Collaborative robot

Abstract

The utility model relates to a collaborative robot which comprises a driving assembly, the driving assembly comprises a driving piece and a connecting piece, specifically, first driving motors are arranged at the two ends of the driving piece, large driving arms are arranged at one ends of the first driving motors, and the arm length of the collaborative robot is increased through the arrangement of the large driving arms; the first driving motors at the two ends of the driving part provide power to act on the driving large arms at the two ends of the driving part, so that the load of the driving assembly is increased, and then the load of the collaborative robot is increased; and therefore, acting force borne by a single first driving motor and a single driving large arm is small, and the first driving motors and the driving large arms are not prone to being damaged.

Description

Technical Field

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

[0002] Collaborative robots can be controlled manually or run automatically according to pre-set programs. In most industries, collaborative robots are usually 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, for example, patent number CN201921485878.3 discloses a high-load, large-armspan robotic arm and collaborative robot, which includes a number of joint assemblies and connectors arranged in series, wherein the joint assembly includes a head joint assembly, an intermediate joint assembly and a terminal joint assembly, and each joint assembly is connected by a connector, so that the collaborative robot can increase the arm length while ensuring the high load of the robot, thereby ensuring the flexibility of the robotic arm and facilitating the operation and construction of the collaborative robot.

[0004] Among them, the head end joint assembly is used to introduce the working torque, the middle joint assembly or the connecting part is used to transmit the working torque, and the terminal joint assembly is used to connect the operating tool to output the working torque. Although the above patent increases the arm length of the collaborative robot by means of several joint assemblies and connecting parts arranged in series, the head end joint assembly will be subjected to the force of the subsequent connecting parts, the middle joint assembly and the terminal joint assembly, and the force acts on one end where the head end joint assembly is connected to the connecting part, resulting in the head end joint assembly and the connecting part connected to the head end joint assembly being subjected to a large force and uneven force. Due to the large force and the large and uneven force on the head end joint assembly and the connecting part connected to the head end joint assembly, when the arm length of the collaborative robot is increased, due to the addition of more joint assemblies, the head end joint assembly and the connecting part connected to the head end joint assembly are subjected to a large and uneven force, so that the head end joint assembly and the connecting part connected to the head end joint assembly fail or are damaged, thereby making it impossible for the collaborative robot to work smoothly.

[0005] Therefore, there is an urgent need for a collaborative robot that can increase the arm length without causing damage to the head end joint assembly and the connectors connected to the head end joint assembly. Summary of the invention

[0006] The purpose of the utility model is to solve the deficiencies in the prior art and provide a collaborative robot.

[0007] The main ideas are:

[0008] A collaborative robot comprises a plurality of joint assemblies and a plurality of connecting arms, wherein the joint assemblies comprise a plurality of joint motors connected in series, and the plurality of joint assemblies are connected in pairs through the connecting arms, and is characterized in that it further comprises:

[0009] A driving assembly comprises a driving member and a connecting member, wherein first driving motors are provided at both ends of the driving member, the first driving motor rotates relative to the driving member, the first driving motor is connected to a driving arm, both ends of the connecting member are respectively connected to the driving arm, the connecting member is connected to one of a plurality of connecting arms, the first driving motor drives the driving arm to rotate, and the driving arm drives the connecting arm connected to the connecting member to rotate.

[0010] Among them, the setting of the driving arm increases the arm length of the collaborative robot, and a first driving motor is provided at both ends of the driving member and the first driving motor is connected to the driving arm. Specifically, when the driving arms at both ends of the driving member are rotated by the action of the first driving motor, the driving arms drive the connecting member to rotate, and then drive multiple joint assemblies and multiple connecting arms to rotate. Among them, the first driving motors at both ends of the driving member provide power to act on the driving arms at both ends of the driving member, so that the load of the driving assembly increases, and then the load of the collaborative robot increases. At the same time, the two first driving motors and the two driving arms act on the connecting member together, so that the force acting on the single first driving motor and the single driving arm is smaller, and the first driving motor and the driving arm are not easily damaged.

