Long-arm collaborative robot
By introducing mounting bases and drive components into collaborative robots, the problem of increased torque on joint components and drive arms caused by increasing arm length is solved, achieving a more stable robot structure and higher working accuracy.
Patent Information
- Application Number
- CN202420185293.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-25
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2034-01-25
AI Technical Summary
Existing collaborative robots, when increasing arm lengths to expand the working range, result in greater torque on joint components and drive arms, which may lead to damage or unstable connections.
By introducing a mounting base and a driving component into the collaborative robot, including connecting the big arm and the first driving member, and connecting the big arm and the mounting base in a hinged manner, the length of the collaborative robot arm is increased while the number and length of the joint components and driving arms remain unchanged, thereby reducing Torsions of small head joint components.
It effectively reduces the torque of joint components and drive arms, avoids damage and unstable connections, and improves the rotation accuracy and working range of the collaborative robot.
Smart Images
Figure CN222371651U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a long-arm collaborative robot. Background Art
[0002] In most industries, collaborative robots are often used to replace manual labor in order to reduce the risk factor at work, improve production efficiency or reduce labor costs.
[0003] In the prior art, a collaborative robot is composed of multiple joint assemblies and drive arms connected in series. The multiple joint assemblies are respectively arranged at the ends of the drive arms, so that the collaborative robot is similar to a human arm, and thus simulates the human arm to perform corresponding work. The collaborative robot is controlled by manual control or pre-written program code, and the arm length of the collaborative robot can be increased by adding joint assemblies and drive arms or directly increasing the length of the drive arm, thereby increasing the maximum working range of the collaborative robot.
[0004] Among them, when the collaborative robot is working, the joint assembly arranged at the end of the driving arm will be subjected to a large torque, especially the joint assembly at the head end. Since the joint assembly at the head end needs to support all subsequent joint assemblies, driving arms and loads, the joint assembly at the head end will be subjected to a relatively large torque. At this time, if the maximum working range of the collaborative robot is increased by increasing the arm length of the collaborative robot, the joint assembly at the head end and the remaining joint assemblies and the driving arm will be further subjected to a large torque, which may cause the joint assembly or the driving arm to be damaged or the connection between the joint assembly and the driving arm to be unstable, thereby causing the collaborative robot to fail to operate normally.
[0005] During the use of collaborative robots, especially in cases where some collaborative robots have a small load but require a larger arm length, it is necessary to increase the arm length of the collaborative robot by increasing the number of joint assemblies and drive arms or increasing the length of the drive arms. At this time, due to the increase in the number of joint assemblies and drive arms or the increase in the length of the drive arms, the torque on the joint assemblies and the drive arms increases, especially the joint assemblies at the head end, which may cause damage to the joint assemblies or the drive arms or make the connection between the joint assemblies and the drive arms unstable.
[0006] Therefore, there is an urgent need for a collaborative robot that has a longer arm length without causing damage to the joint assembly or the drive arm or causing an unstable connection between the joint assembly and the drive arm. Summary of the invention
[0007] The purpose of the utility model is to solve the deficiencies in the prior art and provide a long-arm collaborative robot.
[0008] The main ideas are:
[0009] A long-arm collaborative robot comprises a plurality of joint assemblies and a plurality of driving arms, wherein the plurality of joint assemblies are respectively arranged at the ends of the plurality of driving arms, and wherein the long-arm collaborative robot further comprises:
[0010] A mounting base having a first hinge point and a second hinge point; and
[0011] A driving assembly includes a connecting arm and a first driving member, wherein the first driving member is arranged on the connecting arm, one end of the connecting arm is connected to the joint assembly at the head end, the other end of the connecting arm is hinged to the first hinge point, the telescopic end of the first driving member is hinged to the second hinge point, and the first driving member drives the connecting arm to rotate relative to the mounting seat.
[0012] Among them, the setting of the connecting arm and the mounting seat increases the arm length of the collaborative robot while the number of joint assemblies and driving arms and the length of the driving arms remain unchanged, thereby reducing the torque applied to the joint assemblies and driving arms, especially the joint assemblies at the head end, making the joint assemblies and driving arms less likely to be damaged. At the same time, the specific sizes of the mounting seat and the connecting arm can be selected according to the load of the collaborative robot and the mass of the collaborative robot itself, so as to avoid damage to the mounting seat by large forces.
