2).

6. A portable collaborative robot according to claim 1, characterized in that, The boom quick-connect joint (4) has the same structure as the forearm quick-connect joint (2). The boom quick-connect joint (4) enables mechanical connection and electrical connection between the boom assembly (3) and the tripod (5).

7. A portable collaborative robot according to claim 1, characterized in that, The height of the tripod (5) is adjustable, and the feet of the tripod (5) are connected to the base plate (6) by the magnetism of the magnetic seat.

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