[0011] In order to increase the range of action of the collaborative robot, second drive motors are provided at both ends of the connecting member, the second drive motor is connected to the driving arm, and the second drive motor drives the connecting arm connected to the connecting member to rotate, wherein the rotation plane of the second drive motor is parallel to the rotation plane of the first drive motor.

[0012] Among them, the second drive motor can drive the second rotating end to rotate relative to the connecting member body, and then adjust the position of the rear end joint assembly and the connecting arm, so that the collaborative robot can adjust the relative positions between components through the first drive motor or the second drive motor, thereby increasing the application scope of the collaborative robot.

[0013] In order to further make the force acting on the driving assembly uniform, the connecting arm connected to the connecting member is arranged at the center of the relative positions of the two second driving motors.

[0014] In order to increase the degree of freedom of the driving component and thus adapt it to different working environments, further, the driving member is provided with a rotating motor, the rotating motor is arranged between the first driving motors at both ends of the driving member, the rotating plane of the rotating motor is perpendicular to the rotating plane of the first driving motor, and the rotating motor can drive the driving member and the connecting member to rotate in a direction perpendicular to the rotating plane of the first driving motor, thereby increasing the degree of automation of the driving component, thereby making the application range of the collaborative robot larger.

[0015] In some embodiments, the driving arm is detachably connected to the first driving motor and the second driving motor, respectively, so that the first driving motor and the second driving motor can be repaired and replaced by disassembly, thereby making the maintenance and replacement of the first driving motor and the second driving motor simple and low-cost.

[0016] In order to make the load of the collaborative robot larger, multiple first drive motors are symmetrically provided at both ends of the driving member, the connecting member is provided with second drive motors corresponding to the multiple first drive motors, the number of the driving arms is multiple, and the multiple driving arms are respectively and sequentially spaced between the multiple first drive motors and the multiple second drive motors.

[0017] Furthermore, the plurality of driving arms are parallel to each other.

[0018] In some embodiments, the driving arm has multiple sub-connecting arms, and the multiple sub-connecting arms are detachably connected, so that the length of the driving arm is adjustable, and thus the arm length of the collaborative robot is adjustable.

[0019] In a more complete solution, a fixing member is provided between the driving arm and the first driving motor, so that the connection between the driving arm and the first driving motor is stable.

[0020] Furthermore, the fixing member includes a fixing collar and a tightening member, the fixing collar is arranged around the connection between the driving arm and the first driving motor, the tightening member is passed through the fixing collar and one end of the tightening member is tightened against the driving arm.

[0021] Compared with the prior art, the utility model provides a collaborative robot, in which the setting of a driving arm increases the arm length of the collaborative robot, and the first driving motors at both ends of the driving member provide power to act on the driving arms at both ends of the driving member, thereby increasing the load of the driving component and further increasing the load of the collaborative robot. At the same time, the two first driving motors and the two driving arms act on the connecting member together, thereby reducing the force acting on the single first driving motor and the single driving arm, and the first driving motor and the driving arm are not easily damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A schematic diagram of the structure of a collaborative robot provided for implementation 1 of the utility model;

[0024] Figure 2 A schematic diagram of the front view structure of a collaborative robot provided in Embodiment 1 of the utility model;

[0025] Figure 3 A schematic diagram of the side view structure of a collaborative robot provided in Embodiment 1 of the utility model;

[0026] Figure 4 A schematic diagram of the structure of a collaborative robot provided for implementation 2 of the utility model;

[0027] Figure 5 A schematic diagram of the structure of a collaborative robot provided for implementation 3 of the utility model;

[0028] Figure 6 A schematic diagram of the structure of a collaborative robot provided for implementation 4 of the utility model;

[0029] Figure 7 This is a front view structural schematic diagram of a collaborative robot provided for implementation 4 of the utility model.