[0013] In order to make the rotation accuracy of the collaborative robot higher, the driving assembly also includes a second driving member, which is arranged on the connecting arm. The telescopic ends of the connecting arm and the second driving member are hinged to the joint assembly at the head end, and the second driving member drives the joint assembly at the head end to rotate relative to the connecting arm.
[0014] Among them, the first driving member and the second driving member are both arranged on the connecting arm, and the telescopic ends of the first driving member and the second driving member are arranged away from each other. After the first driving member drives the connecting arm to rotate, since the first hinge point is taken as the center and the arm length of the connecting arm is taken as the rotation radius, the rotation path of the joint assembly and the driving arm is larger. At this time, the joint assembly and the driving arm are driven by the second driving member to rotate again, and then the position of the joint assembly and the driving arm is adjusted, so that the rotation accuracy of the collaborative robot is improved.
[0015] In some embodiments, the connecting arm has an installation cavity, and the first driving member and the second driving member are at least mostly arranged in the installation cavity, wherein the setting of the installation cavity makes the mass of the connecting arm lower, thereby making the load of the mounting seat smaller, thereby avoiding damage to the mounting seat due to a large load.
[0016] Furthermore, the first driving member and the second driving member are respectively arranged at the upper and lower sides of the connecting arm, and the first driving member and the second driving member are respectively arranged at both ends of the connecting arm, so that the load on the connecting arm body is uniform.
[0017] In some embodiments, the mounting base is provided with a first hinge block and a second hinge block, the first hinge point is provided at the first hinge block, and the second hinge point is provided at the second hinge block.
[0018] In a more complete solution, the second hinge block is arranged at an end away from the mounting seat body and close to the telescopic end of the first driving member, the second hinge point is arranged at an end of the second hinge block away from the mounting seat body, and the first hinge point is arranged on the upper side of the second hinge point.
[0019] Furthermore, the first driving member and the second driving member are both arranged on the midline of the connecting arm, so that the connecting arm is subjected to the forces of the first driving member and the second driving member more evenly.
[0020] In some embodiments, there are multiple drive assemblies, which are connected end to end in sequence, and the drive assemblies at both ends are respectively hinged to the mounting base and the joint assembly at the head end, thereby making the arm length of the collaborative robot longer.
[0021] Furthermore, the mounting base includes a self-rotating motor, which drives the mounting base body to rotate. The rotation plane of the self-rotating motor is perpendicular to the rotation plane of the connecting arm, so that the automation of the collaborative robot is increased, thereby increasing the working range of the collaborative robot.
[0022] Furthermore, the first driving member and the second driving member are electro-hydraulic cylinders.
[0023] Compared with the prior art, the utility model provides a long-arm collaborative robot, including a mounting seat and a drive assembly, the drive assembly including a connecting arm and a first drive member, wherein the setting of the connecting arm and the mounting seat increases the arm length of the collaborative robot while the number of joint assemblies and drive arms and the length of the drive arms remain unchanged, thereby reducing the force acting on the joint assemblies and drive arms, especially the joint assemblies located at the head end, making the joint assemblies and drive arms less likely to be damaged. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0025] Figure 1 This is a schematic diagram of the front view structure of a long-arm collaborative robot provided by the utility model;
[0026] Figure 2 A schematic diagram of the top view structure of a long-arm collaborative robot provided by the utility model after the dust shield is disassembled;
[0027] Figure 3 This is a schematic diagram of the structure of a long-arm collaborative robot provided by the utility model when viewed from above.
[0028] Description of symbols in the figure
[0029] 100-joint assembly,
[0030] 200-Connect the forearm
[0031] 300-mounting seat, 310-first hinge point, 320-second hinge point, 330-rotating motor, 340-dust shield,
[0032] 400-driving assembly, 410-connecting arm, 411-installation cavity, 420-first driving member, 430-second driving member,
[0033] 500- first hinge block,
[0034] 600- Second hinge block,
[0035] 700 - The third articulated block. DETAILED DESCRIPTION
[0036] The technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, rather than all the embodiments. The components of the embodiment of the utility model generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the utility model provided in the drawings is not intended to limit the scope of the utility model claimed for protection, but merely represents the selected embodiment of the utility model. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the utility model.
[0037] The present application is described below with reference to the accompanying drawings and specific embodiments:
[0038] Example 1
[0039] See also Figure 1-Figure 3 The present embodiment provides a long-arm collaborative robot, comprising a plurality of joint assemblies 100, a plurality of driving arms, a mounting seat 300 and a driving assembly 400. The long-arm collaborative robot provided in the present embodiment is mainly used to replace manual labor to perform work with a high risk factor or repetitive work, thereby improving work efficiency.
[0040] The collaborative robot is mainly composed of multiple joint assemblies 100 connected by a driving arm, wherein the multiple joint assemblies 100 include a joint assembly 100 at the head end, a middle joint assembly 100 and a joint assembly 100 at the end. Specifically, the collaborative robot has a control unit and a manual controller, the control unit is used to control the rotation of the joint assembly 100, the manual controller is used to manually debug or manually control the rotation of the joint assembly 100, and the joint assemblies 100 are connected by a driving arm. As a prior art, the collaborative robot is not described in detail in this embodiment.
[0041] It should be understood that during the use of the collaborative robot, especially in cases where some collaborative robots have a small load but require a larger arm length, it is necessary to increase the arm length of the collaborative robot by adding joint assemblies 100 and driving arms or increasing the length of the driving arms (the arm length of the collaborative robot refers to the overall length of the collaborative robot and, in some cases, is also understood to be the maximum working range of the collaborative robot). At this time, due to the increase in the number of joint assemblies 100 and driving arms or the increase in the length of the driving arms, the torque applied to the joint assemblies 100 and the driving arms increases, especially the joint assemblies 100 at the head end, which in turn causes the joint assemblies 100 and the driving arms to be damaged by greater torque.
[0042] In order to improve the above situation, in this embodiment, the mounting seat 300 has a first hinge point 310 and a second hinge point 320, and the driving assembly 400 includes a connecting arm 410 and a first driving member 420, wherein the first driving member 420 has a telescopic end, and the body of the first driving member 420 is arranged to connect the arm 410, and further, one end of the connecting arm 410 is hinged to the first hinge point 310 of the mounting seat 300, and the first driving member 420 is hinged to the second hinge point 320 of the mounting seat 300, wherein the first hinge point 310 is relatively arranged on the upper side of the second hinge point 320, and the other end of the connecting arm 410 is connected to the joint assembly 100 located at the head end, and the first hinge point 310 is relatively arranged on the upper side of the second hinge point 320, and the other end of the connecting arm 410 is connected to the joint assembly 100 located at the head end, There is an angle between a driving member 420 and the connecting arm 410. When the telescopic end of the first driving member 420 is extended or retracted, the second hinge point 320 acts on the first driving member 420, thereby causing the first driving member 420 to act on the connecting arm 410. Since there is an angle between the first driving member 420 and the connecting arm 410, the first driving member 420 drives the connecting arm 410 to rotate relative to the first hinge point 310, thereby adjusting the position of the connecting arm 410, the joint assembly 100 and the driving arm. The first driving member 420 can adopt driving devices such as electro-hydraulic cylinders, hydraulic cylinders, servo screws and cylinders. In this embodiment, the first driving member 420 adopts an electro-hydraulic cylinder.
[0043] Among them, the setting of the connecting arm 410 and the mounting seat 300 increases the arm length of the collaborative robot while the number of joint assemblies 100 and the driving arms and the length of the driving arms remain unchanged, thereby reducing the torque applied to the joint assemblies 100 and the driving arms, especially the joint assemblies 100 located at the head end, making the joint assemblies 100 and the driving arms less likely to be damaged. At the same time, the mounting seat 300 and the connecting arm 410 can be selected in specific sizes according to the load of the collaborative robot and the mass of the collaborative robot itself, so as to avoid the mounting seat 300 being damaged by a large force.
[0044] The mounting seat 300 is provided with a first hinge block 500 and a second hinge block 600. Specifically, the first hinge block 500 and the second hinge block 600 can adopt a polygonal structure such as a triangle or a rectangle. In this embodiment, the first hinge block 500 and the second hinge block 600 both adopt a triangular structure, wherein two end points of the first hinge block 500 and the second hinge block 600 are arranged on the mounting seat 300, the other end point of the first hinge block 500 is away from the mounting seat 300 and is arranged toward the connecting arm 410, and the other end point of the second hinge block 600 is away from the mounting seat 300 and is arranged toward the first driving member 420.