[0030] Description of symbols in the figure

[0031] 100-joint assembly, 110-joint motor,

[0032] 200-Connecting arm,

[0033] 300-driving assembly, 310-driving member, 311-first driving motor, 313-rotating motor, 314-housing, 315-first rotating end, 315a-driving chamber, 320-connecting member, 321-second driving motor, 322-second rotating end, 330-driving arm,

[0034] 331-sub-connecting arm,

[0035] 400-fixing piece, 410-fixing ring, 420-tightening piece,

[0036] 500-first baffle,

[0037] 600-Second baffle. DETAILED DESCRIPTION

[0038] 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.

[0039] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0040] Example 1

[0041] See also Figure 1-Figure 3 This embodiment provides a collaborative robot, including a plurality of joint components 100, a plurality of connecting arms 200 and a driving component 300. The collaborative robot provided in this embodiment is mainly used to replace manual work with high risks or repetitive work, reduce manual risks and improve work efficiency.

[0042] Multiple joint assemblies 100 are connected in pairs through a single connecting arm 200 to form a robotic arm. The robotic arm is a prior art and is not described in detail in this embodiment. The joint assembly 100 includes multiple joint motors 110 connected in series to provide the robotic arm with different degrees of freedom of rotation, so that the robotic arm can be swung in multiple convenient directions to suit different working environments.

[0043] The driving assembly 300 includes a driving member 310 and a connecting member 320. The driving member 310 has a shell 314. Specifically, the shell 314 of the driving member 310 can adopt a rectangular body, a cylindrical body or other structures. In this embodiment, the driving member 310 adopts a cylindrical body.

[0044] The connecting member 320 may be in a rectangular or cylindrical structure. In the present embodiment, the connecting member 320 is in a cylindrical structure, and the connecting member 320 is arranged in parallel with the driving member 310 .

[0045] A symmetrical first rotating end 315 is provided at both ends of the shell 314 of the driving member 310, and the first rotating end 315 is provided with a first driving cavity 315a, and a first driving motor 311 matching the shape of the driving cavity 315a is provided in the driving cavity 315a, wherein the first driving motor 311 can rotate relative to the axis of the shell 314 and drive the first rotating ends 315 at both ends of the shell 314 to rotate.

[0046] Among them, a driving arm 330 is provided between the driving member 310 and the connecting member 320. Specifically, the driving arm 330 is connected to the first driving motor 311. The number of the driving arms 330 corresponds to the number of the first driving motors 311 and is arranged corresponding to the first driving motor 311. During the implementation process, in order to prevent the main body of the first driving motor 311 from being damaged by collision with external objects, the first driving motor 311 is connected to the driving arm 330 through the first rotating end 315, wherein one end of the driving arm 330 is connected to the first rotating end 315 of the shell 314, the first driving motor 311 is connected to the first rotating inner wall, and the other end of the driving arm 330 is connected to one end of the connecting member 320. Specifically, when the first driving motor 311 rotates, it can drive the first rotating end 315 of the driving member 310 shell 314 to rotate, and then drive the driving arm 330 to rotate, so that the driving arm 330 drives the connecting member 320, multiple joint assemblies 100 and multiple connecting arms 200 to rotate.

[0047] In which, due to the setting of the driving arm 330, the arm length of the collaborative robot is increased. At the same time, the two ends of the driving arm 330 are respectively connected to the driving member 310 and the connecting member 320, wherein the first driving motor 311 arranged at the first rotating end 315 of the shell 314 drives the driving arm 330 and the connecting member to rotate. Specifically, the two first driving motors 311 respectively drive the two driving arms 330, so that the connecting member 320 is rotated by the force of the driving arm 330, thereby driving the multiple joint assemblies 100 and the multiple connecting arms 200 to rotate, wherein the two first driving motors 311 drive the two driving arms 330 respectively, and then the connecting member 320 is rotated by the force of the driving arm 330, thereby driving the multiple joint assemblies 100 and the multiple connecting arms 200 to rotate. 11 provides a rotational force, and acts on the connecting piece 320 through two driving arms 330. When the load of the collaborative robot is constant, the two first driving motors 311 and the two driving arms 330 jointly drive the connecting piece 320, the multiple joint assemblies 100 and the multiple connecting arms 200 to rotate, thereby making the force from the load applied to the single first driving motor 311 and the single driving arm 330 smaller, thereby avoiding the first driving motor 311 and the driving arm 330 from malfunctioning and being damaged due to the large force from the load applied to them during the operation of the collaborative robot.

[0048] In a more complete solution, the connecting member 320 and the driving member 310 are arranged in parallel, and the driving arm 330 is arranged between the connecting member 320 and the driving member 310 in sequence, wherein one end of the driving arm 330 is connected to the first rotating end 315 of the driving member 310 housing 314, and the first rotating end 315 of the driving member 310 housing 314 is symmetrically arranged at the center ends of the driving member 310 housing 314, and the other end of the driving arm 330 is connected to the connecting member 320, wherein the driving arm 330 can adopt a rectangular body or a cylindrical structure. In this embodiment, the driving arm 330 adopts a cylindrical body. Furthermore, the connecting arm 200 connected to the connecting member 320 is arranged on the outer wall of the connecting member 320 and is located at the center of the connecting member 320, so that the driving arm 330 can be connected to the connecting member 320. The connection between the movable arm 330 and the connecting member 320 is symmetrical with respect to the connecting arm 200, so that when the collaborative robot is working, the force on the driving member 310, the driving arm 330 and the connecting member 320 is uniform, and the force between the various components of the driving assembly 300 is uniform when the collaborative robot is working, thereby avoiding the driving assembly 300 from being skewed, which may affect the overall relative stability of the collaborative robot and make the collaborative robot unable to complete related work. At the same time, it can avoid the driving member 310 housing 314, the driving arm 330, the connecting member 320 and other structures from being subjected to large force due to uneven force, thereby causing failure or damage to the driving member 310 housing 314, the driving arm 330, the connecting member 320 and other structures.

[0049] Furthermore, second rotating ends 322 are respectively provided at both ends of the connecting member 320, wherein the second rotating end 322 is arranged corresponding to the first rotating end 315, and a second driving motor 321 is arranged in the second rotating end 322, and the second driving motor 321 is connected to the inner wall of the second rotating end 322. During implementation, in order to prevent the second driving motor 321 body from being damaged by collision with external objects, the driving arm 330 is connected to the second driving motor 321 through the second rotating end 322. Specifically, the rotation planes of the first driving motor and the second driving motor are parallel, and the two second rotating ends 322 are symmetrically arranged on both sides of the connecting arm 200 connected to the connecting member 320, wherein the second driving motor 321 can drive the second rotating end 322 to rotate relative to the connecting member 320 body, thereby adjusting the position of the rear end joint assembly 100 and the connecting arm 200, so that the collaborative robot can adjust the relative positions between the components through the first driving motor 311 or the second driving motor 321, thereby increasing the application range of the collaborative robot.

[0050] Among them, in order to increase the degree of freedom of the driving component 300 and thus adapt it to different working environments, in this embodiment, the driving member 310 is also provided with a rotating motor 313, wherein the rotating motor 313 is inserted in the middle of the driving member 310 shell 314, and the rotating end of the rotating motor 313 is arranged outside the driving member 310 shell 314, specifically, the rotation plane of the rotating motor 313 is perpendicular to the rotation plane of the first driving motor 311, and the rotating motor 313 is arranged between the two first driving motors 311, so that when the rotating motor 313 drives the driving member 310 to rotate, the driving member 310 exerts a uniform force on the rotating motor 313, and because the rotation plane of the rotating motor 313 is perpendicular to the rotation plane of the first driving motor 311, the automaticity of the driving component 300 is increased, thereby making the application range of the collaborative robot larger.

[0051] Example 2

[0052] In order to make the collaborative robot's arm length adjustable when the load is large, please refer to Figure 1-Figure 4 According to the above-mentioned collaborative robot, further, the first driving motor 311 and the second driving motor 321 are both detachably connected to the driving arm 330. Specifically, the driving arm 330 is detachably connected to the first rotating end 315 and the second rotating end 322 respectively.