[0045] Among them, the first hinge point 310 is arranged on the first hinge block 500 away from the mounting seat 300 and toward the end point of the connecting arm 410, and the second hinge point 320 is arranged on the second hinge block 600 away from the mounting seat 300 and toward the end point of the first driving member 420, so that the first hinge point 310 and the other two end points of the first hinge block 500 form a triangular structure, and at the same time, the second hinge point 320 and the other two end points of the second hinge block 600 form a triangular structure. Specifically, the connection between the connecting arm 410 and the first driving member 420 and the mounting seat 300 is stable, so that the driving assembly 400 and the mounting seat 300 can withstand a larger force, so that the overall structure of the collaborative robot is relatively stable when the collaborative robot is working.
[0046] In a more complete solution, the number of the first articulated blocks 500 and the second articulated blocks 600 can be multiple. In the present embodiment, the number of the first articulated blocks 500 and the second articulated blocks 600 is two. Specifically, the two first articulated blocks 500 are arranged opposite to each other, and the two second articulated blocks 600 are arranged opposite to each other. The distance between the two first articulated blocks 500 is adapted to the distance between the two side walls of the connecting arm 410, and the distance between the second articulated points 320 on the two second articulated blocks 600 is adapted to the size of the telescopic end of the first driving member 420. The two first articulated blocks 500 are articulated to the connecting arm 410, so that the articulation of the first articulated blocks 500 and the connecting arm 410 is relatively stable, and the two second articulated blocks 600 are articulated to the first driving member 420, so that the articulation of the second connecting block and the first driving member 420 is relatively stable, thereby making the structure between the driving assembly 400 and the mounting seat 300 stable, so that the driving assembly 400 and the mounting seat 300 can withstand a larger force.
[0047] Furthermore, the side surface at the top of the connecting arm 410 and the side surface at the top both have a center line. Specifically, the plane where the center lines of the top side surface and the bottom side surface of the connecting arm 410 are located is a symmetry plane, and the connecting arm 410 is symmetrical with respect to the symmetry plane, wherein the first driving member 420 is arranged on the connecting arm 410 and the first driving member 420 is symmetrical with respect to the symmetry plane, so that the connecting arm 410 is subjected to a more uniform force from the first driving member 420, thereby avoiding inconsistent forces on the left and right sides of the connecting arm 410, resulting in a larger force on one side of the connecting arm 410, and thus causing one of the two first hinged blocks 500 to be subjected to a larger force from the connecting arm 410.
[0048] In order to further reduce the force applied to the mounting base 300, so that the force applied to the mounting base 300 is smaller and damage to the mounting base 300 is avoided, the connecting arm 410 is provided with a mounting cavity 411, so that the mass of the connecting arm 410 is lighter, so that the force applied to the mounting base 300 to support the connecting arm 410 is lower, and the force applied to the mounting base 300 from the connecting arm 410 is smaller.
[0049] Furthermore, in order to ensure the stability of the main body structure of the connecting arm 410, the size of the installation cavity 411 can be designed according to the load and size of the connecting arm 410, wherein the installation cavity 411 is symmetrical relative to the plane where the top side center line and the bottom side center line of the connecting arm 410 are located.
[0050] The first driving member 420 is at least partially disposed in the installation cavity 411, thereby reducing the space occupancy rate of the driving assembly 400 and preventing the portion of the first driving member 420 disposed in the installation cavity 411 from being easily damaged by external collision.
[0051] Example 2
[0052] When the connecting arm 410 rotates around the first hinge point 310, the longer the arm length of the connecting arm 410 is, the longer the rotation path of the joint assembly 100 arranged at one end of the connecting arm 410 and the driving arm connected to the joint assembly 100 is, which makes the rotation accuracy of the collaborative robot lower, thereby reducing the working accuracy of the collaborative robot.
[0053] In order to improve the above problems, improve the rotation accuracy of the connecting arm 410, and thus improve the working accuracy of the collaborative robot, please refer to Figure 1-Figure 3 According to the above-mentioned long-arm collaborative robot, further, the driving component 400 also includes a second driving member 430, wherein the second driving member 430 is arranged on the connecting arm 410, and the telescopic end of the second driving member 430 is away from the telescopic end of the first driving member 420, wherein the second driving member 430 is hinged to the joint assembly 100 located at the head end, and the end of the connecting arm 410 away from the mounting seat 300 is hinged to the joint assembly 100 located at the head end. Specifically, there is an angle between the telescopic end of the second driving member 430 and the connecting arm 410, and at the same time, the hinge point of the second driving member 430 and the joint assembly 100 located at the head end, the hinge point of the connecting arm 410 and the joint assembly 100 located at the head end, and the connection point of the second driving member 430 and the connecting arm 410 form a triangle, so that the second driving member 430 drives the joint assembly 100 located at the head end to rotate relative to the connecting arm 410.