[0053] When the driving arm 330 fails or is damaged, the driving arm 330 can be replaced or repaired by disassembling the driving arm 330, thereby making the maintenance of the driving arm 330 easier and reducing the maintenance cost.

[0054] At the same time, multiple driving arms 330 can be set according to changes in the use environment, and then driving arms 330 of different sizes can be installed on the collaborative robot by disassembling and replacing the driving arms 330, so that the arm length of the collaborative robot can be adjusted, thereby expanding the application range of the collaborative robot.

[0055] Among them, the specific size (such as length, thickness, etc.) of the driving arm 330 can be made according to the load of the collaborative robot.

[0056] In a relatively complete solution, there are multiple first drive motors 311 and multiple second drive motors 321, and the number of the first drive motors 311 and the number of the second drive motors 321 are consistent. Specifically, multiple first drive motors 311 are respectively provided at the symmetrical ends of the housing 314 of the drive member 310, and multiple second drive motors 321 are respectively provided at the symmetrical ends of the connecting member 320. There are multiple drive arms 330, and the two ends of the multiple drive arms 330 are respectively connected to the first rotating end 315 and the second rotating end 322 where the multiple first drive motors 311 and the multiple second drive motors 321 are located, wherein the multiple drive arms 330 are parallel to each other, wherein the multiple first drive motors 311 and the multiple second drive motors 321 are used as power sources, so that the load of the collaborative robot is increased. At the same time, the multiple first drive motors 311 are symmetrically arranged, and the multiple second drive motors 321 are symmetrically arranged, so that the drive assembly 300 is evenly stressed, and the multiple drive arms 330 are respectively connected to the multiple first drive motors 311 and the multiple second drive motors 321, so that the structure of the drive assembly 300 is stable.

[0057] Among them, multiple driving arms 330 can be installed and disassembled according to the specific size of the load.

[0058] In a more complete solution, the driving arm 330 has multiple sub-connecting arms 331, and the multiple sub-connecting arms 331 are detachably connected. Among them, the multiple sub-connecting arms 331 can be connected by various detachable methods such as threaded connection, snap connection, pin connection, etc. In this embodiment, the multiple sub-connecting arms 331 are connected by threaded connection. Specifically, the length of the driving arm 330 can be changed by installing or disassembling the sub-connecting arms 331, thereby adjusting the arm length of the collaborative robot.

[0059] Among them, Example 2 can be applied to Example 1.

[0060] Example 3

[0061] In order to stabilize the connection between the driving arm 330, the driving member 310 and the connecting member 320, please refer to Figure 5 According to the above-mentioned collaborative robot, in this embodiment, a fixing member 400 is provided between the driving arm 330 and the first driving motor 311, and the fixing member 400 is arranged at the connection between the driving arm 330 and the first driving motor 311. Specifically, the fixing member 400 includes a fixing ring 410 and a tightening member 420, wherein the fixing ring 410 is arranged around the connection between the driving arm 330 and the first rotating end 315, the tightening member 420 is passed through the fixing ring 410 and the first rotating end 315, and one end of the tightening member 420 is tightened against the driving arm 330, so that the connection between the driving arm 330 and the driving member 310 is stable.

[0062] The tightening member 420 may be a screw, a pin, a screw, etc.

[0063] A fixing member 400 may also be provided between the driving arm 330 and the second driving motor 321 , so as to stabilize the connection between the driving arm 330 and the second driving motor 321 .

[0064] Example 4

[0065] See also Figure 1 , Figure 6 and Figure 7 According to the above-mentioned collaborative robot, in this embodiment, a removable first baffle 500 is provided on the side of the two first rotating ends 315 of the housing 314 of the driving member 310, wherein the connection method between the first baffle 500 and the housing 314 of the driving member 310 can adopt a detachable connection method such as a threaded connection, a snap connection, a magnetic connection, etc. In this embodiment, the first baffle 500 and the first rotating end 315 are threadedly connected, so that the operator can repair or maintain the first driving motor 311 in the first rotating end 315 by removing the first baffle 500, thereby making the maintenance of the first driving motor 311 simple and low-cost.

[0066] Furthermore, second baffles 600 are provided at both ends of the connecting member 320 body. Specifically, the two second baffles 600 are respectively arranged at the side ends of the second rotating end 322, and the second baffle 600 and the second rotating end 322 are detachably connected. The connection method between the second baffle 600 and the second rotating end 322 can adopt a detachable connection method such as threaded connection, snap connection, magnetic connection, etc. In this embodiment, the second baffle 600 and the second rotating end 322 are threadedly connected, so that the operator can repair or maintain the second drive motor 321 in the second rotating end 322 by removing the second baffle 600, thereby making the maintenance of the second drive motor 321 simple and low-cost.

[0067] Among them, the first baffle 500 and the second baffle 600 can also be set as transparent baffles, so that the operator can observe the conditions of the first drive motor and the second drive motor 321 at any time, thereby determining whether the first drive motor 311 or the second drive motor 321 is damaged.

[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 collaborative robot, comprising a plurality of joint assemblies (100) and a plurality of connecting arms (200), wherein: The joint assembly (100) comprises a plurality of joint motors (110) connected in series, and the plurality of joint assemblies (100) are connected in pairs via the connecting arm (200), and is characterized in that it further comprises: A driving assembly (300) comprises a driving member (310) and a connecting member (320), wherein first driving motors (311) are provided at both ends of the driving member (310), the first driving motor (311) rotates relative to the driving member (310), the first driving motor (311) is connected to a driving arm (330), both ends of the connecting member (320) are respectively connected to the driving arm (330), the connecting member (320) is connected to one of the plurality of connecting arms (200), the first driving motor (311) drives the driving arm (330) to rotate, so that the driving arm (330) drives the connecting arm (200) connected to the connecting member (320) to rotate.

2. The collaborative robot according to claim 1, characterized in that: Second drive motors (321) are provided at both ends of the connecting member (320); the second drive motor (321) is connected to the driving arm (330); the second drive motor (321) drives the connecting arm (200) connected to the connecting member (320) to rotate; wherein a rotation plane of the second drive motor is parallel to a rotation plane of the first drive motor.

3. The collaborative robot according to claim 2, characterized in that: The connecting arm (200) connected to the connecting member (320) is arranged at the center of the relative positions of the two second driving motors (321).

4. The collaborative robot according to claim 1, characterized in that: The driving member (310) is provided with a rotating motor (313), and the rotating motor (313) is arranged between the first driving motors (311) at both ends of the driving member (310), and the rotating plane of the rotating motor (313) is perpendicular to the rotating plane of the first driving motor (311).

5. The collaborative robot according to claim 2, characterized in that: The driving arm (330) is detachably connected to the first driving motor (311) and the second driving motor (321) respectively.

6. The collaborative robot according to claim 3, characterized in that: A plurality of the first drive motors (311) are symmetrically arranged at both ends of the drive member (310), the connecting member (320) is provided with second drive motors (321) corresponding to the plurality of the first drive motors, the number of the drive arms (330) is multiple, and the plurality of drive arms (330) are respectively and sequentially arranged between the plurality of the first drive motors (311) and the plurality of the second drive motors (321) at intervals.

7. The collaborative robot according to claim 1, characterized in that: The plurality of driving arms (330) are parallel to each other.

8. The collaborative robot according to claim 7, characterized in that: The driving arm (330) has a plurality of sub-connecting arms (331), and the plurality of sub-connecting arms (331) are detachably connected.

9. The collaborative robot according to claim 5, characterized in that: A fixing member (400) is provided between the driving arm (330) and the first driving motor (311).

10. The collaborative robot according to claim 9, characterized in that: The fixing member (400) comprises a fixing collar (410) and a tightening member (420); the fixing collar (410) is arranged around the connection between the driving arm (330) and the first driving motor (311); the tightening member (420) is passed through the fixing collar (410) and one end of the tightening member (420) is tightened against the driving arm (330).

Images