[0054] The second driving member 430 may be a driving device such as an electro-hydraulic cylinder, a hydraulic cylinder, a servo screw rod, and a cylinder. In this embodiment, the second driving member 430 is an electro-hydraulic cylinder.
[0055] Specifically, two third hinge blocks 700 are provided at one end of the joint assembly 100 located at the head end, wherein the third hinge block 700 can adopt a polygonal structure such as a triangle or a rectangle. In the present embodiment, the third hinge block 700 adopts a triangular structure, and the two third hinge blocks 700 are arranged opposite to each other, and the distance between the two third hinge blocks 700 is adapted to the telescopic end of the second driving member 430.
[0056] Among them, the telescopic end of the second driving member 430, one end connected to the upper arm 410 and the joint assembly 100 located at the head end are respectively arranged at the three corners of the two third hinge blocks 700. Specifically, when the telescopic end of the second driving member 430 is telescoped, the hinge between the second driving member 430 and the third hinge block 700 is pushed to axially displace along the telescopic end of the second driving member 430, so that the third hinge block 700 rotates relative to the connection between the upper arm 410 and the third hinge block 700, thereby driving the joint assembly 100 located at the head end connected to the third connecting block to rotate. Among them, after the position of the joint assembly 100 and the driving arm is adjusted by rotating the connecting arm 410 relative to the first hinge point 310, the position of the joint assembly 100 and the driving arm can be further adjusted by driving the third hinge block 700 to rotate by the second driving member 430 arranged on the connecting arm 410, so that the rotation accuracy of the collaborative robot is higher.
[0057] Furthermore, the second driving member 430 is disposed on a plane where the top midline and the bottom midline of the connecting arm 410 are located and is symmetrical relative to the plane, thereby making the relative force between the second driving member 430 and the connecting arm 410 more uniform.
[0058] In a more complete solution, the first driving member 420 and the second driving member 430 are respectively arranged on the upper and lower sides of the connecting arm 410. Specifically, the first driving member 420 is arranged on the lower side of the connecting arm 410, and the second driving member 430 is arranged on the upper side of the connecting arm 410, so that the surface structure of the connecting arm 410 is reasonably arranged. At the same time, the first driving member 420 and the second driving member 430 are respectively arranged at the two ends of the connecting arm 410, so that the two ends of the connecting arm 410 are subjected to force more evenly, thereby avoiding that the local part of the connecting arm 410 is subjected to a large force, thereby causing damage to the connecting arm 410.
[0059] Among them, a connecting arm 200 is also provided between the joint assembly 100 located at the head end and the third articulated block 700. The connecting arm 200 is arranged at one end of the third articulated block 700, and the other end of the connecting arm 200 is connected to the joint assembly 100 located at the head end, thereby increasing the arm length of the collaborative robot.
[0060] Furthermore, the connecting arm 200 may adopt a rectangular body, a cylindrical body or other structures. In the present embodiment, the connecting arm 200 adopts a rectangular body. Specifically, the connecting arm 200 has a weight-reducing end at one end of the third hinge block 700, wherein the weight-reducing end is tilted and has an inclined surface, so that the connecting arm 200 has a lighter weight when its length is longer, thereby reducing the load of the driving assembly 400, and ensuring that the connecting arm 200 has a lighter weight while the overall structure of the connecting arm 200 is relatively stable.
[0061] Among them, the first driving member 420 and the second driving member 430 are both electrically connected to the control unit of the collaborative robot, and the automatic rotation of the first driving member 420 and the second driving member 430 is controlled by the control unit. At the same time, the rotation of the first driving member 420 and the second driving member 430 can also be controlled by a manual controller.
[0062] Example 3
[0063] According to the above collaborative robot, in this embodiment, please refer to Figure 1-Figure 3 There are multiple drive assemblies 400, and the multiple drive assemblies 400 are connected in sequence. Specifically, the drive assemblies 400 at both ends are respectively hinged to the mounting base 300 and the joint assembly 100 at the head end, thereby making the arm length of the collaborative robot longer. The number of drive assemblies 400 can be selected according to the load of the collaborative robot.
[0064] Example 4
[0065] According to the above collaborative robot, in this embodiment, please refer to Figure 1-Figure 3 The mounting seat 300 is provided with a self-rotating motor 330, wherein the self-rotating motor 330 drives the mounting seat 300 to rotate and the rotation plane of the self-rotating motor 330 is perpendicular to the rotation plane of the connecting arm 410, thereby increasing the automation of the collaborative robot and thus improving the working range of the collaborative robot.
[0066] The self-rotating motor 330 is detachably arranged on the mounting base 300 . When the self-rotating motor 330 fails, the self-rotating motor 330 can be replaced or repaired by disassembling, thereby making the maintenance of the self-rotating motor 330 easier.
[0067] At the same time, a removable dust shield 340 is provided at one end of the mounting seat 300 to prevent dust and other debris from entering the mounting seat 300 and damaging the rotating motor 330. At the same time, when maintaining the rotating motor 330, the dust shield 340 can be removed to make it easier to disassemble and maintain the rotating motor 330, making the maintenance of the rotating motor 330 simple.
[0068] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention.
Claims
1. A long-arm collaborative robot, comprising a plurality of joint assemblies (100) and a plurality of driving arms, wherein the plurality of joint assemblies (100) are respectively arranged at the ends of the plurality of driving arms, characterized in that: The long-arm collaborative robot also includes: A mounting base (300) having a first hinge point (310) and a second hinge point (320); and The driving assembly (400) comprises a connecting arm (410) and a first driving member (420), wherein the first driving member (420) is arranged on the connecting arm (410), one end of the connecting arm (410) is connected to the joint assembly (100) at the head end, the other end of the connecting arm (410) is hinged to the first hinge point (310), the telescopic end of the first driving member (420) is hinged to the second hinge point (320), and the first driving member (420) drives the connecting arm (410) to rotate relative to the mounting seat (300).
2. The long-arm collaborative robot according to claim 1, characterized in that: The driving assembly (400) further comprises a second driving member (430), wherein the second driving member (430) is arranged on the connecting arm (410), and the telescopic ends of the connecting arm (410) and the second driving member (430) are both hinged to the joint assembly (100) at the head end, and the second driving member (430) drives the joint assembly (100) at the head end to rotate relative to the connecting arm (410).
3. The long-arm collaborative robot according to claim 2, characterized in that: The connecting arm (410) has a mounting cavity (411), and at least a large part of the first driving member (420) and the second driving member (430) are arranged in the mounting cavity (411).
4. The long-arm collaborative robot according to claim 2, characterized in that: The first driving member (420) and the second driving member (430) are respectively arranged on the upper and lower sides of the connecting arm (410), and the first driving member (420) and the second driving member (430) are respectively arranged at both ends of the connecting arm (410).
5. The long-arm collaborative robot according to claim 2, characterized in that: The mounting seat (300) is provided with a first hinge block (500) and a second hinge block (600), the first hinge point (310) is arranged on the first hinge block (500), and the second hinge point (320) is arranged on the second hinge block (600).
6. The long-arm collaborative robot according to claim 5, characterized in that: The second hinge block (600) is arranged at an end away from the mounting seat (300) body and close to the telescopic end of the first driving member (420), the second hinge point (320) is arranged at an end of the second hinge block (600) away from the mounting seat (300) body, and the first hinge point (310) is arranged on the upper side of the second hinge point (320).
7. The long-arm collaborative robot according to claim 2, characterized in that: The first driving member (420) and the second driving member (430) are both arranged on the midline of the connecting arm (410).
8. The long-arm collaborative robot according to claim 2, characterized in that: There are a plurality of drive assemblies (400), and the plurality of drive assemblies (400) are sequentially connected end to end, and the drive assemblies (400) at both ends are respectively hinged to the mounting seat (300) and the joint assembly (100) at the head end.
9. The long-arm collaborative robot according to claim 5, characterized in that: The mounting seat (300) comprises a self-rotating motor (330), the self-rotating motor (330) drives the mounting seat (300) body to rotate, and the rotation plane of the self-rotating motor (330) is perpendicular to the rotation plane of the connecting arm (410).
10. The long-arm collaborative robot according to claim 9, characterized in that: The first driving member (420) and the second driving member (430) are electro-hydraulic cylinders.